diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f4de6068a1e32310e1ed8a0ad68b3e699e36ad78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2dca7728551e8547bbf55333e413f3b6891545286132dd023fa94e87fe76974
+size 4736642
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9f294dfa426e4c92b18357c210ab39e1d1580c89
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b40758b8d4befcd5088730ef8f80a75d12be1c9687ee5f7f12075df1af3707
+size 7227635
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9285508c7f9c798d64cccbcf925322f7e41f92cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d4efd93da2e5a681ab51e80cc3611842031d48270ec761434f7ae491227606
+size 6312121
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cfa9d3068aa9247727b50649cb103488de280fb8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f6fc2cd79f27ded540e28fb0d7353d000f6f5b4926a81fc7b512a2361536b83
+size 6316422
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..826f589c958b634ad8f2a03be904bc5a5b0f22a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57cb7bcfcce95238d7005f0fe5ee913227f085143a04e893e6c66fa2777cf748
+size 5661565
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..069e277eb0f8e8ec65dda9f6e5306110795333ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12358460992c7ffcb95f8c0ac4a4e5d3ef48c4ee5b3121125dd7dc6dc5303b6a
+size 5280591
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cf932fded9a9807f74023a94e1aa97fb0a4de414
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89b45852053a7fb352b8ad82bf9e24919b5a8088e979972919ea5521fd336c20
+size 7786168
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4afc3e0c48bb51f3ff3f3afc13de8fadfdc4cdf4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2637eb8513ca50c7b1ed701e15f1d6f38b57f66dc104d37f25b82e88863a12e6
+size 6011024
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bf1bd20c36fb3a8b600de7fc2b41b9d9a22c99d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0ed31fba6e262e30815aebc3dd8dae8d271ce81323a9bc0378068408bade298
+size 7001075
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..03d5dd4dcfc356a494051f68352bad62f28f35ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6a1ce8cb3ea85821abb8c8c7e69c67b802e8f5e506f8f4a0d0f3b59d22ee811
+size 6060734
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dad685d84dca4918681d26183966f36487fcc6e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df880e7cf39f5e9466297feeac99e419333f6b1514c5336148898e672dfd508a
+size 5086866
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11bb66e64159254db9648743780f1bfc7fe5655f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c15374bae818f97b31d16e5891da2d08744b79330b0203dfce8f4648a80690a
+size 5627895
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..43f4bf93ea78b45f124418eee826e983ec36f5ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d9111de509de20d616f4fe04c31e9629cb8be852a993ecc062e46c93a413844
+size 6040630
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4d8e519481565dedfb690267ccdd2e147532a954
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f68ab6ebad29dade18e54b37f5de1ee5fccb68d0054bd724cb688a776fd813b8
+size 8017981
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..44ba731b887efef6c423e765bae28ccd644ec124
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f220fa9c511cef3a4c47369c47e4141bc5e519feca4d214e83a180e724101587
+size 7546051
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1d91fa0d57f43ecf2161897ac96f366197defc62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:973fc021953c606b826a0a916320230d3bce188e2937c8e3a873b8035fa673fa
+size 7434179
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b5504628d80f65adff7cad7582a7623c3cd7e667
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad078dbf7f53070c5ceb46cce3624b6c48a57550d52393db8099a36d02f97e90
+size 9798445
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b1de06d8205e6736a2bdc52f612dc18e4e2e78d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4ea29b74e347f7ecdd95f3101bbf518d5b2945ec03903eadc9a814c02216a43
+size 4901656
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d515ab48ba31afe96532a95436a5baff952c86e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78e0caaa4a6b618efd1a2ebbbeaa3c0459587c53ba980e3627f642352d3f4015
+size 5587694
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ca2c1c4def424b93d9e8ed106a1a1a24c4db454e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59d13e601447655b7e46ff0bb68b0c9879205193e94141226ccc328bd4af56d3
+size 6695528
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..00202ac4474287eab47dc4164f47e402fb8977bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7c3ed0e7640be69d5319143084cedeef58a401699f3ad8e54b2efed0dc6674c
+size 5055709
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2115c9d0c2c508d2f9ba65e6e95bd438a00adf8e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3b3530b7ab8c7f771510ed679fc07584a4a6ee6fa98707a76c556dd5c4b2e4c
+size 6344615
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f99b0847d8aa183ed82eedcd78e533258f667360
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52f4213a2c8f2f00438792cd4d5a045a3f3f8e863a56b67df8f3fc53b37bad24
+size 5606117
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ea85b490477a823e4a33788dc33f6fbb58fea944
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af3c90363fb9b287090598c6ade7bca15d1042288bca96fdbd20fb45bbb5b019
+size 8009751
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f5563f541ec887bd833da0d09499c3f1d227fb23
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9826ee2f078f9c95bba9813dca76cc3c2397a8b6055e953128b1e6c766f0c7b
+size 7296626
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8288958625737655ec4dd2a5c96650f683b69025
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80547ae2b7639f600b001a176d8766f75f3033bef69b39dbe4ed1763b0230db4
+size 6617843
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b2b2eb8af8e22dac7a8f4ae2728caa224897fd1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:995528022b7c3388baca0dc42ddcd41bba7756ec52a6ff75402fafa20ab8b364
+size 4897094
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..700bb4d34b3ed863791c2e4d5d9f680a1df56c58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd9686541b69d82d3b026c6ec540e5cbd99f75da04b3df4a526c472588575a4
+size 7809169
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cdc496d9286d2665fb7756b990a109488f2978c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fe552f3a0b1054b9e1e81e0bb345834b1945e7c5895d4236f1112fd48a28d9b
+size 6791007
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..20d57bed62a246367e3c19f3d3cdbcea8fea1499
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c77097bcebc25077db130cc542bf3223913c4c35170e330125412b211b6eee52
+size 6180591
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..68986129c810b292d97297fae01df33368e9458f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c379c87bd2076ae6531ad392b9c674c3a31edd4cec988fdd1cbe93cccbbdb6
+size 6179580
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..80fea0a723c90352cf00c2e915947de2701d89da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42ec2df8bd0434df490a77e8b5c134f4012b30332c02c5d2208d4bdcd13ced5a
+size 5896276
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f39a2ac20e33f671fe911d990ec8e7e6455ddb34
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4247af3fae2dbd8c5d4cdff48f6a482c64611e7d43bd1d55cedbfaf859b1a815
+size 6254338
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a956b8e2dbf7621117461e6ff82fc3ee9470e806
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a702bc12030d83cea090abeff89a736df80207d7a8daa2063198f90f9367eaf
+size 7404420
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..85bdc0915284c5f02af9f7d91f16e93a8812cf27
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f80a3163d2a615ee135ee51d132e8f37664e348c70f3b466c826338c1710e21
+size 6726866
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..48848c8aab2fe203d3c3426c21d202dc52cc8024
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c69396ba73728e47b96d06885a491365da8c94c5f987d12391b898eab5cc6593
+size 7293686
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f1b8a2da3e83e3558d3e92c36e0a04f962630345
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3bc3425d18e653fd200b6437dba059efeb199d70155853beeb55f12440d9edb
+size 5801207
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f2dfc119d4412ac042bc4de8e746e0e0d4abd10c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3171c09bf1933b14719fe16b300d8eb073f865a3156130d645de5de1a3520eb9
+size 5575698
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6a5b7b66a9feb08b20ce6a17a44b1719ae486d4c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dec9421d6d555344cf43143e70e7850f74dc3312ffbfd374e5c7533d531fbd7
+size 6015780
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7a6f4ecba756698b5738f0bf0a91212f1a7bb287
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84526563336bcf2fe56f474659ee1ddd151019c209341b54311d0afd045ae0b5
+size 6308214
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b805e385a019b8967d71eaa1af9898887e62ad23
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7686bf933fe0924ab6085e33f4eb8b13870726b5493788dd43f911a68c21faf7
+size 7290661
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d9c1b238caa28b7c0209c3013787014d7c2a79e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:498f69449574d4781b17e1d0d4718f2420b91ecd8f06052f1adea7e0777f3947
+size 5609349
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5db7fa9179e25486b5e239413ca15d89cdf0f0f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e3fd64b7204d1d215c088fa80e9b42533cc1aca3a91baaec32720a0b3c1e192
+size 5236012
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..71ed277b85ccd7c1b14208efb048fe5793a038be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bb2f789121c2cc502fe36202b8eae67d984b5040abbf2bd30c12b01e0d3a73f
+size 7760472
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aed88a848fd69ee0f9c48950cc0496f7271eea98
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:799257edb573e00d0ee8f05f15712849af501b330cb90d84eb7a1ed40c2ead6f
+size 5889326
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e6a5359b6ec7e97f903fb3e263ecf28858f8224d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494649e43efc9ed76821bbfc847260af1d9331e437df6aa5f36c25c83259b3e0
+size 5507072
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e3f120ff86cc2da0d8b4666290aaea46ca33c6f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:972883d8d9aeca8c5b01ece620a27b2bb520e8598270a6106495996e7a51755f
+size 7373753
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eaf09a578c1eabc74e6a71e3d52bcf1eaaf710fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aca8b3b17377c21dc92e8b6f58af59b4dc4322a0b2ecaa47239e8ffe015ff2d0
+size 6623994
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6d3f8a44810e6169301e9fb4ae93ccf523f96aeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06a02a83a99e22fbde7e4dd3c89d5d4926c6090952d9183849f790838d95a16b
+size 8955314
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c26c45dacc204a49df06d536cea124f3d3e7ad2f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f239b0dcb3a48dd0a44d7f55caf3bb37d72fbd8c0d22ecf6eec00b5c71c8e695
+size 7508866
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4a554ef1b73cbc17eca0bfc3a5e14be926e514fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b861f6d7feb4042584d65dfd0355b4b090b985cba8493fdce1041812277b17e1
+size 7863045
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fe9c22acc300509d57f2f6ea0d27cb9094a1a4ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf35d0c464cc151709ff4897e690c581957cb9aec48ef1d9958c60d2e3ff11a9
+size 6539003
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9bdab03be93ec607998eb183184b5df7b2cc0afa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a58fa0b8689a5eb1d298fc9ed6d5e1adc93acdde440c6b0948c2b4711d9ef8ca
+size 5688875
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2551e983f135b45e1443b7f33ee224d4e0f2c959
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1df09c2d03c554f7b50032c9258a0c26d24b40b054886517bc4694643a26732
+size 6909345
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6474df313a99aa5dfa99f273a8e65de0125d0f9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32fb1b5bd5540e0831dcef980c7efb9c0e89d3cf562e4b0f842aea6515bafd6b
+size 7460319
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e2afec0073c73bb2f3360427dde471bc2ea24915
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46cf539eb215a1fcc1d444ceee56f8d341d962d6669f3ff7e1e69405d4b98a23
+size 6609100
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..47fbd2d2ef0c3b19602d97205a4c187440e8ea89
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1c5a008e4ca29d246f22ba84ff7413d7e3a763516da68374cccada2be948e8c
+size 6068950
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c8b760f290fdd83332bf1f68892e4c6e052845f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a49234e4dfdff1cef0e96e7f7c8dba7136c50b5ab5a3655b59b0bb7755a69e80
+size 5017001
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f4ac2c8f59afc4d96a0404e7c92c0a35887dd85c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9385c5ca45d50a4d684085596f1d4ee74f6c5bcc236bdd50991987c11652dd4
+size 7564380
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f40ebd788e93e440420cfa29a246a71440ba908e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41f3f0b13b2df9a3f860211102d964922ca3be2787f9091a0df7380549ce9ef8
+size 9748698
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..029e4b27dd93d69e99a6236777282370870e7414
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4b14a4a95ac01d67607a4486e727da49b6091ac94a81c85f6dd1046b0e91202
+size 6777137
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c75707bb8d091aac5755584f614a5158c13ecae7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:674d65651f3a8c2919d5853953af36154c023d574bdd223c6da84c2f5ec59529
+size 7173488
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0e5b4dbc1664bc20108b574d7f8d7601adb38143
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3df97c3db7dbfd3af00db271ae76e40278e318d8ec98d83b1b2798bc7a26e19
+size 6297205
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..33c6ce7e49c52eaad460f0133dd57ed0b0013f8a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7f801624f8bf5a9bd67fec3387271b8553fb921b4346637dd46381b13dbc81d
+size 6626026
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4e64a3f9fd7f411224c8edf86d4818f5e2d6dc8c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a367cfecd12bf401971d5d11ae5f15fc7f2eeb915050f23d58eec11ba55974d1
+size 6164078
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..56bf77a8dd38291a2d8168fc844e7ac274f262a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f763bc3bbb418915e717d38a19ce0a5eb3b796391049d313b65369d1a583a2f5
+size 6090390
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..faee7e3960418c56def75e829e17ccaa7258cef8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c8a9594ffc2393fb85d6dba15846f7777290a1354967b605db8a11d7126e0a8
+size 7135575
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..32c5aea4e1cc0cec45d3eff632ed0299efa948cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8da9a2bd328c84e98a7111a73ab8250ea019589dcddb944f9ed0f5f611c47c67
+size 7107441
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4553bd2a39e8e331a9bc45c0d6416a23d5f19846
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a5c82f0e68eb8399a3aca0f52ae67ae8696bc4f865fc0f5ff296ed73e769f23
+size 8142336
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..338afb1cdb8a84814a6f37b6e3a694e98dc09809
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c96daafaa6f41064f898ed0c02a72413a4075445e7fb3c239bcd1b868e0145f0
+size 8144678
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9c6b8a438d077aff4f0042570d0bf82b5f8da38e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d12a52ce7cd8c17f59f72ce5cb7f533bf4759bcd30f274e57cffe1488b74406
+size 5807996
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..784580fc984b1662a7006e008af9261b6e81a0d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c163a2e9b5ce97d380c06acfaa44af6fc91ee6fda709069ff6d075057f4ff6c4
+size 5408555
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f4b77432359a8d1f0c1f9535cdb63d3ffde93e57
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acada524de5da29ddceea84d9e2b89d04a56e4575badf49c0a7b2cbc4fed018c
+size 6288124
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bb0fb2f26eeabb9a93601e9070589d06d4ae2a2c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7b595bf48e1c75d54422b2fb913519b19a5cf40676fcc140b91e1796de38706
+size 6024035
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4fec6f0a82b68a8d15a211df2970bef0a49ea12a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5b3e276de375ef9b74e33eed48ea946ac405b5473e9a8f8e129db384b939793
+size 6212032
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9ade8de62a6eb71bdf9e553ddfcbe3c5333139b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8af2d1fb5d6b6f88b45417cb16b82672872e17e498e80ae2ebf9d803c1c76abe
+size 7790072
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..08f46039b684944de874c2cca9e4d23e0c5c939c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c8744fc65daad079b8a7e1eca1bfe65dd3a1af741d8e2e80498f05e87be1bda
+size 8143299
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..453475f6ab72111dfadca0d1aa91220035ad7e9b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11fcf031f08d1a58d628f5afda34d68a180265ad1c6bbbe6a162962c35d5c474
+size 7485125
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6794ec3ff75b40a1502d028988c724084e7a7fa7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de147e45d9f0e93c9f110f34172790557d9cc173088caf0df9098a4434111938
+size 7164703
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8d602926789f80bd35628d429d1a78cf92d2bc71
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cb6bda1c02d1bb277dc98f689e682676831b27e8a3c729f43c9db4c7a0f7857
+size 5507392
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2a8749745e52f9af53dcf60b092c6002d2516c82
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66fa11b5bbe082ace9e192cf942fbf860b567c3c07df7695cc9fe38bd6922b49
+size 6460957
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..22537318279c33d97d0aaa014752797dff4503a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a2887f83306db3c8835d59990df018b443d7b03ea84d154463fad7e40a812e9
+size 5805142
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a048d1e1ded71dd63e1ef958f7c52b5981df5fd2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cfd01e289c0a3575c33285caf5f88c12423b00370a15487df2a24174bb76b82
+size 5027737
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1d3c2b220a1eca6cb15744e90153eab729893245
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e55e778a71468385e3e9edb5d3320903f7d27d800d6cf5edcf04312f15bef38
+size 6842457
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..047d2f4b845495bd7909e7af4461017d7fbcc557
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b6fcd32577518040e5d9b82482fe3676ad9c5953bc4d87695050d3e4f96d841
+size 7502896
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..52a21d2b972c90dc0b823c95dbde5aff8dc1abfe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49472bdee1289e635bc446b4c6a55a44a850801f43e4fc55e876f3f900b39057
+size 6231284
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e485335715656ae0242751f6fdf556c2481907b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3853776062773aa92863b765dd774a0c47566d75028867976bb3394f7f0bf549
+size 5674993
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2107f172bc93b52dec6fcf7ae3d05eefce3fdb5c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:683fac9a747b9d8c6f966fe4d38cfdff9ec99321ff4d663e4beb03d7e76bce1d
+size 6205644
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0101.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c9e900eeedbea78bfafd3979bb905bc1d7af1a3d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0101.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ff90037382b145fdf37a9f12c614b49705232128f93cb9eb323f3ca7a23b6f0
+size 9222248
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0102.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0102.h5
new file mode 100644
index 0000000000000000000000000000000000000000..95b280ce95796c2b7e42668049fdeb822f1ed8a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0102.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e789e134201d3e20ac9c29d4d6999eb79d6fe50419dee57375e18c9b3f8ef012
+size 7535772
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0103.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0103.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7ac5c882034ec714538eccc549ec79dab09c809d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0103.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc90d8924e9539e7022b46025215bf2d03a6209f9e758411a6dc3d15a508cea5
+size 5269022
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a60425a36f53ad057ddf2021075b40321e7ffa09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1202,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1212,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1212,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1204,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1209,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1207,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1208,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1203,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1213,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1204,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1214,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1213,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1208,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1211,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1219,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1207,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1208,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1203,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1211,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1213,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1211,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1207,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1204,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1207,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1204,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1213,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1202,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1208,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1202,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1200,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1214,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1210,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1212,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1199,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1207,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1202,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1200,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1216,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1213,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1216,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1210,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1204,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1204,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1208,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1211,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1208,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1214,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1207,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1209,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1210,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1207,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1205,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1212,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1204,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1207,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1203,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1210,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1203,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1212,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1212,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1202,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1211,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1203,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1213,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1201,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1211,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1204,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1207,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1206,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1209,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1202,"success":true,"robot_type":"ur5e"}
+{"episode_index":102,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1201,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1204,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f6da684f68974ce6131b5311104a7d808681fb4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-04T23:29:21","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[-0.4461411905242143,1.6871343755703667,0.71338606911949],"aabb_xy":[[-0.46130406350115144,1.6719689182752484],[-0.4309783175472773,1.702299832865486]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.2158288638089665,-2.036966413945937,0.71338606911949],"aabb_xy":[[0.20619722758853687,-2.046603726725646],[0.2254605000293961,-2.027329101166228]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.0672006146225883,-1.2200066839461334,0.71338606911949],"aabb_xy":[[0.0554324278279308,-1.305006683851355],[0.07896880141724584,-1.1350066840409119]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[-0.3227501037044385,-1.3757336336294534,0.71338606911949],"aabb_xy":[[-0.33045329437851556,-1.3834430043281911],[-0.3150469130303615,-1.3680242629307153]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[-0.20699955377037454,-0.13542678435937505,0.71338606911949],"aabb_xy":[[-0.2769995501803363,-0.15586472001105672],[-0.13699955736041272,-0.11498884870769328]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.43015162362386633,-2.5642252306998157,0.71338606911949],"aabb_xy":[[-0.45232415060051706,-2.5864008978559387],[-0.4079790966472154,-2.5420495635436926]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.166045084362196,-1.8154465590202258,0.71338606911949],"aabb_xy":[[0.1595434478541914,-1.8252143810465358],[0.17254672087020062,-1.8056787369939162]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.44025367178803093,0.8997886252082079,0.71338606911949],"aabb_xy":[[-0.47525367176452676,0.8903240091605913],[-0.4052536718115351,0.9092532412558245]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[-0.1636041374356354,-2.16053045746239,0.71338606911949],"aabb_xy":[[-0.17375715298978475,-2.1965999990351293],[-0.153451121881486,-2.1244609158896486]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[0.27239966174246566,-0.6467643010447632,0.71338606911949],"aabb_xy":[[0.24989966192856328,-0.651238917415244],[0.29489966155636804,-0.6422896846742825]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[-0.3371348249943355,0.9088526886764714,0.71338606911949],"aabb_xy":[[-0.3547676605878631,0.8912297426608484],[-0.31950198940080793,0.9264756346920944]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.6119515271895852,-1.8172967409669663,0.71338606911949],"aabb_xy":[[0.5841064904089781,-1.848081239705278],[0.6397965639701924,-1.7865122422286546]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[-0.03677413067255231,-1.4536680226403094,0.71338606911949],"aabb_xy":[[-0.0967741315333651,-1.5050944526467953],[0.023225870188260497,-1.4022415926338225]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[0.3361503703411264,-2.390679543886303,0.71338606911949],"aabb_xy":[[0.25615036707711325,-2.404239576195216],[0.4161503736051395,-2.3771195115773893]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[-0.07310876736546157,1.4347649783383782,0.71338606911949],"aabb_xy":[[-0.13710876465111022,1.3932582593855343],[-0.009108770079812922,1.4762716972912222]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.020216100485636823,1.257515377628878,0.71338606911949],"aabb_xy":[[-0.029666596392059385,1.2075153783826034],[0.07009879736333303,1.3075153768751528]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[-0.1366337626935944,0.6881844514267721,0.71338606911949],"aabb_xy":[[-0.15909853266499951,0.6656844505479116],[-0.11416899272218928,0.7106844523056326]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.5179120829275137,-1.3349390819808409,0.71338606911949],"aabb_xy":[[0.46791208428159237,-1.3848586256403033],[0.5679120815734348,-1.2850195383213785]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[0.4911786877340216,-1.2238571320933542,0.71338606911949],"aabb_xy":[[0.4686786874905063,-1.2360617667531262],[0.513678687977537,-1.2116524974335823]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[0.6431648844629312,0.13195046801484178,0.71338606911949],"aabb_xy":[[0.6066690638356524,0.09546652558808422],[0.6796607050902099,0.16843441044159935]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.06952585366713737,-0.8669607897166363,0.71338606911949],"aabb_xy":[[-0.09949341057696304,-0.8969607900145221],[-0.039558296757311706,-0.8369607894187506]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[-0.5921476305295517,-1.1454104119672484,0.71338606911949],"aabb_xy":[[-0.6296476311941301,-1.1610974699674703],[-0.5546476298649727,-1.129723353967026]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_22","position":[-0.6666213798519097,-0.005803098354492331,0.71338606911949],"aabb_xy":[[-0.6899032220500411,-0.09080309965172038],[-0.6433395376537784,0.07919690294273572]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[0.4641991895759823,1.0290991534684282,0.71338606911949],"aabb_xy":[[0.39919919142006316,1.002802908918516],[0.5291991877319013,1.0553953980183404]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[0.00022740358898121205,0.6652699744648931,0.71338606911949],"aabb_xy":[[-0.03477259468113869,0.6581958467699048],[0.035227401859101115,0.6723441021598812]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663718471486074,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5832.png","name":"5832"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5832.png","name":"5832"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9677.png","name":"9677"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5990.png","name":"5990"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9293.png","name":"9293"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/926.png","name":"926"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":810.2110752312581,"rotation_z_degrees":207.9642962268189,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0033756917198422415,-0.009124930893964472,-0.019641221452581605]},{"name":"camera_2","offset_m":[0.0010559055532642428,0.003489612007862495,0.007635700709593237]},{"name":"camera_3","offset_m":[-0.006143445413832747,0.016444251208630575,-0.014887214546815918]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011377579977562568,0.0007687260842763901,-0.0018714545081646742],"end_effector_yaw_offset_degrees":-0.5409588504094591},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005331670075551149,-0.001465130246591122,0.0013944453070556776],"end_effector_yaw_offset_degrees":-0.2840614803967034},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001369381073020392,-0.00039464893895917543,-0.0015889188833949613],"end_effector_yaw_offset_degrees":-0.17345096058455112},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011365370083408128,0.0019263447264542327,-0.00021133469891843819],"end_effector_yaw_offset_degrees":-0.0021153837822232013}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003576616138258013,0.0035445247366486807],"position_m":[0.16967661613825802,0.15674452473664868,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004382601178556186,0.0022179084750367437],"position_m":[0.2590826011785562,-0.3187820915249633,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022240123647969423,0.0005107265523624479],"position_m":[0.14167598763520306,0.28631072655236245,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032126194561276017,-0.0016271117237669874],"position_m":[0.3629126194561276,0.061872888276233017,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10910050946d2edeb9cfebf2077b10f45aa6efdd75870e3b38b505666c8911b9","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0000.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5832/tex_ceiling_textures_926/tex_floor_textures_9293/tex_table_textures_9677/tex_wall_textures_5990","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3648312492134531977,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3648312492134531977,"visual_seed":3648312492134531977,"scene_id":"lab_003","finished_at":"2026-09-04T23:32:59"}
+{"episode_id":"ep_000001","started_at":"2026-09-04T23:33:03","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.18559850453996463,-0.15043005730894654,0.71338606911949],"aabb_xy":[[-0.24959850782967272,-0.19376497631286416],[-0.1215985012502565,-0.10709513830502894]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[-0.18287054384392365,0.24411711570000483,0.71338606911949],"aabb_xy":[[-0.19343802350202263,0.23357208558699624],[-0.1723030641858246,0.2546621458130134]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.45359984339161774,0.36945645535117233,0.71338606911949],"aabb_xy":[[0.417104022764339,0.3329725129244147],[0.4900956640188965,0.40594039777792984]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.333875508463662,1.1184569020088682,0.71338606911949],"aabb_xy":[[0.3251775461729467,1.1063319277013934],[0.3425734707543773,1.1305818763163429]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.4717882107450506,0.6715456936066082,0.71338606911949],"aabb_xy":[[0.4439431739644435,0.6407611948682965],[0.49963324752565774,0.7023301923449199]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[0.5253897076448846,-2.0772224079415613,0.71338606911949],"aabb_xy":[[0.4453897102412911,-2.1572149791397437],[0.6053897050484779,-1.9972298367433783]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[0.3979152571343467,-0.4766989316128636,0.71338606911949],"aabb_xy":[[0.360415255618715,-0.4879257046290087],[0.43541525864997843,-0.4654721585967186]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[-0.6388255043867488,-0.26490330939517337,0.71338606911949],"aabb_xy":[[-0.6434606195389821,-0.26877064447232196],[-0.6341903892345154,-0.26103597431802467]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.35620849627233114,-1.6679761106714646,0.71338606911949],"aabb_xy":[[-0.37649279899572985,-1.6882587358141734],[-0.3359241935489323,-1.6476934855287557]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.7062525458288742,0.5838071376066534,0.71338606911949],"aabb_xy":[[0.7014089510676443,0.5789554851276693],[0.7110961405901043,0.5886587900856375]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[0.636685456303177,0.14664948852750825,0.71338606911949],"aabb_xy":[[0.5726854539603753,0.10170863728337577],[0.7006854586459784,0.19159033977164075]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[0.0897619104779569,1.7759181285320325,0.71338606911949],"aabb_xy":[[0.06726191066405451,1.7714435121615515],[0.11226191029185928,1.780392744902513]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[-0.46575784968951456,-0.4254039226530484,0.71338606911949],"aabb_xy":[[-0.48343348027811284,-0.4430841389324511],[-0.44808221910091617,-0.4077237063736456]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[-0.6229812899682472,0.2810024622126259,0.71338606911949],"aabb_xy":[[-0.6729812903288132,0.23102247500302295],[-0.572981289607681,0.3309824494222288]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.17739481352524378,-0.7419462979040843,0.71338606911949],"aabb_xy":[[-0.22739481454437907,-0.7784125136419123],[-0.1273948125061085,-0.7054800821662564]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[0.16661789297867202,-2.0448141156606354,0.71338606911949],"aabb_xy":[[0.10661789313210521,-2.101632737853674],[0.22661789282523878,-1.9879954934675967]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[0.27049068153957867,-1.8027982812653836,0.71338606911949],"aabb_xy":[[0.24720883934144736,-1.8877982825626114],[0.29377252373771,-1.7177982799681553]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[-0.13048809235061687,-2.1122171044082956,0.71338606911949],"aabb_xy":[[-0.1654880915434351,-2.123184150405957],[-0.09548809315779858,-2.101250058410632]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[-0.5780106833578841,0.11597445300589104,0.71338606911949],"aabb_xy":[[-0.6001832103345349,0.09379878584976784],[-0.5558381563812332,0.1381501201620142]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.3519918899219775,1.0455173863397467,0.71338606911949],"aabb_xy":[[-0.36174787943115133,1.035754852280512],[-0.34223590041280355,1.0552799203989809]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.012293288837057492,-1.6958707024523785,0.71338606911949],"aabb_xy":[[-0.012927548022782176,-1.721094453305265],[0.03751412569689715,-1.6706469515994915]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[-0.34686317852702236,0.6243473026250879,0.71338606911949],"aabb_xy":[[-0.36574756229553257,0.6054613778447351],[-0.32797879475851216,0.6432332274054406]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6630119937988224,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5560.png","name":"5560"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5560.png","name":"5560"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6289.png","name":"6289"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8719.png","name":"8719"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8613.png","name":"8613"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8006.png","name":"8006"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":765.1458298191313,"rotation_z_degrees":228.62331167871682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012885043959826783,-0.0153596705367606,0.018266808262666977]},{"name":"camera_2","offset_m":[-0.008573040121621483,0.011235007816536333,0.015766140431891968]},{"name":"camera_3","offset_m":[-0.006786115931799652,0.005782939595302041,-0.016824207105298174]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011401927118858861,0.0008405544988251846,0.00015415835296075714],"end_effector_yaw_offset_degrees":0.26877335127759183},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006920829805654547,-0.000306881216962935,-0.001307341702388074],"end_effector_yaw_offset_degrees":-0.8673035587606426},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006284576686719449,-0.0006110214471585426,-0.0009106429366724691],"end_effector_yaw_offset_degrees":-0.5555605754297273},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008501442107084504,0.001008719641426229,-0.0004073297574849191],"end_effector_yaw_offset_degrees":0.22466278777344728}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003990073723100083,-0.002862730499787537],"position_m":[0.1700900737231001,0.15033726950021248,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031220160862858526,0.0013896024694738792],"position_m":[0.25782201608628585,-0.3196103975305261,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0048205242358763094,-0.002936704439436222],"position_m":[0.1390794757641237,0.2828632955605638,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029526067091628317,0.004888558948379443],"position_m":[0.36265260670916283,0.06838855894837945,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"901fe1729dae27826027cae2db33b015a2ba6ed83ca56bcad87bd7d216ce1b0d","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5560/tex_ceiling_textures_8006/tex_floor_textures_8613/tex_table_textures_6289/tex_wall_textures_8719","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5801287848699345892,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5801287848699345892,"visual_seed":5801287848699345892,"scene_id":"lab_003","finished_at":"2026-09-04T23:37:05"}
+{"episode_id":"ep_000002","started_at":"2026-09-04T23:37:10","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[-0.531199238875428,0.16823606299438598,0.71338606911949],"aabb_xy":[[-0.5438019380125045,0.15564066676952049],[-0.5185965397383516,0.18083145921925148]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.5726360773799439,-1.843806278643829,0.71338606911949],"aabb_xy":[[0.5551361439459604,-1.8613062785640635],[0.5901360108139272,-1.8263062787235944]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.15659755015200216,0.6135345697928467,0.71338606911949],"aabb_xy":[[-0.19037310934269513,0.5994960745796817],[-0.12282199096130919,0.6275730650060117]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.05110505572407331,-2.3374800220530325,0.71338606911949],"aabb_xy":[[-0.1010781212565888,-2.3874800218655654],[-0.0011319901915578456,-2.2874800222404996]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[0.652406860778276,1.7967626042191873,0.71338606911949],"aabb_xy":[[0.6349068616439087,1.7868829771815995],[0.6699068599126431,1.8066422312567751]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[0.3548840732792886,-1.094168787957766,0.71338606911949],"aabb_xy":[[0.3329753911399375,-1.1160694547778567],[0.3767927554186396,-1.0722681211376752]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[0.6319434535149868,-0.696039269775812,0.71338606911949],"aabb_xy":[[0.584814074513151,-0.7600392708202138],[0.6790728325168224,-0.6320392687314099]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.6893628150035023,1.2887896456312613,0.71338606911949],"aabb_xy":[[0.6854489418080797,1.2800406302247045],[0.6932766881989246,1.2975386610378181]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.1592563226018967,-2.1136179762323706,0.71338606911949],"aabb_xy":[[-0.17050137817251454,-2.124859773956466],[-0.14801126703127887,-2.1023761785082753]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.5500809578585328,-0.03261518833216215,0.71338606911949],"aabb_xy":[[-0.599963654736229,-0.08261518757843689],[-0.5001982609808366,0.017384810914112602]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.013807445133995011,-2.00077325918009,0.71338606911949],"aabb_xy":[[-0.02119255484250082,-2.0102378752277064],[0.048807445110490844,-1.9913086431324734]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[-0.4528968098722596,-1.2034833679188768,0.71338606911949],"aabb_xy":[[-0.4893926304995383,-1.2399673103456343],[-0.4164009892449808,-1.1669994254921192]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.4025304495290616,-0.6423345406437233,0.71338606911949],"aabb_xy":[[0.39707250389204146,-0.7223345439513824],[0.4079883951660816,-0.5623345373360642]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[-0.30594249279668495,0.9439658695535562,0.71338606911949],"aabb_xy":[[-0.36994249513948646,0.8990250183094237],[-0.24194249045388336,0.9889067207976887]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.05918229302541733,1.4456118014253811,0.71338606911949],"aabb_xy":[[-0.12918229515684687,1.4228498357996853],[0.010817709106012215,1.4683737670510766]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[0.5592217872614156,1.5457206318281291,0.71338606911949],"aabb_xy":[[0.4754995617613331,1.455720628293433],[0.642944012761498,1.6357206353628249]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[0.5713575908462991,1.177494734399405,0.71338606911949],"aabb_xy":[[0.5213625798868472,1.1274947353638136],[0.6213526018057512,1.227494733434997]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.6436182306610541,0.9935576127917631,0.71338606911949],"aabb_xy":[[0.6261182304017175,0.9794660706029908],[0.6611182309203908,1.0076491549805362]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[-0.4935877322597535,-0.9662030653105345,0.71338606911949],"aabb_xy":[[-0.51101844733876,-0.983475179974385],[-0.476157017180747,-0.9489309506466834]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[-0.05938872342480206,-1.354289804656115,0.71338606911949],"aabb_xy":[[-0.06643017437554966,-1.3613165563939096],[-0.05234727247405446,-1.3472630529183203]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.28861730016673837,-0.5354990317297514,0.71338606911949],"aabb_xy":[[-0.298248936387168,-0.5451363445094604],[-0.27898566394630875,-0.5258617189500425]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.35683771899421224,1.1221351135383224,0.71338606911949],"aabb_xy":[[0.3449656359827111,1.0371351138446723],[0.36870980200571335,1.207135113231973]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[-0.4964853002117955,-1.5241573285776016,0.71338606911949],"aabb_xy":[[-0.5764852987991148,-1.6034729305157622],[-0.416485301624476,-1.4448417266394404]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[-0.49102635998346056,-2.068918727001824,0.71338606911949],"aabb_xy":[[-0.5285263604808188,-2.072887410549942],[-0.45352635948610226,-2.064950043453705]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[0.39236461235310816,-1.7199333942840325,0.71338606911949],"aabb_xy":[[0.3805964255584507,-1.8049333941892542],[0.40413279914776573,-1.6349333943788111]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[0.3071438599394827,1.4940303572069191,0.71338606911949],"aabb_xy":[[0.21714386134501273,1.477779770893498],[0.3971438585339526,1.5102809435203401]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.6458001020279691,-1.3039343176954976,0.71338606911949],"aabb_xy":[[-0.663300101306056,-1.3212724177618436],[-0.6283001027498822,-1.2865962176291517]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_27","position":[0.37405678524987906,-1.1966886535136687,0.71338606911949],"aabb_xy":[[0.36962615589503894,-1.2021370252483516],[0.3784874146047193,-1.1912402817789862]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641436539808684,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/528.png","name":"528"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/528.png","name":"528"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/846.png","name":"846"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1489.png","name":"1489"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1751.png","name":"1751"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4084.png","name":"4084"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":526.6004791051959,"rotation_z_degrees":129.7902234208933,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006118803119518502,0.0031419973755222805,0.016047631979977463]},{"name":"camera_2","offset_m":[-0.01782623559234048,0.005870044498370787,0.016405828958748935]},{"name":"camera_3","offset_m":[0.010265862970887302,-0.005685920670281525,0.011821535970184722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001462394958061798,0.0006474228650478918,-0.0009703927908800561],"end_effector_yaw_offset_degrees":0.7434428496443957},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013427043036157217,-0.0019161805290044544,-0.001763981326186828],"end_effector_yaw_offset_degrees":0.3342943575977808},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019128982184880954,-0.001821801946570242,0.0006934348770231843],"end_effector_yaw_offset_degrees":0.10746451865152107},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00196376844545121,-0.0016160424970867245,-0.0008018507573877014],"end_effector_yaw_offset_degrees":0.8833609749003342}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004947837448675496,0.0026465033873900624],"position_m":[0.1611521625513245,0.15584650338739006,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002286276652349841,-0.0024545970417786988],"position_m":[0.2569862766523498,-0.3234545970417787,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016668157626170176,-0.0006698368867170765],"position_m":[0.142233184237383,0.28513016311328293,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0047581195134200165,-0.004002685623201099],"position_m":[0.35494188048658,0.0594973143767989,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a44e33797ace0c6d1c6a27400eae979702dfd71a1f70f6d3fbc980cdbfd5c569","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_528/tex_ceiling_textures_4084/tex_floor_textures_1751/tex_table_textures_846/tex_wall_textures_1489","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":299003105792964716,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":299003105792964716,"visual_seed":299003105792964716,"scene_id":"lab_003","finished_at":"2026-09-04T23:41:13"}
+{"episode_id":"ep_000003","started_at":"2026-09-04T23:41:17","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[0.27894127399528945,1.1097364849288653,0.71338606911949],"aabb_xy":[[0.18894127540081956,1.0934858986154445],[0.36894127258975945,1.1259870712422866]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[-0.5016840482613141,1.7204354600844591,0.71338606911949],"aabb_xy":[[-0.5120956069417977,1.7150897267485603],[-0.49127248958083025,1.725781193420357]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[-0.2665990196360357,-1.4603697663838364,0.71338606911949],"aabb_xy":[[-0.3126841108907672,-1.5243697636363915],[-0.22051392838130426,-1.3963697691312813]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[-0.33102882188515825,0.7753238044734143,0.71338606911949],"aabb_xy":[[-0.35486503952576337,0.685323803664928],[-0.30719260424455325,0.865323805281901]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.1799376425210688,-0.6686975719638288,0.71338606911949],"aabb_xy":[[-0.2439376441990661,-0.7172149634431431],[-0.1159376408430714,-0.6201801804845146]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[-0.04548925733589371,-0.9553004095358921,0.71338606911949],"aabb_xy":[[-0.10948925376321561,-1.0024700333579886],[0.01851073909142819,-0.9081307857137957]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[-0.4829436014784685,-1.022876650898314,0.71338606911949],"aabb_xy":[[-0.5081644383383082,-1.0481004017512003],[-0.4577227646186288,-0.997652900045427]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[0.22853597559082817,1.1867426207576117,0.71338606911949],"aabb_xy":[[0.14853597843125285,1.1751950197997945],[0.30853597275040345,1.1982902217154285]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[-0.24744335518687194,-2.525289631705766,0.71338606911949],"aabb_xy":[[-0.28494335553509964,-2.5370810272868494],[-0.20994335483864415,-2.5134982361246823]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[0.26451158356265514,-2.2963515328254975,0.71338606911949],"aabb_xy":[[0.20051158426848692,-2.3603376731943517],[0.32851158285682336,-2.2323653924566433]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[0.6544215103736053,-2.0527067827262337,0.71338606911949],"aabb_xy":[[0.6322489833969545,-2.0748824498823564],[0.6765940373502561,-2.0305311155701102]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.29366924347329715,1.6623771908198388,0.71338606911949],"aabb_xy":[[0.24366924482737595,1.6124576471603762],[0.34366924211921834,1.712296734479301]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[0.3409683190515467,1.0333579923691123,0.71338606911949],"aabb_xy":[[0.32333548345801905,1.0157350463534893],[0.3586011546450742,1.0509809383847353]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.5412257166738341,0.23213076117321618,0.71338606911949],"aabb_xy":[[0.5351887036731695,0.22610406010426803],[0.547262729674499,0.23815746224216444]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[-0.6119107231111611,-0.3524700921008246,0.71338606911949],"aabb_xy":[[-0.6369107222767942,-0.35942233780618116],[-0.586910723945528,-0.345517846395468]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.6768463874518158,-1.5979254559292728,0.71338606911949],"aabb_xy":[[0.640932883026826,-1.6338389641460274],[0.7127598918768053,-1.5620119477125183]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.23235025646318597,0.6984141692089754,0.71338606911949],"aabb_xy":[[0.227506661701956,0.6935625167299913],[0.23719385122441594,0.7032658216879595]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[-0.5541685578546394,-1.1720503494498153,0.71338606911949],"aabb_xy":[[-0.604168557294835,-1.2220182739341314],[-0.5041685584144437,-1.1220824249654988]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[-0.5415123985135356,-2.545095561099784,0.71338606911949],"aabb_xy":[[-0.6215123964943206,-2.552697102061636],[-0.4615124005327505,-2.537494020137932]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.278151498654776,1.1322729409561396,0.71338606911949],"aabb_xy":[[-0.3681514980731469,1.09889744411195],[-0.18815149923640512,1.1656484378003293]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.5386872214166405,0.7490891304752023,0.71338606911949],"aabb_xy":[[0.5075403025730574,0.6790891317883951],[0.5698341402602236,0.8190891291620095]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[-0.5877903184998112,-1.411870425701524,0.71338606911949],"aabb_xy":[[-0.6677903217576541,-1.491866933493508],[-0.5077903152419682,-1.33187391790954]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[0.10001287268771897,1.0631657065773181,0.71338606911949],"aabb_xy":[[0.09179832757203496,1.0544891162796766],[0.10822741780340292,1.0718422968749592]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6590618509479294,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3970.png","name":"3970"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3970.png","name":"3970"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4822.png","name":"4822"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3330.png","name":"3330"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9460.png","name":"9460"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2850.png","name":"2850"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":737.3501235664988,"rotation_z_degrees":137.12614623865596,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0171663201679069,-0.01968527941571666,0.010156634853911849]},{"name":"camera_2","offset_m":[0.01655222583357836,0.017377605089078072,-0.013114495378883735]},{"name":"camera_3","offset_m":[-0.00738207448336878,-0.007932560110388823,0.0020750964834085443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001735676288613357,0.0004119523498383867,-8.614392434015401e-05],"end_effector_yaw_offset_degrees":-0.47703682695154215},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00012340820785408917,-0.0007885113528870371,0.0017974224080126119],"end_effector_yaw_offset_degrees":-0.8159696303684136},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001287189833371995,0.0017786509279409646,-4.6862717310176914e-05],"end_effector_yaw_offset_degrees":0.8127273745590826},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018993983300230326,0.0001258508947906494,-0.0009529960238980127],"end_effector_yaw_offset_degrees":0.20974027617531554}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002531615706740339,0.00015319466334396369],"position_m":[0.16863161570674035,0.15335319466334396,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00076732870677978,0.002516323994663819],"position_m":[0.2539326712932202,-0.31848367600533617,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024623440255799782,-0.004176024315893043],"position_m":[0.14636234402558,0.28162397568410696,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004684320160605464,-0.0001691300997223224],"position_m":[0.3550156798393946,0.06333086990027768,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bb479e5372eaefd2f4066145c3544580fef5517cd687826ce24158928f38cb23","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0003.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3970/tex_ceiling_textures_2850/tex_floor_textures_9460/tex_table_textures_4822/tex_wall_textures_3330","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":4867380098934917681,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":4867380098934917681,"visual_seed":4867380098934917681,"scene_id":"lab_003","finished_at":"2026-09-04T23:45:12"}
+{"episode_id":"ep_000004","started_at":"2026-09-04T23:49:27","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.6493103757238197,0.7568191587192232,0.71338606911949],"aabb_xy":[[-0.6837727231219612,0.7223252763214004],[-0.6148480283256776,0.7913130411170458]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[0.5762555556076769,0.9384174340891551,0.71338606911949],"aabb_xy":[[0.5683322753689286,0.9159174338511518],[0.5841788358464253,0.9609174343271585]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[-0.23052091693327836,-2.517628291722421,0.71338606911949],"aabb_xy":[[-0.2541060403971732,-2.582628293967853],[-0.20693579346938354,-2.4526282894769893]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[0.08888185844396934,1.4849191910170867,0.71338606911949],"aabb_xy":[[0.023881860288050283,1.4586229464671745],[0.1538818565998884,1.5112154355669989]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.1678689384456009,-0.8932971278422099,0.71338606911949],"aabb_xy":[[0.15965439332991688,-0.9019737181398512],[0.17608348356128484,-0.8846205375445685]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.55940204638778,-1.2645083131536252,0.71338606911949],"aabb_xy":[[-0.5685619253316566,-1.2710395311971623],[-0.5502421674439034,-1.2579770951100882]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.11459175863272575,-1.6103397646288378,0.71338606911949],"aabb_xy":[[0.02459175495580756,-1.6717721712059417],[0.20459176230964388,-1.548907358051733]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.3475015814112809,0.9541937702982457,0.71338606911949],"aabb_xy":[[-0.4026267870408716,0.8941937688569584],[-0.29237637578169007,1.0141937717395326]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.6701433844116792,-1.4887266442545855,0.71338606911949],"aabb_xy":[[-0.6914213925551514,-1.5537266465806583],[-0.648865376268207,-1.4237266419285122]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.5910155610051369,-0.817389444421535,0.71338606911949],"aabb_xy":[[-0.6053499861313003,-0.829449659976074],[-0.5766811358789734,-0.8053292288669963]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.3318468507796255,-1.1366850357833218,0.71338606911949],"aabb_xy":[[0.28186804226930956,-1.1866850357890404],[0.38182565928994133,-1.0866850357776028]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[-0.3148543360148856,-0.3060428526435115,0.71338606911949],"aabb_xy":[[-0.32043600764901436,-0.31854285246128694],[-0.30927266438075685,-0.29354285282573594]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.6597051133985159,-0.5279350110253431,0.71338606911949],"aabb_xy":[[-0.690189363525546,-0.5779350108068391],[-0.6292208632714857,-0.4779350112438472]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[0.6468476037075002,-0.46856279950672297,0.71338606911949],"aabb_xy":[[0.5828476020295029,-0.5170801909860372],[0.7108476053854976,-0.42004540802740875]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[-0.06715968213814627,-0.971392025529116,0.71338606911949],"aabb_xy":[[-0.13215968309527348,-1.0233402374628215],[-0.002159681181019071,-0.9194438135954105]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[-0.5677255892150757,1.0150899504429263,0.71338606911949],"aabb_xy":[[-0.6317255906230662,0.9633009989190017],[-0.5037255878070849,1.066878901966851]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.31346574888359163,-0.9474183432402534,0.71338606911949],"aabb_xy":[[-0.3784657467652395,-0.9985420069467944],[-0.24846575100194385,-0.8962946795337127]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[0.24836282931522635,-2.343695759793844,0.71338606911949],"aabb_xy":[[0.23126075135685822,-2.360802565325114],[0.2654649072735945,-2.3265889542625744]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.3916531976100164,0.6502307402724381,0.71338606911949],"aabb_xy":[[-0.44165319897090355,0.6002528356970225],[-0.3416531962491291,0.7002086448478537]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[0.20957767605723876,-0.8320064910651315,0.71338606911949],"aabb_xy":[[0.2032655765209003,-0.8377734303183504],[0.21588977559357717,-0.8262395518119128]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[0.48094486887318233,-0.3604153687605347,0.71338606911949],"aabb_xy":[[0.45844486934947487,-0.3829113162111554],[0.5034448683968896,-0.3379194213099138]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.04643421617661447,1.090620261011718,0.71338606911949],"aabb_xy":[[-0.08393421599364803,1.085982049700576],[-0.008934216359580908,1.0952584723228598]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_22","position":[0.32315368223687013,-0.5393929514747513,0.71338606911949],"aabb_xy":[[0.2591536829427019,-0.6033790918436056],[0.38715368153103835,-0.4754068111058972]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[-0.035688687496641,1.144205400740232,0.71338606911949],"aabb_xy":[[-0.11568868547742606,1.1366038597783799],[0.04431131048414404,1.1518069417020838]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_24","position":[0.37534952119298604,1.0605726547986327,0.71338606911949],"aabb_xy":[[0.35285038546675906,1.0380726540203697],[0.397848656919213,1.0830726555768957]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[0.5314027758257089,-0.10262930178984098,0.71338606911949],"aabb_xy":[[0.523376505195083,-0.11138079676719359],[0.539429046456335,-0.09387780681248836]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[0.6981378062173427,-0.29168114705741255,0.71338606911949],"aabb_xy":[[0.6805911113012236,-0.3291811486216638],[0.7156845011334615,-0.2541811454931613]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_27","position":[0.566659241032857,1.6519301106758584,0.71338606911949],"aabb_xy":[[0.4866592399597367,1.642152064338474],[0.6466592421059774,1.6617081570132428]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_28","position":[0.42713559786627964,1.2195415935378797,0.71338606911949],"aabb_xy":[[0.39369542267026,1.1860979677069494],[0.4605757730622992,1.2529852193688096]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_29","position":[-0.5643360658121691,-2.0291091531157677,0.71338606911949],"aabb_xy":[[-0.5888822814349197,-2.0593580496648043],[-0.5397898501894183,-1.9988602565667304]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_30","position":[-0.4267215764053614,-0.5075733981594022,0.71338606911949],"aabb_xy":[[-0.44189374568699474,-0.5227422550876056],[-0.41154940712372806,-0.4924045412311989]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_31","position":[-0.08929992103298989,0.5297041177834672,0.71338606911949],"aabb_xy":[[-0.10709342796790633,0.5119043721876695],[-0.07150641409807346,0.5475038633792648]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659901113421127,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4515.png","name":"4515"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4515.png","name":"4515"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5303.png","name":"5303"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3718.png","name":"3718"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5141.png","name":"5141"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4233.png","name":"4233"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":567.8042864485685,"rotation_z_degrees":253.04848813208088,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010698550138730846,0.0030833705454525497,-0.008968064304048774]},{"name":"camera_2","offset_m":[-0.0046132976726960435,-0.00218195145209317,0.013508431987259688]},{"name":"camera_3","offset_m":[-0.001344891980513744,-0.00823137661628413,0.0005849586438075073]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017317740595427474,0.0014662867574978624,-0.0016955748158877914],"end_effector_yaw_offset_degrees":-0.9341536925647025},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012580681413068998,0.0010362450709896563,0.0017320051307700667],"end_effector_yaw_offset_degrees":0.33701962199453517},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008766510354762656,-0.0007049726041392303,0.0015155351525374563],"end_effector_yaw_offset_degrees":0.1988776211390848},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014354815173459557,-5.6495095992079676e-05,-0.0017101279892054735],"end_effector_yaw_offset_degrees":-0.7311010490976504}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002990064433564653,-0.0012439253283046169],"position_m":[0.16310993556643535,0.1519560746716954,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00021164494162178617,0.0025535834503852125],"position_m":[0.2549116449416218,-0.3184464165496148,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004468856246457073,-0.004748793580198231],"position_m":[0.13943114375354293,0.28105120641980175,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007646608482040577,0.003573239684359286],"position_m":[0.358935339151796,0.06707323968435928,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"60cac063a2022989e7e7d23cfa57169e13fb445d43254ac8174ee36083c608ae","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0005.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4515/tex_ceiling_textures_4233/tex_floor_textures_5141/tex_table_textures_5303/tex_wall_textures_3718","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3184413737223443059,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3184413737223443059,"visual_seed":3184413737223443059,"scene_id":"lab_003","finished_at":"2026-09-04T23:53:29"}
+{"episode_id":"ep_000005","started_at":"2026-09-04T23:53:32","dimensions":{"distractor":{"count":25,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[-0.5441156695383094,-1.2925416172345165,0.71338606911949],"aabb_xy":[[-0.5765773704202367,-1.322674449349419],[-0.5116539686563818,-1.2624087851196137]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.5309612934488834,1.603883608044263,0.71338606911949],"aabb_xy":[[0.52632617829665,1.6000162729671141],[0.5355964086011167,1.6077509431214116]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[0.7106988006137516,-0.16041556773595733,0.71338606911949],"aabb_xy":[[0.7066206427067018,-0.16449654798422067],[0.7147769585208011,-0.15633458748769405]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[-0.14460832026394854,-1.7268417449432212,0.71338606911949],"aabb_xy":[[-0.1526023088416519,-1.7348418250383113],[-0.13661433168624512,-1.7188416648481306]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[-0.5951174429249926,-0.7135166621970634,0.71338606911949],"aabb_xy":[[-0.6591174422191608,-0.7775028025659176],[-0.5311174436308244,-0.6495305218282093]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[-0.30580465608102486,0.14554514661807927,0.71338606911949],"aabb_xy":[[-0.31450261837174015,0.13342017231060455],[-0.2971066937903096,0.157670120925554]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[0.11107354667041747,-0.9759642443745302,0.71338606911949],"aabb_xy":[[0.09920146365891637,-1.0609642440681806],[0.12294562968191859,-0.8909642446808799]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_7","position":[0.08382922202829124,-1.6540919497997673,0.71338606911949],"aabb_xy":[[0.07122652289121478,-1.6666873460246328],[0.0964319211653677,-1.6414965535749018]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.2596213611763617,0.4259792447577655,0.71338606911949],"aabb_xy":[[-0.3046139478948121,0.3809792454833168],[-0.2146287744579113,0.4709792440322143]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.20692148112002895,1.565266390894378,0.71338606911949],"aabb_xy":[[0.17348130592400934,1.5318227650634477],[0.24036165631604856,1.5987100167253079]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[0.16715427287941276,0.5586478483302275,0.71338606911949],"aabb_xy":[[0.1540030269081234,0.533647848573541],[0.18030551885070212,0.5836478480869141]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.31108615876153867,0.9905583190858223,0.71338606911949],"aabb_xy":[[-0.3610854339299749,0.9405583178098751],[-0.26108688359310256,1.0405583203617694]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[-0.4550132912476662,0.23418919485603684,0.71338606911949],"aabb_xy":[[-0.5200132922047933,0.18224098292233123],[-0.390013290290539,0.28613740678974237]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.5455934446381091,-0.8508475844772851,0.71338606911949],"aabb_xy":[[-0.5830934448099809,-0.8835483198601923],[-0.508093444466237,-0.818146849094378]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[0.48658329783156984,-0.3911684561991309,0.71338606911949],"aabb_xy":[[0.469672565395228,-0.4046406617917453],[0.5034940302679115,-0.37769625060651624]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[-0.49515555103747855,0.43213130464864236,0.71338606911949],"aabb_xy":[[-0.5451555513980445,0.38215131743903935],[-0.4451555506769124,0.48211129185824525]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.5831256004586138,-2.370565251108073,0.71338606911949],"aabb_xy":[[-0.6006255995929809,-2.3804448781456604],[-0.5656256013242466,-2.3606856240704848]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[-0.27289975228727664,0.5460873906819894,0.71338606911949],"aabb_xy":[[-0.2953997527993172,0.5235955323165911],[-0.250399751775236,0.5685792490473878]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[0.6401101915339664,0.4760381327395167,0.71338606911949],"aabb_xy":[[0.6056478441358244,0.441544250341694],[0.674572538932108,0.5105320151373394]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[-0.4070324418553179,1.6595818568283636,0.71338606911949],"aabb_xy":[[-0.4124903874923379,1.5795818535207042],[-0.40157449621829777,1.7395818601360225]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[0.08622194123724125,-1.7894868402071384,0.71338606911949],"aabb_xy":[[0.07880948569585278,-1.7953380506287664],[0.09363439677862972,-1.7836356297855105]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.23461815657609508,-0.7925816781132065,0.71338606911949],"aabb_xy":[[-0.25172023453446324,-0.8096884836444763],[-0.21751607861772695,-0.7754748725819368]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[0.16657672241280652,1.1962342509950399,0.71338606911949],"aabb_xy":[[0.15600924275470754,1.1856892208820313],[0.17714420207090556,1.2067792811080484]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[0.5996864904045425,1.3398640566875608,0.71338606911949],"aabb_xy":[[0.5808021066360324,1.320978131907208],[0.6185708741730528,1.3587499814679136]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_24","position":[0.6509230035623925,0.16912914153590286,0.71338606911949],"aabb_xy":[[0.6468070534503196,0.16501358650305734],[0.655038953674465,0.17324469656874833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6600281238495254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4863.png","name":"4863"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4863.png","name":"4863"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/186.png","name":"186"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5024.png","name":"5024"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2468.png","name":"2468"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9948.png","name":"9948"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":649.271995299004,"rotation_z_degrees":290.27029753120723,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01663674541857999,0.015451465278870338,0.018981660343117126]},{"name":"camera_2","offset_m":[-0.014769656051050087,0.0027641793187546462,-0.0125513027689661]},{"name":"camera_3","offset_m":[-0.01467532893198862,0.01946111990132676,0.015653849296123245]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015858735297352223,0.0007747695202137074,0.0005614124251883787],"end_effector_yaw_offset_degrees":0.221907211379736},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001794849061057355,0.0011404797833449204,-0.0002741326962767197],"end_effector_yaw_offset_degrees":-0.14257089983761895},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006241575313042352,0.001905458833601536,-0.0017870972885533228],"end_effector_yaw_offset_degrees":-0.03930488480642502},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007826336919305654,-0.001593907794391999,0.0008434147990662951],"end_effector_yaw_offset_degrees":-0.8707199081325805}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026884460720583607,-0.0033988547271210394],"position_m":[0.16878844607205837,0.14980114527287897,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003030881505087315,-0.0035202023374144185],"position_m":[0.2516691184949127,-0.3245202023374144,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022431442590883886,0.0027478273800974028],"position_m":[0.1416568557409116,0.2885478273800974,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025033892590748475,-0.004863175727530784],"position_m":[0.3571966107409252,0.05863682427246922,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"788dadea0e160a26f0b50a29e5e57262b61870d7b55e60f7a71db5194436261a","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0006.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4863/tex_ceiling_textures_9948/tex_floor_textures_2468/tex_table_textures_186/tex_wall_textures_5024","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3802227700352181986,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3802227700352181986,"visual_seed":3802227700352181986,"scene_id":"lab_003","finished_at":"2026-09-04T23:57:34"}
+{"episode_id":"ep_000006","started_at":"2026-09-04T23:57:39","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.46396439723930016,1.4371205281959667,0.71338606911949],"aabb_xy":[[0.45792738423863544,1.4310938271270186],[0.4700014102399649,1.4431472292649148]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[0.3363983927527274,1.1796916502285208,0.71338606911949],"aabb_xy":[[0.26639839115044794,1.1662588570268633],[0.4063983943550069,1.1931244434301784]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[-0.08225254083062428,0.43541959035404076,0.71338606911949],"aabb_xy":[[-0.16225254130084021,0.42710888273969244],[-0.002252540360408326,0.4437302979683892]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.6293030755941047,-0.007862277041239984,0.71338606911949],"aabb_xy":[[-0.6668030763861,-0.014230117999430079],[-0.5918030748021091,-0.0014944360830498864]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.49444951669267456,0.07773966459203807,0.71338606911949],"aabb_xy":[[0.45694951550788165,0.07332144189597752],[0.5319495178774671,0.0821578872880986]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.1299685894653081,-2.3135237323866886,0.71338606911949],"aabb_xy":[[-0.13606321735342644,-2.322093126938358],[-0.1238739615771898,-2.3049543378350204]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[-0.19707332106003828,-1.8339389129360502,0.71338606911949],"aabb_xy":[[-0.24689010052487304,-1.8839389114203533],[-0.14725654159520352,-1.7839389144517466]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[-0.5387388013738553,-1.2710626588599414,0.71338606911949],"aabb_xy":[[-0.5637388013063732,-1.277945327080865],[-0.5137388014413374,-1.2641799906390183]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[-0.31918714727645736,1.1889579471316143,0.71338606911949],"aabb_xy":[[-0.3991809708550156,1.1089579445387727],[-0.23919332369789914,1.2689579497244559]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[0.49027356311016246,-1.7752698170654835,0.71338606911949],"aabb_xy":[[0.46505272625032273,-1.80049356791837],[0.515494399970002,-1.7500460662125965]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[0.38061371411682066,0.6258951594350757,0.71338606911949],"aabb_xy":[[0.35811371430291816,0.6214205430645949],[0.40311371393072293,0.6303697758055564]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[-0.5697083732815373,1.6338555745583592,0.71338606911949],"aabb_xy":[[-0.5777023618592406,1.6258554944632684],[-0.5617143847038338,1.641855654653449]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.3818357534404566,0.7250841141529389,0.71338606911949],"aabb_xy":[[0.3268357552387118,0.6845621475265012],[0.43683575164220145,0.7656060807793764]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[-0.2556540484807845,-0.33423246700851994,0.71338606911949],"aabb_xy":[[-0.2606100686656657,-0.3567324672106416],[-0.25069802829590326,-0.3117324668063984]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[0.23606777913935162,1.5174713288079507,0.71338606911949],"aabb_xy":[[0.1720677772270093,1.4615601795499404],[0.30006778105169396,1.5733824780659613]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.19749322719468304,1.3737415623856455,0.71338606911949],"aabb_xy":[[-0.22789133829382657,1.343334660383976],[-0.1670951160955394,1.404148464387315]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[-0.12942160095142918,0.4937757094107855,0.71338606911949],"aabb_xy":[[-0.13744787158205518,0.485024214433433],[-0.12139533032080319,0.5025272043881382]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.6460292785153758,-1.6678997669312015,0.71338606911949],"aabb_xy":[[0.6110292793225575,-1.6788668129288635],[0.681029277708194,-1.6569327209335385]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.29123612626418005,-2.0788016643450935,0.71338606911949],"aabb_xy":[[0.25420201683612026,-2.1131788716788025],[0.32827023569223973,-2.0444244570113836]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[-0.4012672556517676,-2.06153574867289,0.71338606911949],"aabb_xy":[[-0.41386995478884403,-2.0741311448977555],[-0.3886645565146911,-2.0489403524480245]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6584337152680659,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7435.png","name":"7435"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7435.png","name":"7435"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1824.png","name":"1824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8119.png","name":"8119"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3388.png","name":"3388"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5794.png","name":"5794"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":617.7732970219084,"rotation_z_degrees":201.1060152450355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010823969234804266,-0.012218547145140982,-0.0002541052411943086]},{"name":"camera_2","offset_m":[-0.011027071430037495,0.0168553155600619,-0.0001422094642477209]},{"name":"camera_3","offset_m":[0.006660175646578403,0.011029775311250933,-0.013532524997315835]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001786288884934404,-0.0007896118399296941,0.001299962642710473],"end_effector_yaw_offset_degrees":-0.7898109476056403},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012399741187026415,-0.0008782469307462315,-0.0016540619246094583],"end_effector_yaw_offset_degrees":0.9253218103480632},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010310645344070598,0.0009695053787140465,-0.0006167211457071265],"end_effector_yaw_offset_degrees":0.12171138397757697},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-3.5919793322975596e-05,0.0005876252103453883,-0.0001672340766467157],"end_effector_yaw_offset_degrees":0.7501000975198149}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024219757714467683,-0.00013774875411249558],"position_m":[0.16367802422855324,0.15306225124588752,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007886885573507255,0.0037793286422911692],"position_m":[0.2539113114426493,-0.3172206713577088,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038467607636840607,0.004135533242196434],"position_m":[0.14005323923631594,0.28993553324219645,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011710328764537449,-0.004926240765580592],"position_m":[0.35852896712354626,0.05857375923441941,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"96815af838b60b2e8069ef54616b60e9dc6115486419f69ceb56694cd595857e","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7435/tex_ceiling_textures_5794/tex_floor_textures_3388/tex_table_textures_1824/tex_wall_textures_8119","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6127382557263763044,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6127382557263763044,"visual_seed":6127382557263763044,"scene_id":"lab_003","finished_at":"2026-09-05T00:01:43"}
+{"episode_id":"ep_000007","started_at":"2026-09-05T00:01:48","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.09645814950712517,-1.9962597218180715,0.71338606911949],"aabb_xy":[[-0.1604581517275322,-2.0406328059433596],[-0.03245814728671814,-1.9518866376927833]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_1","position":[-0.23902655908894854,0.7163564632208876,0.71338606911949],"aabb_xy":[[-0.2802753701188632,0.6613564637086701],[-0.19777774805903378,0.771356462733105]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[-0.34869066406065286,-1.4236952973666024,0.71338606911949],"aabb_xy":[[-0.3546572030013886,-1.4296564420259665],[-0.342724125119917,-1.4177341527072382]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[0.3285747314984855,1.4423530493636938,0.71338606911949],"aabb_xy":[[0.3066849839095447,1.3523530520744447],[0.3504644790874263,1.532353046652943]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.07437934172288008,1.4799140567129503,0.71338606911949],"aabb_xy":[[-0.1543793403101995,1.4005984547747892],[0.00562065686443934,1.559229658651111]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.3091359771052462,-1.1490049441227486,0.71338606911949],"aabb_xy":[[-0.3791359735152079,-1.1694428797744298],[-0.23913598069528433,-1.1285670084710664]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[0.30197631751301346,-2.1311857164519,0.71338606911949],"aabb_xy":[[0.29040733676607694,-2.1561857165688316],[0.3135452982599501,-2.106185716334968]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[-0.381320418779221,1.4971103240912815,0.71338606911949],"aabb_xy":[[-0.4063204183309595,1.4869678402261468],[-0.35632041922748253,1.5072528079564163]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.5575770354406905,-2.4215210865611723,0.71338606911949],"aabb_xy":[[-0.6475770351638646,-2.4445944390963517],[-0.46757703571751624,-2.398447734025992]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.5579382949132978,-1.073490337417767,0.71338606911949],"aabb_xy":[[-0.6229382930692169,-1.099786581967679],[-0.49293829675737877,-1.0471940928678547]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.565952423207283,-0.41368013589140196,0.71338606911949],"aabb_xy":[[-0.6158351200849792,-0.4636801351376768],[-0.5160697263295868,-0.36368013664512727]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.05969924306419483,-2.3454497397228953,0.71338606911949],"aabb_xy":[[-0.06885912200807143,-2.351980957766432],[-0.05053936412031823,-2.3389185216793584]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[-0.5125103320094582,1.8008902921204055,0.71338606911949],"aabb_xy":[[-0.5625103329599909,1.769341145116884],[-0.46251033105892525,1.8324394391239267]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[0.11365211196576497,-1.4988012128633483,0.71338606911949],"aabb_xy":[[0.09615211170642836,-1.5128927550521214],[0.1311521122251016,-1.484709670674576]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.546485326726678,0.38865805438797096,0.71338606911949],"aabb_xy":[[-0.5583574097381792,0.3036580546943206],[-0.5346132437151769,0.4736580540816213]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[0.3469149745477573,1.7884099668950397,0.71338606911949],"aabb_xy":[[0.31041915392047853,1.7519260244682822],[0.383410795175036,1.8248939093217973]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[0.3403038363127038,1.6819635154261818,0.71338606911949],"aabb_xy":[[0.3236267003196083,1.6652635914522518],[0.3569809723057993,1.6986634394001123]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.3479670680933171,-0.5641816817189129,0.71338606911949],"aabb_xy":[[-0.4119670701430492,-0.6042761648082209],[-0.2839670660435852,-0.524087198629605]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_18","position":[0.5810574174956493,-0.17308808908206608,0.71338606911949],"aabb_xy":[[0.5769215611629491,-0.21058808852642308],[0.5851932738283495,-0.13558808963770907]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.1317849016156285,-1.7508165009742123,0.71338606911949],"aabb_xy":[[-0.186784900792218,-1.80580617574917],[-0.07678490243903902,-1.6958268261992546]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.6340684244323802,1.736396130463366,0.71338606911949],"aabb_xy":[[0.6158626007711325,1.7253707298813745],[0.6522742480936279,1.7474215310453578]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[-0.4957319766607906,-1.5789915597521647,0.71338606911949],"aabb_xy":[[-0.5027722865943277,-1.6589915591518365],[-0.4886916667272537,-1.4989915603524935]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[0.04862419353377445,0.9546986957225574,0.71338606911949],"aabb_xy":[[0.038542486455200975,0.8746986978304425],[0.05870590061234793,1.0346986936146718]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[0.2993688303250919,0.7000634664107972,0.71338606911949],"aabb_xy":[[0.2945252355638619,0.6952118139318131],[0.30421242508632185,0.7049151188897813]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[-0.6124037441589749,0.4401716278557779,0.71338606911949],"aabb_xy":[[-0.620517398832352,0.4320658114017488],[-0.6042900894855978,0.448277444309807]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_25","position":[-0.24123690443356643,-2.433705827851606,0.71338606911949],"aabb_xy":[[-0.3212369014478144,-2.453840379525017],[-0.16123690741931845,-2.413571276178195]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_26","position":[-0.4827550899145454,-0.7009498856637433,0.71338606911949],"aabb_xy":[[-0.4890671894508839,-0.7067168249169621],[-0.47644299037820703,-0.6951829464105245]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[-0.54298610757908,-2.153809439823632,0.71338606911949],"aabb_xy":[[-0.5537590815004477,-2.188809438042671],[-0.5322131336577122,-2.118809441604593]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_28","position":[0.20104078435104666,-2.27312548943328,0.71338606911949],"aabb_xy":[[0.184030687060996,-2.289259977931554],[0.21805088164109732,-2.256991000935006]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_29","position":[0.6937734964755664,1.5665320000201084,0.71338606911949],"aabb_xy":[[0.6724954883320942,1.5015319976940353],[0.7150515046190387,1.6315320023461815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.658795125442797,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2150.png","name":"2150"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2150.png","name":"2150"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2827.png","name":"2827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3604.png","name":"3604"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4684.png","name":"4684"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2043.png","name":"2043"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":666.7664519412954,"rotation_z_degrees":67.14705264685732,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017933429001380705,0.012580282016159034,0.019582389809510745]},{"name":"camera_2","offset_m":[-0.007733352225893438,0.01262027595394458,-0.016797058943955487]},{"name":"camera_3","offset_m":[0.015486145153844475,-0.009446500127542392,-0.010358242565752738]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00039019651002312116,-0.00144598708761858,0.0005867089185784204],"end_effector_yaw_offset_degrees":0.41023508448121904},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004524312593320889,-0.0014068973311634671,-0.0001627194432948188],"end_effector_yaw_offset_degrees":0.5095796863505802},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015244110427202308,-0.0004749966206840056,-0.0006524894048147015],"end_effector_yaw_offset_degrees":-0.7810270898193861},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010052902206106515,-0.0010879402859535277,-0.0018930990090305375],"end_effector_yaw_offset_degrees":0.8255324701748081}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010010708938460837,0.002141097211778782],"position_m":[0.16710107089384607,0.15534109721177877,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014992342998262167,0.0017439696446067384],"position_m":[0.25320076570017375,-0.3192560303553933,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000740864243440411,-0.0028908825636363945],"position_m":[0.14464086424344041,0.2829091174363636,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027840576346156434,0.0010190191886334998],"position_m":[0.3569159423653844,0.0645190191886335,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8f37ea062fc26be3dea7dc8353dba241b0be8c147012e70dff20489f3de7ddfc","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2150/tex_ceiling_textures_2043/tex_floor_textures_4684/tex_table_textures_2827/tex_wall_textures_3604","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":9009998634306220074,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":9009998634306220074,"visual_seed":9009998634306220074,"scene_id":"lab_003","finished_at":"2026-09-05T00:05:21"}
+{"episode_id":"ep_000008","started_at":"2026-09-05T00:05:24","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.4199569839459345,-1.8400769508037769,0.71338606911949],"aabb_xy":[[-0.469934400811188,-1.8900769522930254],[-0.3699795670806808,-1.7900769493145283]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.4198118777107549,0.708904147780081,0.71338606911949],"aabb_xy":[[0.4023119442767716,0.6914041478598465],[0.4373118111447383,0.7264041477003156]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[-0.4379858061818235,-2.0251047467411896,0.71338606911949],"aabb_xy":[[-0.5179858047691428,-2.10442034867935],[-0.35798580759450405,-1.9457891448030284]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[-0.46170847215416366,-0.7803259652423371,0.71338606911949],"aabb_xy":[[-0.49670847350564545,-0.8006857011991579],[-0.426708470802682,-0.7599662292855163]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[0.5465199197223871,1.6563141795291565,0.71338606911949],"aabb_xy":[[0.48151992184073933,1.605190515822616],[0.6115199176040349,1.7074378432356978]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[0.662131169158878,-1.0251165231182013,0.71338606911949],"aabb_xy":[[0.6541376793635961,-1.033114655058677],[0.6701246589541602,-1.0171183911777257]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.5477597504405449,1.0543455735971827,0.71338606911949],"aabb_xy":[[-0.6117597518485355,1.0025566220732578],[-0.4837597490325542,1.1061345251211072]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.2394043512921767,0.7573833448764957,0.71338606911949],"aabb_xy":[[-0.26190077272604084,0.7348833450697483],[-0.21690792985831261,0.7798833446832432]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_8","position":[-0.6744026156840098,1.2804983875920573,0.71338606911949],"aabb_xy":[[-0.6904645431425275,1.1954983857794652],[-0.6583406882254922,1.3654983894046488]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[0.5942689206696044,-0.3909782847616716,0.71338606911949],"aabb_xy":[[0.5791666192085859,-0.40607980639273333],[0.6093712221306221,-0.3758767631306097]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.36560011994913066,-1.4145048468380788,0.71338606911949],"aabb_xy":[[-0.383275750537729,-1.432185063117481],[-0.34792448936053233,-1.3968246305586756]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.11925265083285241,0.709588250665055,0.71338606911949],"aabb_xy":[[-0.1692257163653679,0.6595882508525222],[-0.06927958530033697,0.759588250477588]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[0.28657644300996943,1.0249929800389457,0.71338606911949],"aabb_xy":[[0.21657644140768995,1.011560186837288],[0.3565764446122489,1.0384257732406033]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[0.197001162286926,1.3370835070609663,0.71338606911949],"aabb_xy":[[0.15950116246989243,1.3324452957498247],[0.23450116210395955,1.3417217183721084]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[-0.26195847172828784,-0.2570933145842713,0.71338606911949],"aabb_xy":[[-0.296958470921106,-0.2680603605819339],[-0.22695847253546947,-0.24612626858660863]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[-0.5713633845373267,0.23692047607423428,0.71338606911949],"aabb_xy":[[-0.614130091416747,0.17292047265243185],[-0.5285966776579066,0.30092047949603673]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[0.1381525159580257,-1.016483553873152,0.71338606911949],"aabb_xy":[[0.1283965264488518,-1.0262460879323863],[0.14790850546719958,-1.0067210198139174]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[-0.11507201150238655,1.6991112872677419,0.71338606911949],"aabb_xy":[[-0.1850720148939485,1.663795513564311],[-0.04507200811082456,1.7344270609711727]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.281779748414507,-1.2208761271185808,0.71338606911949],"aabb_xy":[[-0.30677974768646926,-1.237221490714743],[-0.2567797491425447,-1.2045307635224183]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[0.6638198512495417,1.0134512085071319,0.71338606911949],"aabb_xy":[[0.6303406839885007,0.9799720951360249],[0.6972990185105826,1.0469303218782389]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[0.2357831020110176,-0.8536104320184494,0.71338606911949],"aabb_xy":[[0.18078989067388085,-0.9086104323572431],[0.29077631334815435,-0.798610431679656]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.2303894287194435,-0.3733454089663617,0.71338606911949],"aabb_xy":[[-0.29038943036236536,-0.42534555825830594],[-0.17038942707652166,-0.32134525967441757]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[-0.147933705151871,-0.698430335693085,0.71338606911949],"aabb_xy":[[-0.21193370245421736,-0.7427967626609416],[-0.08393370784952456,-0.6540639087252281]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[-0.15940529741509812,1.483673286838893,0.71338606911949],"aabb_xy":[[-0.23940530067911123,1.47011325452998],[-0.07940529415108497,1.4972333191478067]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[0.40588423302445564,-1.7747239998332742,0.71338606911949],"aabb_xy":[[0.3161971567163402,-1.8647240000877248],[0.4955713093325711,-1.6847239995788237]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_25","position":[-0.01689778211393056,-1.4140933030717477,0.71338606911949],"aabb_xy":[[-0.07689778297474335,-1.465519733078234],[0.04310221874688225,-1.3626668730652611]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_26","position":[0.5350077654954779,-0.10273448241429017,0.71338606911949],"aabb_xy":[[0.4750077649876249,-0.15958121610021145],[0.5950077660033307,-0.045887748728368864]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6617443933485258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9469.png","name":"9469"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9469.png","name":"9469"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2787.png","name":"2787"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1075.png","name":"1075"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6236.png","name":"6236"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5055.png","name":"5055"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":623.2012917409753,"rotation_z_degrees":92.368849041839,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018764620260754938,-0.014265605982083925,0.01073627309615368]},{"name":"camera_2","offset_m":[0.012835981967324609,-0.0010756731072552352,-0.009534969560305853]},{"name":"camera_3","offset_m":[0.0025245643954657296,-0.016710841517437798,-0.01949089933485773]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00057980141480578,-0.00037020103836841924,2.3328569822900214e-05],"end_effector_yaw_offset_degrees":0.17329500182526258},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018150751550967286,0.0018961043064782534,0.000413534934425606],"end_effector_yaw_offset_degrees":0.18512588445473166},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000705284484032963,-0.0010983567872181322,-0.0010317148021607792],"end_effector_yaw_offset_degrees":0.08859368826638381},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001841848837512942,-0.0011434271935700955,0.0001667127900594331],"end_effector_yaw_offset_degrees":0.10338480788756055}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00064105929064915,0.004818916452207239],"position_m":[0.16674105929064914,0.15801891645220725,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00266891609732555,0.0031985420050955277],"position_m":[0.25736891609732554,-0.3178014579949045,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008528335851226612,0.004688792023681095],"position_m":[0.14475283358512267,0.2904887920236811,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004301640966039288,0.0017257037624071516],"position_m":[0.3553983590339607,0.06522570376240715,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6d1286dbc0a5c2f8f083767188bc08dde2461301659765e6fae5c786ad1f8a8c","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9469/tex_ceiling_textures_5055/tex_floor_textures_6236/tex_table_textures_2787/tex_wall_textures_1075","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8114633938677591948,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8114633938677591948,"visual_seed":8114633938677591948,"scene_id":"lab_003","finished_at":"2026-09-05T00:09:11"}
+{"episode_id":"ep_000009","started_at":"2026-09-05T00:09:15","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.5965099823712505,0.3157552476450074,0.71338606911949],"aabb_xy":[[0.5365099825246836,0.25893662545196866],[0.6565099822178172,0.372573869838046]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.06955507980458098,-1.131174000530841,0.71338606911949],"aabb_xy":[[0.05668317630364083,-1.211174000944677],[0.0824269833055211,-1.0511740001170047]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[0.04881580084207404,1.2733455784469507,0.71338606911949],"aabb_xy":[[-0.031184196120965124,1.1962699368031773],[0.1288157978051132,1.3504212200907242]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[0.3753032440856272,0.38964800917603704,0.71338606911949],"aabb_xy":[[0.3393897396606375,0.3537345009592824],[0.4112167485106169,0.4255615173927916]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.1764211024779645,-1.1765463590621148,0.71338606911949],"aabb_xy":[[0.15392468104410043,-1.1990463588688622],[0.19891752391182863,-1.1540463592553674]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.5053852752996306,-1.7856064078273501,0.71338606911949],"aabb_xy":[[-0.5553852747398261,-1.8355743323116664],[-0.4553852758594349,-1.7356384833430338]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.4932378765725189,0.6728601636542102,0.71338606911949],"aabb_xy":[[-0.5482115986088518,0.617860164089977],[-0.43826415453618606,0.7278601632184434]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.19301385757267908,1.439047033050739,0.71338606911949],"aabb_xy":[[-0.2430138585232119,1.4074978860472172],[-0.14301385662214627,1.47059618005426]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[-0.6863953790727122,-2.451773536838912,0.71338606911949],"aabb_xy":[[-0.694431713773997,-2.459811656143329],[-0.6783590443714274,-2.443735417534495]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[0.5551572630202908,-0.20121363554039995,0.71338606911949],"aabb_xy":[[0.4951572627688895,-0.2554949605768646],[0.6151572632716918,-0.14693231050393527]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.19860198348444114,1.1019806734730735,0.71338606911949],"aabb_xy":[[0.16297282758448137,1.0663480067162208],[0.23423113938440085,1.1376133402299267]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[-0.4908199613061761,0.14950429156406164,0.71338606911949],"aabb_xy":[[-0.5133190970324031,0.12700429078579864],[-0.46832082557994914,0.1720042923423246]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.06413341566604547,0.18951371805345163,0.71338606911949],"aabb_xy":[[-0.07226110385935869,0.180600109642744],[-0.05600572747273225,0.1984273264641593]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[0.35916771905382316,-0.6360373086946354,0.71338606911949],"aabb_xy":[[0.3416677188087737,-0.6535370965342021],[0.3766677192988725,-0.6185375208550684]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.3946121526128179,-2.378004855499646,0.71338606911949],"aabb_xy":[[0.3743278498894191,-2.3982874806423546],[0.4148964553362166,-2.3577222303569365]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.36972737900322894,0.9073848635126831,0.71338606911949],"aabb_xy":[[-0.44972737766011495,0.8928800045884203],[-0.28972738034634293,0.9218897224369459]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[-0.2741525712834724,-0.9256118324943909,0.71338606911949],"aabb_xy":[[-0.3381525677107943,-0.9727814563164875],[-0.21015257485615052,-0.8784422086722946]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[0.6786041868463308,-1.2650184606009085,0.71338606911949],"aabb_xy":[[0.6486125241124605,-1.2950184599377088],[0.7085958495802012,-1.2350184612641077]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[0.024252717736954477,1.047334310053488,0.71338606911949],"aabb_xy":[[0.00991829261079102,1.0352740944989494],[0.03858714286311793,1.059394525608027]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[0.2642116407114167,1.4185299277045043,0.71338606911949],"aabb_xy":[[0.21423834670815617,1.3685299271499567],[0.31418493471467707,1.4685299282590514]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.4376286631173625,-1.7995734660709486,0.71338606911949],"aabb_xy":[[0.42174416985203733,-1.8139264063697724],[0.45351315638268763,-1.7852205257721243]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.17153975498402474,-1.9094059851675453,0.71338606911949],"aabb_xy":[[0.15830880944934342,-1.9226334041895445],[0.184770700518706,-1.8961785661455457]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[-0.4410975686816281,0.40146889916758877,0.71338606911949],"aabb_xy":[[-0.4832819828424588,0.3374688988903776],[-0.39891315452079734,0.4654688994448]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[-0.22759838985145264,1.6624092766882401,0.71338606911949],"aabb_xy":[[-0.25214460547420336,1.6321603801392033],[-0.20305217422870192,1.6926581732372774]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[-0.45050535350248966,1.6453166792322516,0.71338606911949],"aabb_xy":[[-0.45774911954873493,1.565316681028649],[-0.4432615874562443,1.7253166774358537]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[-0.6594043590510618,-1.5806718476178987,0.71338606911949],"aabb_xy":[[-0.6893719159608874,-1.6106718479157847],[-0.6294368021412361,-1.5506718473200132]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_26","position":[0.5826741504694215,-0.7853716515500608,0.71338606911949],"aabb_xy":[[0.5186741490614307,-0.8371606030739855],[0.6466741518774121,-0.7335827000261361]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_27","position":[-0.14709392845495484,-2.5766448558471478,0.71338606911949],"aabb_xy":[[-0.15079718978409368,-2.580346874155865],[-0.14339066712581594,-2.5729428375384296]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[0.552948939782465,1.6123433388797612,0.71338606911949],"aabb_xy":[[0.472948939312249,1.6040326312654132],[0.6329489402526809,1.6206540464941097]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[0.024536771500824117,1.4994697378719546,0.71338606911949],"aabb_xy":[[0.012768584706166597,1.414469737966733],[0.03630495829548164,1.5844697377771764]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_30","position":[-0.5225641193908239,-1.06668054887279,0.71338606911949],"aabb_xy":[[-0.5925641220274102,-1.0867854138686552],[-0.45256411675423747,-1.0465756838769242]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_31","position":[-0.004391503348413761,1.6644612439854645,0.71338606911949],"aabb_xy":[[-0.039391501618533664,1.657387116290476],[0.030608494921706142,1.6715353716804524]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6620101734198647,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5627.png","name":"5627"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5627.png","name":"5627"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2167.png","name":"2167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6316.png","name":"6316"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7515.png","name":"7515"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2231.png","name":"2231"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":672.1688323458,"rotation_z_degrees":312.5993025716298,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00360744853257379,-0.009819168944628958,-0.004631535907967362]},{"name":"camera_2","offset_m":[-0.014191507151671487,0.0012237743901376379,0.018517770625924277]},{"name":"camera_3","offset_m":[-0.003579147967696334,-0.0013307293868860433,-0.019083446648223555]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002859173109536091,-0.0018984681326227584,-0.0019670759462256373],"end_effector_yaw_offset_degrees":0.5556969722674368},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008340758533437445,-0.0015294055876095918,-0.0005487149647074854],"end_effector_yaw_offset_degrees":-0.8601551970655748},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016474922869342623,-0.0015468098046393956,-0.0006319548739713032],"end_effector_yaw_offset_degrees":0.3967225427778194},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006802041759415558,-0.0010358958452023521,0.0015589396552318471],"end_effector_yaw_offset_degrees":-0.7203377068932992}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001147619920215275,-0.0026531157975695687],"position_m":[0.16495238007978472,0.15054688420243043,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003847532695207546,0.004803837140278814],"position_m":[0.2585475326952075,-0.3161961628597212,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032776315242835337,-0.0016920502154293181],"position_m":[0.14717763152428354,0.28410794978457066,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008456776924138654,0.001187752908214915],"position_m":[0.3588543223075862,0.06468775290821492,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e2eaaaf16273f37bc22e8f7773ae18d17674aac776b242fef87b5c59198a8f3e","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5627/tex_ceiling_textures_2231/tex_floor_textures_7515/tex_table_textures_2167/tex_wall_textures_6316","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":4522273194908168437,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":4522273194908168437,"visual_seed":4522273194908168437,"scene_id":"lab_003","finished_at":"2026-09-05T00:12:48"}
+{"episode_id":"ep_000010","started_at":"2026-09-05T00:12:52","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.07755350101680214,1.403709990444371,0.71338606911949],"aabb_xy":[[-0.09534700795171858,1.3859102448485736],[-0.0597599940818857,1.421509736040169]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.572547023735126,1.5992131212780225,0.71338606911949],"aabb_xy":[[0.5632000161528308,1.5849094990603785],[0.5818940313174212,1.6135167434956665]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.46868920336203423,-2.4499919680692877,0.71338606911949],"aabb_xy":[[-0.505723312790094,-2.4843691754029966],[-0.43165509393397444,-2.415614760735578]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[0.28559813915226273,-0.5106017334380759,0.71338606911949],"aabb_xy":[[0.2055981380791424,-0.5203797797754603],[0.36559814022538306,-0.5008236871006915]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.5264524483163762,0.742082755426591,0.71338606911949],"aabb_xy":[[0.46245244640403393,0.6861716061685805],[0.5904524502287186,0.7979939046846014]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.7135637779212225,0.96579164622392,0.71338606911949],"aabb_xy":[[0.7075267649205578,0.9597649451549719],[0.7196007909218872,0.9718183472928683]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[-0.4965554723238205,0.049287764596868566,0.71338606911949],"aabb_xy":[[-0.5190518937576847,0.026787764790121127],[-0.47405905088995637,0.071787764403616]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.2282438177268461,-1.5447639153299013,0.71338606911949],"aabb_xy":[[0.2241656598197964,-1.5488448955781644],[0.23232197563389587,-1.5406829350816378]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.3926715463776151,0.7798593115417676,0.71338606911949],"aabb_xy":[[-0.4726715485403776,0.6999041279156238],[-0.3126715442148526,0.8598144951679111]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[-0.2591067789653843,1.5200289319824898,0.71338606911949],"aabb_xy":[[-0.2853956032858249,1.4937574983278383],[-0.23281795464494362,1.5463003656371408]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[-0.0303903816729445,-2.1611033361421716,0.71338606911949],"aabb_xy":[[-0.04095786133104351,-2.17164836625518],[-0.01982290201484549,-2.150558306029163]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[-0.47958908803932626,-1.2649382678045882,0.71338606911949],"aabb_xy":[[-0.48721335612950456,-1.2725714913411321],[-0.4719648199491481,-1.2573050442680447]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.17120651212961147,-2.5241556362460997,0.71338606911949],"aabb_xy":[[0.16489441259327303,-2.5299225754993184],[0.1775186116659499,-2.518388696992881]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.4079319867588697,-0.5043528212851385,0.71338606911949],"aabb_xy":[[-0.4454319870510445,-0.5083942966857421],[-0.37043198646669484,-0.5003113458845349]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[-0.3126815444103912,-1.6107352742237504,0.71338606911949],"aabb_xy":[[-0.370312013297662,-1.6707352731504606],[-0.2550510755231203,-1.5507352752970394]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[-0.40809048841027307,1.1801402629022357,0.71338606911949],"aabb_xy":[[-0.4209623919112131,1.1001402624883996],[-0.3952185849093328,1.2601402633160719]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.01245119070187739,-1.0363104346321597,0.71338606911949],"aabb_xy":[[-0.05521789758129758,-1.1003104380539623],[0.0303155161775428,-0.9723104312103574]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[-0.08920718170239406,-1.8842853037964402,0.71338606911949],"aabb_xy":[[-0.179207180296864,-1.9005358901098615],[0.0007928168920758871,-1.8680347174830194]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[-0.5792471940730491,-1.9248297693554837,0.71338606911949],"aabb_xy":[[-0.6642471927651238,-1.9568156327503623],[-0.4942471953809745,-1.8928439059606046]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.005119598078282772,-1.2420899399580705,0.71338606911949],"aabb_xy":[[-0.011982479880085384,-1.2591967454893402],[0.022221676036650928,-1.2249831344268007]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6634505413185502,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/685.png","name":"685"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/685.png","name":"685"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5717.png","name":"5717"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6743.png","name":"6743"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3612.png","name":"3612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/65.png","name":"65"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":730.5201553580711,"rotation_z_degrees":186.8470332872585,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005159673845156015,-0.018703373760863416,0.019274332524770104]},{"name":"camera_2","offset_m":[-0.007597256794810922,-0.004732528715433464,0.011051462281325725]},{"name":"camera_3","offset_m":[0.010089670611397289,0.00205056449382535,0.011997135435224262]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004885097366165217,0.000851775817154688,-0.0002723609807485242],"end_effector_yaw_offset_degrees":-0.34813401752675954},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015476744258822671,-0.0003355135099274453,0.00014074611134573837],"end_effector_yaw_offset_degrees":-0.32809590694902746},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001080152487459835,-0.0007385114863971047,0.00036518221350485694],"end_effector_yaw_offset_degrees":-0.42254868980141547},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007381744400989034,-0.00013593795106729397,-0.0011540509185254733],"end_effector_yaw_offset_degrees":-0.19956995537561184}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003669638576479035,0.0027056760453386267],"position_m":[0.16243036142352096,0.15590567604533864,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030070482632597014,0.0002726096857546198],"position_m":[0.2577070482632597,-0.3207273903142454,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00464491670951134,-0.0019313106044476845],"position_m":[0.14854491670951134,0.2838686893955523,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007160555307179827,-0.001233781285526475],"position_m":[0.360416055530718,0.06226621871447353,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ca2eee5c1790530d3fcf09d771abe77853ffca6ff5447d81c32e701a832ec25e","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_685/tex_ceiling_textures_65/tex_floor_textures_3612/tex_table_textures_5717/tex_wall_textures_6743","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5640933070831640114,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5640933070831640114,"visual_seed":5640933070831640114,"scene_id":"lab_003","finished_at":"2026-09-05T00:17:04"}
+{"episode_id":"ep_000011","started_at":"2026-09-05T00:17:08","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.6767913203099518,-1.8182020228564837,0.71338606911949],"aabb_xy":[[-0.6942913195880387,-1.8355401229228296],[-0.6592913210318649,-1.8008639227901377]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[0.10692442696055171,1.684456860948853,0.71338606911949],"aabb_xy":[[0.05192442778396221,1.6294671861738954],[0.1619244261371412,1.7394465357238107]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[-0.3676043801015117,-2.356035565873696,0.71338606911949],"aabb_xy":[[-0.44760437868883113,-2.4353511678118567],[-0.28760438151419226,-2.276719963935535]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.47434058812078717,0.02121160852699777,0.71338606911949],"aabb_xy":[[-0.4932249718892974,0.0023256837466449944],[-0.455456204352277,0.04009753330735055]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.35246593435155615,-0.9786846826981204,0.71338606911949],"aabb_xy":[[0.34376797206084087,-0.9908096570055952],[0.36116389664227144,-0.9665597083906458]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[0.5231007515123076,-0.047416639344133316,0.71338606911949],"aabb_xy":[[0.4431007504391873,-0.057194685681517754],[0.603100752585428,-0.03763859300674888]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[-0.23207818827601312,-0.9169698219299254,0.71338606911949],"aabb_xy":[[-0.26957818844788506,-0.9496705573128326],[-0.19457818810414118,-0.8842690865470182]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[0.6206630318464779,0.4578005190710219,0.71338606911949],"aabb_xy":[[0.6113694136093273,0.42030052058288797],[0.6299566500836284,0.4953005175591558]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[0.07915108498903423,-1.7024603279609,0.71338606911949],"aabb_xy":[[-0.000848912025213755,-1.7225948796343111],[0.1591510820032822,-1.6823257762874886]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.45592785647942485,1.3219108633149772,0.71338606911949],"aabb_xy":[[-0.4677999394909259,1.236910863621327],[-0.4440557734679237,1.4069108630086278]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.5279785861415194,-0.44984481927318143,0.71338606911949],"aabb_xy":[[0.47298633550600855,-0.5048448210164942],[0.5829708367770304,-0.3948448175298687]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[0.36896989396851043,1.1371376057154614,0.71338606911949],"aabb_xy":[[0.36453926461367026,1.131689233980779],[0.3734005233233506,1.142585977450144]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[-0.18817700151575767,0.10890159839421143,0.71338606911949],"aabb_xy":[[-0.21067700175927306,0.09669696373443948],[-0.16567700127224227,0.12110623305398338]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.4883695112694286,1.3275871401932777,0.71338606911949],"aabb_xy":[[0.4654537983843788,1.3046828430568542],[0.5112852241544785,1.3504914373297012]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.5460752357320522,1.4085275398246817,0.71338606911949],"aabb_xy":[[0.5395735992240476,1.398759717798372],[0.5525768722400568,1.4182953618509915]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.5913792444281594,1.7415304417203044,0.71338606911949],"aabb_xy":[[0.5414965475504633,1.6915304424740296],[0.6412619413058557,1.791530440966579]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[-0.22290425082322718,0.24522932954071308,0.71338606911949],"aabb_xy":[[-0.2869042528729592,0.20513484645140515],[-0.1589042487734952,0.28532381263002105]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.6388293976719579,0.4161287950099717,0.71338606911949],"aabb_xy":[[-0.6938293958737026,0.37560682838353404],[-0.583829399470213,0.4566507616364092]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.06004887026252359,1.2193307617648848,0.71338606911949],"aabb_xy":[[-0.06804285884022697,1.2113306816697944],[-0.052054881684820184,1.227330841859975]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.034863572334403736,0.764259739930794,0.71338606911949],"aabb_xy":[[-0.06986357060452364,0.7571856122358058],[0.0001364259357161668,0.7713338676257822]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.5294252175222527,1.0886084165846395,0.71338606911949],"aabb_xy":[[-0.5789056387362115,1.0246084186717876],[-0.4799447963082939,1.1526084144974913]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[-0.031341576847775277,0.22673414784194001,0.71338606911949],"aabb_xy":[[-0.05385526867123246,0.1567341472409325],[-0.008827885024318076,0.29673414844294754]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569821518310416,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5810.png","name":"5810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5810.png","name":"5810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/812.png","name":"812"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1139.png","name":"1139"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8315.png","name":"8315"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1391.png","name":"1391"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":580.8959977074339,"rotation_z_degrees":339.1386706885574,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0067090182397850605,-0.014566041269589816,0.017373289635445998]},{"name":"camera_2","offset_m":[0.019792189795322098,0.012632715672439104,-0.013318561878392848]},{"name":"camera_3","offset_m":[-0.016782372219430797,-0.013322682407088138,0.0034361596960165997]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007354397276914026,-0.00020370383957299116,-0.001818005242820652],"end_effector_yaw_offset_degrees":-0.6552494405802844},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003252692417793446,-0.0007142273880663482,-0.0005234794878116475],"end_effector_yaw_offset_degrees":0.6790677707480091},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018858037025550954,0.0001186435283079346,0.0009588273638553215],"end_effector_yaw_offset_degrees":-0.6151452879975849},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006038446094886348,0.0003832774401744572,0.0008753126328148344],"end_effector_yaw_offset_degrees":0.48078151273216996}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001825747389288185,0.0010307637468868558],"position_m":[0.16792574738928817,0.15423076374688685,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004515773732288988,5.378785959593915e-05],"position_m":[0.250184226267711,-0.3209462121404041,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015084946707091718,-0.0027587104186156774],"position_m":[0.14239150532929082,0.2830412895813843,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004816691049079831,-0.0008597560682751335],"position_m":[0.3548833089509202,0.06264024393172486,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ce351179ecf2108e083760c93d6ab2fdd34f92afaf2389bd562b55e19a9e1197","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5810/tex_ceiling_textures_1391/tex_floor_textures_8315/tex_table_textures_812/tex_wall_textures_1139","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":4736785899977905927,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":4736785899977905927,"visual_seed":4736785899977905927,"scene_id":"lab_003","finished_at":"2026-09-05T00:20:51"}
+{"episode_id":"ep_000012","started_at":"2026-09-05T00:20:55","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.3151674375155218,1.6315899561411489,0.71338606911949],"aabb_xy":[[-0.3376674375256701,1.6174937365015456],[-0.2926674375053735,1.6456861757807522]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[0.4603836152821119,0.8287696383551104,0.71338606911949],"aabb_xy":[[0.425383615386093,0.8203954028431704],[0.49538361517813073,0.8371438738670502]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_2","position":[0.06312000107664262,-1.93559656141895,0.71338606911949],"aabb_xy":[[0.04060630925318541,-2.0055965620199574],[0.0856336929000998,-1.8655965608179423]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.11810871981325655,0.745301855130736,0.71338606911949],"aabb_xy":[[-0.12356666545027661,0.6653018518230769],[-0.11265077417623648,0.8253018584383951]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[0.10043221828996851,-1.7395441168297303,0.71338606911949],"aabb_xy":[[0.08849948392814046,-1.7519262696375897],[0.11236495265179659,-1.727161964021871]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.22749544276791445,-2.4229263326620276,0.71338606911949],"aabb_xy":[[-0.23477775914457805,-2.512926336271536],[-0.22021312639125074,-2.332926329052518]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.13806308988858573,1.2530837959126395,0.71338606911949],"aabb_xy":[[-0.21806309035880173,1.2447730882982913],[-0.05806308941836981,1.2613945035269878]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.3614201432339598,-0.17587722206946266,0.71338606911949],"aabb_xy":[[-0.3663761634188411,-0.1983772222715843],[-0.35646412304907865,-0.15337722186734104]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[0.6362797042382307,1.0043924812206257,0.71338606911949],"aabb_xy":[[0.5862797055923094,0.9544729375611634],[0.6862797028841517,1.0543120248800881]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[0.4792704319942538,-2.4749855040002595,0.71338606911949],"aabb_xy":[[0.4152704317202756,-2.525051604197548],[0.543270432268232,-2.424919403802972]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.545187510234832,-1.2809131669993288,0.71338606911949],"aabb_xy":[[0.541484248905693,-1.2846151853080465],[0.5488907715639708,-1.2772111486906106]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.07616878015508888,-2.302083096382777,0.71338606911949],"aabb_xy":[[0.01216877874709822,-2.3538720479067012],[0.14016878156307955,-2.250294144858852]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.3562865681688413,-1.2229988199451263,0.71338606911949],"aabb_xy":[[-0.3709299737228743,-1.2376575396019105],[-0.3416431626148083,-1.208340100288342]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[-0.3804396382904588,-1.7711560853325312,0.71338606911949],"aabb_xy":[[-0.4404396381370256,-1.82797470752557],[-0.320439638443892,-1.7143374631394925]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.28213664958342666,-0.7090845270013884,0.71338606911949],"aabb_xy":[[-0.34613664816999906,-0.7560914904008972],[-0.21813665099685414,-0.6620775636018797]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.36469422509205196,-2.463425377939978,0.71338606911949],"aabb_xy":[[-0.3825633328465075,-2.4772582859171886],[-0.3468251173375965,-2.4495924699627665]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[0.31187006787883065,-0.7850759035901034,0.71338606911949],"aabb_xy":[[0.23187006462098764,-0.8650724113820872],[0.39187007113667355,-0.7050793957981193]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[0.5044830748710329,0.25532679683336035,0.71338606911949],"aabb_xy":[[0.4792622380111932,0.23010304598047351],[0.5297039117308725,0.280550547686247]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.3419814527914589,-0.32597690070337926,0.71338606911949],"aabb_xy":[[-0.37644393080454663,-0.3326405778863021],[-0.3075189747783711,-0.31931322352045644]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.12043135563083518,0.6135476348756521,0.71338606911949],"aabb_xy":[[0.09003324453169156,0.5831407328739825],[0.1508294667299787,0.6439545368773215]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.20342248037756466,-1.6046284546469995,0.71338606911949],"aabb_xy":[[-0.2634224820204865,-1.6566286039389437],[-0.1434224787346428,-1.5526283053550554]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.12351200476757429,-0.49648075528421254,0.71338606911949],"aabb_xy":[[-0.148058220390325,-0.5267296518332495],[-0.09896578914482358,-0.4662318587351754]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.014831340014679006,-1.65347147737543,0.71338606911949],"aabb_xy":[[-0.04729304089660646,-1.6836043094903324],[0.01763036086724845,-1.6233386452605272]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[-0.037920447460604745,0.3093324833785931,0.71338606911949],"aabb_xy":[[-0.04596380738655992,0.22433248228322666],[-0.02987708753464957,0.3943324844739595]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[0.5577961955825164,1.7602596230153131,0.71338606911949],"aabb_xy":[[0.551484096046178,1.7544926837620944],[0.5641082951188547,1.7660265622685323]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[-0.45282199754946106,-1.4175144757142255,0.71338606911949],"aabb_xy":[[-0.5028008060597768,-1.4675144757199443],[-0.4028431890391451,-1.3675144757085067]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_26","position":[-0.6698547429127228,-0.47795835098645645,0.71338606911949],"aabb_xy":[[-0.6751872575673359,-0.48328267923169205],[-0.6645222282581098,-0.47263402274122085]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[-0.6325326565698519,0.5909345252356775,0.71338606911949],"aabb_xy":[[-0.6875326561915976,0.5359508324482047],[-0.577532656948106,0.6459182180231502]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[0.11698228866099292,-0.9112162708878706,0.71338606911949],"aabb_xy":[[0.06698228699949814,-0.9612147131435733],[0.16698229032248765,-0.8612178286321679]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[-0.07691391997192454,-0.7426666970589211,0.71338606911949],"aabb_xy":[[-0.11191391994842038,-0.7521313131065377],[-0.04191391999542872,-0.7332020810113045]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_30","position":[-0.07573862223518146,0.5934436458542711,0.71338606911949],"aabb_xy":[[-0.08215243587836639,0.5870338256066027],[-0.06932480859199651,0.5998534661019393]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_31","position":[0.3153220048394574,0.3658207628752277,0.71338606911949],"aabb_xy":[[0.30660803578952284,0.34332076221603935],[0.3240359738893918,0.3883207635344158]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_32","position":[0.6268296687565018,-1.8930898970210377,0.71338606911949],"aabb_xy":[[0.589329668464327,-1.897131372421641],[0.6643296690486766,-1.889048421620434]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_33","position":[-0.15417296735271757,-0.3178755654178662,0.71338606911949],"aabb_xy":[[-0.17167290078670092,-0.33537556533810076],[-0.13667303391873417,-0.30037556549763167]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_34","position":[0.6018942293371305,0.018581268015189778,0.71338606911949],"aabb_xy":[[0.5643942286725516,0.002894210014967594],[0.639394230001709,0.034268326015411965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6656501528972405,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4034.png","name":"4034"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4034.png","name":"4034"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4987.png","name":"4987"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4125.png","name":"4125"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1415.png","name":"1415"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6988.png","name":"6988"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":829.8265826845185,"rotation_z_degrees":159.0580925568793,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016946913982983362,-0.016927332502065094,0.01480664984550559]},{"name":"camera_2","offset_m":[0.00897802719140316,-0.018951706601430585,0.0029147680193891204]},{"name":"camera_3","offset_m":[-0.011873259586368002,-0.017927105811979503,-0.004002826560632916]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007126372492657377,-0.0009528388170008477,0.0019202983060302107],"end_effector_yaw_offset_degrees":0.7019218260288622},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010388706063400909,0.0013487107049772367,0.0004437139238369467],"end_effector_yaw_offset_degrees":0.1365353700072749},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007893439663429946,0.0007954549953084395,0.0005912182918757615],"end_effector_yaw_offset_degrees":-0.07021665360336748},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00036160498672594896,0.00037970469603827326,6.153488640999252e-06],"end_effector_yaw_offset_degrees":-0.2545364875679881}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005326015341060534,-0.002867418522979828],"position_m":[0.16663260153410606,0.15033258147702017,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034469319370244176,-0.0034662824237294346],"position_m":[0.2581469319370244,-0.32446628242372944,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00268335923172829,0.00278446958238111],"position_m":[0.1465833592317283,0.2885844695823811,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004739079191854225,0.00214866057140105],"position_m":[0.3549609208081458,0.06564866057140105,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b4b07ab48b8edfe365aafaa35d96b62a8b7fe7e8385993497060e4cbfd47dee5","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4034/tex_ceiling_textures_6988/tex_floor_textures_1415/tex_table_textures_4987/tex_wall_textures_4125","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5026603503082149328,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5026603503082149328,"visual_seed":5026603503082149328,"scene_id":"lab_003","finished_at":"2026-09-05T00:24:30"}
+{"episode_id":"ep_000013","started_at":"2026-09-05T00:24:34","dimensions":{"distractor":{"count":29,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.08926983818058798,-1.5804641465274085,0.71338606911949],"aabb_xy":[[0.05176983738859252,-1.5868319874855987],[0.12676983897258343,-1.5740963055692183]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.052937466605833094,-0.9450390896087042,0.71338606911949],"aabb_xy":[[-0.011062529789739983,-1.0090023780274378],[0.11693746300140617,-0.8810758011899706]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[0.4837242060936984,-0.3187521223223544,0.71338606911949],"aabb_xy":[[0.46681347365735654,-0.3322243279149688],[0.50063493853004,-0.30527991672973975]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.4183352221823826,1.71393245139619,0.71338606911949],"aabb_xy":[[0.39333522291042033,1.6975870878000276],[0.4433352214543449,1.7302778149923523]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[-0.6034140479184893,-0.19037700024805604,0.71338606911949],"aabb_xy":[[-0.621619871579737,-0.20140240083004765],[-0.5852082242572416,-0.17935159966606437]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[0.610752078990475,-0.28862565502069204,0.71338606911949],"aabb_xy":[[0.5467520817048264,-0.33013237397353606],[0.6747520762761237,-0.24711893606784813]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.14054027926961865,0.664526382704218,0.71338606911949],"aabb_xy":[[-0.15642477253494383,0.650173442405394],[-0.12465578600429353,0.6788793230030421]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[-0.4164111823062467,0.11693668781581001,0.71338606911949],"aabb_xy":[[-0.43384189738525314,0.09966457315195917],[-0.3989804672272401,0.13420880247966077]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[0.5006891291396962,-1.310946097115317,0.71338606911949],"aabb_xy":[[0.4206891269769337,-1.3909012807414607],[0.5806891313024587,-1.2309909134891734]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.3590220500027401,-1.65026004930054,0.71338606911949],"aabb_xy":[[-0.3955178706300188,-1.6867439917272973],[-0.3225262293754613,-1.6137761068737821]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[0.3376506627951139,0.685804926091353,0.71338606911949],"aabb_xy":[[0.28265518497445447,0.6308049246574459],[0.39264614061577324,0.7408049275252597]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.25283362586133007,-1.8431396694904896,0.71338606911949],"aabb_xy":[[0.17283362788054504,-1.8507412104523415],[0.3328336238421151,-1.8355381285286376]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.2332812073155126,0.8190399493074612,0.71338606911949],"aabb_xy":[[0.22271372765741357,0.8084949191944526],[0.2438486869736116,0.8295849794204697]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.22024302938198087,1.2921005929772402,0.71338606911949],"aabb_xy":[[-0.22895699843191536,1.2696005923180518],[-0.21152906033204638,1.3146005936364282]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.4317619616656336,-2.502729303980325,0.71338606911949],"aabb_xy":[[-0.49676195982155263,-2.529025548530237],[-0.3667619635097145,-2.4764330594304127]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[0.5540151427310596,-2.38138589876211,0.71338606911949],"aabb_xy":[[0.4940151422232066,-2.4382326324480306],[0.6140151432389124,-2.3245391650761884]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[0.6676009603262858,-1.467956403989652,0.71338606911949],"aabb_xy":[[0.6443191181281545,-1.55295640528688],[0.6908828025244171,-1.382956402692424]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.24897926140136473,0.4701523174128197,0.71338606911949],"aabb_xy":[[-0.2526825227305036,0.46645029910410185],[-0.24527600007222586,0.47385433572153757]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.6680025543182231,-1.288382775347558,0.71338606911949],"aabb_xy":[[0.6417137299977824,-1.3146542090022093],[0.6942913786386637,-1.2621113416929068]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.6459677649395972,-0.1730578993183971,0.71338606911949],"aabb_xy":[[0.6398731370514789,-0.18162729387006582],[0.6520623928277155,-0.16448850476672838]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[-0.31272826097472395,1.4426081851324413,0.71338606911949],"aabb_xy":[[-0.3372744765974746,1.4123592885834042],[-0.28818204535197317,1.4728570816814783]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[-0.064977534900996,-2.212625815259816,0.71338606911949],"aabb_xy":[[-0.11479431436583076,-2.2626258137441195],[-0.015160755436161244,-2.162625816775513]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[0.5874686483124674,1.0405409346743202,0.71338606911949],"aabb_xy":[[0.569968714878484,1.0230409347540854],[0.6049685817464507,1.0580409345945545]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[0.5541783439097694,0.23589850343528607,0.71338606911949],"aabb_xy":[[0.48917834290926887,0.1851121382806111],[0.6191783449102699,0.286684868589961]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.6582815392900211,0.7848783945801534,0.71338606911949],"aabb_xy":[[-0.683281539222539,0.7779957263592301],[-0.6332815393575032,0.7917610628010767]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.5091266423736686,-1.1255002924151012,0.71338606911949],"aabb_xy":[[-0.5429022015643615,-1.1395387876282659],[-0.4753510831829756,-1.111461797201936]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[0.07474392214329029,1.2083273015934983,0.71338606911949],"aabb_xy":[[0.024748911183838256,1.1583273025579066],[0.12473893310274232,1.25832730062909]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[-0.2490601615263,-1.2257286513636514,0.71338606911949],"aabb_xy":[[-0.26685366846121644,-1.243528396959449],[-0.23126665459138357,-1.2079289057678537]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[0.3279479050817684,-1.504168868537766,0.71338606911949],"aabb_xy":[[0.2992985727213522,-1.5328144278148417],[0.35659723744218463,-1.47552330926069]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6639128718166147,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3063.png","name":"3063"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3063.png","name":"3063"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7973.png","name":"7973"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5750.png","name":"5750"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4160.png","name":"4160"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":639.9390961617098,"rotation_z_degrees":128.06144842585758,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017791124987276103,-0.0033228584768725394,-0.01980869514770342]},{"name":"camera_2","offset_m":[-0.0050081972424265465,-0.015926001418945478,0.015004933502885402]},{"name":"camera_3","offset_m":[0.014784565497144773,0.00023461689102387273,-0.017865564932671624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013696199194758246,0.000793627815235988,0.0018574813182193413],"end_effector_yaw_offset_degrees":-0.18268482803851205},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018950492213969997,-0.0010153362036660956,0.0012432588626508775],"end_effector_yaw_offset_degrees":0.22643481207138416},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00141469070230922,-0.000618151572539444,0.0017008034809168674],"end_effector_yaw_offset_degrees":-0.555276926375732},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00028072885024349806,0.0019281870260998788,0.0017046841833966066],"end_effector_yaw_offset_degrees":-0.9469920254723618}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003688757035252681,-0.0018264068431395396],"position_m":[0.16241124296474732,0.15137359315686047,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020440717738930284,-0.002415071975488522],"position_m":[0.256744071773893,-0.3234150719754885,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002967654114996401,-0.002341084519923149],"position_m":[0.1409323458850036,0.28345891548007685,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009665599802125783,-0.0030514988913549835],"position_m":[0.3606665599802126,0.06044850110864502,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"963a8e7fa12fce5b53dbdb87f76ce2c69352ed31d72458d131dea8e2daa3aca5","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0014.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3063/tex_ceiling_textures_8041/tex_floor_textures_4160/tex_table_textures_7973/tex_wall_textures_5750","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3662363284065173649,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3662363284065173649,"visual_seed":3662363284065173649,"scene_id":"lab_003","finished_at":"2026-09-05T00:28:16"}
+{"episode_id":"ep_000014","started_at":"2026-09-05T00:28:20","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.412504075968878,-0.8947377303754609,0.71338606911949],"aabb_xy":[[-0.4469665539819657,-0.9014014075583838],[-0.3780415979557902,-0.8880740531925382]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.4074180091474475,1.6241480626130582,0.71338606911949],"aabb_xy":[[-0.4874180071282326,1.616546521651206],[-0.32741801116666247,1.63174960357491]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[-0.3454700279647345,-1.4123200072204287,0.71338606911949],"aabb_xy":[[-0.3587009734994158,-1.4255474262424281],[-0.33223908243005323,-1.3990925881984293]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.25967562920816634,-0.22815948859679702,0.71338606911949],"aabb_xy":[[-0.31730609809543714,-0.28815948752350756],[-0.20204516032089542,-0.1681594896700864]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[-0.4657733464587829,-1.6985640895078542,0.71338606911949],"aabb_xy":[[-0.5357733480610624,-1.7119968827095116],[-0.3957733448565034,-1.6851312963061964]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.4997490480468385,-0.18178805463973502,0.71338606911949],"aabb_xy":[[0.4821707458578916,-0.1993625442138399],[0.5173273502357854,-0.1642135650656301]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[0.0681904284379321,-2.2408894685565324,0.71338606911949],"aabb_xy":[[0.01819042979201091,-2.2908090122159948],[0.1181904270838533,-2.19096992489707]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[0.38739490253114917,-0.4465915519469563,0.71338606911949],"aabb_xy":[[0.3785928472221764,-0.45440287810188534],[0.3961969578401218,-0.4387802257920272]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[-0.528130782994584,-1.0760801627167542,0.71338606911949],"aabb_xy":[[-0.5531307821602172,-1.0830324084221108],[-0.5031307838289509,-1.0691279170113976]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[-0.5545243193932334,-0.7115656490367668,0.71338606911949],"aabb_xy":[[-0.5604908583339692,-0.7175267936961308],[-0.5485577804524977,-0.7056045043774027]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[0.40875322303088146,1.7132550873126777,0.71338606911949],"aabb_xy":[[0.38628845305947623,1.6907550864338172],[0.43121799300228647,1.7357550881915382]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.4799734610094011,-0.601099401057434,0.71338606911949],"aabb_xy":[[0.43049303979544234,-0.6650993989702858],[0.5294538822233599,-0.5370994031445822]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[-0.0886954235274473,1.4387493414776231,0.71338606911949],"aabb_xy":[[-0.13851220299228206,1.3887493429933195],[-0.038878644062612544,1.4887493399619263]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.5945324342438528,-1.6961918302644068,0.71338606911949],"aabb_xy":[[-0.6050999139019518,-1.7067368603774151],[-0.5839649545857538,-1.685646800151398]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[0.31808582178715494,-1.9819713515780186,0.71338606911949],"aabb_xy":[[0.30997216711377784,-1.9900771680320477],[0.32619947646053205,-1.9738655351239895]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.2874944662322773,-0.6966138343719137,0.71338606911949],"aabb_xy":[[-0.3161437985926935,-0.7252593936489894],[-0.25884513387186103,-0.6679682750948378]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.2731271058544211,-2.3682748960100093,0.71338606911949],"aabb_xy":[[0.23187829482450636,-2.4232748955222263],[0.3143759168843358,-2.3132748964977914]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[-0.1670711209625958,-1.8887357907049562,0.71338606911949],"aabb_xy":[[-0.18486462789751223,-1.906535536300754],[-0.14927761402767936,-1.8709360451091586]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[0.1226292472689755,-1.4736620557986986,0.71338606911949],"aabb_xy":[[0.07262924624984023,-1.5101282715365267],[0.17262924828811077,-1.4371958400608706]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[0.5582398587786912,-2.359829424468955,0.71338606911949],"aabb_xy":[[0.5473882525298156,-2.3706887151966063],[0.5690914650275668,-2.348970133741304]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[0.38883553692122597,-1.4699123747130045,0.71338606911949],"aabb_xy":[[0.33883553597069316,-1.5014615217165257],[0.4388355378717588,-1.4383632277094829]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[0.27069078020631776,-1.1701512682425788,0.71338606911949],"aabb_xy":[[0.20569077756852427,-1.2216308669420257],[0.33569078284411125,-1.1186716695431318]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.1621005736485639,0.38233090673537085,0.71338606911949],"aabb_xy":[[-0.19456227453049132,0.35219807462046815],[-0.1296388727666364,0.41246373885027343]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[-0.296001179475503,1.0296791629282414,0.71338606911949],"aabb_xy":[[-0.3264854296025331,0.9796791631467452],[-0.26551692934847276,1.079679162709737]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6588959549799991,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2461.png","name":"2461"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2461.png","name":"2461"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4544.png","name":"4544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9153.png","name":"9153"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8180.png","name":"8180"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4154.png","name":"4154"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":570.3772944894343,"rotation_z_degrees":115.71712217362463,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0019211670120863507,-0.018719637850005168,-0.0019967954728049887]},{"name":"camera_2","offset_m":[-0.0006274169818227399,0.005525023077633039,0.004368412294224494]},{"name":"camera_3","offset_m":[-0.010709001558789542,-0.007789957638657783,-0.0176254567830074]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00026353355265351566,0.0010988742079925456,0.0016599694050805037],"end_effector_yaw_offset_degrees":-0.09240538963707667},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014203214570076442,0.0013394540373755483,-0.001313056936227199],"end_effector_yaw_offset_degrees":-0.6330067214951898},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00011601525367740517,-0.0018375651372811302,0.001666920618199314],"end_effector_yaw_offset_degrees":-0.4806754087314129},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013490966174466486,0.0018270317000310633,0.0011635151214731132],"end_effector_yaw_offset_degrees":0.575999097753854}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004141887434505297,0.001290884702899584],"position_m":[0.1619581125654947,0.1544908847028996,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008818362964293476,0.0026521743289362187],"position_m":[0.25381816370357063,-0.3183478256710638,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004311470430674673,-0.001414354532995754],"position_m":[0.13958852956932533,0.28438564546700423,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004024916786083739,-0.0013951495192991601],"position_m":[0.3556750832139163,0.06210485048070084,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f914ccb512df8d51fd425b89e94c8628aa034cf7f9be1ff647ac1d1c8b035d0f","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2461/tex_ceiling_textures_4154/tex_floor_textures_8180/tex_table_textures_4544/tex_wall_textures_9153","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2294052767343172494,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2294052767343172494,"visual_seed":2294052767343172494,"scene_id":"lab_003","finished_at":"2026-09-05T00:32:00"}
+{"episode_id":"ep_000015","started_at":"2026-09-05T00:32:04","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[-0.3412285448941035,-2.276166748343473,0.71338606911949],"aabb_xy":[[-0.3453644012268037,-2.31366674778783],[-0.3370926885614033,-2.238666748899116]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.26239437988466585,1.6597505698041481,0.71338606911949],"aabb_xy":[[0.1983943782066685,1.6112331783248337],[0.3263943815626632,1.7082679612834621]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.35910808031068053,1.2824454806676173,0.71338606911949],"aabb_xy":[[0.32160808020508763,1.2756233188146362],[0.39660808041627355,1.2892676425205984]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[0.1758064650936958,0.8093872896699059,0.71338606911949],"aabb_xy":[[0.0958064636635686,0.7298701346572963],[0.255806466523823,0.8889044446825153]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.4510097263641072,-2.0927016093797013,0.71338606911949],"aabb_xy":[[-0.49709481761883867,-2.1567016066322564],[-0.4049246351093757,-2.028701612127146]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[0.11974449782268393,-1.4153579470288002,0.71338606911949],"aabb_xy":[[0.08224449747445614,-1.4271493426098834],[0.15724449817091166,-1.4035665514477162]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.387699748897857,-1.3279038726956356,0.71338606911949],"aabb_xy":[[-0.4328710667460261,-1.391903869840174],[-0.3425284310496881,-1.2639038755510972]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.16775620250468248,0.8497738149037142,0.71338606911949],"aabb_xy":[[-0.2177562019448781,0.7998058904193979],[-0.11775620306448686,0.8997417393880305]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[-0.11822635492814038,0.35505299404307467,0.71338606911949],"aabb_xy":[[-0.12626971485409555,0.27005299294770824],[-0.1101829950021852,0.4400529951384411]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[-0.43269232283742065,-2.3746747097138936,0.71338606911949],"aabb_xy":[[-0.452583362717761,-2.387330520998591],[-0.4128012829570805,-2.362018898429197]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[0.39151118871629875,-0.8119168259508935,0.71338606911949],"aabb_xy":[[0.32651118775917154,-0.863865037884599],[0.45651118967342597,-0.7599686140171878]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[-0.3170685566561051,1.4992434438886577,0.71338606911949],"aabb_xy":[[-0.3217036718083384,1.4953761088115087],[-0.3124334415038717,1.5031107789658062]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[-0.19697177207025945,-2.3867618786463,0.71338606911949],"aabb_xy":[[-0.2057529992174957,-2.3955416259348308],[-0.18819054492302326,-2.3779821313577703]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.5859179583317389,-1.5406947635014967,0.71338606911949],"aabb_xy":[[0.5804600126947188,-1.6206947668091556],[0.5913759039687589,-1.4606947601938374]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.5966489736014242,-0.25759453980181046,0.71338606911949],"aabb_xy":[[-0.6606489750094149,-0.3093834913257351],[-0.5326489721934335,-0.20580558827788573]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[-0.22702176374312755,-2.1370052828054384,0.71338606911949],"aabb_xy":[[-0.23743332242361123,-2.142351016141337],[-0.2166102050626438,-2.13165954946954]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[0.22197034237692692,-1.7112709994478852,0.71338606911949],"aabb_xy":[[0.14197034541388776,-1.7883466410916586],[0.3019703393399661,-1.6341953578041117]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.598252398862487,1.7627694506532756,0.71338606911949],"aabb_xy":[[-0.6207523983861943,1.7402735032026548],[-0.5757523993387795,1.7852653981038964]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.23974000396013662,1.0318445342040974,0.71338606911949],"aabb_xy":[[0.22385551069481147,1.0174915939052733],[0.25562449722546177,1.0461974745029214]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[-0.19271278097806743,-1.9234865827481435,0.71338606911949],"aabb_xy":[[-0.24271278199720273,-1.9599527984859717],[-0.14271277995893217,-1.8870203670103158]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[0.43727237321070045,1.050911530402554,0.71338606911949],"aabb_xy":[[0.4147723726986598,1.0284196720371557],[0.459772373722741,1.0734033887679524]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[-0.35864869506484875,-0.9412280861216844,0.71338606911949],"aabb_xy":[[-0.3687304021434222,-1.0212280840137988],[-0.3485669879862752,-0.8612280882295696]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[-0.5859186286561266,1.3647964828206933,0.71338606911949],"aabb_xy":[[-0.6509186268120457,1.338500238270781],[-0.5209186305002076,1.3910927273706053]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641747698119739,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8182.png","name":"8182"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8182.png","name":"8182"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4572.png","name":"4572"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9116.png","name":"9116"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9139.png","name":"9139"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7528.png","name":"7528"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":752.2532397723778,"rotation_z_degrees":170.41532046656937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011636164669210646,0.016729479783225667,-0.007906434820490978]},{"name":"camera_2","offset_m":[0.013683997168454403,0.011479274521318635,-0.01566777780388154]},{"name":"camera_3","offset_m":[-0.004255691126596375,-0.018273859808448742,0.008659456101044401]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012383038912461603,-0.0014380592206462523,-3.175962897757328e-05],"end_effector_yaw_offset_degrees":0.6540308327185655},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018908755377228417,-0.0014589392865851374,0.0009980270787119955],"end_effector_yaw_offset_degrees":0.37388759967370744},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001494484488987145,-0.0005289294487918945,-0.0013723964901644133],"end_effector_yaw_offset_degrees":0.3227614094977973},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001677031419895902,-0.001537955551490521,0.0005534554933851162],"end_effector_yaw_offset_degrees":-0.3817880165708962}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005486397130577136,-0.004145389846233437],"position_m":[0.1666486397130577,0.14905461015376656,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010036836492771763,-0.004807403699833105],"position_m":[0.25570368364927715,-0.32580740369983313,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002207737368658014,-0.002925610278465688],"position_m":[0.141692262631342,0.28287438972153434,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003388762338122791,0.0018267347624986632],"position_m":[0.3630887623381228,0.06532673476249866,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"40ad50dd42dffc7add175a6e5f6f051f052d0a14eb75450365b138b1c3fdc47e","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0016.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8182/tex_ceiling_textures_7528/tex_floor_textures_9139/tex_table_textures_4572/tex_wall_textures_9116","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2571333035225358244,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2571333035225358244,"visual_seed":2571333035225358244,"scene_id":"lab_003","finished_at":"2026-09-05T00:35:48"}
+{"episode_id":"ep_000016","started_at":"2026-09-05T00:35:51","dimensions":{"distractor":{"count":31,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[-0.4873849980225718,-1.5690908187059887,0.71338606911949],"aabb_xy":[[-0.5773850016994898,-1.6305232252830926],[-0.3973849943456535,-1.5076584121288839]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[-0.43627213983304425,-0.3015863686657698,0.71338606911949],"aabb_xy":[[-0.4862721394093789,-0.3515669476178758],[-0.3862721402567095,-0.25160578971366393]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.5884538955476357,1.773871161864896,0.71338606911949],"aabb_xy":[[-0.6234538938177556,1.7667970341699075],[-0.5534538972775158,1.7809452895598838]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[0.4029712019752245,-1.7251151546276506,0.71338606911949],"aabb_xy":[[0.33897120171475364,-1.7701239539805784],[0.46697120223569527,-1.6801063552747224]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.13607375769202312,-1.514778918984429,0.71338606911949],"aabb_xy":[[0.04607375796884896,-1.5378522715196088],[0.2260737574151973,-1.4917055664492491]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.34919746981280375,0.3750950496812515,0.71338606911949],"aabb_xy":[[0.3116974697072108,0.36827288782827033],[0.3866974699183967,0.3819172115342326]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.5096776968580332,-1.4462008047385553,0.71338606911949],"aabb_xy":[[-0.5183756591487485,-1.45832577904603],[-0.5009797345673179,-1.4340758304310806]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.25656356603250097,-1.6075576100940867,0.71338606911949],"aabb_xy":[[0.2394614880741328,-1.6246644156253567],[0.2736656439908691,-1.5904508045628172]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.27542719823026046,0.7476031079825676,0.71338606911949],"aabb_xy":[[-0.28038321841514174,0.7251031077804461],[-0.2704711780453793,0.7701031081846894]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.6244460990189713,0.6544209578085174,0.71338606911949],"aabb_xy":[[-0.6304831120196359,0.6483942567395693],[-0.6184090860183065,0.6604476588774657]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[-0.22224857836807804,1.6671510118640005,0.71338606911949],"aabb_xy":[[-0.2314084573119546,1.6606197938204634],[-0.21308869942420142,1.6736822299075376]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.0384550430857693,1.1318931933174974,0.71338606911949],"aabb_xy":[[0.012166218765328645,1.105621759662846],[0.06474386740620997,1.1581646269721484]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.48549274934033115,1.0633786546286763,0.71338606911949],"aabb_xy":[[0.4204927514586834,1.0122549909221354],[0.5504927472219789,1.1145023183352172]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[0.395494149138524,-2.0824131592334445,0.71338606911949],"aabb_xy":[[0.315494150481638,-2.0969180181577074],[0.47549414779541,-2.0679083003091816]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.16651276057270004,-1.3214597326770046,0.71338606911949],"aabb_xy":[[0.1290127593879072,-1.3258779553730649],[0.2040127617574928,-1.3170415099809438]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[-0.20212824019084474,-2.2185627804562422,0.71338606911949],"aabb_xy":[[-0.22712823946280705,-2.2349081440524046],[-0.1771282409188825,-2.20221741686008]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[0.5882466933396373,-1.6216998164154408,0.71338606911949],"aabb_xy":[[0.5430753754914683,-1.6856998135599794],[0.6334180111878063,-1.5576998192709026]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.06646910465244993,1.8134958044716325,0.71338606911949],"aabb_xy":[[-0.09146910458496782,1.8066131362507094],[-0.04146910471993204,1.820378472692556]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.5689098067759264,0.3460001507347732,0.71338606911949],"aabb_xy":[[0.4889159831973683,0.2660001481419316],[0.6489036303544847,0.42600015332761476]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[0.5698598215657846,-0.8606529838541839,0.71338606911949],"aabb_xy":[[0.5248672348473342,-0.9056529831286326],[0.614852408284235,-0.8156529845797351]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[-0.26351358645676626,1.3390310955229618,0.71338606911949],"aabb_xy":[[-0.2860127221829932,1.3165310947446989],[-0.24101445073053923,1.3615310963012248]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[0.6671290506281882,-1.1308745481000815,0.71338606911949],"aabb_xy":[[0.6598467342515243,-1.22087455170959],[0.6744113670048516,-1.040874544490572]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[0.3354875472204808,-2.496326627090504,0.71338606911949],"aabb_xy":[[0.32614053963818557,-2.510630249308148],[0.344834554802776,-2.4820230048728598]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[0.40639657523026007,1.462150333257806,0.71338606911949],"aabb_xy":[[0.37640491249638974,1.4321503339210055],[0.4363882379641304,1.4921503325946066]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[0.6400830296531983,-0.40880181051122655,0.71338606911949],"aabb_xy":[[0.632039669727243,-0.4938018116065929],[0.6481263895791534,-0.32380180941586006]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_25","position":[0.3171039769868125,-1.252015036909517,0.71338606911949],"aabb_xy":[[0.25310397369710436,-1.2953499559134345],[0.3811039802765206,-1.2086801179055993]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[0.5207666760687342,-1.202698629210041,0.71338606911949],"aabb_xy":[[0.4869911168780411,-1.2167371244232061],[0.554542235259427,-1.1886601339968759]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[-0.2502273274681606,-1.9839262829565325,0.71338606911949],"aabb_xy":[[-0.30020039300067614,-2.033926282769065],[-0.20025426193564522,-1.9339262831439998]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_28","position":[0.4740684584703765,-0.6402551030513908,0.71338606911949],"aabb_xy":[[0.3843813821622611,-0.7302551033058413],[0.5637555347784919,-0.5502551027969402]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_29","position":[-0.03614468231726353,0.9749765869686771,0.71338606911949],"aabb_xy":[[-0.10014468422960587,0.9190654377106667],[0.02785531959507881,1.0308877362266875]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_30","position":[0.5495008851159187,-2.322031469917616,0.71338606911949],"aabb_xy":[[0.4695008877123252,-2.4020240411157983],[0.629500882519512,-2.2420388987194326]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6608009110066987,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/358.png","name":"358"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/358.png","name":"358"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4194.png","name":"4194"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1632.png","name":"1632"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2877.png","name":"2877"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3199.png","name":"3199"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":534.7953238592851,"rotation_z_degrees":144.65023993083454,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0033883658296033695,-0.01748320479437425,0.015782241116601894]},{"name":"camera_2","offset_m":[0.014500075647113458,0.013513012545634775,-0.003826884739797611]},{"name":"camera_3","offset_m":[7.918007983626768e-05,0.014978703156976966,0.0028281147261669352]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018250088587883316,0.0006572191670172196,-6.71812722919207e-05],"end_effector_yaw_offset_degrees":-0.016408209115904793},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016824100865909532,-0.0003682911122067263,0.0018848708621677546],"end_effector_yaw_offset_degrees":-0.5244529824502253},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00029364838956293235,-4.771525154039706e-05,-0.0016315395013916931],"end_effector_yaw_offset_degrees":-0.35016224931863715},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016553008856465402,0.00010448401132263094,-0.0007257920801276825],"end_effector_yaw_offset_degrees":-0.856278452277333}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016768908536149117,0.004437565692689342],"position_m":[0.1677768908536149,0.15763756569268936,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013642686671487617,0.00278186446899703],"position_m":[0.25606426866714876,-0.318218135531003,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035567138124716997,-0.0014478508926770617],"position_m":[0.1474567138124717,0.2843521491073229,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003967993351744263,-0.0032776937039988097],"position_m":[0.36366799335174427,0.06022230629600119,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"930cd397fc1c575942071482ad25a276236065184f4ce36eafef5b3a9a64bb76","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0017.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_358/tex_ceiling_textures_3199/tex_floor_textures_2877/tex_table_textures_4194/tex_wall_textures_1632","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2972872419876889014,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2972872419876889014,"visual_seed":2972872419876889014,"scene_id":"lab_003","finished_at":"2026-09-05T00:39:32"}
+{"episode_id":"ep_000017","started_at":"2026-09-05T00:39:36","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.029196574188146585,-1.2066146579009613,0.71338606911949],"aabb_xy":[[-0.04353099931431004,-1.2186748734555002],[-0.014862149061983132,-1.1945544423464225]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_1","position":[-0.5448246324178789,0.9558040484215589,0.71338606911949],"aabb_xy":[[-0.550282578054899,0.8758040451138999],[-0.5393666867808589,1.035804051729218]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[0.527538030344382,1.4293959491188528,0.71338606911949],"aabb_xy":[[0.4925380320336864,1.4216809341953072],[0.5625380286550773,1.4371109640423985]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[0.11806814726325354,-2.313526589344533,0.71338606911949],"aabb_xy":[[0.08692122841967043,-2.38352658803134],[0.14921506610683666,-2.2435265906577255]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.35372782276553805,-1.4178900847023885,0.71338606911949],"aabb_xy":[[0.28972781947582993,-1.461225003706306],[0.41772782605524617,-1.3745551656984707]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[0.4322405690160587,1.27887168470252,0.71338606911949],"aabb_xy":[[0.4234385137070859,1.2710603585475908],[0.44104262432503133,1.286683010857449]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[-0.11571685852003899,0.6631813441902992,0.71338606911949],"aabb_xy":[[-0.1657168579602346,0.6132134197059829],[-0.06571685907984337,0.7131492686746155]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[0.31406929186351973,1.5781117205742414,0.71338606911949],"aabb_xy":[[0.2440692902612403,1.5646789273725838],[0.38406929346579927,1.591544513775899]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[-0.3447736980152408,0.40749923015964606,0.71338606911949],"aabb_xy":[[-0.3710625223356814,0.3812277965049948],[-0.31848487369480005,0.43377066381429724]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[-0.48417698079619254,-2.1615337031938378,0.71338606911949],"aabb_xy":[[-0.48902057555742257,-2.166385355672822],[-0.4793333860349626,-2.1566820507148536]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[-0.4385012946556598,0.05186743691629525,0.71338606911949],"aabb_xy":[[-0.4885012963171545,0.0018689946605925307],[-0.38850129299416497,0.10186587917199794]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.2946300345994183,-1.9880631437196623,0.71338606911949],"aabb_xy":[[-0.3319613111246609,-2.0227161985145146],[-0.2572987580741757,-1.95341008892481]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.48476971109282685,-1.8263152532730809,0.71338606911949],"aabb_xy":[[0.4687077836343092,-1.9113152550856727],[0.5008316385513445,-1.741315251460489]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[-0.11763456337710565,1.1243929794353402,0.71338606911949],"aabb_xy":[[-0.12525883146728392,1.1167597558987967],[-0.11001029528692743,1.1320262029718842]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[0.026008663682308364,-1.4331418849398456,0.71338606911949],"aabb_xy":[[-0.006453037199619093,-1.463274717054748],[0.058470364564235815,-1.4030090528249428]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[-0.43695396094691663,0.8304222617303076,0.71338606911949],"aabb_xy":[[-0.48694879387485823,0.7804222628350641],[-0.38695912801897503,0.8804222606255512]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[0.10570309118024313,-0.7313475552528064,0.71338606911949],"aabb_xy":[[0.07070309198742485,-0.7423146012504689],[0.1407030903730614,-0.7203805092551436]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[0.18977281323144857,-1.0918779328145074,0.71338606911949],"aabb_xy":[[0.180612934287572,-1.0984091508580442],[0.1989326921753252,-1.0853467147709701]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[0.5821842231717216,-1.5189584718502036,0.71338606911949],"aabb_xy":[[0.5571842232392037,-1.5258411400711271],[0.6071842231042395,-1.5120758036292805]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.18730565692055,-0.9750403047636531,0.71338606911949],"aabb_xy":[[0.1502715474924903,-1.0094175120973623],[0.22433976634860972,-0.9406630974299436]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[0.40728395943742,-1.1109401702960626,0.71338606911949],"aabb_xy":[[0.3704893263125137,-1.147846045392645],[0.44407859256232624,-1.0740342951994803]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[-0.49222216079565273,1.3646630323249225,0.71338606911949],"aabb_xy":[[-0.5622221626043982,1.343309263560735],[-0.42222215898690735,1.3860168010891099]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662810297703654,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6362.png","name":"6362"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6362.png","name":"6362"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9269.png","name":"9269"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/611.png","name":"611"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2434.png","name":"2434"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7309.png","name":"7309"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":806.7112227556486,"rotation_z_degrees":152.20177235900306,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0023550587360284952,-0.0031539485649460727,-0.002997931702070935]},{"name":"camera_2","offset_m":[0.0157261860470695,0.009208027559839911,0.002504149693546228]},{"name":"camera_3","offset_m":[0.019734139605545768,-0.010105090314311407,0.0029978878477695883]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.482426953514493e-05,-0.0018923314134518642,0.0006241141424104036],"end_effector_yaw_offset_degrees":0.6567997014786313},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010171272412832564,0.0012990848444033001,0.0002835254172360961],"end_effector_yaw_offset_degrees":-0.5834410113389796},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011357585740267694,-0.00018016400768002113,0.000441033876139728],"end_effector_yaw_offset_degrees":0.9158589455984942},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004555732381319184,0.00017463859730814301,-0.001322887584188501],"end_effector_yaw_offset_degrees":0.7495260470953726}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003826330890339188,-0.003699969549581303],"position_m":[0.16227366910966082,0.1495000304504187,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005315856141914236,-0.004752365910624673],"position_m":[0.25416841438580856,-0.3257523659106247,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024198776296601144,-0.004067496345408951],"position_m":[0.14148012237033988,0.28173250365459107,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012270990809620276,-0.002688042865158206],"position_m":[0.358472900919038,0.0608119571348418,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a352a34975f30fddb9ddffa1f37dd2a1c857e493c47f0f7f36499a5513c56569","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6362/tex_ceiling_textures_7309/tex_floor_textures_2434/tex_table_textures_9269/tex_wall_textures_611","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":202075578114232267,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":202075578114232267,"visual_seed":202075578114232267,"scene_id":"lab_003","finished_at":"2026-09-05T00:43:16"}
+{"episode_id":"ep_000018","started_at":"2026-09-05T00:43:19","dimensions":{"distractor":{"count":32,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.044876257194409463,1.7634385235535013,0.71338606911949],"aabb_xy":[[-0.058027503165698824,1.738438523796815],[-0.031725011223120096,1.788438523310188]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.43317892627130683,1.7731268671494562,0.71338606911949],"aabb_xy":[[0.4176231568610417,1.7575764339050495],[0.4487346956815722,1.7886773003938639]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[-0.5367169431171807,-1.615293217579647,0.71338606911949],"aabb_xy":[[-0.5617169422828138,-1.6222454632850036],[-0.5117169439515475,-1.6083409718742905]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[0.6325768211125025,-1.8367861694247027,0.71338606911949],"aabb_xy":[[0.6255365111789656,-1.9167861688243744],[0.6396171310460396,-1.7567861700250316]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[-0.6212800146871583,0.16477183537842155,0.71338606911949],"aabb_xy":[[-0.6413384263003986,0.14470674846926404],[-0.601221603073918,0.18483692228757911]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[-0.5512892722496089,0.7842869866035138,0.71338606911949],"aabb_xy":[[-0.5641611757505489,0.7042869861896778],[-0.5384173687486686,0.8642869870173501]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.49905360125147163,-1.0805724030779043,0.71338606911949],"aabb_xy":[[-0.5166864368449993,-1.0981953490935272],[-0.48142076565794406,-1.0629494570622813]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[0.6034960788887238,-0.35665639361915247,0.71338606911949],"aabb_xy":[[0.5536133820110277,-0.4066563928654273],[0.6533787757664201,-0.3066563943728778]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.048542861146618876,0.48085358189345806,0.71338606911949],"aabb_xy":[[-0.076387897927226,0.4500690831551463],[-0.02069782436601176,0.5116380806317697]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[0.4242424512270917,-1.5969683692450554,0.71338606911949],"aabb_xy":[[0.33924245280966847,-1.6818426647073403],[0.5092424496445149,-1.5120940737827704]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.09652936229224951,1.1594474621875275,0.71338606911949],"aabb_xy":[[-0.11564166965022836,1.1403126833102852],[-0.07741705493427063,1.1785822410647693]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[-0.31482611648553377,-0.5440036018157848,0.71338606911949],"aabb_xy":[[-0.3788218138806303,-0.6080036001164935],[-0.25083041909043713,-0.4800036035150761]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[0.15058435637835488,-1.9132232930115918,0.71338606911949],"aabb_xy":[[0.10058435501746767,-1.9632011975870076],[0.2005843577392421,-1.8632453884361764]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.5842132975751899,-1.3550621004384888,0.71338606911949],"aabb_xy":[[0.5342358807099362,-1.4050621019277372],[0.6341907144404434,-1.30506209894924]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[-0.005505195419807318,-1.0790666209659956,0.71338606911949],"aabb_xy":[[-0.06049840675694408,-1.1340666213047894],[0.049488015917329445,-1.0240666206272022]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[-0.6034754869775147,0.5174473086552518,0.71338606911949],"aabb_xy":[[-0.6409754876420932,0.5017602506550295],[-0.5659754863129358,0.5331343666554739]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.11555189853778036,-1.1152220709248253,0.71338606911949],"aabb_xy":[[0.09055189926581808,-1.1315674345209874],[0.14055189780974264,-1.0988767073286627]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.4866098031658095,-0.5013277636415086,0.71338606911949],"aabb_xy":[[0.39660980457133954,-0.5175783499549296],[0.5766098017602794,-0.4850771773280875]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.3510659053758869,-1.3053068161841912,0.71338606911949],"aabb_xy":[[0.3436534498344984,-1.3111580266058191],[0.35847836091727536,-1.2994556057625632]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.44534553562650503,-1.2735737647556844,0.71338606911949],"aabb_xy":[[0.44050194086527505,-1.2784254172346685],[0.450189130387735,-1.2687221122767003]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.10969559365421233,1.2778587491203814,0.71338606911949],"aabb_xy":[[-0.15094440468412704,1.222858749608164],[-0.06844678262429758,1.332858748632599]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[-0.38411642359286235,0.26212067616547285,0.71338606911949],"aabb_xy":[[-0.4178919827835553,0.24808218095230777],[-0.3503408644021694,0.2761591713786378]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.4996939019563944,1.0042490466822005,0.71338606911949],"aabb_xy":[[0.48080951818788426,0.9853631219018477],[0.5185782857249046,1.0231349714625533]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[0.36195589020069985,0.7065877551320243,0.71338606911949],"aabb_xy":[[0.3539125302747446,0.6215877540366578],[0.36999925012665497,0.7915877562273906]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[0.6505612462027273,-0.05762733775043749,0.71338606911949],"aabb_xy":[[0.6159701633486819,-0.12262733803546855],[0.6851523290567724,0.007372662534593558]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[0.2922540872575884,1.5241657171554555,0.71338606911949],"aabb_xy":[[0.2755769512644929,1.507465793181525],[0.3089312232506839,1.5408656411293855]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_26","position":[-0.3308314284163824,-2.3714677502088777,0.71338606911949],"aabb_xy":[[-0.34671592168170756,-2.385820690507702],[-0.31494693515105726,-2.3571148099100543]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_27","position":[-0.31128585942499615,-1.4558181687860834,0.71338606911949],"aabb_xy":[[-0.3762858604254967,-1.5066045339407583],[-0.24628585842449568,-1.4050318036314084]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_28","position":[-0.4161642284368394,0.7361251757310749,0.71338606911949],"aabb_xy":[[-0.4486259293187668,0.7059923436161722],[-0.3837025275549119,0.7662580078459774]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[0.20416117200784922,-1.3826532012019905,0.71338606911949],"aabb_xy":[[0.19239298521319176,-1.4676532011072123],[0.2159293588025068,-1.2976532012967692]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_30","position":[-0.6134235568719081,-1.8963959963465788,0.71338606911949],"aabb_xy":[[-0.6359235568820564,-1.9104922159861821],[-0.5909235568617598,-1.8822997767069756]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_31","position":[-0.5277727478428316,-2.166827728440736,0.71338606911949],"aabb_xy":[[-0.5727727493090605,-2.211827585302217],[-0.48277274637660283,-2.1218278715792556]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615941335996822,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7677.png","name":"7677"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7677.png","name":"7677"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3146.png","name":"3146"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/734.png","name":"734"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1488.png","name":"1488"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4741.png","name":"4741"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":656.0350140836133,"rotation_z_degrees":355.0101276992024,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009456913543807302,0.011368414024913436,0.010518073117119796]},{"name":"camera_2","offset_m":[0.00545465365631205,0.01206212708788135,-0.01006515185763444]},{"name":"camera_3","offset_m":[0.018925995672643223,-0.009489997130695293,-0.017528253177172336]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007597067058519489,-0.0005893983078900011,0.001816264703735177],"end_effector_yaw_offset_degrees":-0.6536775114191555},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005505313709466169,0.001621435565356402,-0.0007381239554760035],"end_effector_yaw_offset_degrees":-0.8946126236623446},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016553235923994149,0.0004612741611864546,-0.0007490537509457185],"end_effector_yaw_offset_degrees":0.625001249316538},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002525084079544504,-0.0013871112365846394,-0.0013563854808900184],"end_effector_yaw_offset_degrees":0.47103337764870323}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0041025957260115075,0.002964785917483851],"position_m":[0.16199740427398848,0.15616478591748387,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008441778611944393,0.00019815525582380158],"position_m":[0.25554417786119443,-0.3208018447441762,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014178560318813716,-0.003360380674376289],"position_m":[0.14248214396811862,0.2824396193256237,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004968090362945738,-0.00459213480068581],"position_m":[0.3646680903629458,0.058907865199314194,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3c1f06992b9c967401ec6a0f7585fc434e41021a5994f1ed1a99bbbb40fde6a0","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7677/tex_ceiling_textures_4741/tex_floor_textures_1488/tex_table_textures_3146/tex_wall_textures_734","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":9151898496913107943,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":9151898496913107943,"visual_seed":9151898496913107943,"scene_id":"lab_003","finished_at":"2026-09-05T00:47:11"}
+{"episode_id":"ep_000019","started_at":"2026-09-05T00:47:15","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[0.13457555491910234,-1.8262641920544365,0.71338606911949],"aabb_xy":[[0.09957555356762061,-1.846623928011257],[0.16957555627058407,-1.8059044560976154]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.5896807369669836,-2.386496490177584,0.71338606911949],"aabb_xy":[[0.5256807350546413,-2.442407639435595],[0.653680738879326,-2.330585340919574]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.3372380332863842,-0.45089580529095796,0.71338606911949],"aabb_xy":[[-0.4012380365050221,-0.4976189171899663],[-0.2732380300677464,-0.4041726933919496]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_3","position":[-0.2271631029672821,1.6423914052387114,0.71338606911949],"aabb_xy":[[-0.2606422702283231,1.6089122918676044],[-0.19368393570624118,1.6758705186098184]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.2844545088599133,-1.0566692962053807,0.71338606911949],"aabb_xy":[[0.24695450819533457,-1.0723563542056027],[0.32195450952449195,-1.0409822382051583]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.06433760403387445,-1.5611492718183624,0.71338606911949],"aabb_xy":[[-0.019384621466208007,-1.6511492753530583],[0.1480598295339569,-1.4711492682836664]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[-0.026158124703057117,1.71273109058196,0.71338606911949],"aabb_xy":[[-0.04370481961917605,1.675231089017709],[-0.008611429786938189,1.7502310921462114]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[0.1343709416750707,1.38130792017764,0.71338606911949],"aabb_xy":[[0.12833392867440596,1.3752812191086918],[0.1404079546757354,1.387334621246588]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.22743183109376558,-1.2422019491934424,0.71338606911949],"aabb_xy":[[-0.2503475439788155,-1.2651062463298661],[-0.20451611820871568,-1.2192976520570191]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[-0.6695694526060033,-1.8910590116603512,0.71338606911949],"aabb_xy":[[-0.6742045677582366,-1.8949263467374995],[-0.6649343374537698,-1.887191676583202]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.18526348093645173,1.4841592583537477,0.71338606911949],"aabb_xy":[[-0.24926348023061992,1.4201731179848935],[-0.12126348164228348,1.548145398722602]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_11","position":[0.45033957771150557,-1.000879261836376,0.71338606911949],"aabb_xy":[[0.3703395772412896,-1.0091899694507243],[0.5303395781817215,-0.9925685542220276]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.05208726256966845,0.8612963063851624,0.71338606911949],"aabb_xy":[[0.0021043123821891173,0.8112963067426018],[0.10207021275714778,0.9112963060277226]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.2414333179655045,-0.5269495922969223,0.71338606911949],"aabb_xy":[[0.22393338453152112,-0.5444495922171567],[0.25893325139948786,-0.5094495923766876]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[0.5514885300800909,-0.3376185939567615,0.71338606911949],"aabb_xy":[[0.47148853149277153,-0.41693419589492237],[0.6314885286674103,-0.2583029920186006]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[-0.3162188500792928,-1.240034329493074,0.71338606911949],"aabb_xy":[[-0.3253787290231694,-1.246565547536611],[-0.3070589711354162,-1.233503111449537]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.23938479562877296,0.5209022258115086,0.71338606911949],"aabb_xy":[[-0.2693523525385986,0.49090222551362284],[-0.2094172387189473,0.5509022261093943]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.11368722757692906,1.6913886877951003,0.71338606911949],"aabb_xy":[[0.09605439198340149,1.6737657417794771],[0.13132006317045664,1.709011633810723]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.4193445510125924,-1.7621007810510383,0.71338606911949],"aabb_xy":[[0.406193305041303,-1.787100780807725],[0.43249579698388174,-1.737100781294352]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[0.2748718871777879,-1.4185751143355674,0.71338606911949],"aabb_xy":[[0.26545441260792507,-1.4279912914732862],[0.28428936174765057,-1.4091589371978481]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[0.4365774286448798,0.7283946150615095,0.71338606911949],"aabb_xy":[[0.3894480496430441,0.6643946140171074],[0.4837068076467154,0.7923946161059113]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[-0.013728499509686243,1.3010878389539622,0.71338606911949],"aabb_xy":[[-0.06872849868627573,1.2460981641790045],[0.041271499666903244,1.3560775137289198]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[0.5997657127657874,0.8620585579207041,0.71338606911949],"aabb_xy":[[0.5446405071361965,0.8020585564794167],[0.654890918395378,0.922058559361991]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[-0.17631655963797122,0.6889565920265213,0.71338606911949],"aabb_xy":[[-0.266316556138843,0.6430449496080629],[-0.08631656313709947,0.7348682344449794]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_24","position":[0.16954089800256023,1.162739954072224,0.71338606911949],"aabb_xy":[[0.1195678324700448,1.1127399542596914],[0.21951396353507574,1.2127399538847572]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[0.645508988289045,-2.0229252005369815,0.71338606911949],"aabb_xy":[[0.6105089891590892,-2.0286704216126457],[0.6805089874190006,-2.0171799794613174]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[0.1362678417102422,-2.0156065862647643,0.71338606911949],"aabb_xy":[[0.1137678414667268,-2.0278112209245363],[0.1587678419537576,-2.0034019516049923]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_27","position":[0.5316284361920862,-1.2533634105978895,0.71338606911949],"aabb_xy":[[0.5207226601045235,-1.3333634069967184],[0.5425342122796489,-1.17336341419906]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[-0.5390613719203496,-1.731807535947469,0.71338606911949],"aabb_xy":[[-0.546305137966595,-1.8118075341510715],[-0.5318176058741043,-1.6518075377438668]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_29","position":[0.666235813044679,-1.9533426420220388,0.71338606911949],"aabb_xy":[[0.6601411851565608,-1.9619120365737075],[0.6723304409327975,-1.94477324747037]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_30","position":[-0.6274722378316017,1.3879794581547853,0.71338606911949],"aabb_xy":[[-0.6315503957386516,1.383898477906522],[-0.623394079924552,1.3920604384030486]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6650863671217149,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5288.png","name":"5288"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5288.png","name":"5288"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1394.png","name":"1394"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2732.png","name":"2732"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6642.png","name":"6642"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3646.png","name":"3646"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":694.4833977978612,"rotation_z_degrees":37.02358711434772,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013322880040632864,-0.01192519221146629,-0.012319400363678762]},{"name":"camera_2","offset_m":[-0.012501495659376248,0.005137392253218444,0.016465889725014404]},{"name":"camera_3","offset_m":[-0.013215222817052598,0.01392984390157442,0.006947978705091212]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019111559271339307,-5.20941765583564e-06,-0.0018101559571019306],"end_effector_yaw_offset_degrees":-0.15943955241923558},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007399116491295962,0.00021452281921555951,0.0006619686287844496],"end_effector_yaw_offset_degrees":-0.25587020304909425},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001941699741151966,-0.0011518561516120382,0.00038381661108232443],"end_effector_yaw_offset_degrees":0.12447185446528253},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005760761425582035,-0.00032015151275636674,-0.0009964916529594445],"end_effector_yaw_offset_degrees":-0.703333215509403}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004593621302143612,0.004623102867285632],"position_m":[0.1706936213021436,0.15782310286728563,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003281643012148978,-0.002605067731589704],"position_m":[0.257981643012149,-0.3236050677315897,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034448219289374294,0.004226441673979915],"position_m":[0.14045517807106256,0.2900264416739799,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032209667254899906,-0.0025877473267607843],"position_m":[0.36292096672549,0.060912252673239214,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"579ceb5c93de6d5e3399c0069f94b473365e046ed0ced6d538396cd3c8360ec5","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5288/tex_ceiling_textures_3646/tex_floor_textures_6642/tex_table_textures_1394/tex_wall_textures_2732","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1426254263582347701,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1426254263582347701,"visual_seed":1426254263582347701,"scene_id":"lab_003","finished_at":"2026-09-05T00:50:57"}
+{"episode_id":"ep_000020","started_at":"2026-09-05T00:51:00","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.3774821758102669,-2.364472590060349,0.71338606911949],"aabb_xy":[[0.3347154689308467,-2.428472593482151],[0.4202488826896871,-2.3004725866385463]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[0.6802848904364307,-1.0694980811603059,0.71338606911949],"aabb_xy":[[0.6550640535765908,-1.0947218320131924],[0.7055057272962701,-1.044274330307419]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.618701278685299,1.477274873937335,0.71338606911949],"aabb_xy":[[-0.6473506110457151,1.4486293146602591],[-0.5900519463248827,1.5059204332144107]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.17216604769792243,-1.066337156054608,0.71338606911949],"aabb_xy":[[-0.20462774857984986,-1.0964699881695101],[-0.13970434681599495,-1.036204323939705]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[-0.5806354884502833,-1.686401063639014,0.71338606911949],"aabb_xy":[[-0.6006939000635237,-1.7064661505481715],[-0.5605770768370432,-1.6663359767298567]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.4905991657123865,1.6671891785018977,0.71338606911949],"aabb_xy":[[0.47302086352343964,1.6496146889277927],[0.5081774679013333,1.6847636680760028]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.14858339136299592,-1.5680103138526253,0.71338606911949],"aabb_xy":[[0.08358339320707686,-1.5943065584025373],[0.21358338951891498,-1.541714069302713]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.40533792122554446,0.8677866985657232,0.71338606911949],"aabb_xy":[[-0.4278379210394469,0.8633120821952425],[-0.38283792141164213,0.872261314936204]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.34265346688264553,-1.0392670625836296,0.71338606911949],"aabb_xy":[[0.2786534665051119,-1.0890123294344416],[0.40665346726017915,-0.9895217957328171]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[0.08862161796586865,-2.2042242146065645,0.71338606911949],"aabb_xy":[[0.0760189188287922,-2.2168196108314304],[0.10122431710294512,-2.1916288183816994]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.16985791856606658,-0.8206519746522978,0.71338606911949],"aabb_xy":[[0.09985791592948023,-0.8407568396481632],[0.23985792120265292,-0.8005471096564322]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[-0.26105072361386583,-0.5249016765224641,0.71338606911949],"aabb_xy":[[-0.279935107382376,-0.5437876013028169],[-0.24216633984535557,-0.5060157517421113]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[0.46460338236495224,-1.2264868448994177,0.71338606911949],"aabb_xy":[[0.4006033791463144,-1.273209956798426],[0.5286033855835901,-1.1797637330004094]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.5676914690203712,1.395321088355602,0.71338606911949],"aabb_xy":[[0.5076914687689699,1.3410397633191373],[0.6276914692717722,1.4496024133920666]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.23971093268323712,0.5379370833228161,0.71338606911949],"aabb_xy":[[-0.30371093409122774,0.48614813179889144],[-0.17571093127524642,0.5897260348467408]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[-0.44753837603489943,0.6772402926331162,0.71338606911949],"aabb_xy":[[-0.5275383730491474,0.657105740959705],[-0.3675383790206514,0.6973748443065275]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.5130891211810058,-0.2773964099026265,0.71338606911949],"aabb_xy":[[-0.5625695423949646,-0.3413964078154783],[-0.463608699967047,-0.21339641198977466]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[-0.3449722610769212,-1.6660645001776264,0.71338606911949],"aabb_xy":[[-0.36247226133625793,-1.680156042366399],[-0.3274722608175847,-1.6519729579888538]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[0.3260555198141428,-1.7891856007682623,0.71338606911949],"aabb_xy":[[0.27605551886360996,-1.8207347477717832],[0.3760555207646756,-1.7576364537647404]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.030389494537026218,-2.3497419233430414,0.71338606911949],"aabb_xy":[[-0.09198025376101904,-2.4137419214520883],[0.031201264686966598,-2.2857419252339946]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.019087017580543764,-1.4365543311071045,0.71338606911949],"aabb_xy":[[-0.05091297882941803,-1.4569922667587858],[0.08908701399050555,-1.4161163954554223]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[-0.09835237699532706,-1.3405397809699064,0.71338606911949],"aabb_xy":[[-0.11268680212149051,-1.3525999965244453],[-0.08401795186916361,-1.3284795654153676]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[-0.4223671051847767,0.28282543363773627,0.71338606911949],"aabb_xy":[[-0.43320758341129156,0.26563915234708746],[-0.41152662695826175,0.3000117149283851]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[0.5488251881157169,0.34347372064248605,0.71338606911949],"aabb_xy":[[0.5143628407175749,0.30897983824466324],[0.5832875355138585,0.37796760304030863]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[-0.6439110138071018,0.4496754993469443,0.71338606911949],"aabb_xy":[[-0.6521255589227856,0.4409989090493029],[-0.6356964686914176,0.45835208964458546]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_25","position":[0.5115474048894286,-1.974227765170978,0.71338606911949],"aabb_xy":[[0.49404747145544514,-1.9917277650912126],[0.5290473383234119,-1.9567277652507435]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[0.630893816947375,-0.6779749869778477,0.71338606911949],"aabb_xy":[[0.5808938156635348,-0.7279538413684697],[0.6808938182312148,-0.6279961325872255]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6632879332285745,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/662.png","name":"662"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/662.png","name":"662"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1684.png","name":"1684"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/493.png","name":"493"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8330.png","name":"8330"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4645.png","name":"4645"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":547.1300571545772,"rotation_z_degrees":257.88780122997485,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014750785074184645,0.0021793316710589615,-0.009630679461391041]},{"name":"camera_2","offset_m":[0.010078661880706101,0.0042105176550741065,0.005243076684249837]},{"name":"camera_3","offset_m":[-0.017194435617034015,-0.015126540518393669,-0.008491297675879585]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00122319008159921,0.0019467580572670156,-0.0007641460589661402],"end_effector_yaw_offset_degrees":-0.795289200282467},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-2.493459011240545e-05,0.0014628467328910676,-0.0013373050966591581],"end_effector_yaw_offset_degrees":-0.44830113435031693},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005842000248404075,0.0019752344635369477,0.0011318013257868853],"end_effector_yaw_offset_degrees":0.7209085117184455},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013284097839042527,-0.001040242885484421,0.0009288934106956889],"end_effector_yaw_offset_degrees":-0.2349531730024308}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014570308929827266,-0.004303823708683706],"position_m":[0.1675570308929827,0.1488961762913163,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004084141901256318,0.0025693079327468405],"position_m":[0.2587841419012563,-0.31843069206725316,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011969979989855826,-0.0012166539951533107],"position_m":[0.1427030020010144,0.2845833460048467,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004250508201320116,0.0021770933560426265],"position_m":[0.36395050820132013,0.06567709335604263,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d30bb900ff7e0413abd5684f8687f5987108b0551071a0d49d7536ba1ecaff4","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_662/tex_ceiling_textures_4645/tex_floor_textures_8330/tex_table_textures_1684/tex_wall_textures_493","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2640847494174397197,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2640847494174397197,"visual_seed":2640847494174397197,"scene_id":"lab_003","finished_at":"2026-09-05T00:54:53"}
+{"episode_id":"ep_000021","started_at":"2026-09-05T00:54:57","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.11565062380025792,-0.21253234990663827,0.71338606911949],"aabb_xy":[[-0.15065062293021358,-0.21827757098230235],[-0.08065062467030225,-0.20678712883097414]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.5460694173428251,-2.5077022759882657,0.71338606911949],"aabb_xy":[[-0.5910620040612755,-2.5527022752627144],[-0.5010768306243747,-2.462702276713817]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.27613980582977204,0.8153380784458713,0.71338606911949],"aabb_xy":[[-0.3401398081725736,0.7703972272017386],[-0.2121398034869705,0.8602789296900036]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.2510004280381338,-0.9078936390566272,0.71338606911949],"aabb_xy":[[0.20975161700821907,-0.9628936385688447],[0.2922492390680485,-0.8528936395444098]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[-0.653080285698997,-1.7194508295524429,0.71338606911949],"aabb_xy":[[-0.6601217366497446,-1.7264775812902375],[-0.6460388347482494,-1.7124240778146487]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[-0.6796925307738053,-0.3288951430224949,0.71338606911949],"aabb_xy":[[-0.690104089454289,-0.33424087635839334],[-0.6692809720933216,-0.32354940968659635]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[0.3919421372501055,-1.7862503357373436,0.71338606911949],"aabb_xy":[[0.3019421375269312,-1.8093236882725232],[0.4819421369732796,-1.7631769832021635]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[-0.1806761317820651,-0.6413309742987152,0.71338606911949],"aabb_xy":[[-0.23567613095865456,-0.6963206490736729],[-0.12567613260547558,-0.5863412995237576]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.4056838812087595,0.1351420198141322,0.71338606911949],"aabb_xy":[[-0.4706838812430622,0.08844134313380489],[-0.34068388117445675,0.18184269649445947]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.20660401937643114,0.6513567377306697,0.71338606911949],"aabb_xy":[[0.11660402287555936,0.6054450953122112],[0.29660401587730284,0.6972683801491277]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[-0.3593218539316289,-0.7863056093863119,0.71338606911949],"aabb_xy":[[-0.4233218542056071,-0.8363717095835999],[-0.2953218536576506,-0.7362395091890239]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.45783383822493795,-1.3590329013410802,0.71338606911949],"aabb_xy":[[-0.4991383812886739,-1.423032900909197],[-0.4165292951612019,-1.295032901772963]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.42706956520054695,0.3946355647132953,0.71338606911949],"aabb_xy":[[0.4165020855424479,0.38409053460028675],[0.4376370448586459,0.40518059482630386]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[0.5509845794292803,1.0911432014196052,0.71338606911949],"aabb_xy":[[0.4809845830193184,1.0707052657679232],[0.6209845758392419,1.1115811370712867]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.6953687138187263,-0.8566200786291096,0.71338606911949],"aabb_xy":[[0.687445433579978,-0.879120078867113],[0.7032919940574747,-0.8341200783911062]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.2653263063602236,-1.4118465246077307,0.71338606911949],"aabb_xy":[[0.24081268226321773,-1.4361111179097674],[0.28983993045722944,-1.3875819313056945]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[-0.3629651403838318,1.162268654760879,0.71338606911949],"aabb_xy":[[-0.366405816623889,1.1584072217865147],[-0.35952446414377465,1.1661300877352436]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[0.3603893318174509,-1.5700288841086063,0.71338606911949],"aabb_xy":[[0.35554573705622095,-1.5748805365875904],[0.3652329265786809,-1.5651772316296222]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.6820216794359459,-1.1747635526814406,0.71338606911949],"aabb_xy":[[0.6477054022613279,-1.2247635526546181],[0.7163379566105638,-1.1247635527082627]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.24064144844206747,-1.6039801461809708,0.71338606911949],"aabb_xy":[[-0.2493554174920019,-1.6264801468401588],[-0.23192747939213293,-1.5814801455217824]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.3879220246524937,1.7623842022268552,0.71338606911949],"aabb_xy":[[-0.44792202629541555,1.7103840529349112],[-0.32792202300957185,1.8143843515187996]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.2791631454914866,0.5130799284792378,0.71338606911949],"aabb_xy":[[0.24166314519931176,0.5090384530786342],[0.3166631457836614,0.5171214038798414]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[0.07374230495702938,1.6445340937536357,0.71338606911949],"aabb_xy":[[0.009742303279032041,1.5960167022743215],[0.13774230663502673,1.69305148523295]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.26349422374433584,-1.2657773474991796,0.71338606911949],"aabb_xy":[[0.18350040016577768,-1.3457773500920212],[0.3434880473228941,-1.185777344906338]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_24","position":[-0.5640939656145454,0.4619334782803728,0.71338606911949],"aabb_xy":[[-0.5986850484685905,0.3969334779953417],[-0.5295028827605001,0.5269334785654037]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[-0.32678489875676103,0.61431212245094,0.71338606911949],"aabb_xy":[[-0.4067849020207741,0.6007520901420267],[-0.24678489549274785,0.6278721547598534]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[0.02065080208583603,0.8551195223715808,0.71338606911949],"aabb_xy":[[-0.04434919891466449,0.8043331572169058],[0.08565080308633655,0.9059058875262557]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_27","position":[-0.09280770405471817,0.6885251759902657,0.71338606911949],"aabb_xy":[[-0.12965825199170578,0.651025175167232],[-0.05595715611773054,0.7260251768132995]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_28","position":[-0.05213699776861247,-2.0341493037104144,0.71338606911949],"aabb_xy":[[-0.07219540938185276,-2.054214390619572],[-0.03207858615537218,-2.014084216801257]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6611725979225406,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1320.png","name":"1320"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1320.png","name":"1320"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3065.png","name":"3065"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/449.png","name":"449"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3540.png","name":"3540"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1852.png","name":"1852"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":590.9741638263056,"rotation_z_degrees":152.20210118098362,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032471584951413272,-0.0008213170379785632,0.004118687571889726]},{"name":"camera_2","offset_m":[0.009988341465184885,-0.005798381519148087,0.012357432989438501]},{"name":"camera_3","offset_m":[-0.006518473409887645,0.009847695792471477,0.01132199344425058]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00044186873081026755,-0.0009198745976622669,0.0009054193775741865],"end_effector_yaw_offset_degrees":-0.3499208307417776},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014015025432964866,-0.0006730940406322792,-0.0012355961830326772],"end_effector_yaw_offset_degrees":-0.43548474758538136},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006376192452220977,-0.0018301836686784832,0.0007337189957220087],"end_effector_yaw_offset_degrees":0.5917459661079711},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016247465830907652,-0.0013163172263493512,0.00036955841937599343],"end_effector_yaw_offset_degrees":0.008633086963975245}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007070146642494399,-0.004994358835986704],"position_m":[0.16539298533575056,0.1482056411640133,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023341920677379243,0.0037780022841976514],"position_m":[0.2570341920677379,-0.31722199771580234,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004496408546196908,-0.003915525867594752],"position_m":[0.1394035914538031,0.28188447413240525,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002218506643607696,-0.0014070261711187728],"position_m":[0.35748149335639234,0.06209297382888123,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a1eec467582e941cf565c13701b20f26d2ae4fd51befa4c0febcebc37fb08b06","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0022.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1320/tex_ceiling_textures_1852/tex_floor_textures_3540/tex_table_textures_3065/tex_wall_textures_449","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5956089013306491453,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5956089013306491453,"visual_seed":5956089013306491453,"scene_id":"lab_003","finished_at":"2026-09-05T00:58:36"}
+{"episode_id":"ep_000022","started_at":"2026-09-05T00:58:42","dimensions":{"distractor":{"count":31,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.3425177094519436,1.3629044648332704,0.71338606911949],"aabb_xy":[[-0.38001770802756435,1.3501681691697125],[-0.30501771087632273,1.3756407604968284]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.6096098096975315,1.4751339628347728,0.71338606911949],"aabb_xy":[[0.5296098064335184,1.4615739305258595],[0.6896098129615447,1.4886939951436862]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[0.30923902915045165,-1.8605549609174754,0.71338606911949],"aabb_xy":[[0.2442390265126581,-1.9120345596169226],[0.3742390317882451,-1.8090753622180287]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[0.6168345244429767,1.124164066221649,0.71338606911949],"aabb_xy":[[0.5528345237395074,1.0781456837487282],[0.680834525146446,1.1701824486945702]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[-0.12629469914229585,0.18251152427869322,0.71338606911949],"aabb_xy":[[-0.12973537538235302,0.17865009130432874],[-0.12285402290223868,0.1863729572530577]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.23302920052676823,-2.293273620278023,0.71338606911949],"aabb_xy":[[0.1780292013501787,-2.3482632950529805],[0.28802919970335766,-2.238283945503065]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.11582587829869251,-1.6979023129151702,0.71338606911949],"aabb_xy":[[-0.19582587876890847,-1.7062130205295187],[-0.03582587782847655,-1.6895916053008222]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[-0.12086819144548366,0.4849233542028606,0.71338606911949],"aabb_xy":[[-0.15533066945857144,0.47825967701993777],[-0.08640571343239588,0.4915870313857834]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.0890233992402838,-0.21710970496748816,0.71338606911949],"aabb_xy":[[-0.10813570659826266,-0.23624448384473015],[-0.06991109188230493,-0.1979749260902461]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.23425718016457842,-1.2683598570892884,0.71338606911949],"aabb_xy":[[0.1702614827694818,-1.332359855389997],[0.298252877559675,-1.2043598587885795]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[0.48771296344138215,-0.6476588415058784,0.71338606911949],"aabb_xy":[[0.4641278399774873,-0.7126588437513102],[0.511298086905277,-0.5826588392604466]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[0.3374467059720816,1.6622501747045777,0.71338606911949],"aabb_xy":[[0.3129004903493309,1.6320012781555404],[0.3619929215948323,1.6924990712536145]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.2663054948118037,-1.82110689526721,0.71338606911949],"aabb_xy":[[-0.27434182951308855,-1.8291450145716266],[-0.25826916011051887,-1.813068775962793]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[0.3731080019977493,-1.2050571684314815,0.71338606911949],"aabb_xy":[[0.3506080014857087,-1.2275490267968798],[0.3956080025097899,-1.1825653100660831]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.5607256260258644,-0.41754044064499274,0.71338606911949],"aabb_xy":[[-0.6223163852498573,-0.4815404387540397],[-0.4991348668018717,-0.3535404425359459]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.003123252857678005,1.4382269554791107,0.71338606911949],"aabb_xy":[[-0.019792460027371898,1.4153226583426874],[0.02603896574272791,1.4611312526155344]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.0983382741485681,1.5951710236439305,0.71338606911949],"aabb_xy":[[0.033338273042624836,1.5702056505758024],[0.1633382752545114,1.620136396712059]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.6724980887004244,0.4891604798693434,0.71338606911949],"aabb_xy":[[0.659267143165743,0.4759330608473439],[0.6857290342351056,0.5023878988913427]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[0.4281453063051923,1.364318072107475,0.71338606911949],"aabb_xy":[[0.4235101911529589,1.360450737030326],[0.4327804214574256,1.3681854071846236]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.052864421034975906,-0.7601262132524307,0.71338606911949],"aabb_xy":[[0.022380170907945737,-0.8101262130339266],[0.08334867116200605,-0.7101262134709347]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.39389091141739757,-1.4800389161390775,0.71338606911949],"aabb_xy":[[-0.4157995935567485,-1.501939582959168],[-0.3719822292780464,-1.4581382493189865]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[0.5397767921270797,-1.5729204752866024,0.71338606911949],"aabb_xy":[[0.48480307009074697,-1.6279204748508358],[0.5947505141634127,-1.5179204757223694]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[-0.13590591063259683,-0.8999731245099649,0.71338606911949],"aabb_xy":[[-0.1446871377798331,-0.9087528717984952],[-0.12712468348536066,-0.8911933772214349]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.22488109921979177,1.6892424644473283,0.71338606911949],"aabb_xy":[[-0.23612615479040963,1.6780006667232328],[-0.21363604364917396,1.7004842621714233]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[-0.2882567144606769,-1.1820849617493132,0.71338606911949],"aabb_xy":[[-0.30568742953968336,-1.1993570764131638],[-0.27082599938167035,-1.1648128470854622]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[0.32321425125885694,-0.7493072817579973,0.71338606911949],"aabb_xy":[[0.28044754437943675,-0.8133072851797998],[0.36598095813827713,-0.6853072783361949]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[0.4992699194522787,-0.394732753427085,0.71338606911949],"aabb_xy":[[0.495153969340206,-0.3988483084599304],[0.5033858695643514,-0.3906171983942394]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_27","position":[0.0476677914867758,-2.3995155492793114,0.71338606911949],"aabb_xy":[[0.010167791543009397,-2.407808639314148],[0.0851677914305422,-2.391222459244475]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_28","position":[-0.09958763168774587,1.0253298119502183,0.71338606911949],"aabb_xy":[[-0.1345876316642417,1.0158651959026017],[-0.06458763171125004,1.034794427997835]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_29","position":[0.05632076819025256,-1.066853525349826,0.71338606911949],"aabb_xy":[[0.00622330420917893,-1.1308535258596377],[0.10641823217132618,-1.002853524840014]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_30","position":[0.5338350917328274,0.8256020177349899,0.71338606911949],"aabb_xy":[[0.47870988610323656,0.7656020162937026],[0.5889602973624181,0.8856020191762769]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6609303089570232,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6461.png","name":"6461"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6461.png","name":"6461"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/737.png","name":"737"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8514.png","name":"8514"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8636.png","name":"8636"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3597.png","name":"3597"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":655.6885227595858,"rotation_z_degrees":192.74873928655256,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0042337491594950025,0.01660214435930271,0.01780670371002872]},{"name":"camera_2","offset_m":[-0.009404444005240849,-0.018025460904561214,0.011374823005991085]},{"name":"camera_3","offset_m":[0.0015016304115647236,-0.007796088474267817,0.019362118168622242]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018085766101461616,-0.001320937763544023,0.0016133454023161092],"end_effector_yaw_offset_degrees":-0.8204763378256625},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004935888964235789,0.0012131711259944144,0.0011272152504516785],"end_effector_yaw_offset_degrees":0.8260576999318603},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00022379501007304022,-2.2460638406230846e-05,0.0015373081823858974],"end_effector_yaw_offset_degrees":0.6116496747969853},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010309824217254494,-0.0007578761979417901,3.970130422760194e-05],"end_effector_yaw_offset_degrees":0.30924234472780876}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00019850091571388742,0.0015284797785413895],"position_m":[0.1659014990842861,0.1547284797785414,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016383434339022262,-0.0028865614733978528],"position_m":[0.25306165656609775,-0.32388656147339784,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034502384645982284,-0.00402813355685417],"position_m":[0.14735023846459822,0.28177186644314584,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020546591150481285,0.0026683881189200386],"position_m":[0.35764534088495187,0.06616838811892004,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1182615ac8e01546ec589d32ff2a42780cbe092346cc42c113aee59485260487","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6461/tex_ceiling_textures_3597/tex_floor_textures_8636/tex_table_textures_737/tex_wall_textures_8514","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5174438865815516936,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5174438865815516936,"visual_seed":5174438865815516936,"scene_id":"lab_003","finished_at":"2026-09-05T01:02:25"}
+{"episode_id":"ep_000023","started_at":"2026-09-05T01:02:30","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[0.6297120575534874,0.4586404953533241,0.71338606911949],"aabb_xy":[[0.5797127823850513,0.40864049407737696],[0.6797113327219236,0.5086404966292712]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.018665871606781792,0.6796194694613549,0.71338606911949],"aabb_xy":[[-0.07366586980852662,0.6390975028349173],[0.03633412659496303,0.7201414360877925]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[-0.6644197634973025,0.38094475949975903,0.71338606911949],"aabb_xy":[[-0.6819664584134215,0.34344475793550777],[-0.6468730685811837,0.4184447610640103]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[-0.1253477615933204,0.8467837154264406,0.71338606911949],"aabb_xy":[[-0.1478441830271845,0.8242837156196932],[-0.1028513401594563,0.869283715233188]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[-0.3422269714455208,-0.13842008923826432,0.71338606911949],"aabb_xy":[[-0.4022269719533737,-0.1952668229241856],[-0.28222697093766785,-0.081573355552343]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.1710410614444975,-2.3956440904387355,0.71338606911949],"aabb_xy":[[-0.19354106125839987,-2.4001187068092165],[-0.1485410616305951,-2.3911694740682554]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[-0.3742390948216937,-0.7101731956014163,0.71338606911949],"aabb_xy":[[-0.42923909399828314,-0.7651628703763738],[-0.31923909564510417,-0.6551835208264585]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.15551089861391043,0.9561891042483839,0.71338606911949],"aabb_xy":[[0.13995512920364522,0.9406386710039768],[0.17106666802417575,0.9717395374927912]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[0.17386640015203214,1.4172978103210476,0.71338606911949],"aabb_xy":[[0.12389310614877164,1.3672978097665003],[0.22383969415529253,1.467297810875595]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[-0.3530125671391836,1.7632934904225919,0.71338606911949],"aabb_xy":[[-0.4230125692706131,1.7405315247968958],[-0.283012565007754,1.786055456048287]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.13480844675876413,-1.779525589660332,0.71338606911949],"aabb_xy":[[0.06480844495001872,-1.8008793584245193],[0.2048084485675096,-1.7581718208961445]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.6798326263562349,-0.6411774325038386,0.71338606911949],"aabb_xy":[[0.6717962916549499,-0.6492155518082554],[0.6878689610575196,-0.6331393131994218]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[0.2155353526247663,-1.116768780074833,0.71338606911949],"aabb_xy":[[0.15053534998697282,-1.1682483787742797],[0.2805353552625598,-1.0652891813753858]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[-0.41325653106941285,-1.9009999981005337,0.71338606911949],"aabb_xy":[[-0.4234095466235621,-1.9370695396732733],[-0.40310351551526336,-1.8649304565277927]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.08016239021632576,-1.078088445577979,0.71338606911949],"aabb_xy":[[0.06252955462279818,-1.0957113915936016],[0.09779522580985332,-1.0604654995623557]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.4049282502009605,-2.3128880106221437,0.71338606911949],"aabb_xy":[[-0.42876446784156563,-2.40288801143063],[-0.3810920325603555,-2.222888009813657]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[0.5903296739954569,1.522016928542366,0.71338606911949],"aabb_xy":[[0.5690516658519846,1.4570169262162926],[0.6116076821389291,1.5870169308684388]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[0.6809349506292015,1.7313103358356243,0.71338606911949],"aabb_xy":[[0.6674884239951581,1.7178404841825328],[0.6943814772632447,1.7447801874887154]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[0.5535246310238215,-1.1339706962331317,0.71338606911949],"aabb_xy":[[0.47352463400957356,-1.154105247906543],[0.6335246280380695,-1.1138361445597205]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.14715275109582715,0.26704637053265445,0.71338606911949],"aabb_xy":[[-0.21215275220177046,0.24208099746452622],[-0.0821527499898839,0.2920117436007828]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[0.03536263196511569,1.2276567284113526,0.71338606911949],"aabb_xy":[[0.027336361334489696,1.2189052334340003],[0.04338890259574169,1.2364082233887055]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[0.5562506042157933,0.05654107318157253,0.71338606911949],"aabb_xy":[[0.49125060633414563,0.005417409475031666],[0.6212506020974412,0.10766473688811343]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[0.16129111502427007,-0.6090436223593547,0.71338606911949],"aabb_xy":[[0.11910670086343936,-0.6730436226365659],[0.20347552918510084,-0.5450436220821435]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[0.12271858717018547,-2.3335140041509113,0.71338606911949],"aabb_xy":[[0.11567827723664849,-2.4135140035505827],[0.12975889710372246,-2.25351400475124]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[0.6715882961168618,-2.267336162768907,0.71338606911949],"aabb_xy":[[0.6667447013556318,-2.2721878152478916],[0.6764318908780917,-2.2624845102899234]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[-0.6072592850964812,-0.7894607375234843,0.71338606911949],"aabb_xy":[[-0.644759286612113,-0.8006875105396294],[-0.5697592835808496,-0.7782339645073393]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[0.4068881211191453,-1.8957802803864094,0.71338606911949],"aabb_xy":[[0.342888120845167,-1.9458463805836974],[0.47088812139312347,-1.8457141801891215]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_27","position":[-0.4740993091898138,0.8603884033342499,0.71338606911949],"aabb_xy":[[-0.5540993094634207,0.7874388555085332],[-0.39409930891620676,0.9333379511599667]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[0.713844284166459,-1.4844394299579118,0.71338606911949],"aabb_xy":[[0.7030713102450912,-1.5194394281769508],[0.7246172580878267,-1.4494394317388728]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_29","position":[0.4628428327332481,-2.1947563992635604,0.71338606911949],"aabb_xy":[[0.37284283301007387,-2.2178297517987398],[0.5528428324564222,-2.17168304672838]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_30","position":[-0.4784341923823796,1.3203659237402525,0.71338606911949],"aabb_xy":[[-0.4861373830564566,1.3126565530415144],[-0.4707310017083025,1.3280752944389906]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6586617614981217,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6580.png","name":"6580"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6580.png","name":"6580"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1894.png","name":"1894"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/569.png","name":"569"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3937.png","name":"3937"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3000.png","name":"3000"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":721.1422746528356,"rotation_z_degrees":20.909375944057654,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005640540605993581,-3.0398416188542887e-06,0.006582717174990763]},{"name":"camera_2","offset_m":[0.002625890554573806,-0.01325336782292252,0.0015405716437894845]},{"name":"camera_3","offset_m":[-0.017067264273703465,0.001298285568119447,0.0030219453635548024]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000525320560364727,-0.0008752347779679593,-0.0006940400304066968],"end_effector_yaw_offset_degrees":0.5344438367369735},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-8.289957150564142e-05,0.0006899536935771966,0.00029082834117538344],"end_effector_yaw_offset_degrees":-0.7993711735901665},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00040637370031600594,0.0010427384032729373,0.0019071728795125855],"end_effector_yaw_offset_degrees":0.31247320164641956},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010939451749829555,-0.0015901852987704067,0.0009586282094726883],"end_effector_yaw_offset_degrees":0.1797494439685814}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003123655209932065,0.0004682497622392123],"position_m":[0.16922365520993207,0.15366824976223922,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009735858081172865,0.002970711035324717],"position_m":[0.2537264141918827,-0.3180292889646753,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-4.8393512438850775e-06,0.0017897053217679725],"position_m":[0.14389516064875613,0.287589705321768,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004936221030595331,-0.00026163854149346445],"position_m":[0.36019362210305955,0.06323836145850653,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bbc56391edb886a0832a96d38649455861ec22077cbe5819903611c87229a32c","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6580/tex_ceiling_textures_3000/tex_floor_textures_3937/tex_table_textures_1894/tex_wall_textures_569","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8473860494714973755,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8473860494714973755,"visual_seed":8473860494714973755,"scene_id":"lab_003","finished_at":"2026-09-05T01:06:12"}
+{"episode_id":"ep_000024","started_at":"2026-09-05T01:06:19","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[-0.6125604542237868,0.6747504008662117,0.71338606911949],"aabb_xy":[[-0.6596898332256222,0.6107503998218096],[-0.5654310752219509,0.7387504019106135]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[0.39909258902781497,-2.42458471814307,0.71338606911949],"aabb_xy":[[0.39517871583239245,-2.433333733549627],[0.4030064622232375,-2.4158357027365134]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[0.5563970478072651,1.155714998854478,0.71338606911949],"aabb_xy":[[0.5064182392969491,1.1057149988487591],[0.6063758563175808,1.2057149988601967]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[0.4674841224278532,1.2865652837967878,0.71338606911949],"aabb_xy":[[0.45945785179722726,1.2778137888194352],[0.47551039305847925,1.2953167787741404]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.03435967636041504,1.0314080987673386,0.71338606911949],"aabb_xy":[[0.02299794170712887,1.0200396323610503],[0.04572141101370119,1.0427765651736265]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.38755431918029126,-0.912621716471459,0.71338606911949],"aabb_xy":[[0.37813684461042846,-0.9220378936091779],[0.39697179375015396,-0.9032055393337398]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.4773597239244758,0.01774603476344705,0.71338606911949],"aabb_xy":[[0.42747702704677953,-0.0322539644828277],[0.527242420802172,0.0677460340097218]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[0.017475021140274438,-2.4733272636566994,0.71338606911949],"aabb_xy":[[-0.0014093626282357628,-2.4922131884370518],[0.03635940490878464,-2.454441338876346]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.3536041922609408,1.263595616039673,0.71338606911949],"aabb_xy":[[-0.3870443674569603,1.2301519902087428],[-0.3201640170649211,1.297039241870603]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.237733846150449,1.7185110204833793,0.71338606911949],"aabb_xy":[[0.17273384611614628,1.671810343803052],[0.30273384618475174,1.7652116971637066]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.4795739485114499,-0.32188260491966947,0.71338606911949],"aabb_xy":[[-0.5435739478056181,-0.38586874528852366],[-0.4155739492172817,-0.2578964645508153]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[-0.2895502192793331,-1.6633695538931934,0.71338606911949],"aabb_xy":[[-0.3072258498679314,-1.681049770172596],[-0.2718745886907347,-1.6456893376137904]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[0.15449771488185915,-1.1017164031517515,0.71338606911949],"aabb_xy":[[0.07449771772228383,-1.1132640041095683],[0.2344977120414344,-1.0901688021939342]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[0.45978221601172753,-2.0333100251081064,0.71338606911949],"aabb_xy":[[0.3957822153082582,-2.079328407581028],[0.5237822167151969,-1.9872916426351859]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[0.13030855173100364,-2.5382389990658303,0.71338606911949],"aabb_xy":[[0.11280855148595424,-2.555738786905397],[0.147808551976053,-2.5207392112262634]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.3510794185616746,-0.5555472496159561,0.71338606911949],"aabb_xy":[[-0.36185239248304235,-0.5905472478349951],[-0.3403064446403068,-0.5205472513969172]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.5562139921086455,-2.4968265747640146,0.71338606911949],"aabb_xy":[[0.538581156515118,-2.514449520779637],[0.5738468277021731,-2.479203628748391]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[0.015379020608967675,1.243656022818409,0.71338606911949],"aabb_xy":[[-0.0006829068495499689,1.158656021005817],[0.03144094806748531,1.3286560246310006]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.40547835278310607,0.4862511835425294,0.71338606911949],"aabb_xy":[[0.39618473454595543,0.44875118505439543],[0.4147719710202566,0.5237511820306633]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.6210086079329349,-1.7708251677959237,0.71338606911949],"aabb_xy":[[0.5906104968337912,-1.801232069797593],[0.6514067190320784,-1.740418265794254]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[0.17339411770952695,0.8083026549282781,0.71338606911949],"aabb_xy":[[0.16528046303614985,0.800196838474249],[0.18150777238290405,0.8164084713823072]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[0.5816422175590108,1.6809843628282857,0.71338606911949],"aabb_xy":[[0.5613579148356119,1.6607017376855766],[0.6019265202824094,1.7012669879709943]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[-0.16001047985091754,1.680570395145049,0.71338606911949],"aabb_xy":[[-0.24001047850780352,1.6660655362207861],[-0.08001048119403151,1.695075254069312]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[0.30072214665189423,-0.6548422461327819,0.71338606911949],"aabb_xy":[[0.236722146377916,-0.7049083463300697],[0.36472214692587246,-0.6047761459354938]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[-0.20512902956471624,0.23099707843456008,0.71338606911949],"aabb_xy":[[-0.21154284320790118,0.2245872581868917],[-0.1987152159215313,0.2374068986822284]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.3870203722823382,-1.0707471458859084,0.71338606911949],"aabb_xy":[[-0.42202037141229387,-1.0764923669615725],[-0.35202037315238255,-1.0650019248102442]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[-0.4767922526035191,-0.8080260053915349,0.71338606911949],"aabb_xy":[[-0.48483561252947427,-0.8930260064869013],[-0.4687488926775639,-0.7230260042961685]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[-0.6284449085551014,-1.1191383829520727,0.71338606911949],"aabb_xy":[[-0.6385979241092506,-1.1552079245248128],[-0.6182918930009519,-1.0830688413793321]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6590181276524589,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/538.png","name":"538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/538.png","name":"538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3722.png","name":"3722"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3741.png","name":"3741"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8616.png","name":"8616"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2920.png","name":"2920"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":735.0992550677629,"rotation_z_degrees":308.74848639125594,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00025941708862009527,-0.017665010227701245,-0.01848173138540562]},{"name":"camera_2","offset_m":[-0.00809606639860434,-0.011610061359931438,0.010762981832213074]},{"name":"camera_3","offset_m":[-0.006775224957723544,-0.009025631151676103,-0.006516612901843221]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008067401620636861,-0.001793205046103489,0.0014814658134924582],"end_effector_yaw_offset_degrees":0.40138303631946126},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014630422058079014,-0.0013376157512513598,0.0017442385175167187],"end_effector_yaw_offset_degrees":0.8887071448472554},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013837676843247353,-0.0006045671148734563,-0.0016552330384653308],"end_effector_yaw_offset_degrees":0.6696620307671146},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015303532971760415,-0.00035982536814975507,0.0017369129239117038],"end_effector_yaw_offset_degrees":-0.7704213020145982}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033435009734169765,-0.003493114805543901],"position_m":[0.162756499026583,0.1497068851944561,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030905358869709144,-0.0015674003081068387],"position_m":[0.2516094641130291,-0.3225674003081068,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004850604718384916,0.0010115648580452377],"position_m":[0.14875060471838492,0.2868115648580452,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003598453083022587,0.0031826129526895544],"position_m":[0.35610154691697743,0.06668261295268955,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9aa3fbb1ca742002653c5b109fae8eaa7323a0e176d9a425f587ce8032ee82f7","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_538/tex_ceiling_textures_2920/tex_floor_textures_8616/tex_table_textures_3722/tex_wall_textures_3741","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":7307179825834894701,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":7307179825834894701,"visual_seed":7307179825834894701,"scene_id":"lab_003","finished_at":"2026-09-05T01:09:58"}
+{"episode_id":"ep_000025","started_at":"2026-09-05T01:10:01","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.14490243894164945,-1.6891775232466628,0.71338606911949],"aabb_xy":[[-0.1521636865120569,-1.7019645335101723],[-0.13764119137124206,-1.6763905129831533]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[-0.5098976766104958,1.0663620519369483,0.71338606911949],"aabb_xy":[[-0.5299560882237361,1.046296965027791],[-0.4898392649972555,1.0864271388461058]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.4318761025900411,0.36220538685569714,0.71338606911949],"aabb_xy":[[-0.4958761011766135,0.3151984234561884],[-0.3678761040034686,0.40921235025520586]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[0.6112696985881809,-1.8230901240024586,0.71338606911949],"aabb_xy":[[0.6063136784032997,-1.8455901242045807],[0.6162257187730621,-1.8005901238003374]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[0.39565240096254506,1.765805767313347,0.71338606911949],"aabb_xy":[[0.33165240179277505,1.7190390801943845],[0.45965240013231495,1.8125724544323094]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[-0.385376936518526,1.7431737586973068,0.71338606911949],"aabb_xy":[[-0.44037693569511543,1.6881840839223492],[-0.33037693734193646,1.7981634334722645]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.5294994209485497,-1.6479006968471914,0.71338606911949],"aabb_xy":[[0.46949942044069676,-1.7047474305331127],[0.5894994214564026,-1.5910539631612701]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.5865641255710057,-0.06667995908943647,0.71338606911949],"aabb_xy":[[0.5515641256749867,-0.0750541946013764],[0.6215641254670244,-0.05830572357749652]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.20662071135144333,-2.1219347325933633,0.71338606911949],"aabb_xy":[[0.18912071207335646,-2.1392728326597092],[0.2241207106295302,-2.1045966325270173]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.4947277461157533,-1.2390226309031516,0.71338606911949],"aabb_xy":[[-0.5312235667430321,-1.2755065733299091],[-0.4582319254884746,-1.202538688476394]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[-0.18751893134320696,-2.5118206340587497,0.71338606911949],"aabb_xy":[[-0.1983705375920826,-2.5226799247864],[-0.1766673250943314,-2.5009613433310984]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.31170920764001164,0.4395010859483639,0.71338606911949],"aabb_xy":[[0.28131109654086794,0.40909418394669433],[0.3421073187391551,0.46990798795003336]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.43942679183859923,-0.45237447519023455,0.71338606911949],"aabb_xy":[[-0.4572202987735157,-0.47017422078603227],[-0.42163328490368285,-0.43457472959443694]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.16875746020379734,1.4253648617055794,0.71338606911949],"aabb_xy":[[-0.18162936370473748,1.3453648612917433],[-0.1558855567028572,1.5053648621194156]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[0.2992724356683826,1.1580349417451168,0.71338606911949],"aabb_xy":[[0.23527243244974477,1.1113118298461084],[0.3632724388870205,1.2047580536441251]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.39907160710805434,-0.18208477076355045,0.71338606911949],"aabb_xy":[[-0.4051086201087192,-0.1881114718324987],[-0.3930345941073897,-0.17605806969460228]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[-0.19442328176120505,1.0859847391276256,0.71338606911949],"aabb_xy":[[-0.2227529917097453,1.0815239969339085],[-0.16609357181266485,1.0904454813213427]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[0.04742790921364359,-1.419995947621843,0.71338606911949],"aabb_xy":[[-0.022572092595101845,-1.4413497163860303],[0.11742791102238903,-1.3986421788576555]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.11359875552961163,1.182488738825557,0.71338606911949],"aabb_xy":[[0.07609875518138386,1.1706973432444732],[0.15109875587783939,1.1942801344066403]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[0.30834691906985134,-2.4376666222939085,0.71338606911949],"aabb_xy":[[0.22834692048253194,-2.5169822242320694],[0.3883469176571708,-2.3583510203557476]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[0.5907005570887958,0.3834674829282334,0.71338606911949],"aabb_xy":[[0.5763661319626323,0.3714072673736945],[0.6050349822149592,0.3955276984827722]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[-0.4728300714846606,-0.2459312897177779,0.71338606911949],"aabb_xy":[[-0.5103300700602813,-0.25866758538133583],[-0.4353300729090398,-0.23319499405421995]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[-0.2693873689760139,-1.4200477254417239,0.71338606911949],"aabb_xy":[[-0.3493873692496208,-1.4929972732674404],[-0.18938736870240688,-1.347098177616007]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[-0.3348058560852955,-1.866431723311568,0.71338606911949],"aabb_xy":[[-0.3898013339059549,-1.9214317247454749],[-0.2798103782646361,-1.811431721877661]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_24","position":[-0.3300145449821518,-2.534570477906356,0.71338606911949],"aabb_xy":[[-0.3950145476199453,-2.586050076605803],[-0.26501454234435834,-2.4830908792069093]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[0.5969377820931658,1.3527857999909867,0.71338606911949],"aabb_xy":[[0.589655465716502,1.2627857963814773],[0.6042200984698293,1.4427858036004952]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[-0.19334690962114465,0.41314743297167045,0.71338606911949],"aabb_xy":[[-0.2079903151751776,0.39848871331488617],[-0.17870350406711163,0.42780615262845473]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[-0.5395200789218129,0.5437920492373265,0.71338606911949],"aabb_xy":[[-0.5770200804374446,0.5325652762211814],[-0.5020200774061812,0.5550188222534715]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662586813544583,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3508.png","name":"3508"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3508.png","name":"3508"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7617.png","name":"7617"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1858.png","name":"1858"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2509.png","name":"2509"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2725.png","name":"2725"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":581.0209692871248,"rotation_z_degrees":297.68086727766047,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006433376639120015,-0.013231438245240335,0.011674063272153045]},{"name":"camera_2","offset_m":[-0.01500624611886817,-0.004061828212013223,-0.0193346184655219]},{"name":"camera_3","offset_m":[0.003653291005475269,-0.0015416723722477335,-0.018132918325411144]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013864617602017456,-0.000633559297869894,0.000785085771947434],"end_effector_yaw_offset_degrees":-0.6664760348132825},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005629666221703719,0.0007027962610963515,-0.0001973145864162622],"end_effector_yaw_offset_degrees":0.41437081548492727},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004215674434744697,-0.0012846639898780373,-0.0005132768621826397],"end_effector_yaw_offset_degrees":0.07496076775180582},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002678421546525342,-0.0014448667120879172,-0.0017104042186302996],"end_effector_yaw_offset_degrees":0.4513214095173679}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0031581049397099584,-0.002072026532092408],"position_m":[0.16294189506029003,0.1511279734679076,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035087848249817826,-0.00460244481392689],"position_m":[0.2582087848249818,-0.3256024448139269,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000250821484379409,-0.00458310791664082],"position_m":[0.1436491785156206,0.2812168920833592,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014713914551887377,-0.0023700124877788966],"position_m":[0.35822860854481126,0.0611299875122211,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b6b617ad927e5aeabff066a818ffa83be86acdb384e7b35061eac3b4e859483f","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0026.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3508/tex_ceiling_textures_2725/tex_floor_textures_2509/tex_table_textures_7617/tex_wall_textures_1858","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8332144574124161005,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8332144574124161005,"visual_seed":8332144574124161005,"scene_id":"lab_003","finished_at":"2026-09-05T01:13:49"}
+{"episode_id":"ep_000026","started_at":"2026-09-05T01:13:52","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[-0.5270865997480557,-0.9474802689263906,0.71338606911949],"aabb_xy":[[-0.5445173148270621,-0.9647523835902413],[-0.5096558846690491,-0.9302081542625397]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.05228240849333743,1.0234808344073656,0.71338606911949],"aabb_xy":[[-0.09756102337448669,0.9594808350591819],[-0.0070037936121881625,1.0874808337555493]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.5733898703204345,-0.874707920671234,0.71338606911949],"aabb_xy":[[0.5233898699598685,-0.9246879078808369],[0.6233898706810006,-0.824727933461631]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.39980919101643886,-0.24112879100954743,0.71338606911949],"aabb_xy":[[-0.4798091931792013,-0.32108397463569105],[-0.3198091888536763,-0.16117360738340378]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.6258012856010845,-1.099033989883092,0.71338606911949],"aabb_xy":[[-0.6898012872790819,-1.1475513813624063],[-0.5618012839230871,-1.0505165984037779]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.47998937528765895,-1.8896146252105501,0.71338606911949],"aabb_xy":[[-0.49762221088118647,-1.907237571226173],[-0.4623565396941313,-1.8719916791949271]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.0224770111488356,1.6458118527754633,0.71338606911949],"aabb_xy":[[-0.07246124685701283,1.5958118539619677],[0.027507224559341625,1.6958118515889589]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_7","position":[-0.23226480123024684,-2.191106785093001,0.71338606911949],"aabb_xy":[[-0.31226480266037404,-2.27062394010561],[-0.15226479980011964,-2.111589630080391]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.5030894237934975,0.36309178505020867,0.71338606911949],"aabb_xy":[[-0.568089426431291,0.31161218635076177],[-0.43808942115570404,0.4145713837496557]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.6029858910739891,-1.3885215654030714,0.71338606911949],"aabb_xy":[[0.5990720178785667,-1.3972705808096282],[0.6068997642694116,-1.3797725499965146]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.34780624308926855,1.4014461060427013,0.71338606911949],"aabb_xy":[[-0.42780624634711145,1.321449598250717],[-0.26780623983142554,1.481442613834685]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[0.6355105520950639,-0.07571055333776444,0.71338606911949],"aabb_xy":[[0.594492608708693,-0.12571055396872177],[0.6765284954814348,-0.02571055270680711]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[0.4279594049166673,-0.9254327499339592,0.71338606911949],"aabb_xy":[[0.37807670803897114,-0.9754327491802339],[0.47784210179436354,-0.8754327506876844]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[-0.5569665618027535,-0.7021541822050121,0.71338606911949],"aabb_xy":[[-0.6069665604486747,-0.7520737258644745],[-0.5069665631568323,-0.6522346385455497]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[-0.07111897363695674,-1.3256090677300072,0.71338606911949],"aabb_xy":[[-0.13511897401449036,-1.3753543345808192],[-0.0071189732594231225,-1.2758638008791947]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[-0.3268351250233366,1.7411918980982644,0.71338606911949],"aabb_xy":[[-0.36433512512892957,1.7343697362452828],[-0.28933512491774366,1.748014059951245]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.379399226348848,0.7005249424683511,0.71338606911949],"aabb_xy":[[-0.3833597101185824,0.6928570778828305],[-0.3754387425791136,0.7081928070538717]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.4621050164351961,0.8997309880515498,0.71338606911949],"aabb_xy":[[-0.49710501633121496,0.8913567525396099],[-0.4271050165391772,0.9081052235634898]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.07158950488244664,-0.8685429199756742,0.71338606911949],"aabb_xy":[[-0.10658950319314207,-0.8762579348992199],[-0.03658950657175118,-0.8608279050521286]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.42131076869226325,-2.0372985630884215,0.71338606911949],"aabb_xy":[[0.37131076740842317,-2.087277417479043],[0.4713107699761031,-1.9873197086977992]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[-0.2846390839669566,0.7264720489556118,0.71338606911949],"aabb_xy":[[-0.29393270220410717,0.6889720504674778],[-0.275345465729806,0.7639720474437456]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[-0.22267769120515113,-1.8194354066382714,0.71338606911949],"aabb_xy":[[-0.27267769256603835,-1.8694133112136868],[-0.1726776898442639,-1.7694575020628556]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[0.2392834878875294,0.8378419300736195,0.71338606911949],"aabb_xy":[[0.21737480574817836,0.8159412632535288],[0.26119217002688044,0.8597425968937102]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.47013421405219225,-1.2181919051522263,0.71338606911949],"aabb_xy":[[0.4522651062977367,-1.2320248131294373],[0.4880033218066477,-1.2043589971750157]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582996247051401,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8637.png","name":"8637"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8637.png","name":"8637"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5496.png","name":"5496"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2697.png","name":"2697"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1823.png","name":"1823"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1455.png","name":"1455"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":823.6616618080313,"rotation_z_degrees":150.01488035222692,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013352225284871472,-0.004627184404272637,0.013689854706033695]},{"name":"camera_2","offset_m":[-0.010880615092814927,0.0004428686530368875,0.01231375243223375]},{"name":"camera_3","offset_m":[-0.002485090078832207,-0.0010164915514976058,-0.009196323407353156]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00026950414945838995,-0.0019989131049871346,-0.0013577375856830862],"end_effector_yaw_offset_degrees":0.2604675918722885},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00035693004511625284,-0.00037920825912347183,-0.0008403273991066666],"end_effector_yaw_offset_degrees":0.09623960009008625},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010776385106130572,-0.0009190909646020541,0.001375298682756168],"end_effector_yaw_offset_degrees":0.15492433379146586},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00019009011099325795,0.0005829084119679303,0.0012542252848652797],"end_effector_yaw_offset_degrees":-0.21295216099771586}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003251008062671156,0.004909715376749497],"position_m":[0.1664251008062671,0.1581097153767495,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004624741911593097,-0.0028274138772849088],"position_m":[0.25007525808840686,-0.3238274138772849,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004029745733831949,0.004975747505201615],"position_m":[0.14792974573383194,0.29077574750520163,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003515459170305423,0.004133835742245196],"position_m":[0.3561845408296946,0.0676338357422452,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e54f7672448c00d42ea5ee658b1be8bee562ed6eb2a982cadd17b07006bc29c6","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8637/tex_ceiling_textures_1455/tex_floor_textures_1823/tex_table_textures_5496/tex_wall_textures_2697","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2625391351300682562,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2625391351300682562,"visual_seed":2625391351300682562,"scene_id":"lab_003","finished_at":"2026-09-05T01:17:38"}
+{"episode_id":"ep_000027","started_at":"2026-09-05T01:17:41","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[0.19984927833742538,-0.9544159769940044,0.71338606911949],"aabb_xy":[[0.18429350892716015,-0.9699664102384118],[0.2154050477476907,-0.9388655437495974]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.6825062043379657,0.49101336618392777,0.71338606911949],"aabb_xy":[[0.6600070686117387,0.4685133654056648],[0.7050053400641927,0.5135133669621907]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[-0.20109808326875506,0.531803966735271,0.71338606911949],"aabb_xy":[[-0.25107689177907094,0.48180396672955217],[-0.15111927475843917,0.5818039667409898]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[-0.08362178649618457,-0.20608558010054123,0.71338606911949],"aabb_xy":[[-0.10489979463965682,-0.2710855824266143],[-0.06234377835271232,-0.14108557777446817]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[0.26790720629028586,1.3776797372601348,0.71338606911949],"aabb_xy":[[0.2454072057782452,1.3551878788947365],[0.2904072068023264,1.4001715956255332]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.7070655205465721,-0.9653007418825437,0.71338606911949],"aabb_xy":[[0.6944387332593758,-0.9748468155841165],[0.7196923078337685,-0.9557546681809707]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[0.6734637339549183,-0.3595002674447665,0.71338606911949],"aabb_xy":[[0.6588203284008852,-0.3741589871015507],[0.6881071395089512,-0.34484154778798215]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[-0.3469929755754126,-1.1425771898800536,0.71338606911949],"aabb_xy":[[-0.3781398944189957,-1.2125771885668606],[-0.31584605673182947,-1.0725771911932462]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.07253618050766775,1.0223487916497307,0.71338606911949],"aabb_xy":[[-0.0970498046046736,0.998084198347694],[-0.04802255641066189,1.046613384951767]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[-0.5201569819859717,0.2803081383552817,0.71338606911949],"aabb_xy":[[-0.5271984329367193,0.27328138661748713],[-0.5131155310352241,0.2873348900930762]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.3396764375906815,-1.6473762313138811,0.71338606911949],"aabb_xy":[[-0.3896764371670163,-1.6973568102659873],[-0.28967643801434684,-1.5973956523617754]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.20725259579725008,-2.1278238791067423,0.71338606911949],"aabb_xy":[[0.20354933446811116,-2.1315258974154596],[0.2109558571263889,-2.124121860798024]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.2942457983775887,-1.5031700025304562,0.71338606911949],"aabb_xy":[[0.21424579730446836,-1.5129480488678406],[0.374245799450709,-1.4933919561930717]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[0.35925126383554007,-1.2748837279957144,0.71338606911949],"aabb_xy":[[0.34104544017429245,-1.285909128577706],[0.3774570874967878,-1.2638583274137227]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.6435329781911787,0.6059577360878312,0.71338606911949],"aabb_xy":[[-0.651660666384492,0.5970441276771236],[-0.6354052899978656,0.6148713444985389]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[-0.35027770278963644,0.759332986896414,0.71338606911949],"aabb_xy":[[-0.414273400184733,0.6953329885957054],[-0.28628200539453985,0.8233329851971227]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[-0.17256177238798176,0.7882382337577356,0.71338606911949],"aabb_xy":[[-0.18341337863685733,0.7773789430300845],[-0.16171016613910613,0.7990975244853865]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.20128843165956112,0.3717919331713637,0.71338606911949],"aabb_xy":[[-0.23878843200778885,0.36000053759028017],[-0.16378843131133333,0.3835833287524473]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[0.18791536347775062,-1.1677628114118266,0.71338606911949],"aabb_xy":[[0.1746844179430693,-1.1809902304338258],[0.20114630901243188,-1.154535392389827]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.04597881225918765,-1.040434208735558,0.71338606911949],"aabb_xy":[[0.02592040064594736,-1.0604992956447155],[0.06603722387242794,-1.0203691218264006]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.5218687457831199,-0.7726605543215228,0.71338606911949],"aabb_xy":[[0.4578687484974714,-0.8141672732743667],[0.5858687430687687,-0.7311538353686787]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.3010292019097246,1.302308941838025,0.71338606911949],"aabb_xy":[[0.2965985725548844,1.2968605701033424],[0.3054598312645648,1.3077573135727074]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[0.4795153645604384,-0.20971782510496428,0.71338606911949],"aabb_xy":[[0.4296326676827423,-0.259717824351239],[0.5293980614381346,-0.15971782585868954]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[-0.6216041309726773,-1.104724293566286,0.71338606911949],"aabb_xy":[[-0.6591041310782703,-1.1115464554192669],[-0.5841041308670843,-1.0979021317133046]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[-0.494452332028274,-1.3208955455475713,0.71338606911949],"aabb_xy":[[-0.5544523322796752,-1.3751768705840357],[-0.4344523317768728,-1.2666142205111064]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[0.3325946112731528,-0.586985737511311,0.71338606911949],"aabb_xy":[[0.29579997814824655,-0.6238916126078932],[0.3693892443980591,-0.5500798624147286]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_26","position":[0.4311993427580485,-2.0513386147711175,0.71338606911949],"aabb_xy":[[0.35120551917949033,-2.131338617363959],[0.5111931663366067,-1.9713386121782759]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_27","position":[-0.09861510584559852,0.5264082768977723,0.71338606911949],"aabb_xy":[[-0.10357112603047974,0.5039082766956507],[-0.09365908566071733,0.548908277099894]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569187707135641,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9149.png","name":"9149"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9149.png","name":"9149"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6890.png","name":"6890"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3406.png","name":"3406"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/563.png","name":"563"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1048.png","name":"1048"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":549.8785602971183,"rotation_z_degrees":26.62278493325454,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007747323952899576,0.01227846261509041,0.011110339708137677]},{"name":"camera_2","offset_m":[0.014275963962472427,0.0015484324014813575,-0.01312367868309883]},{"name":"camera_3","offset_m":[-0.004613916684130892,-0.01738880354014729,0.015467431520639948]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009937250788521893,0.0018558959810094748,-0.00023891056833344492],"end_effector_yaw_offset_degrees":-0.5049237331891141},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005275105750188178,0.0005653300056237473,-0.0015440749515597584],"end_effector_yaw_offset_degrees":0.29775570696146736},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001313342345197901,0.0005155230534707434,-0.0017497118173973236],"end_effector_yaw_offset_degrees":0.47296086903464674},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006019733985115905,0.0005559157990898877,0.00015310635859501183],"end_effector_yaw_offset_degrees":0.6818155496736491}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004510447146167167,-0.0037953790725782544],"position_m":[0.16158955285383284,0.14940462092742174,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038962339850540507,0.0012930569725296938],"position_m":[0.2508037660149459,-0.3197069430274703,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004137940231077414,0.00011296453448007664],"position_m":[0.1397620597689226,0.28591296453448006,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030690020363936003,0.0018968242505483903],"position_m":[0.3627690020363936,0.0653968242505484,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0d9c7d90fb8524bd1e88eee3fa535a9aff282fb7a3a966473902bfb575a7b1b","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9149/tex_ceiling_textures_1048/tex_floor_textures_563/tex_table_textures_6890/tex_wall_textures_3406","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3735913760001426925,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3735913760001426925,"visual_seed":3735913760001426925,"scene_id":"lab_003","finished_at":"2026-09-05T01:21:29"}
+{"episode_id":"ep_000028","started_at":"2026-09-05T01:25:44","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.4771112665951254,-0.408045910951222,0.71338606911949],"aabb_xy":[[-0.5411112629906984,-0.47200919936995556],[-0.41311127019955235,-0.34408262253248845]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[-0.36462984879351223,-0.7518997801194269,0.71338606911949],"aabb_xy":[[-0.3996298479234679,-0.757645001195091],[-0.3296298496635566,-0.7461545590437628]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[0.4999365887549727,0.3270976124453724,0.71338606911949],"aabb_xy":[[0.49362448921863433,0.3213306731921536],[0.5062486882913111,0.3328645516985912]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[0.22017709374434613,-2.1802571632609222,0.71338606911949],"aabb_xy":[[0.15617709052570827,-2.2269802751599306],[0.284177096962984,-2.133534051361914]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.5474505680613568,1.6973763199328045,0.71338606911949],"aabb_xy":[[0.4974505671108239,1.6658271729292826],[0.5974505690118895,1.7289254669363254]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[0.012432040817442425,1.6942464536104018,0.71338606911949],"aabb_xy":[[-0.024063779809836316,1.657762511183644],[0.048927861444721166,1.7307303960371592]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[-0.21557791479598104,-1.6457160144368776,0.71338606911949],"aabb_xy":[[-0.23337142173089748,-1.6635157600326755],[-0.1977844078610646,-1.6279162688410802]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[-0.40658708746452654,0.04794528173782009,0.71338606911949],"aabb_xy":[[-0.44877150162535734,-0.01605471853939111],[-0.36440267330369586,0.11194528201503129]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[-0.30846127855646505,1.169343456417522,0.71338606911949],"aabb_xy":[[-0.34531182649345266,1.131843455594488],[-0.27161073061947744,1.2068434572405555]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[0.4815474862433822,1.196416297774309,0.71338606911949],"aabb_xy":[[0.40154748826259706,1.188814756812457],[0.5615474842241671,1.2040178387361609]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[-0.08713316822141204,-1.9642967342169815,0.71338606911949],"aabb_xy":[[-0.09583113051212733,-1.9764217085244562],[-0.07843520593069674,-1.9521717599095068]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.0537661801056778,-1.4131870578359795,0.71338606911949],"aabb_xy":[[-0.06639296739287415,-1.4227331315375522],[-0.041139392818481446,-1.4036409841344064]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[0.460412258022074,-0.35174884499974857,0.71338606911949],"aabb_xy":[[0.4261153470043333,-0.3860457312096898],[0.49470916903981454,-0.3174519587898071]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[0.11086610164699984,-1.3784133961164033,0.71338606911949],"aabb_xy":[[0.08958809350352757,-1.4434133984424764],[0.1321441097904721,-1.3134133937903303]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[-0.5231035904151502,-1.1877564515733658,0.71338606911949],"aabb_xy":[[-0.6031035874293982,-1.2078910032467771],[-0.4431035934009022,-1.1676218998999546]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[0.6535086392553389,-1.6707257953544261,0.71338606911949],"aabb_xy":[[0.6223617204117556,-1.7407257940412333],[0.6846555580989219,-1.600725796667619]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[0.38948228379120264,-0.794221237135238,0.71338606911949],"aabb_xy":[[0.37392651438093744,-0.8097716703796454],[0.405038053201468,-0.778670803890831]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.30373783752160816,0.43373193463191617,0.71338606911949],"aabb_xy":[[-0.3677378397420151,0.38935885050662783],[-0.23973783530120107,0.4781050187572044]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[0.3796158709848514,-1.7262641073317955,0.71338606911949],"aabb_xy":[[0.37032225274770086,-1.763764105819929],[0.388909489222002,-1.6887641088436611]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.4783034332111653,-2.007334149247243,0.71338606911949],"aabb_xy":[[0.3983034299533224,-2.087330657039227],[0.5583034364690083,-1.9273376414552592]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[-0.21329779282494987,0.28699276671581586,0.71338606911949],"aabb_xy":[[-0.24829779109506972,0.2799186390208277],[-0.1782977945548299,0.294066894410804]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[0.23828832841546532,-1.1535592571972049,0.71338606911949],"aabb_xy":[[0.20078832723067253,-1.157977479893265],[0.2757883296002581,-1.149141034501144]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[0.44677712279852533,-0.6381113969595968,0.71338606911949],"aabb_xy":[[0.41246084562390734,-0.6881113969327746],[0.4810933999731432,-0.5881113969864191]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[-0.4118868456890982,-0.8541443373970297,0.71338606911949],"aabb_xy":[[-0.4618868470499854,-0.9041222419724454],[-0.36188684432821094,-0.8041664328216142]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[-0.6003860603090023,-0.8811324056283665,0.71338606911949],"aabb_xy":[[-0.6303777230428727,-0.9111324049651669],[-0.570394397575132,-0.8511324062915658]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.3838799654391948,0.7226247921256133,0.71338606911949],"aabb_xy":[[-0.4478799646089647,0.6758581050066507],[-0.3198799662694248,0.7693914792445756]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[0.6878543802630079,-0.17855689051671275,0.71338606911949],"aabb_xy":[[0.6798110203370528,-0.2635568916120792],[0.6958977401889631,-0.0935568894213463]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_27","position":[-0.04853793833267128,0.7227484240899456,0.71338606911949],"aabb_xy":[[-0.06198446496671461,0.7092785724368542],[-0.03509141169862794,0.7362182757430367]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_28","position":[-0.520222965347325,-0.04220078944090577,0.71338606911949],"aabb_xy":[[-0.5435048075454563,-0.1272007907381338],[-0.49694112314919364,0.04279921185632228]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_29","position":[0.49549668424296334,-1.8464039007875557,0.71338606911949],"aabb_xy":[[0.4729975485167364,-1.8689039015658184],[0.5179958199691903,-1.8239039000092925]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6552214264408632,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6417.png","name":"6417"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6417.png","name":"6417"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8868.png","name":"8868"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5586.png","name":"5586"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5026.png","name":"5026"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4185.png","name":"4185"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":622.34179575674,"rotation_z_degrees":211.52943548332593,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006124072107108677,-0.013242773917569468,0.010845637705742303]},{"name":"camera_2","offset_m":[0.017215148873792805,-0.019655730008825117,-0.016554688294113735]},{"name":"camera_3","offset_m":[-0.008771021807554243,0.007733159423467605,-0.006460707299368949]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002503471418525672,-0.0019074815480956016,0.0014613005286795637],"end_effector_yaw_offset_degrees":-0.2666606396215576},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015258704196891145,0.0016851053970322843,0.0010334601280259062],"end_effector_yaw_offset_degrees":-0.6382552839706326},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018792480774614214,0.0012894673437356735,0.00020704800006814085],"end_effector_yaw_offset_degrees":-0.22215907132516732},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006521114626836418,6.599570492068878e-05,-0.0006201217521548945],"end_effector_yaw_offset_degrees":0.6341488188395432}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009299890113985696,-0.0029047336383658463],"position_m":[0.16702998901139857,0.15029526636163415,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038983295195555937,0.0047914682307061635],"position_m":[0.2508016704804444,-0.31620853176929387,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038196057451971048,0.00212839153277974],"position_m":[0.1400803942548029,0.2879283915327797,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005108933872800866,-0.004235925829006043],"position_m":[0.3591891066127199,0.059264074170993955,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ac88c8220d8ca8856d2d65746f06ca5873c810b130159215517b4ea890f62f6d","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6417/tex_ceiling_textures_4185/tex_floor_textures_5026/tex_table_textures_8868/tex_wall_textures_5586","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2300081453826066854,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2300081453826066854,"visual_seed":2300081453826066854,"scene_id":"lab_003","finished_at":"2026-09-05T01:29:28"}
+{"episode_id":"ep_000029","started_at":"2026-09-05T01:29:31","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[0.48525602410141944,-2.2531531950436983,0.71338606911949],"aabb_xy":[[0.4202560231009188,-2.303939560198373],[0.5502560251019198,-2.2023668298890233]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[0.30663677259658684,-1.5290111726442401,0.71338606911949],"aabb_xy":[[0.287524465238608,-1.5481459515214822],[0.3257490799545657,-1.5098763937669981]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[-0.3246693603140362,1.1053080309159466,0.71338606911949],"aabb_xy":[[-0.3796648381346956,1.0503080294820395],[-0.2696738824933768,1.1603080323498534]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[-0.5199196657510909,-1.10631415364545,0.71338606911949],"aabb_xy":[[-0.5839196674290882,-1.1548315451247642],[-0.4559196640730935,-1.0577967621661357]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[0.20803938542559208,-0.9108299265642561,0.71338606911949],"aabb_xy":[[0.14403938220695425,-0.9575530384632644],[0.27203938864422994,-0.8641068146652477]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[-0.5901319571457376,-0.3852791491477112,0.71338606911949],"aabb_xy":[[-0.654131954448084,-0.4296455761155679],[-0.5261319598433912,-0.3409127221798544]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[0.3192408680883969,-2.162719780752366,0.71338606911949],"aabb_xy":[[0.30156523749979847,-2.1803999970317687],[0.33691649867699514,-2.145039564472963]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.4032071174700653,1.151947580310523,0.71338606911949],"aabb_xy":[[0.3491915211881652,1.0879475774182659],[0.4572227137519652,1.2159475832027802]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.3188305483081684,-1.2905871684621313,0.71338606911949],"aabb_xy":[[-0.39883055047093086,-1.3705423520882747],[-0.2388305461454059,-1.2106319848359874]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.2714426013907489,-2.4817163125900508,0.71338606911949],"aabb_xy":[[-0.35144260464859184,-2.5617128203820347],[-0.19144259813290593,-2.401719804798067]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.550647574138053,-1.2795366291230972,0.71338606911949],"aabb_xy":[[0.5273657319399215,-1.3645366304203252],[0.5739294163361842,-1.1945366278258691]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.25394621833559977,0.26469211811623605,0.71338606911949],"aabb_xy":[[-0.31794622067840134,0.21975126687210358],[-0.18994621599279823,0.30963296936036855]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.5208672396874978,-1.784867666045568,0.71338606911949],"aabb_xy":[[-0.5908672423240842,-1.8049725310414333],[-0.4508672370509115,-1.7647628010497023]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[-0.29537991798378993,1.4337342720542527,0.71338606911949],"aabb_xy":[[-0.375379915964575,1.4261327310924008],[-0.2153799200030049,1.4413358130161047]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[0.48559947150799965,-0.43111112146683706,0.71338606911949],"aabb_xy":[[0.4758434819988257,-0.44087365552607144],[0.4953554610171735,-0.42134858740760256]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[-0.39628682712704655,0.8507245783924051,0.71338606911949],"aabb_xy":[[-0.4602868293474536,0.8063514942671167],[-0.3322868249066395,0.8950976625176933]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[-0.23151577862897865,-1.965540786311387,0.71338606911949],"aabb_xy":[[-0.25040016239748886,-1.98442671109174],[-0.21263139486046845,-1.9466548615310344]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_17","position":[-0.4692125245531267,-2.1276467931182617,0.71338606911949],"aabb_xy":[[-0.4944333614129663,-2.1528705439711473],[-0.44399168769328695,-2.1024230422653742]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[0.12305790807476757,-1.4263126392041447,0.71338606911949],"aabb_xy":[[0.08555790790289565,-1.4590133745870517],[0.1605579082466395,-1.3936119038212373]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[-0.07416865066288125,-1.7585314892502875,0.71338606911949],"aabb_xy":[[-0.10465290078991141,-1.8085314890317832],[-0.0436844005358511,-1.7085314894687913]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[-0.17988328889641436,1.1088943897704961,0.71338606911949],"aabb_xy":[[-0.21488328716653426,1.101820262075508],[-0.14488329062629446,1.1159685174654843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6623654940925675,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7015.png","name":"7015"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7015.png","name":"7015"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/508.png","name":"508"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8014.png","name":"8014"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2545.png","name":"2545"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/364.png","name":"364"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":763.1475276794965,"rotation_z_degrees":82.70799010962679,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018791564575042805,-0.012933669808627828,-0.01979458528370345]},{"name":"camera_2","offset_m":[0.01668761128812157,-0.0193789999685881,0.011871499925265854]},{"name":"camera_3","offset_m":[0.005347654081156391,0.004015000801576924,-0.016513525802033757]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018325314017300976,-0.0013127519020319208,0.0005939485299098785],"end_effector_yaw_offset_degrees":0.5671980098682714},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013532080687718882,-0.0011457026816420544,0.0012278407522470988],"end_effector_yaw_offset_degrees":0.6024340525540663},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00033038707659201715,0.0007122816751725996,-0.0003661480822026212],"end_effector_yaw_offset_degrees":-0.6183504332413796},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001077960251634078,0.00024000405722437047,-0.0017073525189875763],"end_effector_yaw_offset_degrees":0.10899904219825629}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026530273176959265,0.00091274891629881],"position_m":[0.16875302731769593,0.1541127489162988,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001051845815894824,-0.0010166062252216883],"position_m":[0.25575184581589483,-0.3220166062252217,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003701852233740208,-0.0011939462436284663],"position_m":[0.1401981477662598,0.28460605375637155,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0048041020992006436,-0.0021184526701576844],"position_m":[0.3548958979007994,0.061381547329842315,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"02298d8649f5e6d22181943bffbf6869048a8b5cf3219b396dfbf0d94ee5ebee","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7015/tex_ceiling_textures_364/tex_floor_textures_2545/tex_table_textures_508/tex_wall_textures_8014","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1033087586664289766,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1033087586664289766,"visual_seed":1033087586664289766,"scene_id":"lab_003","finished_at":"2026-09-05T01:33:08"}
+{"episode_id":"ep_000030","started_at":"2026-09-05T01:33:11","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[-0.1252111632012184,0.22396511229103577,0.71338606911949],"aabb_xy":[[-0.18521116406203114,0.17253868228454936],[-0.06521116234040554,0.2753915422975221]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[-0.1357253741619715,0.7278401238801089,0.71338606911949],"aabb_xy":[[-0.17427106698717254,0.6892943528239203],[-0.09717968133677046,0.7663858949362975]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[-0.5637156661306781,1.5405736770207041,0.71338606911949],"aabb_xy":[[-0.571930211246362,1.5318970867230624],[-0.555501121014994,1.549250267318345]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.4705061299544409,0.0040052320209635894,0.71338606911949],"aabb_xy":[[-0.5156774478026098,-0.059994765123574836],[-0.425334812106272,0.06800522916550202]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-6.218392499279801e-05,-1.9400378765480135,0.71338606911949],"aabb_xy":[[-0.01756211735897617,-1.9575378764682478],[0.017437749508990574,-1.9225378766277788]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.20422003525972293,-2.5236831649586535,0.71338606911949],"aabb_xy":[[-0.2942200319953331,-2.5768666282759476],[-0.11422003852411267,-2.4704997016413586]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.16612267709669426,1.2116338681248182,0.71338606911949],"aabb_xy":[[0.14869196201768772,1.1943617534609672],[0.18355339217570074,1.2289059827886688]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[0.0930576042604283,-1.8326480262934608,0.71338606911949],"aabb_xy":[[0.07055760444652591,-1.8371226426639415],[0.11555760407433067,-1.82817340992298]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.40304655506473475,-1.5056198812974038,0.71338606911949],"aabb_xy":[[-0.4229375949450751,-1.518275692582101],[-0.3831555151843946,-1.4929640700127071]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.4314428639133414,0.6900473097894175,0.71338606911949],"aabb_xy":[[0.3664428638790387,0.6433466331090902],[0.49644286394764414,0.7367479864697448]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[-0.6112629844923814,1.017674716374123,0.71338606911949],"aabb_xy":[[-0.6244939300270625,1.0044472973521235],[-0.5980320389577,1.0309021353961223]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[-0.12225568627680805,1.7578453976785613,0.71338606911949],"aabb_xy":[[-0.17225568763769528,1.7078674931031455],[-0.07225568491592084,1.8078233022539767]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.42139719395164466,-2.3950180892614252,0.71338606911949],"aabb_xy":[[-0.4713971925975658,-2.4449376329208876],[-0.3713971953057234,-2.345098545601963]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[-0.45192845685278243,-1.0531012620181066,0.71338606911949],"aabb_xy":[[-0.4894284583684141,-1.0643280350342517],[-0.41442845533715067,-1.0418744890019616]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.6325226928971841,-1.7716942687225286,0.71338606911949],"aabb_xy":[[0.6209537121502475,-1.7966942688394605],[0.6440916736441207,-1.746694268605597]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[0.5674346653907791,0.15347749993897075,0.71338606911949],"aabb_xy":[[0.5034346637127818,0.10496010845965653],[0.6314346670687765,0.20199489141828497]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.6611799342034739,-0.4925658147622136,0.71338606911949],"aabb_xy":[[0.6359590973436341,-0.5177895656151003],[0.6864007710633134,-0.4673420639093268]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[0.11344432318095476,-1.7434328090706739,0.71338606911949],"aabb_xy":[[0.10860072841972479,-1.748284461549658],[0.11828791794218474,-1.7385811565916898]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[0.38300705357190945,0.9295703974551239,0.71338606911949],"aabb_xy":[[0.30300705031406644,0.84957388966314],[0.46300705682975235,1.009566905247108]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.4803231137266759,-2.166653576155988,0.71338606911949],"aabb_xy":[[-0.4973332110167266,-2.182788064654262],[-0.4633130164366253,-2.150519087657714]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[-0.09374849017163045,1.2146152110170068,0.71338606911949],"aabb_xy":[[-0.1637484928082168,1.194510346021141],[-0.02374848753504409,1.234720076012872]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.6125851396775013,-2.369750490074109,0.71338606911949],"aabb_xy":[[0.5994338937062119,-2.3947504898307956],[0.6257363856487906,-2.3447504903174226]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[0.3976599389941009,-2.4762815057408725,0.71338606911949],"aabb_xy":[[0.38177544572877575,-2.490634446039697],[0.41354443225942605,-2.4619285654420486]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.34340669551597847,1.712498082475015,0.71338606911949],"aabb_xy":[[0.31711787119553775,1.6862266488203634],[0.3696955198364191,1.738769516129666]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[0.41703754875277843,-1.3548940439487343,0.71338606911949],"aabb_xy":[[0.3835973735567587,-1.3883376697796639],[0.4504777239487979,-1.3214504181178037]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[-0.5967037288395299,0.786114910166777,0.71338606911949],"aabb_xy":[[-0.6516959794750409,0.7311149084234644],[-0.541711478204019,0.84111491191009]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[0.6311641309941494,1.7546770004653074,0.71338606911949],"aabb_xy":[[0.5661641283563559,1.7031974017658604],[0.6961641336319428,1.8061565991647544]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_27","position":[-0.013043597600786772,-1.0322452687461738,0.71338606911949],"aabb_xy":[[-0.06304359888462673,-1.0822241231367957],[0.03695640368305319,-0.9822664143555516]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6584107195838549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3405.png","name":"3405"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3405.png","name":"3405"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5946.png","name":"5946"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1012.png","name":"1012"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2872.png","name":"2872"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6415.png","name":"6415"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":753.068443742874,"rotation_z_degrees":285.084098519543,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010137485890385186,-0.01594823470079549,-0.00279444108783922]},{"name":"camera_2","offset_m":[0.017888010678077822,-0.016637620770123766,0.013147964754388047]},{"name":"camera_3","offset_m":[-0.010240832642247559,-0.00999367358648621,-0.01583001962270318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018060685525419199,0.0005592088050242637,-0.0007519013538805717],"end_effector_yaw_offset_degrees":0.30596064115441246},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014801155782892855,-0.0004266578944088738,-0.00023031138765608667],"end_effector_yaw_offset_degrees":0.888188891475306},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.377747398982268e-05,-0.0005791032672202423,-0.0008313943269105657],"end_effector_yaw_offset_degrees":0.48004517501874644},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001156649258233927,-0.00161023006194475,0.0014855694177420245],"end_effector_yaw_offset_degrees":-0.4625911723839269}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009283903073657009,-0.0027233252812043584],"position_m":[0.1651716096926343,0.15047667471879564,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004010921856817409,-0.001965170171721253],"position_m":[0.2506890781431826,-0.32296517017172127,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001095664700289596,-0.0004586063223513811],"position_m":[0.1449956647002896,0.2853413936776486,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014004993596404437,-0.0020288626300918335],"position_m":[0.36110049935964045,0.06147113736990817,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e97e10107b45d0a1c634dbe50b3bebc58898d64f0040d821dc9a2c706421847","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3405/tex_ceiling_textures_6415/tex_floor_textures_2872/tex_table_textures_5946/tex_wall_textures_1012","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6924524179674144781,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6924524179674144781,"visual_seed":6924524179674144781,"scene_id":"lab_003","finished_at":"2026-09-05T01:36:54"}
+{"episode_id":"ep_000031","started_at":"2026-09-05T01:36:58","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[0.618386700950843,0.713561582373142,0.71338606911949],"aabb_xy":[[0.5543867006903721,0.6685527830202139],[0.6823867012113137,0.7585703817260699]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.40420863775133253,-1.5239333378710658,0.71338606911949],"aabb_xy":[[0.34020863453269473,-1.5706564497700741],[0.46820864096997045,-1.4772102259720574]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.5458796257479215,-0.7014418879461597,0.71338606911949],"aabb_xy":[[0.48087962719084876,-0.7311944213600424],[0.6108796243049944,-0.6716893545322772]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.034645512478689966,1.6234189001575152,0.71338606911949],"aabb_xy":[[-0.06910785987683175,1.5889250177596923],[-0.00018316508054816436,1.6579127825553377]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[-0.5857031806840612,-1.7536918955822471,0.71338606911949],"aabb_xy":[[-0.6507031833218547,-1.8051714942816939],[-0.5207031780462678,-1.7022122968828]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.5373269109127883,-2.4586436166309484,0.71338606911949],"aabb_xy":[[-0.5422829310976696,-2.4811436168330707],[-0.5323708907279072,-2.436143616428827]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.41336513100337435,0.8643873684835439,0.71338606911949],"aabb_xy":[[0.34336512887194476,0.8416254028578481],[0.48336513313480384,0.8871493341092395]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[0.5501135259662593,-0.42350331649938333,0.71338606911949],"aabb_xy":[[0.4861135245582687,-0.47529226802330804],[0.61411352737425,-0.3717143649754586]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[-0.3136727668269184,0.9631645511004394,0.71338606911949],"aabb_xy":[[-0.35117276717514617,0.9513731555193558],[-0.27617276647869066,0.9749559466815229]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.26092508266846715,-1.7484283850529296,0.71338606911949],"aabb_xy":[[0.2234250818764717,-1.7547962260111198],[0.2984250834604626,-1.7420605440947394]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[0.6950968527997634,0.4525155093237161,0.71338606911949],"aabb_xy":[[0.6750384411865231,0.43245042241455856],[0.7151552644130037,0.47258059623287363]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.5435444320601452,1.199225659756502,0.71338606911949],"aabb_xy":[[-0.5810444332449379,1.1948074370604413],[-0.5060444308753523,1.2036438824525624]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.510949213204686,-1.3078601844037252,0.71338606911949],"aabb_xy":[[-0.5465783691046457,-1.3434928511605781],[-0.47532005730472626,-1.2722275176468723]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.47095394222509707,-0.46691722198334595,0.71338606911949],"aabb_xy":[[-0.5349539415192652,-0.5309033623522001],[-0.40695394293092885,-0.40293108161449176]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.39542012391978854,-0.07037508368974299,0.71338606911949],"aabb_xy":[[-0.47542012499290887,-0.08015313002712743],[-0.3154201228466682,-0.06059703735235855]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.028030816592141572,-0.9217177300504908,0.71338606911949],"aabb_xy":[[-0.045530815726508744,-0.9315973570880786],[-0.010530817457774401,-0.9118381030129029]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[0.17003334902106726,-0.6807273040158655,0.71338606911949],"aabb_xy":[[0.14503334946932878,-0.6908697878810002],[0.19503334857280574,-0.6705848201507307]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.09332095789304873,-1.3944758070755887,0.71338606911949],"aabb_xy":[[0.08529468726242273,-1.4032273020529415],[0.10134722852367473,-1.3857243120982363]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.17068051473644397,-2.3318446075808055,0.71338606911949],"aabb_xy":[[-0.20412068993246354,-2.3652882334117353],[-0.13724033954042433,-2.2984009817498747]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_19","position":[0.515285464880487,1.0481548193333943,0.71338606911949],"aabb_xy":[[0.4653025146930076,0.9981548196908335],[0.5652684150679662,1.0981548189759542]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.5386008292814222,0.9422226795512021,0.71338606911949],"aabb_xy":[[-0.5935940406185589,0.8872226792124086],[-0.4836076179442854,0.9972226798899958]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.6337947041082084,0.8909494725248273,0.71338606911949],"aabb_xy":[[0.6293640747533683,0.8855011007901447],[0.6382253334630487,0.8963978442595099]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.5376433364774587,-2.126920283426668,0.71338606911949],"aabb_xy":[[-0.6016433371809281,-2.1729386658995895],[-0.4736433357739894,-2.0809019009537475]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[0.3721707797043783,1.2292380249617696,0.71338606911949],"aabb_xy":[[0.3250414007025426,1.1652380239173674],[0.41930015870621395,1.2932380260061713]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[0.06438601182147963,0.8179850092657306,0.71338606911949],"aabb_xy":[[0.03983979619872891,0.7877361127166935],[0.08893222744423035,0.8482339058147677]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[0.26641268572871946,-1.6869430496836681,0.71338606911949],"aabb_xy":[[0.25505095107543324,-1.698311516089956],[0.27777442038200556,-1.6755745832773798]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[-0.2617370465441007,-1.2638566285522166,0.71338606911949],"aabb_xy":[[-0.28501888874223197,-1.3488566298494447],[-0.2384552043459693,-1.1788566272549885]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_27","position":[0.10882387273713501,0.9371591466451816,0.71338606911949],"aabb_xy":[[0.0717897633090753,0.9027819393114721],[0.14585798216519472,0.9715363539788909]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_28","position":[-0.6334786594835197,0.661592092896373,0.71338606911949],"aabb_xy":[[-0.6834628951916969,0.6115920940828774],[-0.5834944237753424,0.7115920917098686]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_29","position":[-0.21730183409927928,-0.42465680140041284,0.71338606911949],"aabb_xy":[[-0.22193694925151264,-0.42852413647756143],[-0.21266671894704586,-0.42078946632326414]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_30","position":[0.632678448807803,-2.4570778288406814,0.71338606911949],"aabb_xy":[[0.6266414358071383,-2.463104529909629],[0.6387154618084677,-2.451051127771733]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_31","position":[0.41355401162185434,-2.25687880790965,0.71338606911949],"aabb_xy":[[0.3792571006041136,-2.29117569411959],[0.44785092263959486,-2.2225819216997076]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_32","position":[-0.21174380429722928,0.47573257085466025,0.71338606911949],"aabb_xy":[[-0.24924380496180792,0.460045512854438],[-0.17424380363265052,0.4914196288548824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6604944870635178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4814.png","name":"4814"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4814.png","name":"4814"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2831.png","name":"2831"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7318.png","name":"7318"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5768.png","name":"5768"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5848.png","name":"5848"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":792.0261719750522,"rotation_z_degrees":201.65667943746035,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007364355142167208,0.011034106390324344,0.017204727659596773]},{"name":"camera_2","offset_m":[0.017624246724412086,-0.005593294549912477,0.018132890554226847]},{"name":"camera_3","offset_m":[0.01766772095758617,0.005587368080947081,-0.011947973530327487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001480277302513838,0.0009929217260686253,0.0006954535011429726],"end_effector_yaw_offset_degrees":0.4189933019226739},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006997009411491154,-0.001266079297329799,0.0010301962297526975],"end_effector_yaw_offset_degrees":0.3415221909024244},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008780852102761084,-0.000187408905830528,-0.0009457616221850529],"end_effector_yaw_offset_degrees":0.2825013658869462},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009008687281941582,-0.0007840706672467355,-0.0012876133699893494],"end_effector_yaw_offset_degrees":0.22342050624612586}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-5.354281452938335e-05,0.0028556650734800773],"position_m":[0.16604645718547062,0.1560556650734801,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001616746957700795,0.0038794806717724886],"position_m":[0.2563167469577008,-0.31712051932822755,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003686215017314513,0.002143307346296518],"position_m":[0.1475862150173145,0.28794330734629653,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00030641059256968344,0.001938741728135224],"position_m":[0.3593935894074303,0.06543874172813523,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7139ff5a062d610dbdb427a1635bcf534a0b19a5007804b9a63b1c92c7fb2633","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4814/tex_ceiling_textures_5848/tex_floor_textures_5768/tex_table_textures_2831/tex_wall_textures_7318","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3217655073264051576,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3217655073264051576,"visual_seed":3217655073264051576,"scene_id":"lab_003","finished_at":"2026-09-05T01:40:38"}
+{"episode_id":"ep_000032","started_at":"2026-09-05T01:40:41","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[-0.014914428979120098,-0.867396394527679,0.71338606911949],"aabb_xy":[[-0.09491443114188258,-0.9473515781538225],[0.06508557318364239,-0.7874412109015353]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.4819611043381497,-1.5536058449909176,0.71338606911949],"aabb_xy":[[-0.503239112481622,-1.6186058473169904],[-0.4606830961946774,-1.4886058426648443]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.5765399780913991,0.6075917030112836,0.71338606911949],"aabb_xy":[[-0.6315322287269102,0.5525917012679709],[-0.5215477274558883,0.6625917047545964]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.42219401150139313,-0.1294245255561779,0.71338606911949],"aabb_xy":[[0.4161569985007285,-0.13545122662512613],[0.42823102450205797,-0.12339782448722972]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.4529217483204896,0.28949442609630127,0.71338606911949],"aabb_xy":[[-0.5069373446023896,0.22549442320404406],[-0.3989061520385896,0.3534944289885584]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.33530555210320984,-1.8788520493689762,0.71338606911949],"aabb_xy":[[-0.4003055499848577,-1.9299757130755173],[-0.27030555422156205,-1.8277283856624356]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[-0.19965361076535298,0.37494871062753266,0.71338606911949],"aabb_xy":[[-0.2896536072662247,0.32903706820907436],[-0.10965361426448124,0.42086035304599084]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.6483553452852286,1.706933003839255,0.71338606911949],"aabb_xy":[[0.638723709064799,1.697295691059546],[0.6579869815056583,1.7165703166189639]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[0.5750427608107025,-2.2299540309412764,0.71338606911949],"aabb_xy":[[0.5100427597047592,-2.2549194040094047],[0.6400427619166458,-2.204988657873148]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[0.18183342474433883,1.1945950546341018,0.71338606911949],"aabb_xy":[[0.17379709004305396,1.186556935329685],[0.18986975944562365,1.2026331739385185]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[0.018683564009322473,1.439571364311894,0.71338606911949],"aabb_xy":[[-0.0713164357138517,1.4164980117767139],[0.10868356373249664,1.4626447168470735]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[0.19367039635729943,0.67346893890346,0.71338606911949],"aabb_xy":[[0.1593541191826815,0.6234689389302823],[0.22798667353191737,0.7234689388766378]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.01946555460888788,1.009830041717819,0.71338606911949],"aabb_xy":[[-0.036567632567256037,0.9927232361865492],[-0.002363476650519728,1.0269368472490887]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.5639173001852815,-1.0356834701180497,0.71338606911949],"aabb_xy":[[0.5352679678248652,-1.0643290293951253],[0.5925666325456976,-1.0070379108409737]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[0.6481099762453013,-0.23118651440049964,0.71338606911949],"aabb_xy":[[0.6432106839387378,-0.2588634337030684],[0.6530092685518648,-0.20350959509793087]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.48216253118971936,0.0450300114673996,0.71338606911949],"aabb_xy":[[-0.5471625321902198,-0.0057563536872753465],[-0.41716253018921884,0.09581637662207454]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[0.7033392373138434,-0.5692028218005789,0.71338606911949],"aabb_xy":[[0.6866621013207479,-0.5859027457745091],[0.7200163733069389,-0.5525028978266485]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.3804401491171632,1.491608231589495,0.71338606911949],"aabb_xy":[[0.3575244362321133,1.4687039344530715],[0.40335586200221313,1.5145125287259187]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.5447923876266287,0.15381801676120999,0.71338606911949],"aabb_xy":[[0.5209561699860238,0.0638180159527235],[0.5686286052672339,0.24381801756969648]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.27848374293220557,0.9519009462682644,0.71338606911949],"aabb_xy":[[0.1884837461965953,0.8987174829509698],[0.3684837396678157,1.005084409585559]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.024074815810923966,-1.6680228469799192,0.71338606911949],"aabb_xy":[[-0.030925183810821877,-1.723006539767392],[0.07907481543266981,-1.6130391541924465]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[0.30926741222302456,-0.6230760089910026,0.71338606911949],"aabb_xy":[[0.3046322970707911,-0.626943344068151],[0.3139025273752578,-0.6192086739138537]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[0.3748571409077954,-1.6094593736808638,0.71338606911949],"aabb_xy":[[0.35235714138408797,-1.6319553211314843],[0.3973571404315028,-1.5869634262302428]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[0.5560881157185531,-1.81546392378438,0.71338606911949],"aabb_xy":[[0.5466706411486905,-1.8248801009220987],[0.565505590288416,-1.8060477466466607]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6585041683655496,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6871.png","name":"6871"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6871.png","name":"6871"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3544.png","name":"3544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2300.png","name":"2300"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8411.png","name":"8411"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9500.png","name":"9500"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":848.7185888296876,"rotation_z_degrees":180.44112584399713,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01962235554885569,-0.01799357166854796,-0.013056488659657587]},{"name":"camera_2","offset_m":[-0.01628066374141471,-0.01594388492612997,0.018207391468877374]},{"name":"camera_3","offset_m":[-0.0027930533317656395,0.014402397399155453,0.011205226218161824]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00016899859235259738,-0.0005677046610217586,-0.0004903143487416481],"end_effector_yaw_offset_degrees":-0.07967254363603815},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018564876296259065,0.0016288091292361827,0.0011344974151153461],"end_effector_yaw_offset_degrees":0.8332976535372238},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007471119487593421,0.0007698053632065158,-0.00046375718784929533],"end_effector_yaw_offset_degrees":-0.6039650100256233},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000755223442278883,-0.0006094907409477366,-0.0014400720229818301],"end_effector_yaw_offset_degrees":0.6167961083002094}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007845273397420237,0.0005976241734824651],"position_m":[0.16688452733974202,0.15379762417348247,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031653184853147297,-0.0006497083640565381],"position_m":[0.2515346815146853,-0.32164970836405654,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037053565576166342,2.2542665249408907e-05],"position_m":[0.14760535655761664,0.2858225426652494,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002387188315792893,-0.0013120096410819872],"position_m":[0.3620871883157929,0.06218799035891801,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"50dc7f3b6d2ed40b4c907ed2523518565aa0bc8699144185330170ef418529e4","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6871/tex_ceiling_textures_9500/tex_floor_textures_8411/tex_table_textures_3544/tex_wall_textures_2300","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6152966482260866376,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6152966482260866376,"visual_seed":6152966482260866376,"scene_id":"lab_003","finished_at":"2026-09-05T01:44:12"}
+{"episode_id":"ep_000033","started_at":"2026-09-05T01:44:18","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[0.5270978252416563,1.6827326534642792,0.71338606911949],"aabb_xy":[[0.5221418050567751,1.6602326532621576],[0.5320538454265374,1.7052326536664009]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.501554258343672,1.1217954605830602,0.71338606911949],"aabb_xy":[[-0.509547748138954,1.1137973286425848],[-0.4935607685483899,1.129793592523536]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.6276262077144257,-1.6677153045598239,0.71338606911949],"aabb_xy":[[0.5725010020848348,-1.7277153060011108],[0.6827514133440163,-1.6077153031185365]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[-0.6496813718453462,-1.5821298598813014,0.71338606911949],"aabb_xy":[[-0.6949599867264955,-1.646129859229485],[-0.604402756964197,-1.5181298605331177]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[0.34622329828203613,-0.585555596355368,0.71338606911949],"aabb_xy":[[0.315739048155006,-0.6355555961368639],[0.3767075484090663,-0.535555596573872]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.6073819997272487,0.8405308050824769,0.71338606911949],"aabb_xy":[[0.5663640563408778,0.7905308044515196],[0.6483999431136196,0.8905308057134342]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.25076954511373883,-1.7632739509197968,0.71338606911949],"aabb_xy":[[0.2151403892137791,-1.7989066176766495],[0.2863987010136986,-1.7276412841629436]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[-0.03469771347241357,-2.158293217828776,0.71338606911949],"aabb_xy":[[-0.05969771274437585,-2.174638581424938],[-0.009697714200451296,-2.141947854232613]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[-0.6256254361400722,0.01092216259737011,0.71338606911949],"aabb_xy":[[-0.6317200640281905,0.002352768045701394],[-0.6195308082519538,0.01949155714903883]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[0.15035031202494775,1.5382444532024704,0.71338606911949],"aabb_xy":[[0.12202060207640752,1.5337837110087535],[0.17868002197348798,1.5427051953961877]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[-0.6466528687153182,0.9119573108251773,0.71338606911949],"aabb_xy":[[-0.6812439515693633,0.8469573105401462],[-0.6120617858612729,0.9769573111102083]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.11258760458845507,-0.7832044926076975,0.71338606911949],"aabb_xy":[[0.09971570108751493,-0.8632044930215337],[0.1254595080893952,-0.7032044921938614]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[0.4482932015058738,-1.1319531911356109,0.71338606911949],"aabb_xy":[[0.4107932007138784,-1.1383210320938006],[0.4857932022978693,-1.1255853501774207]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.5466239863363138,-1.38256607136954,0.71338606911949],"aabb_xy":[[-0.6366239900132319,-1.4439984779466442],[-0.4566239826593955,-1.3211336647924354]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.3952853036756019,-1.466075615267716,0.71338606911949],"aabb_xy":[[0.3312853003858937,-1.5094105342716333],[0.45928530696530995,-1.422740696263798]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[-0.5246621134610839,1.2941687630122796,0.71338606911949],"aabb_xy":[[-0.5581022886571034,1.2607251371813493],[-0.4912219382650643,1.3276123888432094]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[0.6097571030244178,0.18722206480285708,0.71338606911949],"aabb_xy":[[0.5597578278559816,0.13722206352690994],[0.6597563781928539,0.23722206607880428]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.07010722303065375,1.3128871004349087,0.71338606911949],"aabb_xy":[[0.006107222327184388,1.266868717961988],[0.1341072237341231,1.35890548290783]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.13437954810696484,1.0317859001394498,0.71338606911949],"aabb_xy":[[0.13093887186690767,1.0279244671650853],[0.137820224347022,1.0356473331138143]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.4723415397548736,-2.470828318532149,0.71338606911949],"aabb_xy":[[-0.5068038871530152,-2.5053222009299714],[-0.4378791923567316,-2.436334436134326]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[-0.38968253866689917,-0.5812915871250857,0.71338606911949],"aabb_xy":[[-0.40635967465999473,-0.5979915110990159],[-0.3730054026738037,-0.5645916631511554]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.038980007126168004,-0.18326657867138474,0.71338606911949],"aabb_xy":[[-0.06352622274891873,-0.2135154752204218],[-0.014433791503417287,-0.15301768212234768]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[-0.4315183547360828,-0.20253846896402328,0.71338606911949],"aabb_xy":[[-0.45443406762113275,-0.2254427661004468],[-0.40860264185103295,-0.17963417182759978]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[-0.06770726153635787,-0.8190366004593328,0.71338606911949],"aabb_xy":[[-0.0811537881704012,-0.832506452112424],[-0.054260734902314534,-0.8055667488062416]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.03407504005337991,-1.656730880136642,0.71338606911949],"aabb_xy":[[-0.0559249566822303,-1.7099143434539363],[0.12407503678899012,-1.6035474168193473]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[-0.5236236406706974,0.7873825447333473,0.71338606911949],"aabb_xy":[[-0.5586236389408172,0.7803084170383591],[-0.48862364240057743,0.7944566724283354]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[0.5220198908435156,-1.4410987778511768,0.71338606911949],"aabb_xy":[[0.5045198917091483,-1.4509784048887646],[0.5395198899778827,-1.431219150813589]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_27","position":[0.22018343603459156,-2.316519575677724,0.71338606911949],"aabb_xy":[[0.21368179952658695,-2.3262873977040344],[0.22668507254259618,-2.306751753651415]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_28","position":[-0.20726894799462325,-0.21437813723323762,0.71338606911949],"aabb_xy":[[-0.2872689453982166,-0.2943707084314204],[-0.1272689505910298,-0.13438556603505478]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[0.2627704225898334,1.3415251153324808,0.71338606911949],"aabb_xy":[[0.17904819708975095,1.2515251117977848],[0.34649264808991587,1.4315251188671767]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_30","position":[-0.22030972234161939,1.344117346717392,0.71338606911949],"aabb_xy":[[-0.25460663335936007,1.3098204605074506],[-0.18601281132387879,1.3784142329273332]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_31","position":[-0.6003208816081964,-1.2305548737009195,0.71338606911949],"aabb_xy":[[-0.6703208837396258,-1.253316839326615],[-0.5303208794767668,-1.2077929080752237]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_32","position":[0.7047208760197006,-0.4409058069404179,0.71338606911949],"aabb_xy":[[0.686515052358453,-0.4519312075224096],[0.7229266996809484,-0.42988040635842634]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_33","position":[0.5738708770366971,-1.8920162211611884,0.71338606911949],"aabb_xy":[[0.5098708784501247,-1.9390231845606969],[0.6378708756232696,-1.8450092577616795]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_34","position":[-0.33802061264973127,-1.6136713512321377,0.71338606911949],"aabb_xy":[[-0.3468226679587039,-1.6214826773870665],[-0.3292185573407585,-1.6058600250772084]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6621133590305405,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8838.png","name":"8838"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8838.png","name":"8838"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6180.png","name":"6180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3414.png","name":"3414"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2340.png","name":"2340"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5246.png","name":"5246"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":706.0555582669497,"rotation_z_degrees":95.5217092876664,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0064968171162537135,-0.01215999917737371,0.007787628515444445]},{"name":"camera_2","offset_m":[-0.01454382104174461,-0.010599064423633262,-0.01239940612653155]},{"name":"camera_3","offset_m":[-0.014785097610620652,0.015394367804319988,0.017809417308077464]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00090151509036042,-0.001871704851374866,-0.0005729668479316171],"end_effector_yaw_offset_degrees":-0.8147271864568728},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001359193595626425,0.0014620538849928477,6.799546658328888e-05],"end_effector_yaw_offset_degrees":0.713055375139229},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00014223053973499988,0.0013359991389337261,-0.0016031013331473704],"end_effector_yaw_offset_degrees":0.38079890087303836},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014926332342400195,-0.000241127964913543,0.001079372431461569],"end_effector_yaw_offset_degrees":-0.7297424363960421}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003199352187114912,0.0008950766919909106],"position_m":[0.16929935218711492,0.1540950766919909,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016783470619616027,0.0006328323264412341],"position_m":[0.2563783470619616,-0.3203671676735588,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004427048024033033,-0.0010641140608824255],"position_m":[0.14832704802403304,0.2847358859391176,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016451494944810918,0.0017527776452252695],"position_m":[0.35805485050551894,0.06525277764522527,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"73ce0b3d920c170037a7c2d605b710460ae2651e6277879ff45fc6267f1e9ccd","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0035.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8838/tex_ceiling_textures_5246/tex_floor_textures_2340/tex_table_textures_6180/tex_wall_textures_3414","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1630715981054189065,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1630715981054189065,"visual_seed":1630715981054189065,"scene_id":"lab_003","finished_at":"2026-09-05T01:48:03"}
+{"episode_id":"ep_000034","started_at":"2026-09-05T01:48:06","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.08655244070049095,1.5543623287619854,0.71338606911949],"aabb_xy":[[-0.15155244333828444,1.5028827300625385],[-0.021552438062697465,1.6058419274614324]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[0.27981675267773887,-2.354486483290706,0.71338606911949],"aabb_xy":[[0.2692492730196398,-2.3650315134037148],[0.2903842323358378,-2.3439414531776976]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.2506943170293927,1.5820058527289462,0.71338606911949],"aabb_xy":[[-0.259392279320108,1.569880878421472],[-0.24199635473867742,1.5941308270364214]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[0.06673091767349071,1.009695953666966,0.71338606911949],"aabb_xy":[[0.05084642440816556,0.995343013368142],[0.08261541093881586,1.0240488939657901]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.049863517272379365,-2.1478234448914186,0.71338606911949],"aabb_xy":[[0.0123635169241516,-2.159614840472502],[0.08736351762060712,-2.136032049310335]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[-0.4714888875541184,0.9061935894819846,0.71338606911949],"aabb_xy":[[-0.5364888875884211,0.8594929128016573],[-0.4064888875198157,0.9528942661623119]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.09812887794555625,-2.0072218091921386,0.71338606911949],"aabb_xy":[[0.028128875814126694,-2.029983774817834],[0.1681288800769858,-1.9844598435664424]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.10641846445992009,-1.0788687052971928,0.71338606911949],"aabb_xy":[[0.042418468064347,-1.1428319937159264],[0.17041846085549317,-1.0149054168784593]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.1205802508972923,-0.521418013569408,0.71338606911949],"aabb_xy":[[-0.12521536604952566,-0.5252853486465565],[-0.11594513574505888,-0.5175506784922592]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.712437823107527,-1.4979586697336633,0.71338606911949],"aabb_xy":[[0.7061257235711887,-1.5037256089868825],[0.7187499226438655,-1.4921917304804446]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.4263598350010458,-1.4937339971215595,0.71338606911949],"aabb_xy":[[0.40307799280291445,-1.5787339984187876],[0.44964167719917714,-1.4087339958243315]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[0.2637077385951786,0.529897021234889,0.71338606911949],"aabb_xy":[[0.19970774216785675,0.4827273974127927],[0.32770773502250056,0.5770666450569856]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[0.5656771424138434,-1.9357485647545474,0.71338606911949],"aabb_xy":[[0.5617632692184209,-1.9444975801611042],[0.5695910156092658,-1.9269995493479906]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.44761014255045384,0.3433457010362697,0.71338606911949],"aabb_xy":[[-0.5116101457690917,0.29662258913726136],[-0.383610139331816,0.39006881293527806]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.4543486763828404,-2.2978460544577572,0.71338606911949],"aabb_xy":[[0.4082635851281089,-2.361846051710312],[0.5004337676375719,-2.2338460572052017]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[-0.22508898948553951,-2.4632103235451894,0.71338606911949],"aabb_xy":[[-0.2330829780632429,-2.471210403640279],[-0.21709500090783612,-2.455210243450099]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[-0.586132455989135,0.323270422801877,0.71338606911949],"aabb_xy":[[-0.5915904016261551,0.2432704194942179],[-0.5806745103521149,0.4032704261095361]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[-0.34897012417696366,1.2735333776550242,0.71338606911949],"aabb_xy":[[-0.3608422071884648,1.1885333779613738],[-0.3370980411654626,1.3585333773486745]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[0.1293988062407102,-1.7061963581529587,0.71338606911949],"aabb_xy":[[0.094807723386665,-1.7711963584379895],[0.16398988909475543,-1.6411963578679274]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[0.2072521545946605,-1.5386789292431815,0.71338606911949],"aabb_xy":[[0.19790514701236528,-1.5529825514608255],[0.21659916217695574,-1.5243753070255375]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[-0.5508164370925324,-0.8214505429139134,0.71338606911949],"aabb_xy":[[-0.5654598426465652,-0.8361092625706975],[-0.5361730315384993,-0.8067918232571291]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.6266401745401007,-0.9316662374706235,0.71338606911949],"aabb_xy":[[-0.6600803497361202,-0.9651098633015536],[-0.593199999344081,-0.8982226116396934]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[-0.036470634454324524,1.016474058238786,0.71338606911949],"aabb_xy":[[-0.07865504861515527,0.9524740579615749],[0.005713779706506224,1.0804740585159973]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[-0.1286915789359815,0.6758684641670727,0.71338606911949],"aabb_xy":[[-0.15119157894612978,0.6617722445274694],[-0.1061915789258332,0.689964683806676]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[-0.5236158339952662,1.675260321122129,0.71338606911949],"aabb_xy":[[-0.5340273926757498,1.6699145877862305],[-0.5132042753147824,1.6806060544580272]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[-0.26349414355431605,-0.2612929592837685,0.71338606911949],"aabb_xy":[[-0.28707926701821096,-0.32629296152920034],[-0.23990902009042125,-0.19629295703833677]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_26","position":[-0.6792503449565358,0.7914950853772003,0.71338606911949],"aabb_xy":[[-0.6935847700826994,0.7794348698226615],[-0.6649159198303725,0.8035553009317392]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[-0.3976229509841642,1.0538826859906139,0.71338606911949],"aabb_xy":[[-0.4201193724180283,1.0313826861838662],[-0.3751265295503001,1.076382685797361]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_28","position":[0.0935076421986083,-0.7025379750150109,0.71338606911949],"aabb_xy":[[0.08088085491141195,-0.7120840487165837],[0.10613442948580465,-0.6929919013134379]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_29","position":[0.12532936941910056,0.8321737600511607,0.71338606911949],"aabb_xy":[[0.035329370000729665,0.798798263206971],[0.21532936883747145,0.8655492568953504]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_30","position":[0.5787533413105959,1.2649332054132332,0.71338606911949],"aabb_xy":[[0.5147533409330621,1.2151879385624207],[0.6427533416881294,1.3146784722640452]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_31","position":[-0.21940488636534178,-1.7615459817708636,0.71338606911949],"aabb_xy":[[-0.2569048870299204,-1.7772330397710854],[-0.18190488570076302,-1.745858923770641]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_32","position":[0.5480863445931623,-1.5840801802245692,0.71338606911949],"aabb_xy":[[0.5235727204961564,-1.6083447735266059],[0.5725999686901682,-1.559815586922533]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_33","position":[-0.5212304557218579,-0.3536875648605107,0.71338606911949],"aabb_xy":[[-0.5585617322471005,-0.388340619655363],[-0.4838991791966153,-0.31903451006565836]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6613918796371409,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5441.png","name":"5441"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5441.png","name":"5441"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1556.png","name":"1556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9797.png","name":"9797"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/971.png","name":"971"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8127.png","name":"8127"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":731.1710438697371,"rotation_z_degrees":305.3245808348119,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007614197825257411,0.013540046868262146,-0.007453716419340886]},{"name":"camera_2","offset_m":[-0.008760007675903512,0.009035754638690625,-0.0174636558119701]},{"name":"camera_3","offset_m":[-0.005244384329060185,0.01649669685740324,-0.018617547350717568]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019578096144764485,-0.0002590809441591242,-0.0005692635388257776],"end_effector_yaw_offset_degrees":-0.6584463578587068},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-4.8603691363148516e-05,0.0017427685736007823,0.0012643393744679017],"end_effector_yaw_offset_degrees":0.5627319114513261},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006912950149299117,-0.0002684976958318415,-0.0011506142634906628],"end_effector_yaw_offset_degrees":-0.5526015470676786},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011261257546394466,0.0010542620307295372,-0.0018484786509464798],"end_effector_yaw_offset_degrees":0.6831838619257145}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004516676965779598,0.0009011423127192634],"position_m":[0.1615833230342204,0.15410114231271926,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022005304229162203,0.003077281237429037],"position_m":[0.2569005304229162,-0.31792271876257094,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032525747353492314,0.003260690479441531],"position_m":[0.14715257473534923,0.28906069047944155,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026927698157402334,0.0043267129655169415],"position_m":[0.3570072301842598,0.06782671296551694,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d5e86ffd8819b4be29feb7ac99e17e7f188ffea3d163e026127e5001cade037f","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0036.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5441/tex_ceiling_textures_8127/tex_floor_textures_971/tex_table_textures_1556/tex_wall_textures_9797","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8670226099357126911,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8670226099357126911,"visual_seed":8670226099357126911,"scene_id":"lab_003","finished_at":"2026-09-05T01:51:41"}
+{"episode_id":"ep_000035","started_at":"2026-09-05T01:51:46","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[-0.20908843182173747,-1.2387366426345294,0.71338606911949],"aabb_xy":[[-0.2447175877216972,-1.2743693093913824],[-0.1734592759217777,-1.2031039758776765]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.30076871488956985,0.6609861807276167,0.71338606911949],"aabb_xy":[[-0.32861375167017703,0.6302016819893052],[-0.2729236781089628,0.6917706794659285]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[0.38417405431684637,-2.4283437070907197,0.71338606911949],"aabb_xy":[[0.36033783667624136,-2.518343707899206],[0.40801027195745154,-2.338343706282233]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[0.4642937506744633,-1.584559889255589,0.71338606911949],"aabb_xy":[[0.4467938172404799,-1.6020598891758233],[0.48179368410844664,-1.5670598893353542]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[-0.6211186146444573,1.727557498593964,0.71338606911949],"aabb_xy":[[-0.6283623806907025,1.6475575003903613],[-0.6138748485982118,1.807557496797566]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.12246603736474515,-2.0020072050472275,0.71338606911949],"aabb_xy":[[0.032466035030726106,-2.07948955963234],[0.2124660396987642,-1.9245248504621149]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[0.3601024315462187,0.9144922655814267,0.71338606911949],"aabb_xy":[[0.32564008414807677,0.8799983831836038],[0.3945647789443604,0.9489861479792492]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[0.4436214954912163,-0.3852116213280974,0.71338606911949],"aabb_xy":[[0.4091590174781285,-0.3918752985110202],[0.47808397350430404,-0.37854794414517456]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.39817262074202664,-1.1297863759824083,0.71338606911949],"aabb_xy":[[0.3935375055897932,-1.1336537110595566],[0.40280773589425994,-1.1259190409052595]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[0.25211633329117356,-1.7234669204046003,0.71338606911949],"aabb_xy":[[0.20993191913034281,-1.7874669206818117],[0.2943007474520043,-1.6594669201273893]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[-0.2590775536782905,1.1755406249604703,0.71338606911949],"aabb_xy":[[-0.323077556021092,1.1305997737163376],[-0.1950775513354889,1.2204814762046026]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[-0.0489422240230023,-1.7646194321942077,0.71338606911949],"aabb_xy":[[-0.0576401863137176,-1.7767444065016824],[-0.04024426173228701,-1.752494457886733]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.043293331411257574,-0.10040939337719257,0.71338606911949],"aabb_xy":[[-0.06116243916571307,-0.11424230135440351],[-0.02542422365680208,-0.08657648539998165]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.5604248572012898,0.7307867875039222,0.71338606911949],"aabb_xy":[[-0.6244248574617605,0.6857779881509941],[-0.4964248569408189,0.7757955868568501]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[0.6545588562376621,1.3185764828749207,0.71338606911949],"aabb_xy":[[0.6492212805716575,1.2935764819457811],[0.6598964319036666,1.3435764838040607]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[0.09411440557390183,0.6475807272411132,0.71338606911949],"aabb_xy":[[0.0766836904948953,0.6303086125772622],[0.11154512065290832,0.6648528419049639]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.056251568731423784,1.7301203763662012,0.71338606911949],"aabb_xy":[[0.043784210621688135,1.717655051732878],[0.06871892684115943,1.742585700999525]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.5244101524213252,-1.8517626196746861,0.71338606911949],"aabb_xy":[[0.5151165341841746,-1.8892626181628198],[0.5337037706584757,-1.814262621186552]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.12054317349992028,1.549634494178163,0.71338606911949],"aabb_xy":[[0.056543174330150346,1.5028678070592005],[0.18454317266969023,1.5964011812971255]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.015485067777059713,-1.299512642385059,0.71338606911949],"aabb_xy":[[-0.03739374991641076,-1.3214133092051497],[0.006423614362291332,-1.2776119755649682]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[-0.5386334522069098,0.37306363246800567,0.71338606911949],"aabb_xy":[[-0.548786467761059,0.3369940908952653],[-0.5284804366527602,0.4091331740407459]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6598646461390623,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1535.png","name":"1535"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1535.png","name":"1535"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9291.png","name":"9291"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9758.png","name":"9758"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2177.png","name":"2177"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9637.png","name":"9637"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":796.5183758777166,"rotation_z_degrees":20.531104258799765,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01692102456200156,-0.010980483948928787,0.007157290695806794]},{"name":"camera_2","offset_m":[0.009642381047261318,-0.011561579933528923,-0.018376070713184256]},{"name":"camera_3","offset_m":[-0.004436901951196609,0.013121716401164562,0.006266584592666238]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00024049300404008623,0.0008352988560746556,-0.0017512138989013914],"end_effector_yaw_offset_degrees":-0.20850608493895395},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008887313239292326,0.001015657587627469,-0.0006090769497368372],"end_effector_yaw_offset_degrees":-0.25429052810551567},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011476348256150592,-0.001463522934956348,0.0005423138436829807],"end_effector_yaw_offset_degrees":-0.4344751610519011},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001666556808506773,-0.0009805611803292843,0.0006307232765403368],"end_effector_yaw_offset_degrees":0.6889677217021821}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010706171999477843,-0.003826010880103421],"position_m":[0.16502938280005222,0.14937398911989658,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027534680803590152,-0.0026952996077394785],"position_m":[0.25194653191964095,-0.32369529960773946,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002972448595266446,-0.0017495822750859835],"position_m":[0.14092755140473356,0.284050417724914,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028372508323166656,-0.004043159119792479],"position_m":[0.35686274916768335,0.05945684088020752,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f8e1b8e598f87189b2e07c264e69e87df17939026e1528a7458b799371ab2d38","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1535/tex_ceiling_textures_9637/tex_floor_textures_2177/tex_table_textures_9291/tex_wall_textures_9758","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":9104032870876865832,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":9104032870876865832,"visual_seed":9104032870876865832,"scene_id":"lab_003","finished_at":"2026-09-05T01:55:02"}
+{"episode_id":"ep_000036","started_at":"2026-09-05T01:55:06","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[-0.009019309881900917,-2.0604907372155523,0.71338606911949],"aabb_xy":[[-0.0394174209810445,-2.0908976392172214],[0.021378801217242664,-2.0300838352138824]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.002110904142797798,0.9333804596516315,0.71338606911949],"aabb_xy":[[-0.06188909314285085,0.8918737406987876],[0.06611090142844644,0.9748871786044755]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.15994452507663615,1.1409137781116656,0.71338606911949],"aabb_xy":[[0.15253206953524764,1.1350625676900379],[0.1673569806180246,1.1467649885332938]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.5649619138270696,-1.973755913111007,0.71338606911949],"aabb_xy":[[-0.6449619170910826,-1.98731594541992],[-0.4849619105630564,-1.9601958808020934]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[0.5327021543091557,-1.9093219673256903,0.71338606911949],"aabb_xy":[[0.4777021551325661,-1.9643116421006477],[0.5877021534857451,-1.8543322925507324]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[0.45540662505453966,-0.2475918827741017,0.71338606911949],"aabb_xy":[[0.4197774691545799,-0.28322454953095466],[0.4910357809544994,-0.2119592160172488]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[-0.302147978110326,-2.0815298926004457,0.71338606911949],"aabb_xy":[[-0.3271479772759591,-2.0884821383058023],[-0.2771479789446929,-2.074577646895089]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_7","position":[-0.23103485551099662,-0.2536524370488835,0.71338606911949],"aabb_xy":[[-0.25487107315160173,-0.34365243785737004],[-0.2071986378703916,-0.16365243624039708]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[-0.42487481291787066,-0.21474249457239303,0.71338606911949],"aabb_xy":[[-0.45535906304490076,-0.26474249435388897],[-0.39439056279084045,-0.1647424947908971]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_9","position":[0.6231308073413029,0.17962053881031448,0.71338606911949],"aabb_xy":[[0.5431308051785403,0.09966535518417086],[0.7031308095040653,0.2595757224364581]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[0.6303546399606912,-0.5262587674588786,0.71338606911949],"aabb_xy":[[0.5703546394528383,-0.5831055011447996],[0.6903546404685441,-0.4694120337729571]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.005675765184505188,-1.4273362804237426,0.71338606911949],"aabb_xy":[[-0.06726652440849801,-1.4913362785327897],[0.05591499403948763,-1.363336282314696]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[0.46532286459705796,1.4207015162373584,0.71338606911949],"aabb_xy":[[0.4153228650207233,1.3707209372852525],[0.5153228641733927,1.4706820951894644]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[-0.47680306696416963,0.4448032396530768,0.71338606911949],"aabb_xy":[[-0.5407987643592662,0.38080324135236804],[-0.41280736956907305,0.5088032379537855]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.4407733032545347,-0.758475344565726,0.71338606911949],"aabb_xy":[[-0.4577834005445853,-0.7746098330639999],[-0.42376320596448397,-0.742340856067452]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.2677122238641355,-1.9567831366782642,0.71338606911949],"aabb_xy":[[0.21771222350356942,-2.006763123887867],[0.3177122242247015,-1.906803149468661]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[0.4553264085203905,0.29286846301905767,0.71338606911949],"aabb_xy":[[0.4178264073355977,0.28845024032299704],[0.4928264097051833,0.29728668571511807]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.4985692040657569,-2.1537989011949867,0.71338606911949],"aabb_xy":[[-0.5785692054958841,-2.233316056207596],[-0.4185692026356297,-2.0742817461823773]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[0.5747932541459935,-1.1705429204721167,0.71338606911949],"aabb_xy":[[0.5107932577186716,-1.2177125442942132],[0.6387932505733154,-1.1233732966500203]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.3005970090170761,-1.3296580996203764,0.71338606911949],"aabb_xy":[[0.2635628995890163,-1.3640353069540856],[0.33763111844513577,-1.2952808922866668]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[-0.09589193352585124,-0.3484370230206699,0.71338606911949],"aabb_xy":[[-0.11595034513909153,-0.36850210992982746],[-0.07583352191261095,-0.3283719361115124]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[-0.3882531113518748,1.6505655890881665,0.71338606911949],"aabb_xy":[[-0.3943477392399931,1.6419961945364978],[-0.38215848346375647,1.6591349836398352]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[0.5487181049933578,1.2068479865892887,0.71338606911949],"aabb_xy":[[0.458718108492486,1.1609363441708302],[0.6387181014942295,1.2527596290077467]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.5777957431982473,1.4629142599348666,0.71338606911949],"aabb_xy":[[-0.6477957453296768,1.4401522943091705],[-0.5077957410668177,1.4856762255605618]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[-0.11274511888314909,-2.471615309247152,0.71338606911949],"aabb_xy":[[-0.12784742034416713,-2.486716830878213],[-0.09764281742213096,-2.456513787616089]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_25","position":[-0.5822544732082501,0.9267184743525823,0.71338606911949],"aabb_xy":[[-0.5996851882872566,0.9094463596887314],[-0.5648237581292436,0.9439905890164331]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.5394040865526812,1.0236726349734129,0.71338606911949],"aabb_xy":[[0.5345047942461176,0.9959957156708439],[0.5443033788592446,1.0513495542759814]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_27","position":[0.6172437736124654,-0.9246275308607701,0.71338606911949],"aabb_xy":[[0.5472437702209033,-0.9599433045642011],[0.6872437770040273,-0.8893117571573393]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[-0.4030823703452345,-1.4281138401073388,0.71338606911949],"aabb_xy":[[-0.45308237200672913,-1.4781122823630413],[-0.3530823686837396,-1.3781153978516358]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_29","position":[0.5908281487975304,1.6973978022693381,0.71338606911949],"aabb_xy":[[0.5686556218208796,1.6752221351132146],[0.6130006757741813,1.7195734694254607]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_30","position":[0.18868213173036497,1.681850610837222,0.71338606911949],"aabb_xy":[[0.15871457482053933,1.6518506105393362],[0.21864968864019066,1.7118506111351077]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_31","position":[-0.11440502125137963,0.6371151490966622,0.71338606911949],"aabb_xy":[[-0.12310298354209494,0.6249901747891875],[-0.10570705896066436,0.649240123404137]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6623739895819476,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8393.png","name":"8393"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8393.png","name":"8393"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4558.png","name":"4558"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9331.png","name":"9331"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/571.png","name":"571"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9367.png","name":"9367"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":500.44844161957883,"rotation_z_degrees":22.23480976679847,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002900148313556762,0.013680855096288445,0.01860772416589841]},{"name":"camera_2","offset_m":[-0.010804991639592476,0.01897014351553644,0.011591851436483166]},{"name":"camera_3","offset_m":[-0.01071711212596068,0.01244789935398163,0.017024212860554912]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00020417626668863117,-0.0013365566547782115,-0.0017144035036362989],"end_effector_yaw_offset_degrees":0.23147932849760355},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001960696497611225,0.0014427250957895574,-0.0011623757739638815],"end_effector_yaw_offset_degrees":0.6838136892064894},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011189302009829492,0.001161177921578741,-0.0011020701053307122],"end_effector_yaw_offset_degrees":-0.6904519171721648},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008434184876956329,0.0009029881268723928,-0.0011112501112380316],"end_effector_yaw_offset_degrees":0.9695109482959798}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001361663815260451,-0.0014176194409760891],"position_m":[0.16746166381526045,0.1517823805590239,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003924806965505497,0.004184686548348274],"position_m":[0.2586248069655055,-0.31681531345165176,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004597546801971362,-0.0020091425871309756],"position_m":[0.14344024531980287,0.283790857412869,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004898697404155582,0.002259518012007189],"position_m":[0.3645986974041556,0.06575951801200719,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"021abb9f273aede4d0a08f07bf75baeb914d1ed3adac131ad0689036240a9290","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8393/tex_ceiling_textures_9367/tex_floor_textures_571/tex_table_textures_4558/tex_wall_textures_9331","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2541668023181349745,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2541668023181349745,"visual_seed":2541668023181349745,"scene_id":"lab_003","finished_at":"2026-09-05T01:58:20"}
+{"episode_id":"ep_000037","started_at":"2026-09-05T01:58:24","dimensions":{"distractor":{"count":22,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[-0.5637226989086039,1.1535020348593794,0.71338606911949],"aabb_xy":[[-0.653722698631778,1.1304286823241994],[-0.4737226991854297,1.176575387394559]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[-0.35941655588513777,-0.38905441634513904,0.71338606911949],"aabb_xy":[[-0.42441655688563823,-0.4398407814998139],[-0.2944165548846372,-0.33826805119046405]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[-0.4641751263871118,-2.266155851748359,0.71338606911949],"aabb_xy":[[-0.5010256743240994,-2.303655852571393],[-0.42732457845012417,-2.2286558509253256]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[0.39500410335951264,0.9060258188084438,0.71338606911949],"aabb_xy":[[0.3612285441688196,0.8919873235952788],[0.42877966255020555,0.9200643140216088]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[-0.6418747630308047,1.5051617415182101,0.71338606911949],"aabb_xy":[[-0.6918747633913707,1.455181754308607],[-0.5918747626702385,1.5551417287278129]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[0.48032847199471584,-1.4966006661317792,0.71338606911949],"aabb_xy":[[0.4742338441065976,-1.505170060683448],[0.4864230998828342,-1.4880312715801105]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[0.38924802713923357,-1.9368477092688545,0.71338606911949],"aabb_xy":[[0.3192480245026472,-1.9569525742647196],[0.4592480297758199,-1.9167428442729886]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.08442758017035334,-1.298756445558435,0.71338606911949],"aabb_xy":[[-0.1305126714250848,-1.36275644281099],[-0.03834248891562186,-1.2347564483058797]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[0.18006479255965802,-2.2209790150214843,0.71338606911949],"aabb_xy":[[0.13006479311946237,-2.2709469395058006],[0.2300647919998536,-2.171011090537168]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[-0.6338835741141309,-2.200392127589713,0.71338606911949],"aabb_xy":[[-0.6499455015726484,-2.2853921294023043],[-0.6178216466556131,-2.1153921257771207]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.18901716001121693,-1.4360077220684362,0.71338606911949],"aabb_xy":[[0.12501716358389503,-1.4831773458905328],[0.25301715643853884,-1.38883809824634]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[0.5060632696557565,-1.8116718657743704,0.71338606911949],"aabb_xy":[[0.44206327235341014,-1.8560382927422268],[0.5700632669581029,-1.7673054388065133]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.6422739715473124,-1.023129975599208,0.71338606911949],"aabb_xy":[[-0.6734208903908954,-1.0931299742860152],[-0.6111270527037291,-0.9531299769124009]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[-0.0763588252169266,0.7811323482880668,0.71338606911949],"aabb_xy":[[-0.09887251704038379,0.7111323476870592],[-0.0538451333934694,0.8511323488890743]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.2914019260429489,0.9626633237182771,0.71338606911949],"aabb_xy":[[-0.3139019265549895,0.9401714653528787],[-0.2689019255309083,0.9851551820836754]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[0.350708154373067,-2.430307353877708,0.71338606911949],"aabb_xy":[[0.33320822093908364,-2.447807353797942],[0.3682080878070504,-2.412807353957473]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[0.5749655163007159,-0.00934312000517279,0.71338606911949],"aabb_xy":[[0.49124329080063334,-0.09934312353986874],[0.6586877418007983,0.08065688352952316]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.44259746862499366,-2.0962607902026615,0.71338606911949],"aabb_xy":[[-0.4839020116887296,-2.1602607897707786],[-0.4012929255612576,-2.0322607906345445]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.48981650297599133,-1.2405573993375774,0.71338606911949],"aabb_xy":[[0.4804694953936961,-1.2548610215552214],[0.49916351055828656,-1.2262537771199333]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[0.5900446427187052,0.2788055854325777,0.71338606911949],"aabb_xy":[[0.5650446434467429,0.2624602218364153],[0.6150446419906674,0.29515094902874]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[-0.6717972059829039,-0.7473591511838635,0.71338606911949],"aabb_xy":[[-0.6846691094838441,-0.8273591515976997],[-0.6589253024819638,-0.6673591507700274]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_21","position":[-0.415596791532474,0.20563444995397306,0.71338606911949],"aabb_xy":[[-0.46558102724065115,0.15563445114047747],[-0.3656125558242967,0.25563444876746866]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6632255856147945,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7551.png","name":"7551"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7551.png","name":"7551"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3434.png","name":"3434"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8046.png","name":"8046"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4748.png","name":"4748"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2296.png","name":"2296"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":742.8620980468821,"rotation_z_degrees":288.26583579914967,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003193995062510807,0.007552989891464752,-0.0005948392800523387]},{"name":"camera_2","offset_m":[-0.01144146262380004,-0.010763955518882989,0.013420934308417638]},{"name":"camera_3","offset_m":[0.019192212833665397,0.0014572474550903491,-0.000623498880235069]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00012774681452998576,-0.00023468717454985994,-0.00046762595405580414],"end_effector_yaw_offset_degrees":-0.10738254906617817},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017868670700748853,0.0013301565188336326,-0.001609800386870532],"end_effector_yaw_offset_degrees":-0.10239051021436452},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001794093149080621,-0.001491629951760832,0.0012416349993977674],"end_effector_yaw_offset_degrees":0.04031581855736088},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009669921246600699,-0.000619504902644917,-0.0010376745392738558],"end_effector_yaw_offset_degrees":-0.7397125878336968}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00029606435460858855,-0.004577628480155147],"position_m":[0.16639606435460857,0.14862237151984486,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001017340412221044,-0.002843695584320989],"position_m":[0.25571734041222105,-0.323843695584321,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017129891067362347,0.0008665962720208033],"position_m":[0.14218701089326377,0.2866665962720208,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013570120533898675,-0.004268625284947952],"position_m":[0.3610570120533899,0.05923137471505205,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bd22c7219ef702dd1d8c277c77b0a55666cf175f8b3a26de50016b5fe39355d4","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0039.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7551/tex_ceiling_textures_2296/tex_floor_textures_4748/tex_table_textures_3434/tex_wall_textures_8046","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":4845878427548323070,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":4845878427548323070,"visual_seed":4845878427548323070,"scene_id":"lab_003","finished_at":"2026-09-05T02:01:55"}
+{"episode_id":"ep_000038","started_at":"2026-09-05T02:01:59","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[-0.5270341298431966,0.035161811251515296,0.71338606911949],"aabb_xy":[[-0.5446669654367242,0.017538865235892324],[-0.5094012942496691,0.05278475726713827]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[-0.1524682329062298,1.1032899864659163,0.71338606911949],"aabb_xy":[[-0.23246823006580505,1.0917423855080992],[-0.07246823574665448,1.1148375874237333]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.37015451975906005,-1.065277569110374,0.71338606911949],"aabb_xy":[[-0.4341545161546331,-1.1292408575291075],[-0.3061545233634869,-1.0013142806916404]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[-0.10961290073472263,1.5569568304020804,0.71338606911949],"aabb_xy":[[-0.17961290412628458,1.5216410566986494],[-0.03961289734316064,1.592272604105511]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[0.018763738281327713,-2.3432387164450663,0.71338606911949],"aabb_xy":[[-0.04523626376840428,-2.3833331995343743],[0.08276374033105971,-2.3031442333557584]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[-0.4094899876428857,-0.4062180048812922,0.71338606911949],"aabb_xy":[[-0.48948999090689876,-0.41977803719020557],[-0.3294899843788725,-0.3926579725723789]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.047342652687320186,-1.3213109519859911,0.71338606911949],"aabb_xy":[[-0.09732560287479951,-1.3713109516285513],[0.0026402975001591496,-1.2713109523434305]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.3962774930787549,-1.2453839966013656,0.71338606911949],"aabb_xy":[[0.3587774922867594,-1.2517518375595555],[0.4337774938707503,-1.2390161556431756]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.3437787825291816,1.0492585784014734,0.71338606911949],"aabb_xy":[[0.2637787814560613,1.039480532064089],[0.423778783602302,1.0590366247388578]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.4156435945018784,-0.3025177263695866,0.71338606911949],"aabb_xy":[[0.3844966756582952,-0.3725177250563938],[0.44679051334546144,-0.23251772768277945]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.03797378280826991,0.6916691088567801,0.71338606911949],"aabb_xy":[[-0.10197378210243813,0.6276829684879259],[0.026026216485898312,0.7556552492256343]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.49198823314065565,-1.3914796447608757,0.71338606911949],"aabb_xy":[[-0.5097817400755721,-1.4092793903566734],[-0.4741947262057392,-1.373679899165078]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.3036250218172527,0.8068253742260056,0.71338606911949],"aabb_xy":[[0.24203426259325989,0.742825376116959],[0.3652157810412455,0.8708253723350527]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[0.34805277307330873,-1.0284937306186552,0.71338606911949],"aabb_xy":[[0.343974615166259,-1.0325747108669185],[0.35213093098035847,-1.024412750370392]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[-0.4528540917912756,-1.285668821439449,0.71338606911949],"aabb_xy":[[-0.4581866064458886,-1.2909931496846845],[-0.44752157713666263,-1.2803444931942134]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[0.3173312656363112,0.3952347112450636,0.71338606911949],"aabb_xy":[[0.28233126736619124,0.3881605835500754],[0.35233126390643105,0.4023088389400517]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[-0.37686903158137913,1.0289993525575412,0.71338606911949],"aabb_xy":[[-0.38489530221200513,1.0202478575801885],[-0.36884276095075313,1.0377508475348938]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.5304784360483485,-0.7541521176515895,0.71338606911949],"aabb_xy":[[-0.5385920907217255,-0.7622579341056185],[-0.5223647813749713,-0.7460463011975603]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.45285899725653944,1.6061964485421627,0.71338606911949],"aabb_xy":[[-0.48785899556723483,1.598481433618617],[-0.41785899894584394,1.6139114634657084]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.2753131740072162,-2.0506962176137105,0.71338606911949],"aabb_xy":[[-0.31281317258283703,-2.0634325132772684],[-0.23781317543159544,-2.0379599219501525]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[0.5064713874437028,-1.8189689037667462,0.71338606911949],"aabb_xy":[[0.45648715173552556,-1.868968902580242],[0.55645562315188,-1.7689689049532509]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[-0.4408497731048642,-2.272238732350012,0.71338606911949],"aabb_xy":[[-0.520849773378471,-2.3451882801757287],[-0.36084977283125713,-2.1992891845242952]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.10814933243849678,-2.4437898766281005,0.71338606911949],"aabb_xy":[[-0.11556178797988526,-2.4496410870497285],[-0.10073687689710831,-2.4379386662064726]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[-0.12497883819479472,0.47108358550341567,0.71338606911949],"aabb_xy":[[-0.13201914812833174,0.39108358610374444],[-0.11793852826125775,0.5510835849030873]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.6343924644603157,1.0636299821334343,0.71338606911949],"aabb_xy":[[-0.6843924661218104,1.0136315398777314],[-0.5843924627988208,1.1136284243891368]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[-0.4335913478190482,-2.122255327574769,0.71338606911949],"aabb_xy":[[-0.44322298403947774,-2.131892640354478],[-0.4239597115986185,-2.11261801479506]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_26","position":[0.29961551536942344,1.4534651664020353,0.71338606911949],"aabb_xy":[[0.28920395668893967,1.4481194330661367],[0.3100270740499071,1.4588108997379334]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_27","position":[-0.07912455260046869,-0.6837847777194697,0.71338606911949],"aabb_xy":[[-0.13409827463680157,-0.7387847772837028],[-0.024150830564135806,-0.6287847781552365]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_28","position":[0.5890452013373435,-2.1079277244546804,0.71338606911949],"aabb_xy":[[0.5515452011654715,-2.1406284598375875],[0.6265452015092153,-2.075226989071773]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_29","position":[0.28707866955722205,1.6881193314833385,0.71338606911949],"aabb_xy":[[0.20707866812709486,1.6086021764707288],[0.36707867098734925,1.7676364864959477]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_30","position":[-0.6276586450162439,-0.74872926663673,0.71338606911949],"aabb_xy":[[-0.6349409613929073,-0.8387292702462388],[-0.62037632863958,-0.6587292630272208]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_31","position":[-0.22047209830163556,-2.277722058983995,0.71338606911949],"aabb_xy":[[-0.26323880518105575,-2.3417220624057977],[-0.17770539142221536,-2.213722055562193]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_32","position":[-0.1285743525028623,-0.964026111137452,0.71338606911949],"aabb_xy":[[-0.1885743530107152,-1.020872844823373],[-0.06857435199500937,-0.9071793774515305]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_33","position":[-0.21988737829353017,0.5448087182088561,0.71338606911949],"aabb_xy":[[-0.2279307382194853,0.4598087171134897],[-0.21184401836757497,0.6298087193042226]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6650952061275633,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7359.png","name":"7359"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7359.png","name":"7359"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1599.png","name":"1599"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6641.png","name":"6641"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9081.png","name":"9081"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6153.png","name":"6153"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":613.2178582782635,"rotation_z_degrees":93.03484012784038,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003261966036419695,-0.00857211038214825,0.004769066616989073]},{"name":"camera_2","offset_m":[-0.011712447780452667,-0.00028151046179268266,0.003512973690941657]},{"name":"camera_3","offset_m":[0.0032706533662087804,-0.017677049259801323,-0.011206106465261838]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010369703448721537,-0.0019684570965177845,0.0018360124175341073],"end_effector_yaw_offset_degrees":0.695624425414654},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010701903692599117,-0.000550801637097507,-0.0019435880877867043],"end_effector_yaw_offset_degrees":0.710706518936639},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012738877378752527,-0.0004863173370131264,0.0014707754406868812],"end_effector_yaw_offset_degrees":-0.8165245051763035},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-3.844234971438817e-06,0.0002741518342623205,-0.0014368161332993985],"end_effector_yaw_offset_degrees":0.8096407794539175}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010418420168659178,0.0027299349927137504],"position_m":[0.16505815798313409,0.15592993499271376,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025584747744850245,-0.00391820821183492],"position_m":[0.257258474774485,-0.3249182082118349,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004707674732017601,-0.003701971442820665],"position_m":[0.1391923252679824,0.28209802855717936,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004420909136904767,-0.0017351956044596105],"position_m":[0.3641209091369048,0.06176480439554039,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3ef5369355c1f0385cda267e8abfadbc03c37d0333ce308816094e61067e240d","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7359/tex_ceiling_textures_6153/tex_floor_textures_9081/tex_table_textures_1599/tex_wall_textures_6641","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":7848699320355551380,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":7848699320355551380,"visual_seed":7848699320355551380,"scene_id":"lab_003","finished_at":"2026-09-05T02:05:45"}
+{"episode_id":"ep_000039","started_at":"2026-09-05T02:05:48","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[-0.6227061924432613,1.6902776011379097,0.71338606911949],"aabb_xy":[[-0.6307001810209646,1.6822775210428194],[-0.6147122038655578,1.698277681233]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[-0.3906201605535963,-2.16849027709336,0.71338606911949],"aabb_xy":[[-0.39473611066566894,-2.172605832126205],[-0.3865042104415236,-2.164374722060514]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.23450011151975403,0.20665464010637624,0.71338606911949],"aabb_xy":[[-0.24254347144570917,0.12165463901100979],[-0.22645675159379883,0.29165464120174267]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[0.271043328270299,1.729536323376363,0.71338606911949],"aabb_xy":[[0.19104332719717865,1.7197582770389783],[0.3510433293434193,1.7393143697137472]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.13109829117423955,-1.8782540266614087,0.71338606911949],"aabb_xy":[[-0.19509828828634523,-1.9272863964558193],[-0.06709829406213386,-1.8292216568669981]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.33171706065545514,-2.0836955205871575,0.71338606911949],"aabb_xy":[[0.2417170620609852,-2.0999461069005787],[0.4217170592499251,-2.067444934273737]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[0.5247882938302493,-1.5591996311532925,0.71338606911949],"aabb_xy":[[0.4997882938977314,-1.5660822993742158],[0.5497882937627672,-1.5523169629323692]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.46609873594397866,-0.24793528353871208,0.71338606911949],"aabb_xy":[[-0.546098738106741,-0.3278904671648557],[-0.3860987337812161,-0.16798009991256843]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[-0.3382278687946108,0.4716073839855337,0.71338606911949],"aabb_xy":[[-0.380994575674031,0.40760738056373125],[-0.2954611619151906,0.5356073874073362]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.3811910832252994,0.6887022731519017,0.71338606911949],"aabb_xy":[[0.3729765381096153,0.6800256828542601],[0.38940562834098325,0.6973788634495428]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[-0.5292039259099217,0.37018860661707453,0.71338606911949],"aabb_xy":[[-0.5932039261703924,0.3251798072641465],[-0.46520392564945084,0.41519740597000254]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[0.5726040059713984,-0.9390831110150242,0.71338606911949],"aabb_xy":[[0.5086040086690519,-0.9834495379828808],[0.6366040032737447,-0.8947166840471673]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.374634712352524,1.1473711768762014,0.71338606911949],"aabb_xy":[[0.32463471370660274,1.097451633216739],[0.42463471099844513,1.1972907205356638]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.34154151776590647,-1.347888058916378,0.71338606911949],"aabb_xy":[[0.3002927067359917,-1.4028880584285952],[0.38279032879582114,-1.2928880594041603]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[0.027372277623541663,-1.4454206681002035,0.71338606911949],"aabb_xy":[[0.01761628811436777,-1.4551832021594377],[0.03712826713271555,-1.4356581340409689]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.6694294790825632,-0.304064075113065,0.71338606911949],"aabb_xy":[[0.6623891691490263,-0.3840640745127365],[0.6764697890161003,-0.22406407571339365]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.02482480184599567,-1.7845173338755649,0.71338606911949],"aabb_xy":[[0.018410988202810723,-1.790927154123233],[0.031238615489180603,-1.7781075136278963]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[0.05178204663580488,-0.8374038460907931,0.71338606911949],"aabb_xy":[[0.0017889345266129818,-0.8874038467649887],[0.10177515874499678,-0.7874038454165975]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[0.28654654362788856,1.6402662669811678,0.71338606911949],"aabb_xy":[[0.2365465426773557,1.608717119977646],[0.3365465445784213,1.6718154139846888]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.5430144453754593,-1.8008150461710997,0.71338606911949],"aabb_xy":[[0.4530144459570883,-1.8341905430152892],[0.6330144447938301,-1.7674395493269097]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[0.6044437660088549,1.6797059503701433,0.71338606911949],"aabb_xy":[[0.598477227068119,1.6737448057107789],[0.6104103049495905,1.6856670950295072]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.22991938207949725,-0.7037476873526209,0.71338606911949],"aabb_xy":[[-0.2750906999276662,-0.7677476844971596],[-0.18474806423132828,-0.6397476902080826]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[-0.5966236511418704,-0.45384840301170515,0.71338606911949],"aabb_xy":[[-0.6229124754623111,-0.4801198366663563],[-0.5703348268214298,-0.42757696935705386]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[-0.5913337423396737,1.0357735053388364,0.71338606911949],"aabb_xy":[[-0.6256306533574142,1.0014766191288949],[-0.557036831321933,1.0700703915487775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6612570667379681,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/667.png","name":"667"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/667.png","name":"667"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4122.png","name":"4122"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1977.png","name":"1977"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6030.png","name":"6030"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7528.png","name":"7528"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":649.6142876005263,"rotation_z_degrees":109.82028994986675,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011438896852554956,-0.01296170790502325,0.013778338024106159]},{"name":"camera_2","offset_m":[0.009867673841163226,-0.017624811561123534,-0.006018648858897016]},{"name":"camera_3","offset_m":[-0.006850912591380563,-0.014037701471633213,0.0027443143857736156]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015952629464268796,-0.0009696106408963795,0.00023140751513259054],"end_effector_yaw_offset_degrees":0.8015032640062385},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010617414336043995,0.00022199498885854202,0.00029502236244584876],"end_effector_yaw_offset_degrees":0.4251218383504989},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00044217006935490027,0.0007104315114917236,0.000736718732141998],"end_effector_yaw_offset_degrees":-0.9032605980702229},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001074447946724727,0.001480270008614944,0.0014099154627508215],"end_effector_yaw_offset_degrees":0.3263981519374455}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034856793014702353,-0.00011538581197716863],"position_m":[0.16958567930147023,0.15308461418802283,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002790018286021288,-0.001127948151483934],"position_m":[0.25442099817139785,-0.32212794815148393,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019153834000768654,-0.0008394368562853159],"position_m":[0.14198461659992315,0.2849605631437147,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029409111407521496,-0.0026808048125010467],"position_m":[0.36264091114075214,0.06081919518749895,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6f29e6174fbc00f988df194eb6537734e58afedbd4b32f4edbf9017286802fa1","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0041.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_667/tex_ceiling_textures_7528/tex_floor_textures_6030/tex_table_textures_4122/tex_wall_textures_1977","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1653019355188038379,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1653019355188038379,"visual_seed":1653019355188038379,"scene_id":"lab_003","finished_at":"2026-09-05T02:09:35"}
+{"episode_id":"ep_000040","started_at":"2026-09-05T02:09:40","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.44277252215620694,-0.9304108984344901,0.71338606911949],"aabb_xy":[[-0.49277252381770165,-0.9804093406901927],[-0.3927725204947121,-0.8804124561787873]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[-0.5912445564513866,0.25795580628731374,0.71338606911949],"aabb_xy":[[-0.6287445566232586,0.22525507090440655],[-0.5537445562795147,0.2906565416702209]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.2626125848136077,-1.2072347038423286,0.71338606911949],"aabb_xy":[[0.22511258639020731,-1.2203989178101593],[0.300112583237008,-1.1940704898744978]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.6260705715143668,1.4945813101305343,0.71338606911949],"aabb_xy":[[0.588570571166139,1.4827899145494507],[0.6635705718625945,1.5063727057116179]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.600935524443934,-1.0106729899188225,0.71338606911949],"aabb_xy":[[0.5784355242004187,-1.0228776245785944],[0.6234355246874494,-0.9984683552590505]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[0.10698728500159949,1.7131490982649855,0.71338606911949],"aabb_xy":[[0.0642205781221793,1.649149094843183],[0.14975399188101968,1.777149101686788]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[0.5530994887254126,0.5898535469719466,0.71338606911949],"aabb_xy":[[0.48909948638261097,0.544912695727814],[0.617099491068214,0.634794398216079]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[-0.21655881871768767,0.38511483782306977,0.71338606911949],"aabb_xy":[[-0.22287091825402613,0.379347898569851],[-0.21024671918134927,0.39088177707628863]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[0.02961196855442172,-0.8771163268886282,0.71338606911949],"aabb_xy":[[0.023517340666303403,-0.8856857214402969],[0.03570659644254004,-0.8685469323369595]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.05442026710911274,-2.3077439203167294,0.71338606911949],"aabb_xy":[[-0.10442026746967878,-2.357723907526332],[-0.004420266748546667,-2.257763933107126]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.43425545865869175,-2.089784120795655,0.71338606911949],"aabb_xy":[[0.3842623465494999,-2.1397841214698508],[0.4842485707678837,-2.0397841201214595]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[-0.09013905133784061,0.5062166521156466,0.71338606911949],"aabb_xy":[[-0.09835359645352458,0.49754006181800514],[-0.08192450622215662,0.5148932424132877]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[-0.37610157509833797,-1.8639122557320298,0.71338606911949],"aabb_xy":[[-0.4461015784898999,-1.8992280294354604],[-0.30610157170677593,-1.8285964820285987]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.32876977584793066,0.8368366076726232,0.71338606911949],"aabb_xy":[[-0.3360520922245942,0.746836604063114],[-0.3214874594712669,0.926836611282132]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[0.2652878212525105,0.6710556478619996,0.71338606911949],"aabb_xy":[[0.22310340709167975,0.6070556475847885],[0.30747223541334123,0.7350556481392109]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[-0.5398357121169726,1.210285586161239,0.71338606911949],"aabb_xy":[[-0.5463373486249772,1.2005177641349292],[-0.533334075608968,1.2200534081875487]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[0.5838489248575822,1.2196752873288625,0.71338606911949],"aabb_xy":[[0.5729431487700195,1.1396752909300334],[0.5947547009451449,1.2996752837276917]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.3330566341879678,-0.2765134269422411,0.71338606911949],"aabb_xy":[[-0.3505566344330171,-0.2940132147818079],[-0.31555663394291833,-0.2590136391026742]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.09530377084742758,1.2365922095318687,0.71338606911949],"aabb_xy":[[0.08826231989667999,1.2295654577940742],[0.10234522179817518,1.243618961269663]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[-0.18311859865676694,-1.5206887457803837,0.71338606911949],"aabb_xy":[[-0.19745302378293036,-1.5327489613349226],[-0.16878417353060346,-1.5086285302258449]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.45990633618124543,-2.2866632457521736,0.71338606911949],"aabb_xy":[[0.4224063346656137,-2.2978900187683187],[0.49740633769687714,-2.2754364727360286]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[0.03410192039491178,-1.7062783967768564,0.71338606911949],"aabb_xy":[[0.011601919882871174,-1.7287702551422546],[0.05660192090695237,-1.6837865384114579]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[-0.6072183836287292,0.6967328618296631,0.71338606911949],"aabb_xy":[[-0.6922183823208038,0.6647469984347842],[-0.5222183849366545,0.728718725224542]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_23","position":[-0.4119553970487096,0.9035352148625115,0.71338606911949],"aabb_xy":[[-0.4457309562394025,0.8894967196493465],[-0.37817983785801657,0.9175737100756766]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[0.5787670931867981,-1.5919003464941595,0.71338606911949],"aabb_xy":[[0.5237716153661386,-1.6469003479280664],[0.6337625710074574,-1.5369003450602525]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_25","position":[-0.6801858562796539,-2.23230842437821,0.71338606911949],"aabb_xy":[[-0.6862228692803187,-2.2383351254471586],[-0.6741488432789893,-2.2262817233092624]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[0.041788689764485354,-2.1158163610984095,0.71338606911949],"aabb_xy":[[-0.04821130882998459,-2.132066947411831],[0.1317886883589553,-2.0995657747849883]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[-0.25398030400469884,-1.2242158378020451,0.71338606911949],"aabb_xy":[[-0.3089803036264447,-1.2791995305895179],[-0.198980304382953,-1.1692321450145724]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[-0.12040894018125847,0.24538694254566717,0.71338606911949],"aabb_xy":[[-0.12744925011479546,0.1653869431459958],[-0.1133686302477215,0.3253869419453386]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_29","position":[-0.5169152523402207,-1.9725384279410265,0.71338606911949],"aabb_xy":[[-0.5339253496302713,-1.9886729164393004],[-0.49990515505016997,-1.9564039394427526]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6576126404020689,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8504.png","name":"8504"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8504.png","name":"8504"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7931.png","name":"7931"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3574.png","name":"3574"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1750.png","name":"1750"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6625.png","name":"6625"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":550.2014476850209,"rotation_z_degrees":52.05014664134421,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010506055270353878,-0.016598782713222026,0.002201203863568705]},{"name":"camera_2","offset_m":[-0.0019472140793144396,0.015993951113104362,0.006178049865119047]},{"name":"camera_3","offset_m":[0.009193066849801278,0.01783981252629296,-0.007395845930235775]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00012695425829088833,-0.000660061232755044,-0.0013812350151254473],"end_effector_yaw_offset_degrees":0.5239557996979389},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007632803247611423,-0.0012552333608560461,9.60664056013031e-05],"end_effector_yaw_offset_degrees":-0.7275930335099621},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002662568155048662,0.0018501008702231144,0.0017870396549719706],"end_effector_yaw_offset_degrees":0.19275328150322846},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017337152000048532,-0.0015998351781869803,0.0010653126313154523],"end_effector_yaw_offset_degrees":0.26239927324700174}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031997796478507286,-0.004083048140242443],"position_m":[0.16929977964785073,0.14911695185975757,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038034033462764063,3.57192084648808e-05],"position_m":[0.2508965966537236,-0.3209642807915351,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018307616805195437,0.004085463187736474],"position_m":[0.14573076168051954,0.28988546318773645,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002048228976872557,-0.0011871991993224773],"position_m":[0.3617482289768726,0.062312800800677526,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"75fc326f32f7865525173d432ff43356bc995fd49622ab4b3f9096a9acd9ab5f","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8504/tex_ceiling_textures_6625/tex_floor_textures_1750/tex_table_textures_7931/tex_wall_textures_3574","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":579822622301328460,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":579822622301328460,"visual_seed":579822622301328460,"scene_id":"lab_003","finished_at":"2026-09-05T02:13:10"}
+{"episode_id":"ep_000041","started_at":"2026-09-05T02:13:15","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.6291579683077553,0.42517632871363764,0.71338606911949],"aabb_xy":[[0.6005086359473389,0.3965307694365618],[0.6578073006681714,0.4538218879907134]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[0.27729952438012795,-2.3111157157255207,0.71338606911949],"aabb_xy":[[0.2132995220373264,-2.3560565669696527],[0.3412995267229295,-2.2661748644813877]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.5277672781015473,-2.4820532853003803,0.71338606911949],"aabb_xy":[[-0.5375232676107212,-2.4918158193596143],[-0.5180112885923734,-2.4722907512411454]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[0.41668774893047456,-1.1907096919218043,0.71338606911949],"aabb_xy":[[0.41255189259777436,-1.2282096913661615],[0.42082360526317475,-1.1532096924774475]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[0.6402830083782478,-2.260028478784022,0.71338606911949],"aabb_xy":[[0.6347013367441189,-2.2725284786017976],[0.6458646800123765,-2.247528478966246]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.08886374302424016,-0.8763728177226311,0.71338606911949],"aabb_xy":[[-0.12636374296800656,-0.8846659077574677],[-0.05136374308047374,-0.8680797276877945]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[0.5435402166368795,1.211780884329249,0.71338606911949],"aabb_xy":[[0.5259619144479326,1.194206394755144],[0.5611185188258263,1.229355373903354]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[-0.47169712613566095,0.7217207430392651,0.71338606911949],"aabb_xy":[[-0.5316971266435138,0.6648740093533438],[-0.411697125627808,0.7785674767251864]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[-0.032844886125320105,-1.511613363690701,0.71338606911949],"aabb_xy":[[-0.04985498341537076,-1.5277478521889747],[-0.015834788835269453,-1.4954788751924268]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.6213725318400778,-2.3993921703447882,0.71338606911949],"aabb_xy":[[-0.6435450588167286,-2.421567837500911],[-0.599200004863427,-2.3772165031886647]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[0.44745153032808216,-2.210114750078896,0.71338606911949],"aabb_xy":[[0.41696728020105195,-2.2601147498603917],[0.47793578045511226,-2.1601147502974]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.11674192389701521,0.5418397622363318,0.71338606911949],"aabb_xy":[[-0.186741920306977,0.52140182658465],[-0.04674192748705342,0.5622776978880134]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[-0.5233333646234898,-1.6080135294991624,0.71338606911949],"aabb_xy":[[-0.5733283755829418,-1.6580135285347544],[-0.47333835366403776,-1.558013530463571]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.6110609657866259,1.7525795972297504,0.71338606911949],"aabb_xy":[[0.5951764725213009,1.7382266569309262],[0.6269454590519512,1.7669325375285743]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[-0.2403989089786469,-0.33984851520774306,0.71338606911949],"aabb_xy":[[-0.3203989104087741,-0.4193656702203525],[-0.1603989075485197,-0.26033136019513353]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[0.27954079757030237,0.5725745918492944,0.71338606911949],"aabb_xy":[[0.18954079389338407,0.5111421852721899],[0.36954080124722044,0.6340069984263986]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.013936880912002403,-1.3908121325372806,0.71338606911949],"aabb_xy":[[-0.03893688018396468,-1.407157496133443],[0.011063118359959876,-1.3744667689411183]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[0.332974440735637,-1.4534160749428695,0.71338606911949],"aabb_xy":[[0.2778492351060462,-1.5134160763841569],[0.38809964636522776,-1.3934160735015826]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[0.6257695715268905,1.6437252190991063,0.71338606911949],"aabb_xy":[[0.6032695717129881,1.6392506027286253],[0.6482695713407929,1.6481998354695868]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.21472597286010364,-1.6195512064765336,0.71338606911949],"aabb_xy":[[-0.26420639407406243,-1.6835512043893854],[-0.16524555164614485,-1.5555512085636818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6654987910556189,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4035.png","name":"4035"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4035.png","name":"4035"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6432.png","name":"6432"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3500.png","name":"3500"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5036.png","name":"5036"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5965.png","name":"5965"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":830.1291569693534,"rotation_z_degrees":193.23196363397537,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006830693073628727,0.0005828208843250589,-0.017306603366992062]},{"name":"camera_2","offset_m":[0.001592150588921662,-0.001061438977028803,-0.0007672636672794199]},{"name":"camera_3","offset_m":[0.0007598091131467248,0.0008510250362255001,0.003087009565159265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.904415587399713e-05,0.00032178824980336196,0.00039810631088792745],"end_effector_yaw_offset_degrees":-0.7969317894194641},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005456089634777418,0.00026214604079397887,0.0016899829940002424],"end_effector_yaw_offset_degrees":0.14129991460604585},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013656626007850382,1.0380275774183809e-05,-0.0003539730764123847],"end_effector_yaw_offset_degrees":0.31496302852818614},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010027101401567525,0.0013457525979351987,-0.0011961879776286608],"end_effector_yaw_offset_degrees":-0.9733047434509157}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035590712027447147,0.003049284586276028],"position_m":[0.1625409287972553,0.15624928458627604,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002535097845676835,-0.004785156123735176],"position_m":[0.25723509784567683,-0.3257851561237352,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000747537348480023,-0.0041100014643227],"position_m":[0.14315246265151998,0.2816899985356773,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004883637701026397,-0.004996604024355712],"position_m":[0.3645836377010264,0.05850339597564429,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c99af238403ebaed980cbcf88db4dc1cfe638e8a9a8c127aec88dce29a860ee6","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0043.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4035/tex_ceiling_textures_5965/tex_floor_textures_5036/tex_table_textures_6432/tex_wall_textures_3500","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3518765239767610659,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3518765239767610659,"visual_seed":3518765239767610659,"scene_id":"lab_003","finished_at":"2026-09-05T02:16:58"}
+{"episode_id":"ep_000042","started_at":"2026-09-05T02:17:01","dimensions":{"distractor":{"count":29,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.2723958805631672,-0.6223020115088043,0.71338606911949],"aabb_xy":[[0.182395876886249,-0.6837344180859085],[0.36239588424008534,-0.5608696049316998]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.16825187121856022,1.203049190075376,0.71338606911949],"aabb_xy":[[0.1570068156479424,1.1918073923512806],[0.17949692678917806,1.2142909877994712]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.47049325590653357,-0.9213055869391944,0.71338606911949],"aabb_xy":[[-0.4792744830537699,-0.9300853342277248],[-0.46171202875929745,-0.9125258396506645]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[0.252549250145508,-1.5749782582719125,0.71338606911949],"aabb_xy":[[0.20273247068067324,-1.6249782567562159],[0.30236602961034276,-1.5249782597876091]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[-0.24266181043219864,1.7045469725519182,0.71338606911949],"aabb_xy":[[-0.26649802807280376,1.6145469717434322],[-0.21882559279159364,1.7945469733604051]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[0.2883598186178361,0.6154362340088904,0.71338606911949],"aabb_xy":[[0.23338609658150322,0.5604362344446573],[0.343333540654169,0.6704362335731237]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[-0.09840001377310403,-2.4891733539223027,0.71338606911949],"aabb_xy":[[-0.12090001329681144,-2.511669301372923],[-0.07590001424939663,-2.4666774064716814]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[-0.4686006690181031,-1.9010160984569162,0.71338606911949],"aabb_xy":[[-0.5386006654280646,-1.9214540341085973],[-0.39860067260814114,-1.8805781628052338]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.09080044126858977,-1.2403683198004964,0.71338606911949],"aabb_xy":[[0.0854628656025852,-1.2653683207296362],[0.09613801693459434,-1.2153683188713567]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.5143931837023128,-2.4924766234301106,0.71338606911949],"aabb_xy":[[-0.5743931845631254,-2.5439030534365963],[-0.4543931828414998,-2.441050193423624]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.6321021951699293,0.05286761368759674,0.71338606911949],"aabb_xy":[[0.5521021965130432,0.03836275476333395],[0.7121021938268152,0.06737247261185952]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.17957695843048838,1.285212709823203,0.71338606911949],"aabb_xy":[[-0.21389323560510634,1.2352127098500252],[-0.14526068125587047,1.3352127097963806]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[0.5377686547804545,1.6039294566795816,0.71338606911949],"aabb_xy":[[0.5231252492264216,1.5892707370227974],[0.5524120603344875,1.6185881763363659]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.40327324080838917,-0.03517861514394838,0.71338606911949],"aabb_xy":[[-0.4504026198102248,-0.09917861618835033],[-0.35614386180655344,0.028821385900453585]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[-0.2086206101299668,0.6193229690497613,0.71338606911949],"aabb_xy":[[-0.24612061023555976,0.6125008071967801],[-0.17112061002437384,0.6261451309027424]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[0.5209515831505158,1.317269578651798,0.71338606911949],"aabb_xy":[[0.4709673474423386,1.2672695798383027],[0.570935818858693,1.3672695774652939]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[0.5610941972956456,-1.9562519473262068,0.71338606911949],"aabb_xy":[[0.497098499900549,-2.020251945626915],[0.6250898946907422,-1.8922519490254976]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[-0.07202359189011476,-1.8958565427107597,0.71338606911949],"aabb_xy":[[-0.1070235902008102,-1.9035715576343053],[-0.03702359357941931,-1.888141527787214]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[-0.34644961267151964,1.2855771067000785,0.71338606911949],"aabb_xy":[[-0.3501528740006584,1.2818750883913606],[-0.34274635134238063,1.289279125008796]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.3969249546419558,0.8544904185044393,0.71338606911949],"aabb_xy":[[-0.41208782761889295,0.8393249612093207],[-0.3817620816650188,0.8696558757995582]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[-0.27625815631209616,0.8563506556216325,0.71338606911949],"aabb_xy":[[-0.2803741064241687,0.8522351005887868],[-0.2721422062000234,0.8604662106544779]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.28154297058176353,-1.8603866933780213,0.71338606911949],"aabb_xy":[[-0.3315429716008988,-1.8968529091158497],[-0.23154296956262826,-1.8239204776401938]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.35750679257845985,-1.8197028196424387,0.71338606911949],"aabb_xy":[[0.2875067899418735,-1.839807684638304],[0.4275067952150462,-1.799597954646573]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[-0.4779968488268489,-2.2076399646429885,0.71338606911949],"aabb_xy":[[-0.5429968497839761,-2.2595881765766936],[-0.4129968478697217,-2.1556917527092825]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.4775742358818482,-1.8220764882049652,0.71338606911949],"aabb_xy":[[-0.4872058721022779,-1.8317138009846738],[-0.46794259966141866,-1.812439175425256]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[0.04860725432443569,-0.8446267850180906,0.71338606911949],"aabb_xy":[[-0.04139274241117453,-0.897810248335385],[0.1386072510600459,-0.791443321700796]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.23981395223792523,-2.4626983204937414,0.71338606911949],"aabb_xy":[[-0.2598723638511655,-2.4827634074028984],[-0.21975554062468494,-2.4426332335845835]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[0.6708839766748687,0.47239003446705574,0.71338606911949],"aabb_xy":[[0.6210012797971725,0.422390035220781],[0.7207666735525649,0.5223900337133305]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_28","position":[-0.4223100022329342,-0.5881962106543315,0.71338606911949],"aabb_xy":[[-0.4773100014095236,-0.643185885429289],[-0.36731000305634465,-0.5332065358793737]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6608262723959717,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2577.png","name":"2577"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2577.png","name":"2577"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2862.png","name":"2862"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6365.png","name":"6365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3263.png","name":"3263"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5630.png","name":"5630"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":607.460218757446,"rotation_z_degrees":20.4563148453874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0037348073869311084,0.006902747686475488,-0.005315230577847281]},{"name":"camera_2","offset_m":[0.0004932714166433934,-0.016027875889564898,-0.0011394969006165087]},{"name":"camera_3","offset_m":[-0.0007979573534930076,0.011036877796354708,0.009782358677985714]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006324560140945333,0.00161702531658573,-0.0010214430766321172],"end_effector_yaw_offset_degrees":-0.22239100550596036},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010849099009094143,-0.0007327870990732816,-0.0008279495087920518],"end_effector_yaw_offset_degrees":0.8647665185175402},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00014018389422153893,-0.00043046217749947513,-0.0004578514968157342],"end_effector_yaw_offset_degrees":-0.4203763574000752},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010957810599544746,0.0006526634775545328,0.0016443201957234308],"end_effector_yaw_offset_degrees":-0.9959857537896606}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003252811094537329,-0.0046746478624135595],"position_m":[0.16284718890546268,0.14852535213758644,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002581803950555679,-0.004347791191946407],"position_m":[0.2521181960494443,-0.3253477911919464,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023076389210613,0.0017739469151802148],"position_m":[0.1462076389210613,0.28757394691518023,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002065252304275438,0.0007672093185721943],"position_m":[0.35763474769572456,0.06426720931857219,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d14c3373fb0dec6aefd6f75de11e8a4f700c41175a3bc84235c6e9e4400fcd0","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2577/tex_ceiling_textures_5630/tex_floor_textures_3263/tex_table_textures_2862/tex_wall_textures_6365","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6315127186316834914,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6315127186316834914,"visual_seed":6315127186316834914,"scene_id":"lab_003","finished_at":"2026-09-05T02:20:50"}
+{"episode_id":"ep_000043","started_at":"2026-09-05T02:20:53","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_0","position":[0.5345074216465053,1.7810042140671292,0.71338606911949],"aabb_xy":[[0.4705074184278675,1.7342811021681208],[0.5985074248651432,1.8277273259661375]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.1948446590988856,-0.7172863498916966,0.71338606911949],"aabb_xy":[[-0.24001597694705462,-0.7812863470362351],[-0.14967334125071666,-0.6532863527471582]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.3987285275292202,0.5237403086449777,0.71338606911949],"aabb_xy":[[-0.44872852847975303,0.49219116164145615],[-0.3487285265786874,0.555289455648499]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.029122879783381905,-0.2961678866349722,0.71338606911949],"aabb_xy":[[-0.03256355602343908,-0.30002931960933665],[-0.025682203543324737,-0.2923064536606077]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.6535938561376181,0.8953866629930345,0.71338606911949],"aabb_xy":[[-0.6714629638920736,0.8815537550158237],[-0.6357247483831626,0.9092195709702455]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[0.2430377351873575,1.0639701973763627,0.71338606911949],"aabb_xy":[[0.1935573139733987,0.9999701994635108],[0.2925181564013163,1.1279701952892145]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[-0.338926958233976,-0.23417969075253042,0.71338606911949],"aabb_xy":[[-0.3490086653125494,-0.31417968864464507],[-0.3288452511554025,-0.15417969286041575]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.5446614369654972,-0.13894195142873267,0.71338606911949],"aabb_xy":[[0.5227527548261461,-0.16084261824882337],[0.5665701191048482,-0.11704128460864191]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.6519017395532051,-1.038176270889782,0.71338606911949],"aabb_xy":[[-0.6601162846688888,-1.046852861187423],[-0.6436871944375209,-1.0294996805921404]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.3218421468402286,-2.4472194645303014,0.71338606911949],"aabb_xy":[[0.26684214766363906,-2.5022091393052586],[0.37684214601681804,-2.3922297897553433]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.06403090399954514,1.6574291552428542,0.71338606911949],"aabb_xy":[[-0.11402591495899718,1.6074291562072625],[-0.014035893040093107,1.7074291542784459]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[-0.38447001464581537,0.13997119762081578,0.71338606911949],"aabb_xy":[[-0.47447001114668713,0.09405955520235755],[-0.2944700181449436,0.18588284003927402]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[0.36226070822793055,-1.3337876749197985,0.71338606911949],"aabb_xy":[[0.3447607089498437,-1.3511257749861445],[0.3797607075060174,-1.3164495748534526]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[-0.1337547858025302,-2.446322518119845,0.71338606911949],"aabb_xy":[[-0.21375478723265737,-2.5258396731324546],[-0.05375478437240297,-2.3668053631072357]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[0.4886061965420536,1.2938519826194952,0.71338606911949],"aabb_xy":[[0.4515720871139939,1.2594747752857856],[0.5256403059701134,1.3282291899532044]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.5453229013813875,-0.2390923839551311,0.71338606911949],"aabb_xy":[[-0.615322902983667,-0.2525251771567887],[-0.475322899779108,-0.22565959075347353]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[-0.12325469248845489,-1.5750269097678777,0.71338606911949],"aabb_xy":[[-0.13124818228373697,-1.5830250417083538],[-0.1152612026931729,-1.5670287778274026]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.19776418264367113,0.8249161495277626,0.71338606911949],"aabb_xy":[[0.1890502135937366,0.8024161488685743],[0.2064781516936056,0.8474161501869507]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[0.33886828742652253,-0.6943901317733172,0.71338606911949],"aabb_xy":[[0.302017739489535,-0.7318901325963508],[0.3757188353635102,-0.6568901309502834]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.21687286525088256,-1.250922463890132,0.71338606911949],"aabb_xy":[[0.2034263386168392,-1.264392315543223],[0.23031939188492587,-1.2374526122370408]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[-0.05362453704301384,-0.8117326604611279,0.71338606911949],"aabb_xy":[[-0.05896211270901841,-0.8367326613902677],[-0.048286961377009274,-0.7867326595319881]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[-0.33753716507846515,1.014228426925659,0.71338606911949],"aabb_xy":[[-0.34566485327177837,1.0053148185149512],[-0.32940947688515193,1.0231420353363667]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.5448637878334426,-1.8195743748149604,0.71338606911949],"aabb_xy":[[0.537451332292054,-1.8254255852365882],[0.5522762433748309,-1.8137231643933323]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[0.3913798173133485,1.2091943141702721,0.71338606911949],"aabb_xy":[[0.3804740412257857,1.1291943177714427],[0.40228559340091113,1.289194310569101]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[-0.2518609099000632,1.3345117269938989,0.71338606911949],"aabb_xy":[[-0.2674166793103285,1.3189612937494917],[-0.23630514048979795,1.350062160238306]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_25","position":[0.46928309328630635,0.9277988271758053,0.71338606911949],"aabb_xy":[[0.4092830916433845,0.8757986778838612],[0.5292830949292282,0.9797989764677496]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6602826099476322,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/694.png","name":"694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/694.png","name":"694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/329.png","name":"329"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4299.png","name":"4299"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6608.png","name":"6608"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4142.png","name":"4142"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":703.3775978500132,"rotation_z_degrees":186.9526743571322,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01890278338257535,0.006972621010225211,-0.019875883232389823]},{"name":"camera_2","offset_m":[-0.018091551969700123,0.01992162880842283,-0.013124409304075432]},{"name":"camera_3","offset_m":[0.0034533752332262767,-0.0068646509576339425,0.0022386338545865095]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011702480002143269,0.001016886554883452,0.0008794005908628363],"end_effector_yaw_offset_degrees":-0.13983651225127902},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018562156973057826,-0.0018337376060158137,0.0018349780981196323],"end_effector_yaw_offset_degrees":0.5992016092097152},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018109136341279283,0.0013338948557117935,0.0005031177848467809],"end_effector_yaw_offset_degrees":-0.34724141870840297},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016240248344218632,-0.0011281089355084646,-0.0010520028075852643],"end_effector_yaw_offset_degrees":0.543403104417336}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002961247500998907,-0.0011989421894609666],"position_m":[0.1631387524990011,0.15200105781053905,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028183524910558653,-0.0036613927674175994],"position_m":[0.2518816475089441,-0.3246613927674176,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029518625154138353,-0.003913618144358327],"position_m":[0.14685186251541382,0.2818863818556417,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002628596539077377,0.0011249135709897927],"position_m":[0.3594371403460923,0.06462491357098979,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d263481f007e3aa111982cdf66d0f22eb103a5b8804e2f508ad3a1de30bb8e93","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_694/tex_ceiling_textures_4142/tex_floor_textures_6608/tex_table_textures_329/tex_wall_textures_4299","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6822879066585217904,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6822879066585217904,"visual_seed":6822879066585217904,"scene_id":"lab_003","finished_at":"2026-09-05T02:24:28"}
+{"episode_id":"ep_000044","started_at":"2026-09-05T02:24:32","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.400221925950788,0.000777811763959857,0.71338606911949],"aabb_xy":[[0.3967812497107308,-0.00308362121040462],[0.40366260219084515,0.004639244738324334]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.3404059826271255,-0.7587832219700121,0.71338606911949],"aabb_xy":[[0.3307743464066959,-0.768420534749721],[0.35003761884755513,-0.7491459091903032]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.22577323101823038,0.3073876763123975,0.71338606911949],"aabb_xy":[[-0.2670777740819663,0.2433876767442804],[-0.18446868795449436,0.3713876758805146]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.32252980149334415,-0.6482493824411839,0.71338606911949],"aabb_xy":[[-0.32649028526307855,-0.6559172470267045],[-0.31856931772360975,-0.6405815178556633]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.09709792483890467,0.8441212574985024,0.71338606911949],"aabb_xy":[[0.08193505186196759,0.8289558002033839],[0.11226079781584176,0.8592867147936214]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.12932479717945045,1.3009643104075188,0.71338606911949],"aabb_xy":[[-0.13465731183406343,1.2956399821622833],[-0.12399228252483746,1.3062886386527544]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[0.6363680632437776,-1.203631842291154,0.71338606911949],"aabb_xy":[[0.5563680627735618,-1.2119425499055025],[0.7163680637139936,-1.1953211346768056]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.5931678510203918,1.6325360186138274,0.71338606911949],"aabb_xy":[[-0.6051005853822199,1.6201538658059678],[-0.5812351166585638,1.6449181714216865]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.15401354152951818,1.0183922256183697,0.71338606911949],"aabb_xy":[[0.13109782864446828,0.9954879284819464],[0.17692925441456808,1.0412965227547935]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.5253033928178291,0.5251376044186711,0.71338606911949],"aabb_xy":[[-0.5893033930918073,0.4750715042213831],[-0.4613033925438509,0.575203704615959]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.5119789081894933,0.12861684994397082,0.71338606911949],"aabb_xy":[[-0.5454580754505344,0.09513773657286384],[-0.4784997409284525,0.16209596331507786]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.5496176209590428,-0.2579912137664362,0.71338606911949],"aabb_xy":[[-0.5996176226205374,-0.30798965602213885],[-0.49961761929754794,-0.20799277151073345]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[-0.039825209133512396,-1.1171064572761682,0.71338606911949],"aabb_xy":[[-0.08982448430194856,-1.1671064585521154],[0.010174066034923768,-1.067106456000221]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.4991398195843777,-1.6549953530601174,0.71338606911949],"aabb_xy":[[0.4936818739473576,-1.7349953563677765],[0.5045977652213978,-1.5749953497524583]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.14913467464691432,-2.0591775280044002,0.71338606911949],"aabb_xy":[[-0.23913467324138424,-2.0754281143178215],[-0.05913467605244435,-2.042926941690979]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.37126117870610914,-0.2688398424861642,0.71338606911949],"aabb_xy":[[-0.38827127599615974,-0.28497433098443814],[-0.35425108141605843,-0.2527053539878903]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[0.23545857258007907,-0.6582433598271138,0.71338606911949],"aabb_xy":[[0.22676061028936378,-0.6703683341345885],[0.24415653487079436,-0.6461183855196391]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[0.31852664559404786,0.7046922379127256,0.71338606911949],"aabb_xy":[[0.25352664295625443,0.6532126392132785],[0.3835266482318414,0.7561718366121725]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[-0.62255621246149,1.1004437141261327,0.71338606911949],"aabb_xy":[[-0.6678348273426391,1.036443714777949],[-0.5772775975803406,1.1644437134743164]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[0.6704976745467424,-2.5266001391455832,0.71338606911949],"aabb_xy":[[0.6664195166396926,-2.5306811193938463],[0.6745758324537919,-2.52251915889732]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[-0.22546832515034954,0.8636321327397258,0.71338606911949],"aabb_xy":[[-0.2363199313992251,0.8527728420120748],[-0.2146167189014739,0.8744914234673768]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[-0.40425014482813826,0.8391511636356679,0.71338606911949],"aabb_xy":[[-0.4275319870262696,0.7541511623384398],[-0.3809683026300069,0.924151164932896]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[0.4976982394313407,1.2416893009665242,0.71338606911949],"aabb_xy":[[0.4693685294828005,1.2372285587728071],[0.526027949379881,1.2461500431602412]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[-0.39078220732555885,-2.1539814889833644,0.71338606911949],"aabb_xy":[[-0.4707822059128782,-2.233297090921525],[-0.31078220873823936,-2.074665887045203]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[-0.07144334478128134,-1.4439263707845327,0.71338606911949],"aabb_xy":[[-0.13144334564209412,-1.4953528007910186],[-0.011443343920468528,-1.3924999407780458]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[0.27001902506674746,-1.369000158281584,0.71338606911949],"aabb_xy":[[0.1800190213898292,-1.4304325648586882],[0.36001902874366554,-1.3075677517044795]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_26","position":[-0.34124087556598104,1.777959719553602,0.71338606911949],"aabb_xy":[[-0.3777366961932597,1.7414757771268445],[-0.30474505493870224,1.8144436619803597]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_27","position":[0.5431335076425847,0.3354435358444272,0.71338606911949],"aabb_xy":[[0.4631335073689777,0.2624939880187105],[0.6231335079161916,0.40839308367014393]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[0.048454141170591325,-2.193604671116546,0.71338606911949],"aabb_xy":[[0.0198048088101751,-2.2222502303936214],[0.07710347353100755,-2.1649591118394698]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_29","position":[0.5740212081736265,0.12885265729761963,0.71338606911949],"aabb_xy":[[0.5190257303529671,0.07385265586371267],[0.6290166859942858,0.18385265873152654]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_30","position":[0.035206954793767564,1.444282493095812,0.71338606911949],"aabb_xy":[[-0.02879304849594055,1.4009475740918942],[0.09920695808347567,1.4876174120997294]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_31","position":[-0.3352909548668538,-0.4682716869509216,0.71338606911949],"aabb_xy":[[-0.3412574938075896,-0.4742328316102856],[-0.329324415926118,-0.46231054229155755]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_32","position":[0.1815406754455856,1.2429616305067652,0.71338606911949],"aabb_xy":[[0.15654067551306775,1.236078962285842],[0.20654067537810353,1.2498442987276885]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_33","position":[-0.2926293113972669,1.19119714851186,0.71338606911949],"aabb_xy":[[-0.3151293119093075,1.1687052901464614],[-0.2701293108852263,1.2136890068772581]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6579472026229319,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2600.png","name":"2600"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2600.png","name":"2600"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8761.png","name":"8761"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7259.png","name":"7259"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8659.png","name":"8659"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3855.png","name":"3855"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":764.7840799844045,"rotation_z_degrees":35.851293765910015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009263897905971086,0.013636771586212574,-0.016373166614048286]},{"name":"camera_2","offset_m":[0.011490650884584664,0.004874081962606271,0.009093631206224972]},{"name":"camera_3","offset_m":[0.01744165654080634,-0.00981095003494414,0.01507558891356443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001838871382171061,-0.00043940304011092705,-0.0013382771274814966],"end_effector_yaw_offset_degrees":0.5632271620219853},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001698010532241004,0.0015642195579448526,0.00023057319417834048],"end_effector_yaw_offset_degrees":0.1729809633840631},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016499385859820772,-0.0016948154680958135,0.001294104298622738],"end_effector_yaw_offset_degrees":0.5999565404935132},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012461279818381295,-0.0010525312096507852,-0.0014265727667394329],"end_effector_yaw_offset_degrees":0.8481108131960686}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032947924771864886,-0.0016518078904802337],"position_m":[0.16939479247718647,0.15154819210951978,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008404462610439737,0.004695943903206201],"position_m":[0.253859553738956,-0.3163040560967938,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003502411017677707,-0.0006441037788562235],"position_m":[0.14425024110176776,0.2851558962211438,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037159265926008656,-0.003630683705727026],"position_m":[0.3559840734073991,0.05986931629427297,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c93d7e2cd34370a0f5ce10807976e9dfff309aabf57b0fa677723e41a2a2d60a","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2600/tex_ceiling_textures_3855/tex_floor_textures_8659/tex_table_textures_8761/tex_wall_textures_7259","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5102794401923838720,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5102794401923838720,"visual_seed":5102794401923838720,"scene_id":"lab_003","finished_at":"2026-09-05T02:28:31"}
+{"episode_id":"ep_000045","started_at":"2026-09-05T02:28:36","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.22111307670490998,1.7099559316115784,0.71338606911949],"aabb_xy":[[0.15711307465517796,1.6698614485222705],[0.285113078754642,1.7500504147008864]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[-0.5505912987155063,-0.053552702146614006,0.71338606911949],"aabb_xy":[[-0.5694756824840166,-0.07243862692696679],[-0.5317069149469962,-0.034666777366261226]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[0.5144388955759034,0.22598486332774614,0.71338606911949],"aabb_xy":[[0.4544388947150905,0.17455843332125973],[0.5744388964367161,0.2774112933342325]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[-0.3336372376895479,1.5497046344021954,0.71338606911949],"aabb_xy":[[-0.35613723721325524,1.5272086869515744],[-0.31113723816584044,1.572200581852816]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[0.5813942900072615,-2.364726210137933,0.71338606911949],"aabb_xy":[[0.5721006717701108,-2.402226208626067],[0.590687908244412,-2.327226211649799]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[0.6263699051971998,-2.4775809413690473,0.71338606911949],"aabb_xy":[[0.5913699060043813,-2.4885479873667093],[0.6613699043900179,-2.4666138953713843]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[-0.45881429450948885,0.17883269901616572,0.71338606911949],"aabb_xy":[[-0.5228142952129583,0.13281431654324471],[-0.3948142938060196,0.22485108148908675]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.05411276882286831,1.0227022490524975,0.71338606911949],"aabb_xy":[[-0.005887231773147872,0.967889776507274],[0.11411276941888449,1.077514721597721]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[-0.060635119844059227,-1.4420702910068512,0.71338606911949],"aabb_xy":[[-0.11060818537657471,-1.4920702908193844],[-0.010662054311543776,-1.3920702911943186]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.3520855271990359,-0.8804785981519774,0.71338606911949],"aabb_xy":[[-0.43208552827215624,-0.8902566444893617],[-0.2720855261259156,-0.8707005518145928]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[0.5922138891465532,-0.699561010262626,0.71338606911949],"aabb_xy":[[0.5618157780474095,-0.7299679122642952],[0.6226120002456966,-0.6691541082609562]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.4604926754756373,1.6098488087102587,0.71338606911949],"aabb_xy":[[-0.4765546029341549,1.5248488068976667],[-0.4444307480171196,1.6948488105228503]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.22865546139755388,1.5256682469326894,0.71338606911949],"aabb_xy":[[0.20365546146503602,1.5187855787117663],[0.2536554613300718,1.532550915153613]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.36577185910577364,-1.7586565987482754,0.71338606911949],"aabb_xy":[[-0.380944028387407,-1.7738254556764788],[-0.3505996898241403,-1.743487741820072]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.13378818136409387,1.1744369177334528,0.71338606911949],"aabb_xy":[[-0.1414913720381709,1.1667275470347145],[-0.1260849906900168,1.1821462884321907]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.1607464413673504,-1.7086232235922783,0.71338606911949],"aabb_xy":[[0.1107533292581585,-1.758623224266474],[0.2107395534765423,-1.6586232229180828]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.32664767803120154,-1.2694712805880335,0.71338606911949],"aabb_xy":[[-0.3906476772009715,-1.316237967706996],[-0.2626476788614316,-1.222704593469071]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.019029741275858658,1.2071813499440238,0.71338606911949],"aabb_xy":[[-0.08302974349626568,1.1628082658187353],[0.04497026094454837,1.2515544340693119]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.624400672076858,-0.9537375068655087,0.71338606911949],"aabb_xy":[[0.6164066834991545,-0.9617375869605989],[0.6323946606545613,-0.9457374267704182]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.7049579713814322,-0.39278559091285636,0.71338606911949],"aabb_xy":[[0.7005273420265922,-0.398233962647539],[0.7093886007362725,-0.3873372191781738]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.26247034372958866,0.14120037344653547,0.71338606911949],"aabb_xy":[[-0.2679282893666087,0.06120037013887636],[-0.25701239809256854,0.22120037675419457]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[0.5347158360474111,-1.6485374668298602,0.71338606911949],"aabb_xy":[[0.4797235854119003,-1.7035374685731735],[0.5897080866829222,-1.593537465086548]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.6260750036541551,-2.2307565519356585,0.71338606911949],"aabb_xy":[[0.576075003293589,-2.280736539145261],[0.6760750040147211,-2.180776564726055]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[0.6118143531216764,1.484743652221892,0.71338606911949],"aabb_xy":[[0.5939452453672209,1.470910744244681],[0.6296834608761319,1.498576560199103]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.4599528605083196,1.4463550144792348,0.71338606911949],"aabb_xy":[[-0.5299528623170651,1.4250012457150474],[-0.3899528586995742,1.4677087832434221]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[-0.19298790027502766,0.7553925851104752,0.71338606911949],"aabb_xy":[[-0.24280467973986244,0.7053925866261719],[-0.14317112081019293,0.8053925835947786]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_26","position":[-0.3652036388968297,-0.31916947763463366,0.71338606911949],"aabb_xy":[[-0.3951711958066554,-0.34916947793251935],[-0.33523608198700405,-0.28916947733674786]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_27","position":[0.6704266560971592,1.0257226594569233,0.71338606911949],"aabb_xy":[[0.6254266546309304,0.9807228025954429],[0.7154266575633881,1.0707225163184042]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[0.4424371265305864,1.1654423951299355,0.71338606911949],"aabb_xy":[[0.43166415260921864,1.1304423969108965],[0.4532101004519542,1.2004423933489745]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_29","position":[0.3575268839285628,-1.3192780873819097,0.71338606911949],"aabb_xy":[[0.3496036036898145,-1.341778087619913],[0.3654501641673112,-1.2967780871439063]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_30","position":[-0.26998747207052787,-2.509874257548959,0.71338606911949],"aabb_xy":[[-0.2805549517286269,-2.5204192876619675],[-0.25941999241242886,-2.4993292274359504]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[0.4419705763955861,-2.0020191802647123,0.71338606911949],"aabb_xy":[[0.3719705737589997,-2.0221240452605773],[0.5119705790321725,-1.9819143152688463]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_32","position":[-0.3942216583666592,1.1901570064987435,0.71338606911949],"aabb_xy":[[-0.4317216581836927,1.1855187951876016],[-0.35672165854962556,1.1947952178098853]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_33","position":[-0.28738703998368625,-2.1769584396569726,0.71338606911949],"aabb_xy":[[-0.3513870432733943,-2.2202933586608893],[-0.2233870366939781,-2.133623520653054]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_34","position":[-0.015107162834238297,-0.967593316393996,0.71338606911949],"aabb_xy":[[-0.060385777715387556,-1.0315933157421795],[0.030171452046910963,-0.9035933170458122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6640073588964889,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8638.png","name":"8638"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8638.png","name":"8638"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3166.png","name":"3166"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6741.png","name":"6741"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1114.png","name":"1114"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8439.png","name":"8439"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":816.3936586956904,"rotation_z_degrees":331.84030299032537,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008914667049381226,0.0007925869009132482,-0.010796164144255637]},{"name":"camera_2","offset_m":[0.019646670044028317,0.007384626864092806,-0.009698817546831195]},{"name":"camera_3","offset_m":[0.01654573305612204,0.01171379319157875,0.013749901739522178]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014103010741751648,-0.0007750497215671874,-0.0002832396665745432],"end_effector_yaw_offset_degrees":-0.11816624720965407},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007133144028434379,-0.0004505282218361898,0.001531686737961148],"end_effector_yaw_offset_degrees":-0.7283855521117926},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008433162484950158,0.0010493187583661147,0.0018303199779353165],"end_effector_yaw_offset_degrees":-0.34655919558987813},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000170829602649004,0.0018876678768408356,0.001417621852480303],"end_effector_yaw_offset_degrees":-0.00925383296545057}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002800844439457763,-0.002562297590037135],"position_m":[0.16890084443945777,0.15063770240996288,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025091176642188474,-0.001774377356657615],"position_m":[0.25720911766421883,-0.32277437735665765,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004090829412325859,-0.003847907170568511],"position_m":[0.13980917058767414,0.2819520928294315,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004668182938298277,-0.0006846803456406758],"position_m":[0.3550318170617017,0.06281531965435933,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3071cf5b79f6fef7a33c710e6f94b49942741d01768e35bc3172d42df34876a4","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8638/tex_ceiling_textures_8439/tex_floor_textures_1114/tex_table_textures_3166/tex_wall_textures_6741","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2757724347624971261,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2757724347624971261,"visual_seed":2757724347624971261,"scene_id":"lab_003","finished_at":"2026-09-05T02:32:15"}
+{"episode_id":"ep_000046","started_at":"2026-09-05T02:32:19","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.003861194149945346,1.2045290334090604,0.71338606911949],"aabb_xy":[[-0.01709213968462664,1.1913016143870607],[0.009369751384735949,1.2177564524310596]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.5735810246307893,-1.2442349080961275,0.71338606911949],"aabb_xy":[[0.48389394832267385,-1.3342349083505778],[0.6632681009389048,-1.1542349078416767]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.11761469722287266,-0.5654796331495886,0.71338606911949],"aabb_xy":[[-0.12465614817362025,-0.5725063848873831],[-0.11057324627212506,-0.558452881411794]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.12271251502290736,1.811343368929228,0.71338606911949],"aabb_xy":[[0.10570241773285671,1.795208880430954],[0.13972261231295802,1.827477857427502]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[-0.2518004432085824,-1.2345187984775965,0.71338606911949],"aabb_xy":[[-0.3218004448108619,-1.247951591679254],[-0.18180044160630293,-1.221086005275939]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.24302704453663576,-0.14768995503080617,0.71338606911949],"aabb_xy":[[-0.247983064721517,-0.17018995523292782],[-0.2380710243517546,-0.12518995482868459]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.18049853165271845,0.8525855832163689,0.71338606911949],"aabb_xy":[[0.17653804788298408,0.8449177186308482],[0.18445901542245283,0.8602534478018894]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.6479506225762639,-2.490957291319373,0.71338606911949],"aabb_xy":[[0.6141750633855709,-2.5049957865325374],[0.6817261817669569,-2.4769187961062076]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.48287674256800694,-2.274852242912706,0.71338606911949],"aabb_xy":[[0.44537674177601144,-2.281220083870896],[0.5203767433600024,-2.2684844019545154]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[0.059176464425526154,-1.0432350969031685,0.71338606911949],"aabb_xy":[[0.011370296811757509,-1.1082350996102273],[0.1069826320392948,-0.9782350941961093]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[-0.18181128204795494,-0.47068917780791963,0.71338606911949],"aabb_xy":[[-0.19059250919519122,-0.47946892509644995],[-0.17303005490071874,-0.46190943051938965]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.4604569583717377,1.0306823937242187,0.71338606911949],"aabb_xy":[[0.44888797762480126,1.0056823936072872],[0.4720259391186744,1.0556823938411506]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.4558850251080737,0.280192219855234,0.71338606911949],"aabb_xy":[[0.3958850242472608,0.22876578984874754],[0.5158850259688863,0.3316186498617203]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.37271233155173733,-0.5387627545729128,0.71338606911949],"aabb_xy":[[0.32271232989024257,-0.5887611968286154],[0.4227123332132321,-0.48876431231721]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.13739431155482773,-1.8868490275795353,0.71338606911949],"aabb_xy":[[0.1135580939142227,-1.976849028388022],[0.16123052919543282,-1.796849026771049]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.38420798319190885,0.14648021122751897,0.71338606911949],"aabb_xy":[[-0.40670798320205714,0.1323839915879157],[-0.36170798318176056,0.16057643086712226]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.4308397584390524,-0.7520168127054778,0.71338606911949],"aabb_xy":[[0.39333975809082455,-0.7638082082865614],[0.46833975878728007,-0.7402254171243943]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[0.6364812238048849,-1.606898481812247,0.71338606911949],"aabb_xy":[[0.6324030658978352,-1.6109794620605102],[0.6405593817119346,-1.6028175015639836]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.46455055909667275,1.5457980803076805,0.71338606911949],"aabb_xy":[[-0.5015846685247324,1.511420872973971],[-0.4275164496686129,1.58017528764139]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_19","position":[-0.01972810483995524,-1.762728134909064,0.71338606911949],"aabb_xy":[[-0.05564160926494492,-1.7986416431258185],[0.016185399585034444,-1.7268146266923095]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[0.452414784869944,1.6258260761820202,0.71338606911949],"aabb_xy":[[0.4311367767264717,1.5608260738559472],[0.4736927930134162,1.6908260785080933]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[0.5841240467125992,1.0000673900825179,0.71338606911949],"aabb_xy":[[0.5732724404637236,0.9892080993548669],[0.5949756529614748,1.010926680810169]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_22","position":[-0.2750581207773888,-1.4298878197853682,0.71338606911949],"aabb_xy":[[-0.29255812103672546,-1.443979361974141],[-0.2575581205180522,-1.4157962775965958]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.04078418175483445,-2.344521115237005,0.71338606911949],"aabb_xy":[[-0.07524652915297624,-2.379014997634827],[-0.006321834356692645,-2.3100272328391815]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[-0.24072731442194473,1.3672818226902885,0.71338606911949],"aabb_xy":[[-0.2626170620108855,1.2772818254010392],[-0.21883756683300393,1.4572818199795374]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_25","position":[0.27757116406689664,1.6550956321948411,0.71338606911949],"aabb_xy":[[0.24257116271541493,1.63473589623802],[0.31257116541837837,1.6754553681516617]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[-0.3791393756109105,-0.06706969985267008,0.71338606911949],"aabb_xy":[[-0.4431393776606425,-0.10716418294197805],[-0.3151393735611785,-0.02697521676336212]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[-0.46906413765957566,-1.9188694310592929,0.71338606911949],"aabb_xy":[[-0.5330641379335539,-1.968935531256581],[-0.4050641373855974,-1.8688033308620051]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_28","position":[-0.47126203650207776,-1.3815208872406575,0.71338606911949],"aabb_xy":[[-0.5352620328976508,-1.4454841756593908],[-0.4072620401065047,-1.3175575988219237]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_29","position":[-0.612901050783614,-1.1092590861459592,0.71338606911949],"aabb_xy":[[-0.6744918100076069,-1.1732590842550064],[-0.5513102915596213,-1.0452590880369126]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[0.33687734134683667,1.4582056190153536,0.71338606911949],"aabb_xy":[[0.33296346815141414,1.4494566036087968],[0.3407912145422592,1.4669546344219104]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_31","position":[0.30770491635817887,-2.2369611570342123,0.71338606911949],"aabb_xy":[[0.30044366878777146,-2.249748167297722],[0.3149661639285863,-2.2241741467707032]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_32","position":[0.6426138152341478,0.604939622113708,0.71338606911949],"aabb_xy":[[0.5626138182198999,0.5848050704402967],[0.7226138122483958,0.6250741737871193]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6580336786658574,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1607.png","name":"1607"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1607.png","name":"1607"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6200.png","name":"6200"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2690.png","name":"2690"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1508.png","name":"1508"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7090.png","name":"7090"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":746.3589024667343,"rotation_z_degrees":171.292011475109,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016814464219048558,-0.010210283738571958,0.007113896054022208]},{"name":"camera_2","offset_m":[0.016671320349263403,0.003522638307369163,0.00790071369038094]},{"name":"camera_3","offset_m":[-0.007327511778551794,0.011657448020089733,-0.018487112685995327]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004422487727247248,-0.0005527255161596853,0.001360940156915933],"end_effector_yaw_offset_degrees":0.505567840100166},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00032764719513608386,-0.001841239560400867,0.0011190670851769667],"end_effector_yaw_offset_degrees":0.6172271762109878},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012935589297655122,0.0004575379694730457,0.0016404849717275333],"end_effector_yaw_offset_degrees":-0.39826673878678065},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018506164894016761,0.0014532261632154617,0.0013934793328905372],"end_effector_yaw_offset_degrees":0.40126421632380693}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0002879107774517199,0.0030154009786998873],"position_m":[0.16581208922254828,0.1562154009786999,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002735753316590418,0.0010854732447693064],"position_m":[0.25196424668340955,-0.3199145267552307,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003004226634461785,-0.0018331053463251147],"position_m":[0.1469042266344618,0.28396689465367486,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001384738179366153,-0.002569062715156012],"position_m":[0.36108473817936615,0.060930937284843986,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d6ebdc971e5b93b19c9a2f06d1937699432bd9fdce1bf64028052a2eec89bf88","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1607/tex_ceiling_textures_7090/tex_floor_textures_1508/tex_table_textures_6200/tex_wall_textures_2690","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3045946374393922159,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3045946374393922159,"visual_seed":3045946374393922159,"scene_id":"lab_003","finished_at":"2026-09-05T02:35:54"}
+{"episode_id":"ep_000047","started_at":"2026-09-05T02:35:58","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.3237637092854485,-1.0369095362428453,0.71338606911949],"aabb_xy":[[-0.3582261872985363,-1.043573213425768],[-0.28930123127236074,-1.0302458590599226]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[-0.6389960253815118,-0.9650404568610602,0.71338606911949],"aabb_xy":[[-0.6614960249052191,-0.9875364043116809],[-0.6164960258578043,-0.9425445094104393]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.08454743028575029,-0.7014886294793024,0.71338606911949],"aabb_xy":[[0.04704742877011858,-0.7127154024954473],[0.122047431801382,-0.6902618564631572]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[0.4467792875095249,1.4943586173329524,0.71338606911949],"aabb_xy":[[0.41086578308453514,1.4584451091161978],[0.48269279193451453,1.530272125549707]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.6113030624433031,-1.5588122201721384,0.71338606911949],"aabb_xy":[[-0.6194167171166802,-1.5669180366261672],[-0.603189407769926,-1.550706403718109]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.03283536596457326,-1.0788175922837917,0.71338606911949],"aabb_xy":[[-0.004664634827422187,-1.0851854332419817],[0.0703353667565687,-1.0724497513256013]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.2618238447501221,-1.5892847239815664,0.71338606911949],"aabb_xy":[[0.2545800787038768,-1.6692847221851685],[0.26906761079636743,-1.5092847257779638]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[-0.35818132138970826,-1.3853192905845018,0.71338606911949],"aabb_xy":[[-0.3645951350328932,-1.3917291108321699],[-0.3517675077465233,-1.3789094703368332]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.22962212945154525,0.09667983769963007,0.71338606911949],"aabb_xy":[[-0.23306280569160248,0.09281840472526559],[-0.22618145321148814,0.10054127067399456]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.4101033768702242,-1.8977547035170148,0.71338606911949],"aabb_xy":[[-0.49010337485100924,-1.9053562444788668],[-0.33010337888943914,-1.8901531625551629]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.5520282666074834,1.3199426189909875,0.71338606911949],"aabb_xy":[[-0.6170282675646106,1.267994407057282],[-0.48702826565035623,1.371890830924693]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.3041222794483631,1.671911329108314,0.71338606911949],"aabb_xy":[[0.2754729470879468,1.643265769831238],[0.33277161180877923,1.7005568883853897]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[0.15693249854429592,-2.195542873585887,0.71338606911949],"aabb_xy":[[0.13475997156764508,-2.21771854074201],[0.17910502552094676,-2.1733672064297638]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.3725316418171929,0.8242408736612963,0.71338606911949],"aabb_xy":[[-0.39016447741072047,0.8066179276456732],[-0.3548988062236653,0.8418638196769191]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[-0.0904673836588965,-0.5908842239047785,0.71338606911949],"aabb_xy":[[-0.12901307648409754,-0.6294299949609671],[-0.05192169083369547,-0.5523384528485898]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.029319622125008604,0.9413729233750825,0.71338606911949],"aabb_xy":[[-0.06378196952315039,0.9068790409772596],[0.0051427252731332,0.975866805772905]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.4178063765806217,-1.785268093018868,0.71338606911949],"aabb_xy":[[-0.43535307149674063,-1.8227680945831193],[-0.40025968166450276,-1.7477680914546168]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.5048328769312949,0.8505325553514091,0.71338606911949],"aabb_xy":[[0.4398328758253517,0.8255671822832809],[0.5698328780372383,0.8754979284195374]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.18034181189332466,-1.7339605751897755,0.71338606911949],"aabb_xy":[[-0.24434180828889773,-1.7979238636085089],[-0.11634181549775158,-1.6699972867710418]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.1548313253042165,1.652023282109837,0.71338606911949],"aabb_xy":[[-0.19233132540980946,1.6452011202568557],[-0.11733132519862356,1.658845443962818]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[0.3747476571548649,-0.6978142254433424,0.71338606911949],"aabb_xy":[[0.3469026203742578,-0.7285987241816542],[0.40259269393547203,-0.6670297267050308]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.5014256655277023,-1.6496909752740847,0.71338606911949],"aabb_xy":[[-0.5564256651494481,-1.7046746680615579],[-0.44642566590595645,-1.5947072824866124]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.4206012287646245,1.7183395420558614,0.71338606911949],"aabb_xy":[[-0.4375119612009663,1.7048673364632465],[-0.40369049632828274,1.7318117476484758]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.17710349610848364,1.28721590239003,0.71338606911949],"aabb_xy":[[-0.187256511662633,1.2511463608172895],[-0.16695048055433423,1.3232854439627701]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[-0.19528456550310158,-2.123565282757554,0.71338606911949],"aabb_xy":[[-0.21778456601514218,-2.146057141122952],[-0.17278456499106098,-2.101073424392155]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[-0.27912089573943055,-0.9428173023126734,0.71338606911949],"aabb_xy":[[-0.28997250198830615,-0.9536765930403244],[-0.26826928949055495,-0.9319580115850223]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_26","position":[0.5676200459666749,-1.6473091168305838,0.71338606911949],"aabb_xy":[[0.5515581185081572,-1.7323091186431754],[0.5836819734251925,-1.5623091150179917]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_27","position":[0.6766286603809613,-0.48610737044728625,0.71338606911949],"aabb_xy":[[0.6716726401960802,-0.5086073706494079],[0.6815846805658425,-0.46360737024516463]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_28","position":[-0.5758062586049599,0.6248426786319916,0.71338606911949],"aabb_xy":[[-0.6358062592009761,0.5700302060867682],[-0.5158062580089438,0.6796551511772152]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_29","position":[0.46332228949768806,-2.3123100694343375,0.71338606911949],"aabb_xy":[[0.4442099821397092,-2.331444848311579],[0.4824345968556669,-2.293175290557095]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_30","position":[-0.4260560886014194,-2.0397964927189824,0.71338606911949],"aabb_xy":[[-0.49105608960191993,-2.0905828578736574],[-0.3610560876009189,-1.9890101275643075]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_31","position":[0.2093536139311173,-2.5037106158862894,0.71338606911949],"aabb_xy":[[0.19742087956928922,-2.5160927686941488],[0.22128634829294536,-2.49132846307843]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_32","position":[0.46585724922971794,-0.13204445379459306,0.71338606911949],"aabb_xy":[[0.43022809332975814,-0.167677120551446],[0.5014864051296777,-0.09641178703774012]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_33","position":[0.2515374799594271,1.1904847685435938,0.71338606911949],"aabb_xy":[[0.1875374835321052,1.1433151447214978],[0.315537476386749,1.2376543923656906]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6562656891277105,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/61.png","name":"61"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/61.png","name":"61"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7804.png","name":"7804"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9215.png","name":"9215"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8856.png","name":"8856"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4977.png","name":"4977"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":619.0484130440809,"rotation_z_degrees":347.73043375815377,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019693633701972107,-0.006600484452102991,-0.01768546956478702]},{"name":"camera_2","offset_m":[-0.018571880345735314,0.00782116925386453,-0.0008722248334076116]},{"name":"camera_3","offset_m":[0.005703060509249652,-0.014032297345474643,-0.00855005059033438]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018669936763053734,0.0016352673289275412,0.0013546135845007548],"end_effector_yaw_offset_degrees":0.8385077141218058},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012928076018412834,0.00021738092041185056,0.0002966587320398662],"end_effector_yaw_offset_degrees":-0.5317291020504888},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012980992323623148,0.0007175177084449663,-0.0018343565296178373],"end_effector_yaw_offset_degrees":-0.4339309221580603},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001167936390551706,-0.00015533388272290292,0.001597881153096681],"end_effector_yaw_offset_degrees":0.6039867500176499}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038599078670299063,-0.001688209768262563],"position_m":[0.1699599078670299,0.15151179023173744,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004763902866323147,0.001078116047197911],"position_m":[0.24993609713367684,-0.3199218839528021,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004351790290589161,0.00341392345796234],"position_m":[0.13954820970941084,0.2892139234579623,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038017154726280346,0.002560479297194272],"position_m":[0.355898284527372,0.06606047929719427,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"295b386042d3c6ac401d56e1f77badc53c9cb0d83280d35791dc8924a6e045ad","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_61/tex_ceiling_textures_4977/tex_floor_textures_8856/tex_table_textures_7804/tex_wall_textures_9215","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5806290741233105981,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5806290741233105981,"visual_seed":5806290741233105981,"scene_id":"lab_003","finished_at":"2026-09-05T02:39:29"}
+{"episode_id":"ep_000048","started_at":"2026-09-05T02:39:33","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[-0.4559919747897187,-1.2089312765162663,0.71338606911949],"aabb_xy":[[-0.5059919743660535,-1.2589118554683723],[-0.405991975213384,-1.1589506975641604]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[0.2748804034227208,-2.2206979349828657,0.71338606911949],"aabb_xy":[[0.2616494578880395,-2.2339253540048647],[0.2881113489574021,-2.207470515960866]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[-0.05693502647155246,0.8060042347032672,0.71338606911949],"aabb_xy":[[-0.0788437086109035,0.7841035678831764],[-0.03502634433220141,0.8279049015233578]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.11043955004198414,0.7092570780045357,0.71338606911949],"aabb_xy":[[0.10440253704131942,0.7032303769355874],[0.11647656304264888,0.7152837790734838]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.5099698746631987,-1.3812368844284002,0.71338606911949],"aabb_xy":[[0.48496987511146017,-1.391379368293535],[0.5349698742149371,-1.3710944005632655]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[0.3032057201342311,-1.6077245774652282,0.71338606911949],"aabb_xy":[[0.26874324212114326,-1.614388254648151],[0.3376681981473188,-1.6010609002823055]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[0.14650622730915963,-0.9216803999801209,0.71338606911949],"aabb_xy":[[0.12400622778545221,-0.9441763474307415],[0.169006226832867,-0.8991844525295]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[-0.5801025035590504,-0.9200753500848677,0.71338606911949],"aabb_xy":[[-0.5842383598917507,-0.9575753495292249],[-0.5759666472263503,-0.8825753506405108]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.42536485984470923,1.1483715169622886,0.71338606911949],"aabb_xy":[[-0.5053648601183163,1.0754219691365716],[-0.34536485957110225,1.221321064788005]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[-0.6291912787966132,-1.9688233427993902,0.71338606911949],"aabb_xy":[[-0.6374058239122969,-1.977499933097031],[-0.620976733680929,-1.9601467525017484]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.48709161111298316,0.8295949391177482,0.71338606911949],"aabb_xy":[[-0.4947158792031615,0.8219617155812047],[-0.479467343022805,0.8372281626542921]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.3610666897107497,-0.2434625486616815,0.71338606911949],"aabb_xy":[[-0.37893579746520517,-0.2572954566388924],[-0.3431975819562942,-0.22962964068447053]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[-0.30383587051754535,0.6257669910156345,0.71338606911949],"aabb_xy":[[-0.34660257739696554,0.5617669875938321],[-0.26106916363812516,0.689766994437437]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[-0.5126483893264075,-0.23901656340064914,0.71338606911949],"aabb_xy":[[-0.5776483872080554,-0.29014022710719],[-0.4476483914447599,-0.1878928996941083]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.5364282899184769,1.4240523267403042,0.71338606911949],"aabb_xy":[[0.4464282934176051,1.378140684321846],[0.6264282864193486,1.4699639691587625]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[-0.26511764509456304,-2.3753858179205674,0.71338606911949],"aabb_xy":[[-0.3073020592553938,-2.4393858181977786],[-0.2229332309337323,-2.311385817643356]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.24970346189063947,1.1243474550018813,0.71338606911949],"aabb_xy":[[-0.2996822704009554,1.0743474549961622],[-0.1997246533803236,1.1743474550075998]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[-0.26530239760916025,0.44378099678408045,0.71338606911949],"aabb_xy":[[-0.3293023983126296,0.39776261431115956],[-0.2013023969056909,0.48979937925700157]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[0.6721842190159226,1.0307796616353073,0.71338606911949],"aabb_xy":[[0.662102511937349,0.9507796637431924],[0.682265926094496,1.1107796595274217]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.3147017453711758,-0.5495008900235936,0.71338606911949],"aabb_xy":[[0.30936416970517117,-0.5745008909527334],[0.3200393210371803,-0.5245008890944538]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[-0.38518233051044115,1.4463432923528914,0.71338606911949],"aabb_xy":[[-0.4076960223338983,1.3763432917518839],[-0.3626686386869839,1.516343292953899]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[0.3556251595004729,-1.9591520495347172,0.71338606911949],"aabb_xy":[[0.27562516234089757,-1.9706996504925345],[0.43562515666004814,-1.9476044485769004]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.07619396072323481,-1.6413183796715132,0.71338606911949],"aabb_xy":[[-0.08879665986031127,-1.6539137758963787],[-0.06359126158615835,-1.6287229834466477]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[0.47101565860326766,-1.0635463845906714,0.71338606911949],"aabb_xy":[[0.436015659473312,-1.0692916056663355],[0.5060156577332233,-1.0578011635150073]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[-0.07959165917584254,-2.453892305599999,0.71338606911949],"aabb_xy":[[-0.10743669595644965,-2.4846768043383105],[-0.051746622395235406,-2.423107806861687]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[0.5141833659585509,-0.8081943377785001,0.71338606911949],"aabb_xy":[[0.5061898761632689,-0.8161924697189759],[0.522176855753833,-0.8001962058380246]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_26","position":[0.5921635447995117,1.6587305360666877,0.71338606911949],"aabb_xy":[[0.554832268274269,1.6240774812718357],[0.6294948213247542,1.6933835908615402]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_27","position":[0.3674886116820637,0.5632305399833664,0.71338606911949],"aabb_xy":[[0.3498557760885361,0.5456075939677433],[0.3851214472755912,0.5808534859989892]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[0.3195421936380993,1.6057306032302,0.71338606911949],"aabb_xy":[[0.25554649624300274,1.5417306049294912],[0.3835378910331959,1.6697306015309086]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_29","position":[-0.26505253005546797,-2.154780550951198,0.71338606911949],"aabb_xy":[[-0.2993688072300859,-2.204780550924376],[-0.23073625288085003,-2.1047805509780204]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_30","position":[-0.22794100327651046,1.6177938430991543,0.71338606911949],"aabb_xy":[[-0.3079410006801039,1.5378012719009713],[-0.14794100587291703,1.697786414297337]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[-0.36250559704808477,-0.7270341706664301,0.71338606911949],"aabb_xy":[[-0.42650559845607544,-0.7788231221903548],[-0.2985055956400941,-0.6752452191425053]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6604514800466706,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1316.png","name":"1316"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1316.png","name":"1316"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1442.png","name":"1442"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2988.png","name":"2988"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2523.png","name":"2523"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3321.png","name":"3321"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":586.3725472847423,"rotation_z_degrees":342.23739317150404,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0058387796381961544,-0.01197153846760613,-0.00544486187878317]},{"name":"camera_2","offset_m":[0.0042633055868870305,0.011460920057100806,0.017296617442092817]},{"name":"camera_3","offset_m":[0.008455534291775587,0.004918569086579304,-0.018985324283194306]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007383611959469088,-0.0013562857135419352,-0.0019470379031702855],"end_effector_yaw_offset_degrees":0.6680408931242001},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[4.1269352889164966e-05,0.0018996093427729407,-0.0009368963658732809],"end_effector_yaw_offset_degrees":-0.8042726583254458},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001374800812041923,-0.0014079595748339698,-0.0016477279229143472],"end_effector_yaw_offset_degrees":-0.9417505155224775},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001979323023416397,-0.001962995943447501,0.0009682416742786545],"end_effector_yaw_offset_degrees":-0.2613051249303613}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015398674618410726,-0.003919986253191486],"position_m":[0.16763986746184106,0.14928001374680852,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008643525079247818,0.002597936372912681],"position_m":[0.25556435250792475,-0.31840206362708734,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037097335890404785,0.0005644781428043658],"position_m":[0.14019026641095952,0.28636447814280436,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000360064632839021,-0.0014429388117158637],"position_m":[0.360060064632839,0.062057061188284135,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"93710c7ba856284a851d6cb7e8bb359dca35164b334beedcd91fc6f6f3f69a64","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1316/tex_ceiling_textures_3321/tex_floor_textures_2523/tex_table_textures_1442/tex_wall_textures_2988","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5688942897472309089,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5688942897472309089,"visual_seed":5688942897472309089,"scene_id":"lab_003","finished_at":"2026-09-05T02:43:18"}
+{"episode_id":"ep_000049","started_at":"2026-09-05T02:43:22","dimensions":{"distractor":{"count":23,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.6742148561505346,0.8173174266648968,0.71338606911949],"aabb_xy":[[-0.6795524318165392,0.7923174257357569],[-0.6688772804845301,0.8423174275940365]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[0.10498217400790666,-1.2984848852141335,0.71338606911949],"aabb_xy":[[0.01998217559048343,-1.3833591806764187],[0.1899821724253299,-1.2136105897518488]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[-0.647941157329719,-1.6253090616082608,0.71338606911949],"aabb_xy":[[-0.6655739929232465,-1.6429320076238836],[-0.6303083217361913,-1.6076861155926376]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.6497587203320888,-1.7348440812658277,0.71338606911949],"aabb_xy":[[-0.653199396572146,-1.7387055142401924],[-0.6463180440920316,-1.7309826482914634]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.2037781732322057,1.6815988992601958,0.71338606911949],"aabb_xy":[[-0.22266255700071588,1.6627129744798428],[-0.18489378946369547,1.7004848240405483]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[-0.27997034968874157,0.41294489155608716,0.71338606911949],"aabb_xy":[[-0.3174703512043733,0.40171811853994216],[-0.24247034817310986,0.42417166457223227]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.48200885517016034,0.46685103767119607,0.71338606911949],"aabb_xy":[[-0.5195088552757532,0.4600288758182149],[-0.4445088550645674,0.47367319952417714]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[-0.4639164304287658,-0.3381490000397762,0.71338606911949],"aabb_xy":[[-0.4943145415279094,-0.36855590204144567],[-0.4335183193296222,-0.30774209803810665]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[-0.010575918613970225,-0.21611825834251297,0.71338606911949],"aabb_xy":[[-0.0179883741553587,-0.22196946876414092],[-0.0031634630725817497,-0.21026704792088502]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.18484013523555065,1.2727882751787778,0.71338606911949],"aabb_xy":[[0.13484013421641539,1.2363220594409499],[0.23484013625468594,1.3092544909166057]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[0.5623119802913084,0.10194458983275245,0.71338606911949],"aabb_xy":[[0.5123169693318563,0.05194459079716075],[0.6123069912507604,0.1519445888683442]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.33655913195613824,1.136779050562886,0.71338606911949],"aabb_xy":[[-0.3461907681765678,1.1271417377831772],[-0.32692749573570856,1.146416363342595]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[0.39935948892336937,0.25830998307350317,0.71338606911949],"aabb_xy":[[0.39446019661680576,0.2306330637709344],[0.40425878122993275,0.28598690237607194]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.5194197487577323,-2.358917684474935,0.71338606911949],"aabb_xy":[[0.45941974891116544,-2.4157363066679736],[0.579419748604299,-2.302099062281896]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[-0.558648749130219,1.343213858954766,0.71338606911949],"aabb_xy":[[-0.5951445697574976,1.3067299165280084],[-0.5221529285029402,1.3796978013815235]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[0.5006678436577399,-1.8625032192305033,0.71338606911949],"aabb_xy":[[0.4952098980207198,-1.9425032225381624],[0.5061257892947599,-1.7825032159228442]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.5702224735014596,1.0563890142691035,0.71338606911949],"aabb_xy":[[0.5596549938433605,1.045843984156095],[0.5807899531595585,1.066934044382112]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[-0.5128959272784703,-1.1817618514132016,0.71338606911949],"aabb_xy":[[-0.5367321449190754,-1.2717618522216882],[-0.48905970963786527,-1.0917618506047153]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[-0.6202273816889577,-1.41758740362379,0.71338606911949],"aabb_xy":[[-0.6561408861139474,-1.4535009118405446],[-0.5843138772639681,-1.3816738954070356]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[-0.2486750372792198,0.09944263439450873,0.71338606911949],"aabb_xy":[[-0.2566690258569232,0.09144255429941837],[-0.24068104870151638,0.10744271448959906]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.1270150157801586,-1.6698365788990173,0.71338606911949],"aabb_xy":[[0.07701501633996297,-1.7198045033833331],[0.1770150152203542,-1.6198686544147005]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[-0.0772499468591078,-0.7968466639304406,0.71338606911949],"aabb_xy":[[-0.16693702316722325,-0.8868466641848912],[0.01243712944900767,-0.7068466636759901]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[-0.49137926195439663,-1.0352308043895369,0.71338606911949],"aabb_xy":[[-0.5288792605300173,-1.0479671000530946],[-0.45387926337877577,-1.0224945087259787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6629379714371367,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4804.png","name":"4804"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4804.png","name":"4804"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4213.png","name":"4213"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5173.png","name":"5173"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9701.png","name":"9701"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2522.png","name":"2522"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":645.9337103826726,"rotation_z_degrees":259.30332004335514,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00847617971190738,0.01986807949048618,-0.018512044193262245]},{"name":"camera_2","offset_m":[0.0016857433129932702,0.013580816951723442,-0.016741327610803606]},{"name":"camera_3","offset_m":[0.006450168230861565,-0.010198720270341055,-0.010350739849246908]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017951913258320061,7.475799650625984e-05,-0.001476456460354097],"end_effector_yaw_offset_degrees":-0.03883670499349701},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[2.2225360144820065e-06,-0.0016859073345068848,-0.001608049320906401],"end_effector_yaw_offset_degrees":0.736240612463354},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000769415159598414,8.64428144100194e-06,-0.0011091837094084882],"end_effector_yaw_offset_degrees":0.5952064153812855},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005116478548040284,-0.0014514204641817886,-0.0018053989490693398],"end_effector_yaw_offset_degrees":0.4687449063464131}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00040284764015879534,0.0025982549124297],"position_m":[0.1656971523598412,0.1557982549124297,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005138027212381394,-0.0049805722796966035],"position_m":[0.25418619727876185,-0.3259805722796966,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028887999487619146,-0.0013066450465712464],"position_m":[0.14678879994876193,0.28449335495342876,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001993554748137606,-0.003794343043092168],"position_m":[0.3577064452518624,0.059705656956907834,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69a99631422323fa9ced21c4f339693484e91d2970eb5938ae83db69f62270a2","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0051.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4804/tex_ceiling_textures_2522/tex_floor_textures_9701/tex_table_textures_4213/tex_wall_textures_5173","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":4808152451034451078,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":4808152451034451078,"visual_seed":4808152451034451078,"scene_id":"lab_003","finished_at":"2026-09-05T02:47:27"}
+{"episode_id":"ep_000050","started_at":"2026-09-05T02:47:31","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[-0.5992667885185359,-0.011769378301846434,0.71338606911949],"aabb_xy":[[-0.6086137961008311,-0.026073000519490463],[-0.5899197809362406,0.0025342439157975943]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[-0.5132924132198005,-1.530928162802026,0.71338606911949],"aabb_xy":[[-0.5240653871411682,-1.565928161021065],[-0.5025194392984327,-1.495928164582987]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.030667346486196845,-0.9300205985490815,0.71338606911949],"aabb_xy":[[-0.053054879013885614,-1.0200206020837774],[0.1143895719862793,-0.8400205950143855]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[-0.6158597415503945,1.1978789748260321,0.71338606911949],"aabb_xy":[[-0.6314155109606597,1.1823285415816251],[-0.6003039721401292,1.2134294080704395]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.04094817318333965,1.0454256885646056,0.71338606911949],"aabb_xy":[[-0.07779872112032726,1.0079256877415719],[-0.0040976252463520435,1.0829256893876393]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[0.013711346231356836,-0.6890937385073572,0.71338606911949],"aabb_xy":[[-0.001390955229661263,-0.7041952601384189],[0.028813647692374926,-0.6739922168762953]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[0.480967011873475,-0.05108259985183361,0.71338606911949],"aabb_xy":[[0.4763318967212416,-0.05494993492898225],[0.4856021270257083,-0.047215264774684955]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[-0.22016113931971026,0.20410558557767056,0.71338606911949],"aabb_xy":[[-0.257661139667938,0.19231418999658698],[-0.1826611389714825,0.21589698115875408]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[-0.45213310603452705,-0.4716462316315324,0.71338606911949],"aabb_xy":[[-0.46881024202762256,-0.4883461556054627],[-0.43545597004143155,-0.45494630765760213]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.17987050096358614,-1.809125239693176,0.71338606911949],"aabb_xy":[[-0.1833111772036433,-1.8129866726675408],[-0.17642982472352894,-1.8052638067188118]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[0.061580334000087555,-1.7370115830900636,0.71338606911949],"aabb_xy":[[0.05624781934547457,-1.7423359113352992],[0.06691284865470054,-1.731687254844828]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.17906163953305587,-0.9073698774687293,0.71338606911949],"aabb_xy":[[-0.18709797423434074,-0.9154079967731461],[-0.17102530483177106,-0.8993317581643125]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.47916147451549107,-1.1434541774347011,0.71338606911949],"aabb_xy":[[-0.4864052405617364,-1.2234541756383035],[-0.47191770846924574,-1.0634541792310988]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[0.3525539054982747,-1.5157615759395882,0.71338606911949],"aabb_xy":[[0.3324954938850344,-1.5358266628487458],[0.372612317111515,-1.4956964890304305]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.4953821139354151,0.13531057348103115,0.71338606911949],"aabb_xy":[[-0.5130577445240133,0.11763035720162839],[-0.4777064833468167,0.15299078976043387]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[-0.5036969447880704,0.7182562440274536,0.71338606911949],"aabb_xy":[[-0.5261969443117777,0.6957602965768327],[-0.4811969452643629,0.7407521914780743]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[0.2777741425693976,1.5830171249298615,0.71338606911949],"aabb_xy":[[0.26027414343503036,1.5731374978922732],[0.2952741417037647,1.5928967519674488]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.1849937407791754,-2.4223042977655225,0.71338606911949],"aabb_xy":[[-0.1936917030698907,-2.434429272072997],[-0.1762957784884601,-2.4101793234580478]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[-0.48253967058343294,1.4029276756614872,0.71338606911949],"aabb_xy":[[-0.5111890029438491,1.3742821163844114],[-0.45389033822301666,1.431573234938563]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[0.2655029241513722,1.2760707247309773,0.71338606911949],"aabb_xy":[[0.26054690396649105,1.2535707245288559],[0.2704589443362534,1.298570724933099]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6613148481852069,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7489.png","name":"7489"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7489.png","name":"7489"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6259.png","name":"6259"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7771.png","name":"7771"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7951.png","name":"7951"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5906.png","name":"5906"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":732.3423567830764,"rotation_z_degrees":135.51679203386692,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015407706751310635,0.014337885428744136,-0.014328593094162435]},{"name":"camera_2","offset_m":[0.018711111218492473,-0.013722117831546816,-0.009109665399725877]},{"name":"camera_3","offset_m":[0.007931997509432753,0.014575625061836763,0.012090251767133336]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00176273421869407,0.0005527177108437527,0.00012267666272907296],"end_effector_yaw_offset_degrees":-0.9311891541331887},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007393271494833531,0.00041509816733600706,0.0008057733230622511],"end_effector_yaw_offset_degrees":-0.9351250975746832},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015495046485079036,-0.0017198476838874216,0.0008283020948556311],"end_effector_yaw_offset_degrees":-0.37019772191749256},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015186134634309805,-0.0019427161350098793,0.001092959125313044],"end_effector_yaw_offset_degrees":0.6181696472457585}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004395415606390942,-0.0018974819265412468],"position_m":[0.16170458439360905,0.15130251807345876,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011540839292504624,-0.0028097241119708627],"position_m":[0.2535459160707495,-0.32380972411197084,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003070841157367125,-0.004452918999072006],"position_m":[0.14697084115736714,0.281347081000928,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033600125023955053,-0.000959478140362343],"position_m":[0.35633998749760454,0.06254052185963765,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4e62d9449961be244988362140875d5a062a3abd1732a5662f826a3f79f262e7","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0052.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7489/tex_ceiling_textures_5906/tex_floor_textures_7951/tex_table_textures_6259/tex_wall_textures_7771","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6548726521496537697,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6548726521496537697,"visual_seed":6548726521496537697,"scene_id":"lab_003","finished_at":"2026-09-05T02:51:03"}
+{"episode_id":"ep_000051","started_at":"2026-09-05T02:51:07","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[0.4108127302849933,-0.9474002711571499,0.71338606911949],"aabb_xy":[[0.38864020330834237,-0.9695759383132729],[0.43298525726164405,-0.9252246040010266]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.08685474929105541,0.7446337538212737,0.71338606911949],"aabb_xy":[[-0.15085474787762787,0.697626790421765],[-0.02285475070448295,0.7916407172207824]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[0.5978877078435842,0.10858721222841927,0.71338606911949],"aabb_xy":[[0.5478877068930514,0.07703806522489784],[0.6478877087941171,0.14013635923194065]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.3790832606273564,-0.22319744421427767,0.71338606911949],"aabb_xy":[[0.36593201465606706,-0.24819744397096422],[0.39223450659864584,-0.19819744445759113]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[-0.2689899224637819,-0.8732654944862708,0.71338606911949],"aabb_xy":[[-0.3329899246841889,-0.9176385786115591],[-0.20498992024337487,-0.8288924103609825]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[-0.21829431318273906,-2.5585128467108906,0.71338606911949],"aabb_xy":[[-0.24079431342625446,-2.5707174813706626],[-0.19579431293922367,-2.5463082120511187]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.12512569002365614,-0.7731165150621695,0.71338606911949],"aabb_xy":[[0.1052346501433159,-0.7857723263468664],[0.1450167299039964,-0.7604607037774728]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.485666630524932,1.19000840338534,0.71338606911949],"aabb_xy":[[0.48170614675519763,1.1823405387998194],[0.4896271142946663,1.1976762679708606]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.16171679790762017,-1.8023931377384232,0.71338606911949],"aabb_xy":[[-0.2517168002416392,-1.879875492323536],[-0.07171679557360111,-1.7249107831533106]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[0.5567838083202672,0.8030918792953821,0.71338606911949],"aabb_xy":[[0.5421404027662342,0.7884331596385977],[0.5714272138743002,0.8177505989521662]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.5743111645069945,0.42210469204074386,0.71338606911949],"aabb_xy":[[-0.6156157075707305,0.35810469247262683],[-0.5330066214432585,0.486104691608861]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.19684529217621144,-0.6107475230598103,0.71338606911949],"aabb_xy":[[-0.2343452933610042,-0.6151657457558707],[-0.15934529099141861,-0.6063293003637497]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[-0.24686296973367122,0.16179404827400967,0.71338606911949],"aabb_xy":[[-0.2841942462589139,0.12714099347915736],[-0.2095316932084286,0.19644710306886198]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.5975316835886407,1.0083505335006007,0.71338606911949],"aabb_xy":[[-0.6615316828828091,0.9443643931317467],[-0.5335316842944726,1.072336673869455]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[0.416781468220738,-1.4910856909527117,0.71338606911949],"aabb_xy":[[0.39428146821058974,-1.505181910592315],[0.4392814682308863,-1.4769894713131084]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[-0.1730654599903524,1.5169679968406702,0.71338606911949],"aabb_xy":[[-0.2042123788339355,1.4469679981538628],[-0.14191854114676927,1.5869679955274771]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.6204799812362778,0.6158153444756196,0.71338606911949],"aabb_xy":[[0.5655062591999449,0.5608153449113864],[0.6754537032726107,0.6708153440398528]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.1640553001603,-0.7384806374935935,0.71338606911949],"aabb_xy":[[-0.19783085935099298,-0.7525191327067584],[-0.13027974096960704,-0.7244421422804284]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[-0.5182852867572638,-1.7188561287565285,0.71338606911949],"aabb_xy":[[-0.5682852854031849,-1.7687756724159907],[-0.4682852881113425,-1.6689365850970659]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[0.24678962752471378,-1.1321342907740006,0.71338606911949],"aabb_xy":[[0.16306740202463132,-1.2221342943086966],[0.33051185302479624,-1.0421342872393047]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[0.15503591386393822,-1.5730450959824647,0.71338606911949],"aabb_xy":[[0.09103591195159588,-1.6289562452404753],[0.21903591577628057,-1.5171339467244545]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[0.6485598551577474,-1.9736704293313239,0.71338606911949],"aabb_xy":[[0.626059855343845,-1.9781450457018048],[0.6710598549716498,-1.9691958129608433]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[-0.34526138433244075,-0.4031559846689112,0.71338606911949],"aabb_xy":[[-0.3533750390058179,-0.4112618011229403],[-0.3371477296590637,-0.39505016821488215]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[-0.5811795758993084,-2.214007255371199,0.71338606911949],"aabb_xy":[[-0.6461795768998089,-2.264793620525874],[-0.5161795748988078,-2.163220890216524]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6598231518033376,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9652.png","name":"9652"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9652.png","name":"9652"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1375.png","name":"1375"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2332.png","name":"2332"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2754.png","name":"2754"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6740.png","name":"6740"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":778.0473359401758,"rotation_z_degrees":33.63030438354306,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019445763735942995,-0.016840165180457334,0.0101423584232186]},{"name":"camera_2","offset_m":[0.008798246396818442,-0.0013227347666287873,0.00713828219437572]},{"name":"camera_3","offset_m":[-0.010650158864835762,0.012178576210612694,-0.018068189976359537]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016150605737174683,-0.001227223995288481,-0.0014289214525159753],"end_effector_yaw_offset_degrees":-0.27182129958679724},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019437340653966377,-0.00031690345539702315,-0.0003853284068638617],"end_effector_yaw_offset_degrees":0.21653764355511895},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-2.3303414872066514e-05,-0.0004903608463439233,-0.000287672070405411],"end_effector_yaw_offset_degrees":-0.3354010091807582},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004954772076608896,0.0004358642420959841,-0.001930625222154415],"end_effector_yaw_offset_degrees":-0.6854746178428721}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005738789793495232,-0.0014082166285838416],"position_m":[0.16667387897934952,0.15179178337141616,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013377046061116772,-8.217755381805837e-05],"position_m":[0.2533622953938883,-0.32108217755381807,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004691823229780684,0.0010188769991998359],"position_m":[0.14859182322978068,0.28681887699919983,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004349279569552671,0.003171498203720765],"position_m":[0.3640492795695527,0.06667149820372077,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"de018747bb80b24ac713973e8ca93d49474a5d16fda80d94ec6534d10b09a6f2","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9652/tex_ceiling_textures_6740/tex_floor_textures_2754/tex_table_textures_1375/tex_wall_textures_2332","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6706035472292947090,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6706035472292947090,"visual_seed":6706035472292947090,"scene_id":"lab_003","finished_at":"2026-09-05T02:54:56"}
+{"episode_id":"ep_000052","started_at":"2026-09-05T02:54:59","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[-0.09378881409820972,-0.8297949819830339,0.71338606911949],"aabb_xy":[[-0.11290112145618857,-0.8489297608602758],[-0.07467650674023084,-0.8106602031057918]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[-0.36703541155859604,-0.7539538495227258,0.71338606911949],"aabb_xy":[[-0.41651583277255483,-0.8179538474355776],[-0.31755499034463724,-0.689953851609874]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[-0.3600214839000427,0.5828237110846008,0.71338606911949],"aabb_xy":[[-0.3775214830344098,0.5729440840470129],[-0.34252148476567545,0.5927033381221886]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.13886946662623212,-1.1007492954014322,0.71338606911949],"aabb_xy":[[0.08887463369829052,-1.1507492942966757],[0.18886429955417372,-1.0507492965061886]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[-0.0953045964258794,-1.06689137880347,0.71338606911949],"aabb_xy":[[-0.1452875466133587,-1.11689137844603],[-0.04532164623840005,-1.016891379160909]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[-0.027346438197619505,1.1393109068081961,0.71338606911949],"aabb_xy":[[-0.051860062294625364,1.1150463135061597],[-0.0028328141006136454,1.1635755001102326]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.5745519023304854,-1.8671258758461322,0.71338606911949],"aabb_xy":[[-0.6045194592403109,-1.8971258761440177],[-0.5445843454206596,-1.8371258755482462]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.3060701235764215,0.2793410952108797,0.71338606911949],"aabb_xy":[[-0.3230802208664721,0.2632066067126057],[-0.2890600262863708,0.29547558370915356]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[-0.206334946037937,-1.265760890122728,0.71338606911949],"aabb_xy":[[-0.24196410193789675,-1.301393556879581],[-0.17070579013797726,-1.230128223365875]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[0.5121484599925497,-0.18906119354152828,0.71338606911949],"aabb_xy":[[0.4771484600160538,-0.1985258095891449],[0.5471484599690455,-0.17959657749391167]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[-0.07457519292953707,0.7726167911654516,0.71338606911949],"aabb_xy":[[-0.08472820848368642,0.7365472495927111],[-0.06442217737538766,0.8086863327381917]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[0.42717670613982506,0.531741008259115,0.71338606911949],"aabb_xy":[[0.4191832163445431,0.5237428763186394],[0.43517019593510714,0.5397391401995906]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[0.22423007118827398,-1.6318816510461476,0.71338606911949],"aabb_xy":[[0.2145984349678444,-1.6415189638258567],[0.23386170740870363,-1.6222443382664389]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[0.2560402582511089,-2.0344664093399105,0.71338606911949],"aabb_xy":[[0.19204026182378703,-2.081636033162007],[0.32004025467843084,-1.987296785517814]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.1970714499149751,0.9189713369281471,0.71338606911949],"aabb_xy":[[-0.2448776175287437,0.8539713342210881],[-0.14926528230120642,0.983971339635206]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.5925908437895215,-2.56439102904319,0.71338606911949],"aabb_xy":[[0.5881602144346814,-2.5698394007778727],[0.5970214731443617,-2.5589426573085077]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.03371026237896979,1.3394871004390523,0.71338606911949],"aabb_xy":[[-0.04977218983748743,1.2544870986264602],[-0.017648334920452143,1.4244871022516439]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[-0.03600972674001368,-2.0764011414658174,0.71338606911949],"aabb_xy":[[-0.10100972677431641,-2.123101818146145],[0.02899027329428905,-2.0297004647854906]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[-0.3010980923477042,0.42823394000440684,0.71338606911949],"aabb_xy":[[-0.3551136886296042,0.36423393711214963],[-0.24708249606580418,0.49223394289666395]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[-0.10507729039642422,0.18985793036853105,0.71338606911949],"aabb_xy":[[-0.15507728983661984,0.13989000588421474],[-0.0550772909562286,0.23982585485284735]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.6659818028301688,-2.4344751451617106,0.71338606911949],"aabb_xy":[[-0.6862661055535674,-2.4547577703044183],[-0.6456975001067699,-2.414192520019001]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[0.10351673955571372,-2.004467095241025,0.71338606911949],"aabb_xy":[[0.07851674028375143,-2.020812458837187],[0.12851673882767597,-1.9881217316448627]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[0.5792143375991885,1.4138447344144658,0.71338606911949],"aabb_xy":[[0.5617143383211016,1.3965066343481198],[0.5967143368772754,1.4311828344808117]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[0.21266603741193268,0.6922104777625195,0.71338606911949],"aabb_xy":[[0.14866603713795445,0.6421443775652316],[0.2766660376859109,0.7422765779598075]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_24","position":[0.48643541484136277,-1.0997093604270516,0.71338606911949],"aabb_xy":[[0.42880494595409174,-1.1597093593537617],[0.5440658837286334,-1.0397093615003405]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[0.4707875666952954,-0.5250349033040282,0.71338606911949],"aabb_xy":[[0.4107875660992793,-0.5798473758492516],[0.5307875672913116,-0.47022243075880465]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[-0.273453955946149,1.4025549482816952,0.71338606911949],"aabb_xy":[[-0.2775699060582216,1.3984393932488495],[-0.2693380058340763,1.4066705033145406]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[0.23802985150984135,-1.4134756693391568,0.71338606911949],"aabb_xy":[[0.230786085463596,-1.4934756675427592],[0.24527361755608665,-1.3334756711355544]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_28","position":[-0.6769229498085316,-0.8790183598832264,0.71338606911949],"aabb_xy":[[-0.6873345084890153,-0.8843640932191246],[-0.6665113911280479,-0.8736726265473276]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_29","position":[0.436312459606353,-1.6713184366517535,0.71338606911949],"aabb_xy":[[0.4212101581453348,-1.6864199582828148],[0.451414761067371,-1.6562169150206913]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_30","position":[-0.16808792463964706,-2.13390496153554,0.71338606911949],"aabb_xy":[[-0.1851900025980152,-2.15101176706681],[-0.1509858466812789,-2.1167981560042706]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6594605689343921,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7296.png","name":"7296"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7296.png","name":"7296"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5301.png","name":"5301"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8210.png","name":"8210"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1584.png","name":"1584"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3133.png","name":"3133"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":520.1419687778192,"rotation_z_degrees":1.439205040215361,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006264039391950603,-0.012618154554987084,0.014213533425751709]},{"name":"camera_2","offset_m":[-0.016239799401122072,-0.006032408270801964,-0.004967058345290921]},{"name":"camera_3","offset_m":[-0.0043474282682908864,0.011866695902819347,-0.008407677449715899]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008867515667780924,0.001522679175843318,-0.00037387504668436175],"end_effector_yaw_offset_degrees":-0.28062322500751313},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009827422782395906,-0.0019682967178463644,-0.0015589262442596895],"end_effector_yaw_offset_degrees":0.16641571193020765},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008329526527935346,-0.0019227887048429055,0.0010670508240087557],"end_effector_yaw_offset_degrees":-0.6320059258521467},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008014789941783004,-0.00013152476067872817,-0.0019956894574225024],"end_effector_yaw_offset_degrees":0.9501909113259492}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004984338163800094,0.0018424787006011004],"position_m":[0.1611156618361999,0.15504247870060112,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001843122678949042,-0.00024419074964103244],"position_m":[0.25285687732105094,-0.32124419074964106,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002552032793117278,0.001000441725534487],"position_m":[0.14134796720688272,0.2868004417255345,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002940921857265845,-0.001118020471419233],"position_m":[0.3626409218572659,0.06238197952858077,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"898412fe9b82d9077aa67e2091f2400f421e88d28bf805cd538182ca30b9e7f3","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7296/tex_ceiling_textures_3133/tex_floor_textures_1584/tex_table_textures_5301/tex_wall_textures_8210","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5660951964358788382,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5660951964358788382,"visual_seed":5660951964358788382,"scene_id":"lab_003","finished_at":"2026-09-05T02:59:04"}
+{"episode_id":"ep_000053","started_at":"2026-09-05T02:59:09","dimensions":{"distractor":{"count":24,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.6571086012592942,-1.3394276124001614,0.71338606911949],"aabb_xy":[[-0.6749021081942106,-1.357227357995959],[-0.6393150943243777,-1.3216278668043637]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[-0.3520882812019558,0.8803361210267759,0.71338606911949],"aabb_xy":[[-0.35933204724820106,0.8003361228231736],[-0.3448445151557104,0.9603361192303783]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[-0.374896024574332,1.5894868513378015,0.71338606911949],"aabb_xy":[[-0.38022853922894495,1.5841625230925662],[-0.369563509919719,1.5948111795830373]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[-0.31632338790279285,-1.9994147922064518,0.71338606911949],"aabb_xy":[[-0.3467214990019364,-2.029821694208121],[-0.2859252768036492,-1.969007890204782]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[-0.01904343378584694,1.4784444998201054,0.71338606911949],"aabb_xy":[[-0.08904343019580872,1.4580065641684234],[0.050956562624114854,1.498882435471787]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[-0.020458746882593748,-2.1962748187691563,0.71338606911949],"aabb_xy":[[-0.11045874547706369,-2.2125254050825776],[0.0695412517118762,-2.180024232455735]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.4817430176731696,1.5173034120296474,0.71338606911949],"aabb_xy":[[0.396743018981095,1.4853175486347687],[0.5667430163652443,1.5492892754245264]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.04317786990646688,-1.023123925664592,0.71338606911949],"aabb_xy":[[0.02067786989631859,-1.0372201453041954],[0.06567786991661517,-1.0090277060249888]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.26852568022371387,0.13055894434288984,0.71338606911949],"aabb_xy":[[-0.290990450195119,0.1080589434640293],[-0.24606091025230875,0.15305894522175031]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.7022716958183004,1.7484664461602653,0.71338606911949],"aabb_xy":[[0.6978410664634602,1.7430180744255828],[0.7067023251731406,1.7539148178949477]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.7181979739513551,-1.1008360539168502,0.71338606911949],"aabb_xy":[[0.7142374901816207,-1.1085039185023708],[0.7221584577210894,-1.0931681893313296]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.6893618762672711,-2.254479214081817,0.71338606911949],"aabb_xy":[[0.6680838681237987,-2.31947921640789],[0.7106398844107432,-2.189479211755744]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[-0.6440975561851922,-0.6556432601314366,0.71338606911949],"aabb_xy":[[-0.6790975553780102,-0.6666103061290991],[-0.6090975569923737,-0.6446762141337739]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[0.5441658638283196,-2.2178910458036754,0.71338606911949],"aabb_xy":[[0.5178770395078788,-2.244162479458326],[0.5704546881487601,-2.1916196121490237]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[0.07093520069230563,-0.7688706127975433,0.71338606911949],"aabb_xy":[[0.036618923517687696,-0.818870612770721],[0.10525147786692357,-0.7188706128243656]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[0.25845641079973036,-2.1064722585871034,0.71338606911949],"aabb_xy":[[0.24095641166536316,-2.116351885624691],[0.2759564099340975,-2.096592631549515]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[0.37422244015531536,-0.3286267416117341,0.71338606911949],"aabb_xy":[[0.3682559012145796,-0.3345878862710981],[0.38018897909605115,-0.32266559695237]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.5702653737213188,-1.3642485998956562,0.71338606911949],"aabb_xy":[[0.5152653740995731,-1.4192322926831291],[0.6252653733430648,-1.3092649071081837]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.42215572077076,0.5852064392297889,0.71338606911949],"aabb_xy":[[0.36715572159417054,0.530216764454831],[0.4771557199473495,0.6401961140047463]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.1904047813059564,-0.6478365905580623,0.71338606911949],"aabb_xy":[[-0.25040478294887825,-0.6998367398500065],[-0.13040477966303457,-0.5958364412661181]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.47050739507796346,-1.644055595234144,0.71338606911949],"aabb_xy":[[-0.5016543139215465,-1.7140555939209512],[-0.43936047623438024,-1.5740555965473368]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.021112506980612844,-2.0310811066575347,0.71338606911949],"aabb_xy":[[0.00443537098751734,-2.047781030631465],[0.03778964297370835,-2.0143811826836044]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[0.6751976135607778,-0.5452906365873491,0.71338606911949],"aabb_xy":[[0.6679363659903703,-0.5580776468508586],[0.6824588611311853,-0.5325036263238396]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[0.022136001338700306,1.2980721956618835,0.71338606911949],"aabb_xy":[[-0.06786399807967058,1.2646966988176935],[0.1121360007570712,1.331447692506073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659439095021954,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8044.png","name":"8044"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8044.png","name":"8044"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3597.png","name":"3597"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9039.png","name":"9039"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8733.png","name":"8733"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2577.png","name":"2577"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":638.4283883034474,"rotation_z_degrees":213.65144368754733,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00940894862603368,0.01432978748085487,0.014805702414707033]},{"name":"camera_2","offset_m":[-0.0059469905361352465,0.004615127715198168,0.019079567030752847]},{"name":"camera_3","offset_m":[0.015814359519045442,-0.012265181804803581,0.01570089370869934]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007836343608406723,-0.00022314191117825117,0.0013110730910706465],"end_effector_yaw_offset_degrees":-0.852404082184054},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009328342676072606,-0.0009890652410167954,-1.722670400585097e-05],"end_effector_yaw_offset_degrees":-0.00771483948302909},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00166143223144738,-0.000802494678987602,0.0015344338089696634],"end_effector_yaw_offset_degrees":-0.06581010205832549},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011012851687897838,-0.0003941370972112069,-0.0003383397752951237],"end_effector_yaw_offset_degrees":-0.9200657131017917}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004351304209874447,-0.004473077268126254],"position_m":[0.16174869579012555,0.14872692273187374,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012349957720199332,0.0008926905296096363],"position_m":[0.2534650042279801,-0.32010730947039034,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012238074861432623,-0.00021695498366951314],"position_m":[0.14267619251385674,0.2855830450163305,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023748717030629245,-0.0014625280229623693],"position_m":[0.36207487170306296,0.06203747197703763,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9acca9653d7d37dbec6820f7a6ec7efa11c6466875bb172ad87d42810747e901","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8044/tex_ceiling_textures_2577/tex_floor_textures_8733/tex_table_textures_3597/tex_wall_textures_9039","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3211234552133145698,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3211234552133145698,"visual_seed":3211234552133145698,"scene_id":"lab_003","finished_at":"2026-09-05T03:03:02"}
+{"episode_id":"ep_000054","started_at":"2026-09-05T03:03:06","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.4219973978160982,-0.48031767680462867,0.71338606911949],"aabb_xy":[[-0.44416992479274897,-0.5024933439607517],[-0.3998248708394473,-0.4581420096485054]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.18755294332560635,1.2966172242533713,0.71338606911949],"aabb_xy":[[0.10755294189547915,1.2171000692407616],[0.26755294475573355,1.3761343792659806]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.0027439156537498732,-2.0696152771025838,0.71338606911949],"aabb_xy":[[-0.0313932480141661,-2.098260836379659],[0.02590541670666635,-2.0409697178255075]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[0.05663141396276239,-1.9060769704795448,0.71338606911949],"aabb_xy":[[0.03279519632215732,-1.9960769712880317],[0.08046763160336745,-1.8160769696710588]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.5394315664353198,0.184880793819453,0.71338606911949],"aabb_xy":[[-0.5455261943234381,0.1763113992677843],[-0.5333369385472014,0.19345018837112174]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[-0.2012333106304494,-0.2921418737753778,0.71338606911949],"aabb_xy":[[-0.22314199276980043,-0.31404254059546854],[-0.17932462849109834,-0.2702412069552871]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[-0.21810543805819244,1.2956280338978448,0.71338606911949],"aabb_xy":[[-0.22745244564048764,1.2813244116802007],[-0.20875843047589718,1.3099316561154888]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.4115964576009512,-0.5549780845226473,0.71338606911949],"aabb_xy":[[0.39844521162966196,-0.579978084279334],[0.4247477035722407,-0.5299780847659609]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.43129674160349407,0.25263455291840753,0.71338606911949],"aabb_xy":[[0.37629674340174923,0.2121125862919699],[0.4862967398052389,0.29315651954484506]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.07245641490621668,0.6659584705086901,0.71338606911949],"aabb_xy":[[-0.09000310982233561,0.6284584689444389],[-0.05490971999009775,0.7034584720729414]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.25836342297926695,-2.00229690960035,0.71338606911949],"aabb_xy":[[-0.3035347408274359,-2.0662969067448884],[-0.213192105131098,-1.9382969124558116]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[-0.2658862831081404,-1.8640411702395003,0.71338606911949],"aabb_xy":[[-0.2764537627662394,-1.874586200352509],[-0.2553188034500414,-1.8534961401264918]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_12","position":[-0.5882041489738253,0.2811190058086406,0.71338606911949],"aabb_xy":[[-0.6080951888541656,0.2684631945239438],[-0.5683131090934851,0.29377481709333747]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.25149477927015784,0.8031578257698171,0.71338606911949],"aabb_xy":[[0.24805410303010067,0.7992963927954527],[0.254935455510215,0.8070192587441817]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.36997760602513896,0.7999270712086166,0.71338606911949],"aabb_xy":[[0.3622744153510619,0.7922177005098785],[0.377680796699216,0.8076364419073545]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[0.4643693467276844,-2.1786495272391675,0.71338606911949],"aabb_xy":[[0.3943693503177224,-2.1990874628908483],[0.534369343137646,-2.158211591587485]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[0.42253093959997945,-1.563099649025709,0.71338606911949],"aabb_xy":[[0.3725309386494466,-1.59464879602923],[0.4725309405505122,-1.5315505020221871]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.22060699027169428,-0.8209316414094612,0.71338606911949],"aabb_xy":[[0.2161763609168541,-0.8263800131441439],[0.22503761962653446,-0.8154832696747787]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.10461254014116417,1.716830554290318,0.71338606911949],"aabb_xy":[[0.08550023278318532,1.697695775413076],[0.12372484749914305,1.73596533316756]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.14729069837879305,-1.388808294366396,0.71338606911949],"aabb_xy":[[-0.227290701636636,-1.46880480215838],[-0.0672906951209501,-1.308811786574412]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[0.4817765912191707,1.4403182344560608,0.71338606911949],"aabb_xy":[[0.43179778270885477,1.390318234450342],[0.5317553997294866,1.4903182344617796]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[0.2401542245030277,-1.1148889808250066,0.71338606911949],"aabb_xy":[[0.21764053267957045,-1.1848889814260142],[0.26266791632648484,-1.0448889802239991]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.07062575347430167,-1.8311615608667435,0.71338606911949],"aabb_xy":[[-0.12062575513579642,-1.881160003122446],[-0.0206257518128069,-1.7811631186110406]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[0.12555152419453675,-2.0443469138617214,0.71338606911949],"aabb_xy":[[0.11951451119387202,-2.0503736149306695],[0.13158853719520147,-2.0383202127927733]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[-0.39058818292289854,-1.9261926524099593,0.71338606911949],"aabb_xy":[[-0.4151343985456492,-1.9564415489589964],[-0.36604196730014776,-1.8959437558609222]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[-0.06442784839351345,0.2673585916751642,0.71338606911949],"aabb_xy":[[-0.06927144315474343,0.26250693919618007],[-0.05958425363228348,0.2722102441541483]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[-0.4309127921628797,0.9178735770577009,0.71338606911949],"aabb_xy":[[-0.4534127919767821,0.9133989606872203],[-0.4084127923489773,0.9223481934281818]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_27","position":[-0.4589019215495505,-1.0848858394244796,0.71338606911949],"aabb_xy":[[-0.5229019234618928,-1.14079698868249],[-0.39490191963720817,-1.0289746901664691]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_28","position":[0.3534562508757184,0.9741211181450211,0.71338606911949],"aabb_xy":[[0.28845625299407057,0.9229974544384802],[0.4184562487573662,1.025244781851562]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_29","position":[-0.18261437809131975,-0.5166446954258217,0.71338606911949],"aabb_xy":[[-0.2626143750543589,-0.5937203370695951],[-0.10261438112828061,-0.43956905378204825]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_30","position":[0.5615021877955415,-0.04154057338465833,0.71338606911949],"aabb_xy":[[0.5280620125995218,-0.07498419921558838],[0.594942362991561,-0.008096947553728242]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626664920689502,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7553.png","name":"7553"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7553.png","name":"7553"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1256.png","name":"1256"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3500.png","name":"3500"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4034.png","name":"4034"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9032.png","name":"9032"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":628.5028641341719,"rotation_z_degrees":345.0990546710788,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005084443748020369,0.005374860257264798,0.0013026479946542588]},{"name":"camera_2","offset_m":[0.018844924498952028,-0.004943130121564639,0.019746526629131466]},{"name":"camera_3","offset_m":[0.016901524309248305,-0.010659914892289514,0.011869999582342246]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001812349782712318,0.00047279702840754027,-0.00136392821743017],"end_effector_yaw_offset_degrees":0.284023957081305},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001438467499046404,0.00042738537027182076,0.0012272062998432793],"end_effector_yaw_offset_degrees":-0.83765322957075},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009940074651712313,-0.0009251274209963914,0.001523301995061775],"end_effector_yaw_offset_degrees":-0.10278922551838843},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013382567272521744,0.0010619176801727795,0.0011764893213782272],"end_effector_yaw_offset_degrees":-0.7997980121970572}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00014475632966874912,-0.0007601097751986719],"position_m":[0.16595524367033124,0.15243989022480134,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009667005888686101,-0.0017879709939432544],"position_m":[0.2556667005888686,-0.32278797099394324,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00039386318415808065,-0.004504679770288444],"position_m":[0.14350613681584193,0.28129532022971154,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00419993437931757,0.0034351983996689867],"position_m":[0.3555000656206824,0.066935198399669,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"510a73765bd6e365a04d02cbdcf112f86605bfbc65abb927945b290bf696f3f3","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7553/tex_ceiling_textures_9032/tex_floor_textures_4034/tex_table_textures_1256/tex_wall_textures_3500","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8482297953774726619,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8482297953774726619,"visual_seed":8482297953774726619,"scene_id":"lab_003","finished_at":"2026-09-05T03:06:53"}
+{"episode_id":"ep_000055","started_at":"2026-09-05T03:06:57","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.2742727668552163,-0.93219751911363,0.71338606911949],"aabb_xy":[[-0.324272768516711,-0.9821959613693326],[-0.2242727651937215,-0.8821990768579272]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[0.28920994950374845,-2.200349801702983,0.71338606911949],"aabb_xy":[[0.2717100160697651,-2.2178498016232173],[0.3067098829377318,-2.1828498017827482]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[0.16195293749006723,-1.891641565100113,0.71338606911949],"aabb_xy":[[0.1445222224110607,-1.9089136797639636],[0.1793836525690737,-1.874369450436262]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[0.4787872418532575,-1.8318459567171197,0.71338606911949],"aabb_xy":[[0.4558715289682077,-1.8547502538535434],[0.5017029547383075,-1.8089416595806964]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.52546131716095,-0.8987454672842077,0.71338606911949],"aabb_xy":[[-0.5334548069562322,-0.9067435992246835],[-0.5174678273656681,-0.8907473353437323]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[0.5308526586720945,0.7463917818461288,0.71338606911949],"aabb_xy":[[0.4808752418068409,0.6963917803568802],[0.580830075537348,0.7963917833353773]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.2164864495273845,-1.4740406315830303,0.71338606911949],"aabb_xy":[[0.16648717435894833,-1.5240406328589777],[0.26648572469582066,-1.4240406303070834]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[-0.5729759934112693,0.08652355873752038,0.71338606911949],"aabb_xy":[[-0.6229759920571905,0.03660401507805798],[-0.5229759947653481,0.13644310239698276]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[0.5663461623492962,-2.170522475856223,0.71338606911949],"aabb_xy":[[0.5023461630551279,-2.2345086162250767],[0.6303461616434644,-2.1065363354873683]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.06468255563552716,-0.7538126280980875,0.71338606911949],"aabb_xy":[[-0.1286825563389965,-0.7998310105710087],[-0.0006825549320578079,-0.7077942456251666]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[-0.48486526760579773,-1.3553566136470756,0.71338606911949],"aabb_xy":[[-0.49290862753175285,-1.440356614742442],[-0.4768219076798425,-1.2703566125517092]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.14860146200990465,-0.7822861817627658,0.71338606911949],"aabb_xy":[[0.09360921137439372,-0.8372861835060788],[0.20359371264541565,-0.7272861800194531]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[-0.28163805542518605,-1.2444038978541334,0.71338606911949],"aabb_xy":[[-0.2971938248354513,-1.2599543310985408],[-0.2660822860149208,-1.2288534646097264]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.4277254045362422,0.4582185008697417,0.71338606911949],"aabb_xy":[[-0.46150096372693516,0.4441800056565766],[-0.3939498453455492,0.47225699608290667]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.04641123671533276,-1.703787118201932,0.71338606911949],"aabb_xy":[[-0.10641123835825461,-1.7557872674938761],[0.013588764927589092,-1.6517869689099878]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.3663717219449285,-1.6077241863766338,0.71338606911949],"aabb_xy":[[0.34887172266684163,-1.6250622864429798],[0.3838717212230154,-1.5903860863102879]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[-0.2915755861783824,1.7307656911682954,0.71338606911949],"aabb_xy":[[-0.3002735484690977,1.7186407168608213],[-0.28287762388766713,1.7428906654757708]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[-0.3393913451701422,-0.646750236288625,0.71338606911949],"aabb_xy":[[-0.3643913444421044,-0.6630955998847873],[-0.31439134589817985,-0.6304048726924626]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[-0.6390926536511626,0.6040026897082704,0.71338606911949],"aabb_xy":[[-0.6776383464763636,0.5654569186520818],[-0.6005469608259615,0.642548460764459]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[0.5575198735144,-0.10880124063809538,0.71338606911949],"aabb_xy":[[0.5350061816909427,-0.1788012412391029],[0.5800335653378571,-0.03880124003708785]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.06790504362105376,-1.0208923772871275,0.71338606911949],"aabb_xy":[[0.0200988760072851,-1.0858923799941862],[0.11571121123482239,-0.9558923745800683]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.6237387441486136,-0.0410980288673235,0.71338606911949],"aabb_xy":[[-0.6388410456096315,-0.056199550498385306],[-0.6086364426875953,-0.02599650723626167]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6587557437587618,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4645.png","name":"4645"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4645.png","name":"4645"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6189.png","name":"6189"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3928.png","name":"3928"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/278.png","name":"278"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3781.png","name":"3781"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":769.1049286368002,"rotation_z_degrees":145.09290911974853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015037773025970341,-0.002861460177630573,0.008963960535010921]},{"name":"camera_2","offset_m":[-0.008857604896014361,0.008383910928391126,0.0036060647110517687]},{"name":"camera_3","offset_m":[0.0067422964215120285,0.0069633194655444215,0.011336021040079417]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006983676185804916,-0.0016329110948699634,0.0018632698859796983],"end_effector_yaw_offset_degrees":0.3684992684238644},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014811717832270582,0.0006780848037439466,0.0018445364739247058],"end_effector_yaw_offset_degrees":-0.5645845817206541},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00028757742184624306,-0.001883104803309989,-0.0014916505093997205],"end_effector_yaw_offset_degrees":0.4397413789168372},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006141636993615386,-0.0013337991471461755,-0.0011443875520325375],"end_effector_yaw_offset_degrees":-0.9874248171912714}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022411695156413446,0.003441987236079232],"position_m":[0.16385883048435865,0.15664198723607922,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.142295776875045e-05,0.004714115339177881],"position_m":[0.25479142295776874,-0.31628588466082214,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008046007551279011,-0.0018843091431592464],"position_m":[0.1447046007551279,0.28391569085684076,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007399263889781823,-0.003393057627377504],"position_m":[0.35896007361102183,0.0601069423726225,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b659d1c44b3b4fb2f38731daca7c4dd27eed1efde872a8440acac8dec071db00","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4645/tex_ceiling_textures_3781/tex_floor_textures_278/tex_table_textures_6189/tex_wall_textures_3928","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3315316990185700458,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3315316990185700458,"visual_seed":3315316990185700458,"scene_id":"lab_003","finished_at":"2026-09-05T03:10:58"}
+{"episode_id":"ep_000056","started_at":"2026-09-05T03:11:01","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[-0.5676529718736728,0.7802105003738005,0.71338606911949],"aabb_xy":[[-0.6476467954522311,0.700210497780959],[-0.4876591482951147,0.8602105029666421]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[0.050453606861565636,1.6267233854087775,0.71338606911949],"aabb_xy":[[0.03858152385006452,1.5417233857151271],[0.06232568987306674,1.7117233851024278]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.38360176862472367,1.302499731063537,0.71338606911949],"aabb_xy":[[-0.42214746144992465,1.2639539600073482],[-0.3450560757995226,1.3410455021197256]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.025881192947813325,-2.1462778805795035,0.71338606911949],"aabb_xy":[[-0.05217001726825398,-2.1725493142341548],[0.00040763137262733723,-2.1200064469248523]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[0.17688971702684175,0.771745006310026,0.71338606911949],"aabb_xy":[[0.11288971468404017,0.7268041550658934],[0.2408897193696433,0.8166858575541583]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[0.11522007974285153,-1.1092058921862946,0.71338606911949],"aabb_xy":[[0.07772007855805874,-1.113624114882355],[0.15272008092764433,-1.1047876694902339]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.3823685139439433,-0.01358006154799618,0.71338606911949],"aabb_xy":[[-0.4323685143045093,-0.06356004875759912],[-0.33236851358337716,0.03639992566160676]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.32824191834040034,-0.43581644589741453,0.71338606911949],"aabb_xy":[[-0.33548568438664567,-0.5158164441010169],[-0.320998152294155,-0.35581644769381215]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[0.48961460912361354,-1.6022588406255451,0.71338606911949],"aabb_xy":[[0.4643937722637739,-1.6274825914784319],[0.5148354459834532,-1.5770350897726584]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.09817200274066251,-1.9716990867749447,0.71338606911949],"aabb_xy":[[0.09004431454734929,-1.9806126951856524],[0.10629969093397573,-1.962785478364237]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.37556975120659714,-2.046633296037784,0.71338606911949],"aabb_xy":[[-0.3815362901473329,-2.0525944406971486],[-0.36960321226586135,-2.0406721513784203]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.2665572984432165,-1.7577560471657692,0.71338606911949],"aabb_xy":[[-0.3165573001047113,-1.8077544894214714],[-0.21655729678172178,-1.707757604910066]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[-0.6006340151084727,-1.0203915086277167,0.71338606911949],"aabb_xy":[[-0.6244702327490778,-1.1103915094362033],[-0.5767977974678676,-0.9303915078192304]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[0.20034190703751253,0.5747118963918774,0.71338606911949],"aabb_xy":[[0.1628419065401543,0.5707432128437588],[0.23784190753487078,0.5786805799399957]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[0.441239219701272,-1.0252486370575609,0.71338606911949],"aabb_xy":[[0.4349271201649335,-1.0310155763107796],[0.4475513192376104,-1.0194816978043417]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[-0.03887575334479687,1.600638427735047,0.71338606911949],"aabb_xy":[[-0.04829322791465962,1.591222250597328],[-0.02945827877493412,1.610054604872766]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.31541513019736356,0.9344336003009577,0.71338606911949],"aabb_xy":[[0.2504151290914203,0.9094682272328295],[0.38041513130330684,0.9593989733690861]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[-0.25648971913222296,1.4501075491360322,0.71338606911949],"aabb_xy":[[-0.3364897196024389,1.441796841521684],[-0.176489718662007,1.4584182567503805]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.11618565073513687,0.35079171077189386,0.71338606911949],"aabb_xy":[[-0.12702612896165177,0.333605429481245],[-0.10534517250862195,0.3679779920625426]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.39238441310853134,0.8884928030043997,0.71338606911949],"aabb_xy":[[-0.4145569400851821,0.8663171358482764],[-0.3702118861318805,0.9106684701605228]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[0.23628977069167745,1.2125026296995949,0.71338606911949],"aabb_xy":[[0.22900745431501376,1.1225026260900854],[0.24357208706834108,1.3025026333091034]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[-0.5840812475317504,1.7329287776962619,0.71338606911949],"aabb_xy":[[-0.634054313064266,1.6829287778837294],[-0.534108181999235,1.7829287775087952]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[-0.2410107376168245,-1.325310120482265,0.71338606911949],"aabb_xy":[[-0.2888169052305931,-1.390310123189324],[-0.19320457000305583,-1.260310117775206]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.2390104602355555,-1.8804968000350804,0.71338606911949],"aabb_xy":[[0.21609474735050563,-1.903401097171504],[0.2619261731206054,-1.857592502898657]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[0.5298056468917529,0.4340465099036881,0.71338606911949],"aabb_xy":[[0.4938921424667632,0.3981330016869335],[0.5657191513167426,0.4699600181204427]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.2892175263995816,0.1347631435113792,0.71338606911949],"aabb_xy":[[-0.2989735159087554,0.12500060945214475],[-0.27946153689040765,0.14452567757061363]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626218754750046,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5109.png","name":"5109"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5109.png","name":"5109"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9614.png","name":"9614"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/451.png","name":"451"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5121.png","name":"5121"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8169.png","name":"8169"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":726.7211232728623,"rotation_z_degrees":205.075797701302,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01364416698798879,-0.01483332233102591,-0.0009352835566265941]},{"name":"camera_2","offset_m":[0.001050962969159578,0.016512066732905572,-0.017175100792766306]},{"name":"camera_3","offset_m":[-0.006420748793774416,-0.015388821043779095,-0.0070622239395603924]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001308990935386018,-0.0019005658905965502,-0.001732625837749743],"end_effector_yaw_offset_degrees":-0.3859447698501963},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000106922568398406,-0.0005038830056230551,-0.0007612300658615294],"end_effector_yaw_offset_degrees":-0.3852791405584717},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006781090891870493,-0.00024431547962945285,0.0011731086216126684],"end_effector_yaw_offset_degrees":0.8046839254390223},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018577680545194004,-0.0016663756971625858,-0.000566237696160902],"end_effector_yaw_offset_degrees":-0.03247756469052798}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021010516495629517,0.0007793831960175709],"position_m":[0.16820105164956295,0.15397938319601756,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007457977569414456,-0.0020922120986473025],"position_m":[0.25544579775694143,-0.3230922120986473,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009951550595757265,0.0005158907268074274],"position_m":[0.14290484494042427,0.2863158907268074,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002327269956412129,-0.001872363808246015],"position_m":[0.36202726995641216,0.06162763619175399,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b62a1644875ad77f658afb90f540440b0cc1d1d555cc86b52619b018fb0ed0c3","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5109/tex_ceiling_textures_8169/tex_floor_textures_5121/tex_table_textures_9614/tex_wall_textures_451","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":7789216827290783528,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":7789216827290783528,"visual_seed":7789216827290783528,"scene_id":"lab_003","finished_at":"2026-09-05T03:14:40"}
+{"episode_id":"ep_000057","started_at":"2026-09-05T03:14:44","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[-0.35383688452687184,-0.4638180314747973,0.71338606911949],"aabb_xy":[[-0.38842796738091706,-0.5288180317598283],[-0.3192458016728266,-0.3988180311897662]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[-0.3860078524302495,-1.2171787497530957,0.71338606911949],"aabb_xy":[[-0.46600785569426256,-1.2307387820620093],[-0.3060078491662363,-1.2036187174441826]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.12076293814084094,0.55547266099473,0.71338606911949],"aabb_xy":[[-0.12780324807437798,0.47547266159505874],[-0.11372262820730399,0.6354726603944015]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[-0.09032592081010382,1.4788695166884716,0.71338606911949],"aabb_xy":[[-0.11817095759071095,1.4480850179501596],[-0.0624808840294967,1.509654015426783]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[0.29393567388981856,1.3438651962908623,0.71338606911949],"aabb_xy":[[0.22893567293269138,1.2919169843571567],[0.3589356748469458,1.395813408224568]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[0.40836038152913323,0.38138065102475327,0.71338606911949],"aabb_xy":[[0.3931975085521962,0.36621519372963457],[0.42352325450607037,0.39654610831987214]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.29121841805281345,1.1894502920652572,0.71338606911949],"aabb_xy":[[0.24121841769224736,1.139470304855654],[0.34121841841337947,1.23943027927486]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[-0.21162371014764125,-1.9422524481199333,0.71338606911949],"aabb_xy":[[-0.2756237074332899,-1.9837591670727774],[-0.1476237128619926,-1.9007457291670895]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.03344799088595729,-2.4998537922157147,0.71338606911949],"aabb_xy":[[-0.05655200883721689,-2.522927144750894],[0.12344799060913146,-2.4767804396805344]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.3092650019889402,-1.4268610041837617,0.71338606911949],"aabb_xy":[[-0.35926500142913576,-1.476828928668078],[-0.2592650025487445,-1.3768930796994454]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.32956041842392464,-0.8363548064243231,0.71338606911949],"aabb_xy":[[-0.4095604155835,-0.8479024073821402],[-0.2495604212643494,-0.8248072054665061]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.20707716298543732,1.3004528706358673,0.71338606911949],"aabb_xy":[[-0.2188453497800949,1.215452870730646],[-0.19530897619077986,1.3854528705410891]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[0.5095593768080457,1.8191432174021043,0.71338606911949],"aabb_xy":[[0.5061187005679887,1.8152817844277402],[0.513000053048103,1.8230046503764692]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.44532897290059387,-1.9493120282032366,0.71338606911949],"aabb_xy":[[-0.4914140641553253,-2.0133120254557912],[-0.39924388164586233,-1.8853120309506815]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[-0.18389008691357034,-1.161448204259387,0.71338606911949],"aabb_xy":[[-0.22519462997730633,-1.2254482038275039],[-0.14258554384983435,-1.0974482046912697]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[0.46528895334365616,-2.3545135698147863,0.71338606911949],"aabb_xy":[[0.3752889510096371,-2.431995924399899],[0.5552889556776752,-2.2770312152296737]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.293885844505416,-2.1346191504901038,0.71338606911949],"aabb_xy":[[0.28898655219885244,-2.162296069792672],[0.29878513681197943,-2.1069422311875345]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[0.6832477716087473,-1.1132430727981775,0.71338606911949],"aabb_xy":[[0.6657477713636978,-1.1307428606377443],[0.7007477718537966,-1.0957432849586106]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[0.5466631933692576,-0.14376618771111493,0.71338606911949],"aabb_xy":[[0.5337912898683174,-0.22376618812495108],[0.5595350968701976,-0.0637661872972788]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[-0.18886191655578322,-0.6795444330041764,0.71338606911949],"aabb_xy":[[-0.2528619186055152,-0.7196389160934844],[-0.12486191450605122,-0.6394499499148685]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6630571317894354,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2820.png","name":"2820"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2820.png","name":"2820"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3685.png","name":"3685"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8413.png","name":"8413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3559.png","name":"3559"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/436.png","name":"436"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":559.5922835677974,"rotation_z_degrees":58.255009835643364,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010062395087447454,-0.00984219311234298,0.00819717932187801]},{"name":"camera_2","offset_m":[0.017390982901926196,-0.0036190298958953537,-0.013773069893997012]},{"name":"camera_3","offset_m":[-0.004787185274482636,-0.003645965811953089,-0.0004555970515140867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009409117843882915,-0.00173360549041801,0.00022652379173783172],"end_effector_yaw_offset_degrees":0.3291030775576611},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00113647863766499,-0.0009721138408092509,-0.0004187502865054592],"end_effector_yaw_offset_degrees":-0.3550611963852408},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001424389588293054,-0.0019200794070515263,0.001505333080693799],"end_effector_yaw_offset_degrees":0.9897843895659337},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010318533636299474,-0.001231480972256636,-0.00046467955515021547],"end_effector_yaw_offset_degrees":0.9591187546406761}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021327160176763194,-0.0028654958233877894],"position_m":[0.1682327160176763,0.1503345041766122,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010363235171833894,-0.0024646088604183838],"position_m":[0.2557363235171834,-0.3234646088604184,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003796893773230882,-7.903026567068674e-05],"position_m":[0.1476968937732309,0.2857209697343293,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00437572111019948,-0.0010040420423437823],"position_m":[0.3640757211101995,0.062495957957656216,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2cf881e0f321acd5f72263962efbf6c40bf637080a4b407e6cf0b1d7efaf733f","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0059.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2820/tex_ceiling_textures_436/tex_floor_textures_3559/tex_table_textures_3685/tex_wall_textures_8413","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6092741307500597432,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6092741307500597432,"visual_seed":6092741307500597432,"scene_id":"lab_003","finished_at":"2026-09-05T03:18:34"}
+{"episode_id":"ep_000058","started_at":"2026-09-05T03:18:40","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[-0.06228021892015467,-2.5084157506239757,0.71338606911949],"aabb_xy":[[-0.07313182516903027,-2.519275041351626],[-0.05142861267127907,-2.4975564598963245]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.4367604476379496,-0.7456223109023257,0.71338606911949],"aabb_xy":[[-0.4712227950360913,-0.7801161933001483],[-0.4022981002398077,-0.7111284285045029]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.10297666819099227,-1.4919555919929166,0.71338606911949],"aabb_xy":[[0.09476212307530826,-1.5006321822905577],[0.11119121330667622,-1.483279001695275]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[0.255639580093027,-2.0990611321526305,0.71338606911949],"aabb_xy":[[0.24822712455163853,-2.1049123425742584],[0.2630520356344155,-2.0932099217310025]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.60257772052797,0.1955950378232716,0.71338606911949],"aabb_xy":[[-0.6665777212314394,0.14957665535035058],[-0.5385777198245008,0.24161342029619262]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[0.422921873053139,0.8918496910894609,0.71338606911949],"aabb_xy":[[0.37292686209368703,0.8418496920538695],[0.47291688401259113,0.9418496901250529]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[0.3879962923960427,-1.1733947969212424,0.71338606911949],"aabb_xy":[[0.3179962907937633,-1.1868275901229002],[0.45799629399832226,-1.159962003719585]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[-0.5790507698413788,1.3428309095302118,0.71338606911949],"aabb_xy":[[-0.6290507692815743,1.292862985045895],[-0.5290507704011831,1.3927988340145276]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_8","position":[0.3843453155600196,-0.4783341117304456,0.71338606911949],"aabb_xy":[[0.2943453190591478,-0.5242457541489037],[0.4743453120608913,-0.4324224693119873]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.4631221165008461,0.03141337067923944,0.71338606911949],"aabb_xy":[[-0.5131221175199814,-0.005052845058588496],[-0.4131221154817109,0.06787958641706739]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.18884585412554944,0.56486660995883,0.71338606911949],"aabb_xy":[[-0.2079581614835283,0.545731831081588],[-0.16973354676757058,0.584001388836072]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.5226038901008763,-0.5158387017906056,0.71338606911949],"aabb_xy":[[-0.582603890961689,-0.5672651317970919],[-0.4626038892400634,-0.4644122717841192]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.5791810910489992,-1.5063195059771448,0.71338606911949],"aabb_xy":[[0.5657345644149558,-1.519789357630236],[0.5926276176830425,-1.4928496543240537]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.33235022527300184,1.6534989357845187,0.71338606911949],"aabb_xy":[[-0.34046387994637894,1.6453931193304896],[-0.32423657059962474,1.6616047522385478]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.5861781746143984,0.6513493082481543,0.71338606911949],"aabb_xy":[[0.5486781734296055,0.6469310855520937],[0.623678175799191,0.6557675309442147]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.36532141502893756,1.1004886759859276,0.71338606911949],"aabb_xy":[[-0.41933701131083756,1.0364886730936702],[-0.31130581874703755,1.1644886788781845]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.1575271294368058,-1.873343446178413,0.71338606911949],"aabb_xy":[[-0.23752095301536402,-1.9533434487712544],[-0.07753330585824758,-1.7933434435855713]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.2501336398112533,-1.6944668551123043,0.71338606911949],"aabb_xy":[[-0.31413364203166033,-1.7388399392375926],[-0.18613363759084628,-1.650093770987016]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[0.3232994353377887,-1.7086655973532658,0.71338606911949],"aabb_xy":[[0.2733164851503093,-1.7586655969958258],[0.373282385525268,-1.658665597710705]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.3765559664178699,0.4779426409504808,0.71338606911949],"aabb_xy":[[-0.38732894033923776,0.44294264273144185],[-0.3657829924965022,0.5129426391695198]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.48579336051886013,-1.2067741517715007,0.71338606911949],"aabb_xy":[[-0.5497933569461821,-1.2539437755935972],[-0.4217933640915383,-1.1596045279494043]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[0.625212024401657,-0.9983662116397449,0.71338606911949],"aabb_xy":[[0.6196303527675282,-1.0108662114575204],[0.6307936960357858,-0.9858662118219695]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.612957363555293,-1.812170007114962,0.71338606911949],"aabb_xy":[[-0.6261086095265823,-1.8371700068716488],[-0.5998061175840036,-1.7871700073582757]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[0.32352742971944815,-0.6634670114985011,0.71338606911949],"aabb_xy":[[0.2535274279107027,-0.6848207802626884],[0.3935274315281936,-0.6421132427343137]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_24","position":[0.44400678222692935,0.7655301439860955,0.71338606911949],"aabb_xy":[[0.43957615287208923,0.760081772251413],[0.4484374115817696,0.7709785157207782]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[0.2510475324263012,-0.8444617400669243,0.71338606911949],"aabb_xy":[[0.20324136481253252,-0.9094617427739833],[0.29885370004006984,-0.7794617373598653]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[0.45705749970672915,-0.66878441627921,0.71338606911949],"aabb_xy":[[0.4392639927718128,-0.6865841618750077],[0.47485100664164565,-0.6509846706834124]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[0.023974029168187028,1.3911270840989758,0.71338606911949],"aabb_xy":[[0.013562470487703312,1.3857813507630772],[0.03438558784867074,1.396472817434874]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_28","position":[-0.2555174898863915,-1.4640702005374069,0.71338606911949],"aabb_xy":[[-0.3195174901603698,-1.5141363007346949],[-0.19151748961241333,-1.414004100340119]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6633763885764912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9679.png","name":"9679"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9679.png","name":"9679"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2254.png","name":"2254"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8251.png","name":"8251"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/514.png","name":"514"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2329.png","name":"2329"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":562.0365265687045,"rotation_z_degrees":300.12317860414464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0015150282350936718,-0.0029251056282677684,0.01708568611082045]},{"name":"camera_2","offset_m":[-0.009321057408217736,0.0007403170088151716,0.007997702980244669]},{"name":"camera_3","offset_m":[0.014432236435039342,-0.019456066630252854,0.004217303208870926]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019005203056812925,-0.0011747271058772713,0.0006106994148565906],"end_effector_yaw_offset_degrees":0.997772827808143},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00022437656173266958,0.0009654531061713927,-0.0019370169434785325],"end_effector_yaw_offset_degrees":-0.6554820343823065},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005722318397874328,0.0004921948083697236,0.0016777704652561182],"end_effector_yaw_offset_degrees":0.8672143691304803},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018562490982491648,0.0016102779743758203,0.0018053681786046804],"end_effector_yaw_offset_degrees":-0.7107064915978294}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00043194321119680024,-0.0014707710652092977],"position_m":[0.1665319432111968,0.1517292289347907,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004924924465630459,0.003925317699136497],"position_m":[0.25962492446563046,-0.3170746823008635,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004709304667475908,-0.0019591061204680283],"position_m":[0.1391906953325241,0.283840893879532,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006728664150150642,-0.0016633108180034318],"position_m":[0.3603728664150151,0.06183668918199657,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6dc6f1ad5b6fae1ec8b813d1b29acfaf36f7dc78f85090e952c543887445895a","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9679/tex_ceiling_textures_2329/tex_floor_textures_514/tex_table_textures_2254/tex_wall_textures_8251","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8089386567823100278,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8089386567823100278,"visual_seed":8089386567823100278,"scene_id":"lab_003","finished_at":"2026-09-05T03:22:22"}
+{"episode_id":"ep_000059","started_at":"2026-09-05T03:22:26","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[0.1913528088380858,-2.4803067460288615,0.71338606911949],"aabb_xy":[[0.11135281167851047,-2.491854346986678],[0.27135280599766104,-2.468759145071044]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[-0.4586963727667501,-2.2518211158875117,0.71338606911949],"aabb_xy":[[-0.5086963737858854,-2.28828733162534],[-0.40869637174761486,-2.215354900149684]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_2","position":[0.18052583077621187,-1.7246729405816894,0.71338606911949],"aabb_xy":[[0.1756822360149819,-1.7295245930606735],[0.18536942553744185,-1.7198212881027053]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[0.4743846118903301,-0.11730619182610935,0.71338606911949],"aabb_xy":[[0.39438461046020284,-0.19682334683871883],[0.5543846133204573,-0.03778903681349988]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[0.08425429663956141,-2.0769911022132668,0.71338606911949],"aabb_xy":[[0.00425429556644108,-2.0867691485506508],[0.16425429771268174,-2.067213055875882]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[0.36184978468657514,-0.9342980118207844,0.71338606911949],"aabb_xy":[[0.2978497824661681,-0.9786710959460727],[0.42584978690698216,-0.8899249276954961]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[0.4564125916676707,1.1335360716436176,0.71338606911949],"aabb_xy":[[0.38641259525770877,1.1130981359919356],[0.5264125880776322,1.153974007295299]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[-0.17499937688456868,-0.13945887822551306,0.71338606911949],"aabb_xy":[[-0.1838014321935414,-0.14727020438044214],[-0.16619732157559597,-0.13164755207058398]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.46424981989610925,1.008899055544752,0.71338606911949],"aabb_xy":[[-0.47980558930637457,0.9933486223003449],[-0.44869405048584404,1.0244494887891593]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[0.4364846404076079,-2.385472813202842,0.71338606911949],"aabb_xy":[[0.4119710163106021,-2.4097374065048784],[0.46099826450461384,-2.3612082199008055]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.36603566256503184,-1.3546949178125682,0.71338606911949],"aabb_xy":[[0.35799230263907666,-1.4396949189079344],[0.374079022490987,-1.2696949167172016]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.5287567316204451,-1.7903133369305926,0.71338606911949],"aabb_xy":[[0.5074787234769728,-1.8553133392566654],[0.5500347397639173,-1.7253133346045193]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.04042343309294849,-1.0060168895727946,0.71338606911949],"aabb_xy":[[-0.10442343037859714,-1.0475236085256385],[0.023576564192700156,-0.9645101706199506]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.08100005958809042,1.0520287161285165,0.71338606911949],"aabb_xy":[[-0.16600005828016506,1.0200428527336376],[0.003999939103984218,1.0840145795233953]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.04738363867044726,1.2465399388734832,0.71338606911949],"aabb_xy":[[-0.07260447553028691,1.2213161880205963],[-0.022162801810607587,1.2717636897263698]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.47870250874741915,-0.2625873483805017,0.71338606911949],"aabb_xy":[[-0.5437025097479196,-0.3133737135351766],[-0.4137025077469186,-0.21180098322582674]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.2642380321974038,-2.2530892971825422,0.71338606911949],"aabb_xy":[[-0.31423803177373855,-2.3030698761346486],[-0.2142380326210691,-2.2031087182304367]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[0.41430611370428116,-2.2134900445481627,0.71338606911949],"aabb_xy":[[0.324306110027363,-2.274922451125266],[0.5043061173811993,-2.1520576379710574]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[0.0027115489750401123,-2.505296663164657,0.71338606911949],"aabb_xy":[[-0.012390752485977983,-2.520398184795718],[0.017813850436058206,-2.490195141533594]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[0.48719931807132366,0.9049073067472024,0.71338606911949],"aabb_xy":[[0.44595050704140893,0.8499073072349849],[0.5284481291012384,0.9599073062594198]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.5511240592137641,0.6702601686430518,0.71338606911949],"aabb_xy":[[0.461124056879745,0.5927778140579393],[0.6411240615477831,0.7477425232281646]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.1583384975948876,1.530160293537254,0.71338606911949],"aabb_xy":[[-0.22233850081352546,1.4834371816382457],[-0.09433849437624975,1.5768834054362624]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[-0.5681743710705456,-1.6950233885461046,0.71338606911949],"aabb_xy":[[-0.5931743710030635,-1.7019060567670279],[-0.5431743711380277,-1.6881407203251813]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[0.4938178504581163,0.09072851731735954,0.71338606911949],"aabb_xy":[[0.4563178520347159,0.0775643033495289],[0.5313178488815167,0.10389273128519017]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[-0.6038425147113287,1.5672372318530532,0.71338606911949],"aabb_xy":[[-0.6538417898797648,1.517237230577106],[-0.5538432395428925,1.6172372331290004]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_25","position":[-0.17206063598300847,-0.9518818731798133,0.71338606911949],"aabb_xy":[[-0.17856227249101309,-0.9616496952061233],[-0.16555899947500385,-0.9421140511535038]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_26","position":[-0.218983806286892,-0.5617161892357792,0.71338606911949],"aabb_xy":[[-0.2270974609602691,-0.5698220056898082],[-0.21087015161351488,-0.5536103727817501]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_27","position":[-0.42023354891241854,-1.819503275947776,0.71338606911949],"aabb_xy":[[-0.4548246317664637,-1.8845032762328071],[-0.38564246605837327,-1.754503275662745]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[-0.2544191575662556,0.6792807064499238,0.71338606911949],"aabb_xy":[[-0.31841915615282806,0.6322737430504151],[-0.19041915897968315,0.7262876698494325]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_29","position":[-0.4661709417793415,1.6098641912402667,0.71338606911949],"aabb_xy":[[-0.4741644315746235,1.6018660592997913],[-0.45817745198405946,1.6178623231807425]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_30","position":[0.24569638441363417,-0.6417763569974531,0.71338606911949],"aabb_xy":[[0.20052506656546518,-0.7057763541419916],[0.29086770226180314,-0.5777763598529148]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_31","position":[0.538671774055925,-1.2806979993493968,0.71338606911949],"aabb_xy":[[0.47467177675357863,-1.3250644263172533],[0.6026717713582714,-1.2363315723815398]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_32","position":[-0.18699705984132498,-0.6638317947037373,0.71338606911949],"aabb_xy":[[-0.25099706189105697,-0.7039262777930453],[-0.122997057791593,-0.6237373116144294]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_33","position":[-0.36711244594526504,-1.6368858814812524,0.71338606911949],"aabb_xy":[[-0.37452490148665346,-1.64273709190288],[-0.3596999904038765,-1.6310346710596242]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6639359190359502,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6203.png","name":"6203"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6203.png","name":"6203"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9409.png","name":"9409"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3856.png","name":"3856"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3043.png","name":"3043"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3472.png","name":"3472"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":591.3194194291614,"rotation_z_degrees":293.87053373167146,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005689197708805667,0.014826031552149985,-0.009717035705162403]},{"name":"camera_2","offset_m":[-0.01435000034923371,-0.012460358374778258,0.006215809710004835]},{"name":"camera_3","offset_m":[-0.003207054314077723,-0.011081420873806019,0.013954790191797847]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010431769139594522,0.00043922568560771005,0.0002662016777405488],"end_effector_yaw_offset_degrees":-0.6713187198460127},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004414884036750583,0.0012231311020522487,-0.000664988609240829],"end_effector_yaw_offset_degrees":0.4720579378379133},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018305308916410088,-0.001201342869245111,-0.0002464559754492672],"end_effector_yaw_offset_degrees":0.745712454502337},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014352893275926203,-0.0008271026093536378,0.0010207663664523465],"end_effector_yaw_offset_degrees":-0.4062729587956777}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015406392986216533,0.0017911918274047135],"position_m":[0.16764063929862166,0.15499119182740473,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032122157724634144,-0.0003595802911968019],"position_m":[0.25791221577246337,-0.3213595802911968,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011598527194503173,0.003748130216713879],"position_m":[0.14505985271945032,0.2895481302167139,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018448009883240612,-0.0043810249945024785],"position_m":[0.35785519901167595,0.05911897500549752,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3fdf0f93a8d449ddad3d3a8e9a5e25e7fe0cc9909cef06f7600a15b6a05b3bd0","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6203/tex_ceiling_textures_3472/tex_floor_textures_3043/tex_table_textures_9409/tex_wall_textures_3856","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":7003987893662424661,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":7003987893662424661,"visual_seed":7003987893662424661,"scene_id":"lab_003","finished_at":"2026-09-05T03:26:18"}
+{"episode_id":"ep_000060","started_at":"2026-09-05T03:26:22","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.37635989555718374,-1.4163653012330075,0.71338606911949],"aabb_xy":[[-0.4403598962606531,-1.4623836837059287],[-0.31235989485371435,-1.3703469187600867]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[0.4841811820077444,0.28773026514735944,0.71338606911949],"aabb_xy":[[0.44668118358434405,0.27456605117952876],[0.5216811804311448,0.30089447911519]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.5609233063487175,-1.10793412429558,0.71338606911949],"aabb_xy":[[-0.6249233034608233,-1.1569664940899904],[-0.4969233092366119,-1.0589017545011692]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[-0.16297157496077164,1.7385288025831866,0.71338606911949],"aabb_xy":[[-0.1788560682260968,1.7241758622843626],[-0.1470870816954465,1.7528817428820107]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.20362569584144985,-2.075480952999096,0.71338606911949],"aabb_xy":[[-0.2211256961007865,-2.0895724951878685],[-0.18612569558211323,-2.0613894108103232]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.2652808232733731,-1.7513595957798653,0.71338606911949],"aabb_xy":[[0.2102853454527137,-1.806359597213772],[0.3202763010940325,-1.6963595943459582]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[0.47197867728824083,-1.1733138056370842,0.71338606911949],"aabb_xy":[[0.4415805661890972,-1.2037207076387537],[0.5023767883873843,-1.1429069036354147]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.04532657076843871,-1.7217040130741048,0.71338606911949],"aabb_xy":[[-0.08282657195323151,-1.7261222357701649],[-0.00782656958364592,-1.7172857903780439]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[-0.42991810149326115,-0.09019223300071033,0.71338606911949],"aabb_xy":[[-0.5199180982288713,-0.14337569631800484],[-0.33991810475765083,-0.03700876968341581]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.5698928305447515,1.3636075551278881,0.71338606911949],"aabb_xy":[[-0.6048928297375696,1.3526405091302254],[-0.5348928313519331,1.3745746011255504]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.3873668252749028,1.6368581840286995,0.71338606911949],"aabb_xy":[[-0.4573668268771823,1.6234253908270417],[-0.3173668236726233,1.650290977230357]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[-0.10471661945849864,0.7856771201147019,0.71338606911949],"aabb_xy":[[-0.14221661940226504,0.7773840300798655],[-0.06721661951473223,0.7939702101495386]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[0.013682778124732842,-0.9524612497891487,0.71338606911949],"aabb_xy":[[-0.05031721917761356,-0.9968276767570053],[0.07768277542707924,-0.9080948228212918]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[0.32241264880187837,0.9465858083256986,0.71338606911949],"aabb_xy":[[0.258412646889536,0.8906746590676883],[0.3864126507142207,1.002496957583709]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.2255042802534885,-0.5167931583227063,0.71338606911949],"aabb_xy":[[-0.24739402784242928,-0.6067931556119553],[-0.20361453266454768,-0.42679316103345716]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[-0.622286952040969,-1.9441335957941681,0.71338606911949],"aabb_xy":[[-0.6822869518875357,-2.000952217987207],[-0.5622869521944022,-1.8873149736011294]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.15122216053364235,1.7092641371246207,0.71338606911949],"aabb_xy":[[0.09622216135705283,1.654274462349663],[0.2062221597102318,1.7642538118995783]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.5470447568186103,-1.4443578177552192,0.71338606911949],"aabb_xy":[[-0.581507104216752,-1.4788517001530415],[-0.5125824094204684,-1.409863935357396]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.6453091647531233,-0.06757454024477605,0.71338606911949],"aabb_xy":[[0.6403531445682421,-0.09007454044689768],[0.6502651849380044,-0.04507454004265444]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[0.4795119050159371,-0.8973400975359112,0.71338606911949],"aabb_xy":[[0.4691003463354533,-0.9026858308718096],[0.4899234636964207,-0.8919943642000127]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[0.26528338186594247,-1.4847260381841527,0.71338606911949],"aabb_xy":[[0.21518591788486885,-1.5487260386939647],[0.3153808458470161,-1.4207260376743411]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.5639116296432524,1.203434932007832,0.71338606911949],"aabb_xy":[[-0.5718349098820007,1.1809349317698286],[-0.555988349404504,1.2259349322458353]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6647783740012483,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9712.png","name":"9712"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9712.png","name":"9712"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2914.png","name":"2914"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4521.png","name":"4521"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7484.png","name":"7484"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4975.png","name":"4975"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":638.6525672357,"rotation_z_degrees":245.13792546601525,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019020617713992088,0.005298909719254272,0.00887520513223045]},{"name":"camera_2","offset_m":[-0.0003868843503628122,0.015619333131139352,0.009537382872337206]},{"name":"camera_3","offset_m":[0.004053792887930924,0.011308241596934405,0.013825500755749624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016298670649714908,-0.0014977284066963357,0.0018284674679791193],"end_effector_yaw_offset_degrees":-0.034477008611220494},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001452964801360708,0.0007685870144341967,0.0006543402102925887],"end_effector_yaw_offset_degrees":-0.6592032656808191},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011051524256318378,-0.001098845982832517,-0.000746867764688155],"end_effector_yaw_offset_degrees":0.3176819382735816},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001964317533589538,8.748120547343073e-05,-0.0012724701087493172],"end_effector_yaw_offset_degrees":0.8303891770135778}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010180157717449298,0.0036245373236270225],"position_m":[0.16711801577174493,0.15682453732362703,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025617148184025763,-0.003263388363985429],"position_m":[0.25726171481840254,-0.32426338836398544,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029832908133901894,0.004866093598382723],"position_m":[0.1409167091866098,0.29066609359838275,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010112383022411135,-0.0003533052730333615],"position_m":[0.35868876169775893,0.06314669472696664,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9fe99d2894cb9191cbf993f28e238ba573b7bb48a865a7d94d604a738bd164a3","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9712/tex_ceiling_textures_4975/tex_floor_textures_7484/tex_table_textures_2914/tex_wall_textures_4521","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":7290689738644427777,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":7290689738644427777,"visual_seed":7290689738644427777,"scene_id":"lab_003","finished_at":"2026-09-05T03:29:56"}
+{"episode_id":"ep_000061","started_at":"2026-09-05T03:30:00","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.03502893347043212,1.0310693482172155,0.71338606911949],"aabb_xy":[[-0.0990289298660052,0.967106059798482],[0.028971062925140956,1.095032636635949]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.2039437353984483,-1.3396230501056356,0.71338606911949],"aabb_xy":[[-0.26794373251055403,-1.3886554199000463],[-0.13994373828634263,-1.290590680311225]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.3606037333346426,1.0332324285659746,0.71338606911949],"aabb_xy":[[-0.3687173880080197,1.0251266121119456],[-0.35249007866126547,1.0413382450200037]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.6536367998414879,-1.7770193477646095,0.71338606911949],"aabb_xy":[[-0.6786367993932265,-1.787161831629744],[-0.6286368002897496,-1.7668768638994745]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[0.700060421838604,0.6612411139546079,0.71338606911949],"aabb_xy":[[0.677887894861953,0.6390654467984848],[0.7222329488152547,0.6834167811107311]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.634790527786722,0.23501388834660686,0.71338606911949],"aabb_xy":[[-0.6722905277304884,0.22672079831177028],[-0.5972905278429556,0.24330697838144344]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[-0.037973166646396384,-2.475170687598763,0.71338606911949],"aabb_xy":[[-0.05547316592448326,-2.4925087876651086],[-0.02047316736830951,-2.4578325875324167]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.4771407827820573,-1.412083660363649,0.71338606911949],"aabb_xy":[[-0.5121407826780762,-1.4204578958755891],[-0.4421407828860384,-1.403709424851709]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.60892560810618,0.8658142322793085,0.71338606911949],"aabb_xy":[[-0.6639256063079247,0.8252922656528708],[-0.5539256099044351,0.906336198905746]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.34815457375224557,-0.7582622746949781,0.71338606911949],"aabb_xy":[[0.2931623231167346,-0.8132622764382911],[0.40314682438775656,-0.7032622729516654]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.5496566216438543,-1.6949400063039328,0.71338606911949],"aabb_xy":[[0.5395036060897047,-1.7310095478766727],[0.5598096371980035,-1.658870464731192]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[-0.4464156727740398,0.21070656620754136,0.71338606911949],"aabb_xy":[[-0.5114156738799831,0.18574119313941306],[-0.38141567166809653,0.23567193927566965]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[-0.19052337530202168,0.8031227087658914,0.71338606911949],"aabb_xy":[[-0.22396355049804126,0.7696790829349611],[-0.15708320010600205,0.8365663345968213]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.5462958689846561,1.437291687253326,0.71338606911949],"aabb_xy":[[-0.6312958674020793,1.3524173917910411],[-0.46129587056723287,1.522165982715611]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[-0.2782333026379571,0.6459435062076033,0.71338606911949],"aabb_xy":[[-0.3582271262165153,0.5659435036147618],[-0.19823947905939887,0.7259435088004449]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.008025339015529931,-1.814869078221765,0.71338606911949],"aabb_xy":[[-0.0037428477791275902,-1.899869078126987],[0.019793525810187455,-1.7298690783165438]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[0.5564871519020211,0.9493732257595124,0.71338606911949],"aabb_xy":[[0.5112085370208719,0.8853732264113287],[0.6017657667831704,1.0133732251076961]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[0.5624112352904691,-2.2798496154461305,0.71338606911949],"aabb_xy":[[0.5249112347931109,-2.283818298994249],[0.5999112357878273,-2.275880931898012]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.4836443547971041,-1.3393261107785193,0.71338606911949],"aabb_xy":[[0.47494639250638887,-1.351451085085994],[0.49234231708781945,-1.3272011364710445]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.2235239680686658,0.5900036476559549,0.71338606911949],"aabb_xy":[[0.21711015442548082,0.5835938274082865],[0.2299377817118507,0.5964134679036232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6585353330361736,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/825.png","name":"825"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/825.png","name":"825"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1050.png","name":"1050"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4082.png","name":"4082"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1184.png","name":"1184"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6457.png","name":"6457"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":621.2268414407539,"rotation_z_degrees":248.57185063013335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021910318094152254,0.009077472364649859,0.006394076918024853]},{"name":"camera_2","offset_m":[0.013821164949566044,0.011632200374410238,-0.014833136680328636]},{"name":"camera_3","offset_m":[0.013116310771797365,0.0017940050015824924,0.00805200096356536]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018123719940617866,-0.0016608313613942648,-0.0019503784518475108],"end_effector_yaw_offset_degrees":0.09140700164421967},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001312236513867205,-0.0005295777749402388,-0.0012879210413734516],"end_effector_yaw_offset_degrees":-0.734122104007005},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019195183062131992,-0.001682702462796156,0.0013876038725596199],"end_effector_yaw_offset_degrees":0.7166385531660313},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[7.561618597155513e-05,0.001956132554643289,-2.7774438950084555e-05],"end_effector_yaw_offset_degrees":-0.5854975980426846}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007873720162123862,0.0034686021647340583],"position_m":[0.16531262798378762,0.15666860216473405,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004970831193620806,-0.00391716047214645],"position_m":[0.2497291688063792,-0.32491716047214647,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003054980356931864,0.0049542297021492035],"position_m":[0.14695498035693186,0.2907542297021492,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021194523295051016,0.0040704472816688484],"position_m":[0.3575805476704949,0.06757044728166885,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8276d4bd8d52e612e493d1ca50308e71cf8d2c3e0f412e44672decb591742d78","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_825/tex_ceiling_textures_6457/tex_floor_textures_1184/tex_table_textures_1050/tex_wall_textures_4082","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":4265361616721451335,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":4265361616721451335,"visual_seed":4265361616721451335,"scene_id":"lab_003","finished_at":"2026-09-05T03:33:36"}
+{"episode_id":"ep_000062","started_at":"2026-09-05T03:33:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.45916749002947177,-0.888434249227606,0.71338606911949],"aabb_xy":[[0.4424903540363763,-0.9051341732015363],[0.47584462602256733,-0.8717343252536758]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.6649896554455579,-0.9762176305785415,0.71338606911949],"aabb_xy":[[0.6305271774324701,-0.9828813077614642],[0.6994521334586457,-0.9695539533956186]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[0.5534977092666515,-1.7766472837799827,0.71338606911949],"aabb_xy":[[0.5446956539576787,-1.7844586099349116],[0.5622997645756241,-1.7688359576250534]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.33449421063004614,-1.888575435840031,0.71338606911949],"aabb_xy":[[-0.38449421099061215,-1.938555423049634],[-0.28449421026948,-1.8385954486304281]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_4","position":[0.020493459523031388,-1.3592962280827565,0.71338606911949],"aabb_xy":[[-0.00783625042550884,-1.3637569702764736],[0.048823169471571615,-1.3548354858890395]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.5056315269247016,-1.2389869388104255,0.71338606911949],"aabb_xy":[[0.43563152428811514,-1.2590918038062908],[0.5756315295612878,-1.2188820738145598]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.43247394301098285,-1.072109626424348,0.71338606911949],"aabb_xy":[[-0.512473940170558,-1.083657227382165],[-0.3524739458514075,-1.0605620254665309]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[-0.2863247606702688,-1.631850312009822,0.71338606911949],"aabb_xy":[[-0.35032475984003875,-1.6786169991287847],[-0.22232476150049887,-1.5850836248908597]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[0.13823648898314378,-1.7176765684771353,0.71338606911949],"aabb_xy":[[0.13226995004240796,-1.7236377131364993],[0.14420302792387954,-1.7117154238177714]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[0.5754359091988663,-1.544721909194124,0.71338606911949],"aabb_xy":[[0.48543590552194804,-1.6061543157712281],[0.6654359128757844,-1.4832895026170196]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.129590545785761,1.7396717819105993,0.71338606911949],"aabb_xy":[[0.11802156503882444,1.7146717817936679],[0.1411595265326976,1.7646717820275313]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[0.40766568585467833,-0.9883341950404876,0.71338606911949],"aabb_xy":[[0.357665684835543,-1.0248004107783155],[0.4576656868738136,-0.9518679793026597]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[-0.6387562439265575,1.7654850969035416,0.71338606911949],"aabb_xy":[[-0.6474542062172728,1.7533601225960669],[-0.6300582816358422,1.7776100712110163]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[-0.44187245513082335,1.3465158482995965,0.71338606911949],"aabb_xy":[[-0.5058724524331697,1.3021494213317395],[-0.3778724578284769,1.390882275267453]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[0.25663021291048693,0.8252620688028105,0.71338606911949],"aabb_xy":[[0.2341302129003387,0.811165849163207],[0.2791302129206353,0.8393582884424136]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[0.621467986568847,-2.415781449779703,0.71338606911949],"aabb_xy":[[0.5714837508606698,-2.465781448593199],[0.6714522222770243,-2.3657814509662076]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.4085023082153325,1.3511155762742724,0.71338606911949],"aabb_xy":[[0.318815231907217,1.2611155760198218],[0.4981893845234479,1.441115576528723]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[-0.6427058081900119,-0.299250663388956,0.71338606911949],"aabb_xy":[[-0.6812515010152128,-0.3377964344451446],[-0.6041601153648107,-0.2607048923327673]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[-0.6044212032323022,1.2872249278650525,0.71338606911949],"aabb_xy":[[-0.6544162141917542,1.237224928829461],[-0.5544261922728502,1.3372249269006444]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.2526947274998532,-0.6869852134554746,0.71338606911949],"aabb_xy":[[-0.2779155643596928,-0.7122089643083612],[-0.22747389064001347,-0.6617614626025877]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.4721258643936074,-0.3847453136944492,0.71338606911949],"aabb_xy":[[-0.5096258648909655,-0.3887139972425676],[-0.4346258638962491,-0.3807766301463308]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.4148090374556724,0.8065514302604129,0.71338606911949],"aabb_xy":[[-0.4698012880911833,0.7515514285171002],[-0.3598167868201614,0.8615514320037257]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.40595680498526265,-0.5971011511803461,0.71338606911949],"aabb_xy":[[0.39792047028397776,-0.6051392704847629],[0.41399313968654744,-0.5890630318759293]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[0.6647032916370479,-0.0911915257095397,0.71338606911949],"aabb_xy":[[0.6470276610484494,-0.10887174198894245],[0.6823789222256461,-0.07351130943013695]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[-0.45177391161467984,-1.1642067201246933,0.71338606911949],"aabb_xy":[[-0.531773910271566,-1.1787115790489562],[-0.3717739129577939,-1.1497018612004304]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[-0.5219974762591684,1.067678237344313,0.71338606911949],"aabb_xy":[[-0.5444938976930325,1.0451782375375656],[-0.49950105482530427,1.0901782371510604]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[0.6001055194947598,0.29710541494305653,0.71338606911949],"aabb_xy":[[0.5823120125598433,0.27930566934725887],[0.6178990264296762,0.3149051605388542]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_27","position":[-0.48490672358327247,-0.9415154215811941,0.71338606911949],"aabb_xy":[[-0.5749067200841441,-0.9874270639996523],[-0.39490672708240065,-0.8956037791627358]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_28","position":[0.5043339915387077,0.5981643013615581,0.71338606911949],"aabb_xy":[[0.493922432858224,0.5928185680256595],[0.5147455502191914,0.6035100346974565]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_29","position":[0.6671695705728304,-0.7642915411134288,0.71338606911949],"aabb_xy":[[0.6433333529322255,-0.8542915419219153],[0.6910057882134356,-0.6742915403049422]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_30","position":[-0.46455061862134583,-0.2161728390815867,0.71338606911949],"aabb_xy":[[-0.4708627181576843,-0.22193977833480552],[-0.45823851908500746,-0.21040589982836785]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_31","position":[-0.4902041924304713,0.018913268737951405,0.71338606911949],"aabb_xy":[[-0.5701980160090295,-0.06108673385489016],[-0.4102103688519131,0.09891327133079297]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_32","position":[-0.1044806936706062,1.236944993023814,0.71338606911949],"aabb_xy":[[-0.19448069600462525,1.1594626384387015],[-0.014480691336587137,1.3144273476089268]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_33","position":[-0.49928369604281564,-0.6430544079047089,0.71338606911949],"aabb_xy":[[-0.5337460434409573,-0.6775482903025315],[-0.4648213486446738,-0.6085605255068861]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6554198049787334,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4386.png","name":"4386"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4386.png","name":"4386"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6925.png","name":"6925"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8053.png","name":"8053"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9.png","name":"9"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2861.png","name":"2861"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":828.7484787466651,"rotation_z_degrees":30.768292992516898,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00783201808563035,0.005012493202036863,0.014888243797946583]},{"name":"camera_2","offset_m":[0.005305497190146596,0.0051813710501512796,0.014091533192186926]},{"name":"camera_3","offset_m":[-0.016565653563471935,-0.01281858940109339,-0.013017151057542212]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003124377399636286,-0.0002555394686571959,0.0010985978636497825],"end_effector_yaw_offset_degrees":0.3671552970484224},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018605908000346952,0.00012415692618018186,-0.00022989161293681401],"end_effector_yaw_offset_degrees":0.015250651764834533},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00039514986432905887,0.0010384470985193828,-0.0009205153310772377],"end_effector_yaw_offset_degrees":-0.6684673952352456},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00019628745767372342,-0.0003708871635602752,0.0010054253338788767],"end_effector_yaw_offset_degrees":0.5088339723302819}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015591923140581042,0.002572462271415803],"position_m":[0.1645408076859419,0.1557724622714158,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036918804552339758,0.00475508350008846],"position_m":[0.251008119544766,-0.31624491649991154,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000277426139010206,-0.0037652270860285995],"position_m":[0.14362257386098978,0.2820347729139714,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002836817060153543,0.0019726888275695713],"position_m":[0.36253681706015356,0.06547268882756957,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5143f0001ac2a773a5f9b54ad4172e33a196d69fdedbc5a2589416940f23c98c","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0064.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4386/tex_ceiling_textures_2861/tex_floor_textures_9/tex_table_textures_6925/tex_wall_textures_8053","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5274003867367532392,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5274003867367532392,"visual_seed":5274003867367532392,"scene_id":"lab_003","finished_at":"2026-09-05T03:37:22"}
+{"episode_id":"ep_000063","started_at":"2026-09-05T03:37:25","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[-0.09166415401755512,-0.8915418149080163,0.71338606911949],"aabb_xy":[[-0.17166415142114852,-0.971534386106199],[-0.011664156613961694,-0.8115492437098334]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[0.3864173775392805,1.4818750836595593,0.71338606911949],"aabb_xy":[[0.30641737955849546,1.4742735426977074],[0.46641737552006557,1.4894766246214113]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.607846974573282,-0.6299415340706946,0.71338606911949],"aabb_xy":[[0.6018804356325462,-0.6359026787300587],[0.6138135135140177,-0.6239803894113306]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[-0.06083490754867027,-1.8784765339805802,0.71338606911949],"aabb_xy":[[-0.07370681104961041,-1.9584765343944164],[-0.04796300404773013,-1.798476533566744]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[-0.46956763233234566,1.1081060718755982,0.71338606911949],"aabb_xy":[[-0.4866697102907138,1.0909992663443284],[-0.4524655543739775,1.125212877406868]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[0.6664826350438748,-2.265747035860614,0.71338606911949],"aabb_xy":[[0.6584563644132488,-2.2744985308379673],[0.6745089056745008,-2.256995540883262]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.14897392018268063,0.6150689949860739,0.71338606911949],"aabb_xy":[[-0.1950590114374121,0.5510689977335187],[-0.10288882892794916,0.6790689922386289]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.41304393830132,-1.7420831551089526,0.71338606911949],"aabb_xy":[[0.38853031420431416,-1.7663477484109893],[0.4375575623983259,-1.7178185618069164]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[-0.42533623916368424,0.05513491959729322,0.71338606911949],"aabb_xy":[[-0.46033623835650245,0.044167873599630585],[-0.3903362399708659,0.06610196559495585]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[0.6199028479738264,0.5426443695655205,0.71338606911949],"aabb_xy":[[0.5399028477002193,0.46969482173980376],[0.6999028482474333,0.6155939173912371]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.16811116311004137,-0.5808122318948259,0.71338606911949],"aabb_xy":[[-0.1815576897440847,-0.5942820835479171],[-0.15466463647599804,-0.5673423802417347]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[-0.39629920830567267,-0.16697506631795145,0.71338606911949],"aabb_xy":[[-0.4007298376605129,-0.17242343805263405],[-0.39186857895083255,-0.16152669458326885]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.11606785965757371,-2.2173537001469033,0.71338606911949],"aabb_xy":[[0.09856792622359033,-2.2348537000671373],[0.13356779309155709,-2.1998537002266683]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.21887664028639764,-0.7507813167285007,0.71338606911949],"aabb_xy":[[0.154876639908864,-0.800526583579313],[0.28287664066393126,-0.7010360498776884]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.08582686149954133,-1.3633294224563182,0.71338606911949],"aabb_xy":[[-0.1498268647892494,-1.4066643414602356],[-0.021826858209833194,-1.3199945034524003]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[0.21884042961379613,0.7487595969060781,0.71338606911949],"aabb_xy":[[0.20690769525196806,0.7363774440982188],[0.2307731639756242,0.7611417497139376]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[0.49529136534022977,1.2794191068705976,0.71338606911949],"aabb_xy":[[0.44816198633839405,1.2154191058261952],[0.5424207443420654,1.343419107914999]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[0.47270130779986386,-0.8390815786239054,0.71338606911949],"aabb_xy":[[0.3927013063697366,-0.9185987336365148],[0.5527013092299911,-0.7595644236112958]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.37614136183760244,1.4524048884409368,0.71338606911949],"aabb_xy":[[-0.3841353504153058,1.4444048083458463],[-0.368147373259899,1.460404968536027]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.40447745008234337,-0.5862077306583058,0.71338606911949],"aabb_xy":[[0.3968531819921651,-0.5938409541948496],[0.4121017181725216,-0.5785745071217622]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.694907421515164,-0.9342788446282881,0.71338606911949],"aabb_xy":[[0.6831392347205066,-1.0192788445335097],[0.7066756083098217,-0.8492788447230667]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[-0.1297530867330018,-2.5198617342855254,0.71338606911949],"aabb_xy":[[-0.16708436325824444,-2.5545147890803777],[-0.09242181020775919,-2.485208679490673]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[-0.4902626336888646,0.6123920667019838,0.71338606911949],"aabb_xy":[[-0.5103210453021048,0.5923269797928262],[-0.47020422207562423,0.6324571536111413]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660245098114841,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2586.png","name":"2586"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2586.png","name":"2586"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9136.png","name":"9136"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8465.png","name":"8465"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2398.png","name":"2398"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9952.png","name":"9952"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":780.0528494391981,"rotation_z_degrees":173.7139188657323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01997145082834176,0.006301156258876606,0.01089687336669485]},{"name":"camera_2","offset_m":[0.017447211854383447,-0.0020725062953469847,-0.01004139395555831]},{"name":"camera_3","offset_m":[-0.006737627007730595,-0.004568387346680894,0.015355080391401831]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001844446608791038,0.0019296248802870685,0.0016636340948789799],"end_effector_yaw_offset_degrees":-0.6133891449321263},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00012465530813910624,-9.004139502401774e-06,0.0003093505964189415],"end_effector_yaw_offset_degrees":0.47233882542384653},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.052800934874597e-05,0.0006818748330648691,-0.001719782253409627],"end_effector_yaw_offset_degrees":0.5103923964109849},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006160259833994683,0.0016051005901472353,0.001499137063937069],"end_effector_yaw_offset_degrees":0.12653741251781092}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001601932166718628,-0.0038675496228758642],"position_m":[0.16449806783328136,0.14933245037712414,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001285212244101064,-0.0008543643385585083],"position_m":[0.25341478775589893,-0.3218543643385585,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031851954801209977,0.003923418737538562],"position_m":[0.147085195480121,0.28972341873753854,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00406379212900091,-0.00045694953630919053],"position_m":[0.36376379212900095,0.06304305046369081,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"acf2b2c64b426d6f3d2aacce6d7b6ce6d7daa682152ea420c45d3bec4df1791a","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2586/tex_ceiling_textures_9952/tex_floor_textures_2398/tex_table_textures_9136/tex_wall_textures_8465","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1967255794076801985,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1967255794076801985,"visual_seed":1967255794076801985,"scene_id":"lab_003","finished_at":"2026-09-05T03:41:08"}
+{"episode_id":"ep_000064","started_at":"2026-09-05T03:41:12","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[0.19212555426007394,-1.3226868913796668,0.71338606911949],"aabb_xy":[[0.1845012861698957,-1.3303201149162105],[0.1997498223502522,-1.315053667843123]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.0002658133811641594,1.1275168946699283,0.71338606911949],"aabb_xy":[[-0.05026508854960032,1.0775168933939814],[0.049733461787272004,1.1775168959458757]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[0.5329055952384181,0.5801410380018415,0.71338606911949],"aabb_xy":[[0.5083919711414122,0.5558764446998049],[0.5574192193354239,0.6044056313038778]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[0.5706410481311812,0.7563443903084996,0.71338606911949],"aabb_xy":[[0.506641044841473,0.7130094713045819],[0.6346410514208892,0.7996793093124172]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.15952033443963798,-1.7608140297536632,0.71338606911949],"aabb_xy":[[-0.19543383886462765,-1.7967275379704177],[-0.12360683001464827,-1.7249005215369086]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[0.27879767813273715,0.6560603541040346,0.71338606911949],"aabb_xy":[[0.26273575067421945,0.5710603522914427],[0.29485960559125474,0.7410603559166263]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.49723657355119505,-0.023155874876256366,0.71338606911949],"aabb_xy":[[-0.5472315845106472,-0.0731558739118481],[-0.4472415625917432,0.026844124159335354]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[-0.08184065256121931,-2.3620651334127993,0.71338606911949],"aabb_xy":[[-0.10311866070469156,-2.427065135738872],[-0.06056264441774706,-2.297065131086726]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[-0.37701255926321253,-1.533430293914998,0.71338606911949],"aabb_xy":[[-0.4270125602823479,-1.569896509652826],[-0.3270125582440773,-1.4969640781771698]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[0.492382783270767,-2.524056488944423,0.71338606911949],"aabb_xy":[[0.46738278410513384,-2.5310087346497796],[0.5173827824364001,-2.5171042432390665]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.27855249829727624,0.3816930159895735,0.71338606911949],"aabb_xy":[[-0.32855249694319744,0.33177347233011106],[-0.22855249965135505,0.43161255964903583]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[-0.30158328669084716,1.2001489872965,0.71338606911949],"aabb_xy":[[-0.33908328703907487,1.1883575917154163],[-0.26408328634261935,1.2119403828775834]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[-0.47932890111077625,-1.6003965206419668,0.71338606911949],"aabb_xy":[[-0.4842849212956575,-1.6228965208440889],[-0.474372880925895,-1.5778965204398456]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[0.5723330104921465,0.04942528984510419,0.71338606911949],"aabb_xy":[[0.5273404237736959,0.004425290570655445],[0.6173255972105968,0.09442528911955295]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.041875555067499515,1.416558308454293,0.71338606911949],"aabb_xy":[[0.004375556644099159,1.403394094486462],[0.07937555349089986,1.4297225224221235]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[0.4598417438101281,0.014514339662012432,0.71338606911949],"aabb_xy":[[0.4362566203462333,-0.050485662583419355],[0.483426867274023,0.07951434190744422]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_16","position":[-0.4641282883187156,0.4591922311603285,0.71338606911949],"aabb_xy":[[-0.5141282877589113,0.4092243066760121],[-0.41412828887851993,0.5091601556446448]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.5497410719537016,1.1468932974479094,0.71338606911949],"aabb_xy":[[-0.5557780849543664,1.1408665963789613],[-0.543704058953037,1.1529199985168574]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.34820821598651364,-1.1380038518484457,0.71338606911949],"aabb_xy":[[0.30719027260014276,-1.188003852479403],[0.3892261593728845,-1.0880038512174883]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.4428996117591137,-1.0612571918777527,0.71338606911949],"aabb_xy":[[-0.5228996139218762,-1.141212375503896],[-0.36289960959635115,-0.9813020082516088]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[-0.20676467908878393,-1.6655047977496453,0.71338606911949],"aabb_xy":[[-0.22463378684323942,-1.6793377057268561],[-0.18889557133432844,-1.651671889772434]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[-0.49619612797235785,1.7114400513277066,0.71338606911949],"aabb_xy":[[-0.5131068604086996,1.6979678457350917],[-0.479285395536016,1.724912256920321]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[0.6827240117977849,-1.5407879510339635,0.71338606911949],"aabb_xy":[[0.6452240119807513,-1.545426162345105],[0.7202240116148184,-1.5361497397228214]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[-0.256610103831213,-1.122632441527409,0.71338606911949],"aabb_xy":[[-0.30658891234152885,-1.1726324415331277],[-0.20663129532089708,-1.0726324415216901]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[0.5229391439524731,1.3406337798355827,0.71338606911949],"aabb_xy":[[0.480172437073053,1.2766337764137803],[0.5657058508318934,1.4046337832573852]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_25","position":[-0.2128568823119536,1.614331516793698,0.71338606911949],"aabb_xy":[[-0.26284999442114554,1.5643315161195028],[-0.16286377020276172,1.664331517467894]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[0.0842575169800267,-1.5507075417583227,0.71338606911949],"aabb_xy":[[0.059257517428288206,-1.5608500256234574],[0.10925751653176517,-1.540565057893188]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[0.16613969404992257,-1.2674375880827284,0.71338606911949],"aabb_xy":[[0.16080717939530959,-1.272761916327964],[0.17147220870453556,-1.262113259837493]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6562336266658162,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4375.png","name":"4375"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4375.png","name":"4375"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4291.png","name":"4291"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9081.png","name":"9081"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7754.png","name":"7754"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1553.png","name":"1553"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":522.0459979523598,"rotation_z_degrees":275.99962979722744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006953618213021184,-0.0033306149582034116,0.005805969941376065]},{"name":"camera_2","offset_m":[0.014744572467378304,0.006742450800115415,0.009261336293294481]},{"name":"camera_3","offset_m":[0.011196919964402668,0.014378489862112213,-0.004501261258073078]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019626818497091806,0.001335641901354195,0.001716440296782475],"end_effector_yaw_offset_degrees":0.7826442114692518},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00038379450183240725,0.001227103996367454,-0.0019917662083869274],"end_effector_yaw_offset_degrees":-0.20315146762029523},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007345458562169141,0.0011421976787731555,-0.0017215542437446691],"end_effector_yaw_offset_degrees":-0.1398485620723715},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013880226515816988,-0.001528559922626918,0.0005825842297078549],"end_effector_yaw_offset_degrees":0.8904933242564148}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008869637625442961,0.00463326357864433],"position_m":[0.1669869637625443,0.15783326357864433,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0041993754078486645,0.002157281804260474],"position_m":[0.25050062459215133,-0.31884271819573956,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00045464331352916727,-6.862653481575984e-06],"position_m":[0.14344535668647082,0.2857931373465184,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002183783326906885,-0.00017271728697189175],"position_m":[0.35751621667309313,0.06332728271302811,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c75dddce1f348a2dadc67e0dc954ae9217f4da9c26ab3fc32c5af61ad0eca93b","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4375/tex_ceiling_textures_1553/tex_floor_textures_7754/tex_table_textures_4291/tex_wall_textures_9081","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2218992213806440158,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2218992213806440158,"visual_seed":2218992213806440158,"scene_id":"lab_003","finished_at":"2026-09-05T03:45:02"}
+{"episode_id":"ep_000065","started_at":"2026-09-05T03:45:05","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.6067653323077857,-1.2475180159090997,0.71338606911949],"aabb_xy":[[-0.6707653287033588,-1.3114813043278333],[-0.5427653359122127,-1.1835547274903662]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[0.6737865251103352,0.9034027028629232,0.71338606911949],"aabb_xy":[[0.6622175443633986,0.8784027027459916],[0.6853555058572718,0.928402702979855]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.6052330437611056,0.4338137173901204,0.71338606911949],"aabb_xy":[[-0.655206337764366,0.3838137168355731],[-0.5552597497578451,0.48381371794466776]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[0.5302871745914315,0.7251400112050721,0.71338606911949],"aabb_xy":[[0.5133764421550896,0.7116678056124576],[0.5471979070277732,0.7386122167976866]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_4","position":[0.44348285619669015,1.6697247308190284,0.71338606911949],"aabb_xy":[[0.3634828557264742,1.6614140232046803],[0.5234828566669061,1.6780354384333769]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.5470805344253283,-1.8720065154807988,0.71338606911949],"aabb_xy":[[-0.5683585425688005,-1.9370065178068716],[-0.525802526281856,-1.8070065131547255]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[0.4217126659853705,-0.757816802149794,0.71338606911949],"aabb_xy":[[0.4175967158732978,-0.7619323571826394],[0.4258286160974431,-0.7537012471169483]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[0.23672411263192328,-0.8141651237214274,0.71338606911949],"aabb_xy":[[0.17272411346215336,-0.8609318108403898],[0.30072411180169323,-0.7673984366024649]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[-0.511468022048975,0.1955495944436234,0.71338606911949],"aabb_xy":[[-0.5240707211860515,0.1829541982187579],[-0.49886532291189856,0.2081449906684889]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.5933960166814642,-2.4041087042471427,0.71338606911949],"aabb_xy":[[0.5434229511489488,-2.454108704059676],[0.6433690822139797,-2.3541087044346103]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[-0.24827453519306575,-0.15796638608849722,0.71338606911949],"aabb_xy":[[-0.29825334370338163,-0.20796638609421603],[-0.19829572668274983,-0.10796638608277842]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[-0.6560624905537593,1.355136613859901,0.71338606911949],"aabb_xy":[[-0.6634749460951477,1.349285403438273],[-0.6486500350123707,1.360987824281529]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[-0.25793460264067597,1.6456069170331413,0.71338606911949],"aabb_xy":[[-0.3219345990679979,1.5984372932110449],[-0.19393460621335407,1.6927765408552378]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[0.6457443367430429,-1.5281386102968744,0.71338606911949],"aabb_xy":[[0.6232443367328946,-1.5422348299364779],[0.6682443367531912,-1.5140423906572713]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[-0.04530620950626285,0.9005682881459984,0.71338606911949],"aabb_xy":[[-0.09530621116775759,0.8505698458902956],[0.004693792155231919,0.950566730401701]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[0.3313109549333513,-2.219523732427752,0.71338606911949],"aabb_xy":[[0.302661622572935,-2.2481692917048273],[0.35996028729376744,-2.1908781731506757]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.16937282020481992,-0.5842182030597978,0.71338606911949],"aabb_xy":[[0.13888857007778974,-0.6342182028412936],[0.19985707033185005,-0.5342182032783017]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[0.21934795363036041,-1.091211232205474,0.71338606911949],"aabb_xy":[[0.17417663578219147,-1.1552112293500123],[0.26451927147852944,-1.0272112350609355]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.06390324314099383,1.2365400635186043,0.71338606911949],"aabb_xy":[[-0.06874683790222381,1.2316884110396202],[-0.059059648379763866,1.2413917159975885]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[0.6568194752734877,0.03965551766075448,0.71338606911949],"aabb_xy":[[0.6318194753409699,0.03277284943983117],[0.6818194752060057,0.0465381858816778]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.09612227546975094,-1.2169322174698598,0.71338606911949],"aabb_xy":[[-0.1561222771126728,-1.2689323667618038],[-0.03612227382682909,-1.1649320681779154]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[-0.13183176568855015,0.3662617919452482,0.71338606911949],"aabb_xy":[[-0.15211606841194886,0.3459791668025394],[-0.11154746296515135,0.38654441708795706]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[0.3548294133701153,-0.8859173966752893,0.71338606911949],"aabb_xy":[[0.3467017251768021,-0.8948310050859969],[0.36295710156342853,-0.8770037882645816]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[0.12433139999301468,0.859743609152738,0.71338606911949],"aabb_xy":[[0.06933140179126984,0.8192216425263004],[0.17933139819475952,0.9002655757791755]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[0.42262180032147434,0.8869805075596475,0.71338606911949],"aabb_xy":[[0.40512180104338746,0.8696424074933017],[0.4401217995995612,0.9043186076259936]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6574720751966509,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5039.png","name":"5039"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5039.png","name":"5039"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6904.png","name":"6904"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4472.png","name":"4472"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9036.png","name":"9036"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6763.png","name":"6763"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":602.8174337164,"rotation_z_degrees":185.05835193845778,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016947889288655305,-0.015497454997843892,-0.014500785790812225]},{"name":"camera_2","offset_m":[0.016652194654360363,-0.014967002692618681,-0.007167617876695167]},{"name":"camera_3","offset_m":[0.01907701884174907,-0.019591043631850186,-0.0007240876966922542]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019387286465857208,-0.00036092559585398703,-0.0008774774507671747],"end_effector_yaw_offset_degrees":0.44196708785430516},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-8.05346130416159e-06,0.0007071451427302475,-0.0015090656298277771],"end_effector_yaw_offset_degrees":-0.7099677467633028},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001668527066106944,-0.0015234647791075653,-0.0011796747558426568],"end_effector_yaw_offset_degrees":0.3700861038839496},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019485589997660377,-0.0005460135927185387,-0.000892179031471938],"end_effector_yaw_offset_degrees":0.06226171571976358}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002357721184362035,-0.003442920650622033],"position_m":[0.16374227881563796,0.14975707934937796,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004729034338167538,-0.0013273004066824468],"position_m":[0.24997096566183244,-0.32232730040668245,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031467662858360454,-0.003267924065716077],"position_m":[0.14704676628583604,0.2825320759342839,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004627416123561333,-0.0023938351774686773],"position_m":[0.36432741612356134,0.061106164822531325,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6ff1b37e49ee19e1578f3c5c4414dc5112ad57e8b77f914533d8ec421885c84f","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5039/tex_ceiling_textures_6763/tex_floor_textures_9036/tex_table_textures_6904/tex_wall_textures_4472","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1985777199299645273,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1985777199299645273,"visual_seed":1985777199299645273,"scene_id":"lab_003","finished_at":"2026-09-05T03:49:01"}
+{"episode_id":"ep_000066","started_at":"2026-09-05T03:49:04","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[-0.22068831064491468,0.9257641063310547,0.71338606911949],"aabb_xy":[[-0.2442734341088095,0.860764104085623],[-0.1971031871810198,0.9907641085764866]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[-0.17324138609396533,0.3218327672171797,0.71338606911949],"aabb_xy":[[-0.18380886575206432,0.31128773710417107],[-0.1626739064358663,0.3323777973301882]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[-0.1133938576978808,1.3586200649670137,0.71338606911949],"aabb_xy":[[-0.12065510526828821,1.3458330547035042],[-0.10613261012747338,1.3714070752305232]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.16985063879498086,-0.17047230339996755,0.71338606911949],"aabb_xy":[[-0.23485063979548138,-0.22125866855464246],[-0.10485063779448034,-0.11968593824529258]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.4357765888777139,1.5594464687055942,0.71338606911949],"aabb_xy":[[-0.4858740528587876,1.4954464681957824],[-0.38567912489664036,1.623446469215406]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[-0.25708770218671073,1.4989425003030115,0.71338606911949],"aabb_xy":[[-0.26266937382083944,1.4864425004852357],[-0.2515060305525819,1.5114425001207867]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_6","position":[0.24046270764101652,-1.2498501230480301,0.71338606911949],"aabb_xy":[[0.22536040617999836,-1.2649516446790914],[0.2555650091020345,-1.234748601416968]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.5372866132951075,-0.8573758433730696,0.71338606911949],"aabb_xy":[[-0.5737824339223863,-0.8938597857998272],[-0.5007907926678288,-0.820891900946312]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.034574933778116934,0.8649091003047946,0.71338606911949],"aabb_xy":[[-0.015307763099579274,0.81490910105852],[0.08445763065581313,0.9149090995510695]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[0.2657905862695277,0.9137392097864723,0.71338606911949],"aabb_xy":[[0.23539247517038406,0.8833323077848028],[0.2961886973686712,0.9441461117881418]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[0.61950929239933,1.3359652956636845,0.71338606911949],"aabb_xy":[[0.578204749335594,1.2719652960955676],[0.6608138354630659,1.3999652952318018]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[0.3367281228547523,0.4205406052202103,0.71338606911949],"aabb_xy":[[0.2895987438529166,0.3565406041758083],[0.38385750185658796,0.4845406062646122]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.10332990360514305,1.7519004131183489,0.71338606911949],"aabb_xy":[[-0.10776053295998324,1.7464520413836664],[-0.09889927425030288,1.7573487848530314]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.5211056812826604,0.8097201881297811,0.71338606911949],"aabb_xy":[[0.48431104815775416,0.7728143130331987],[0.5579003144075667,0.8466260632263632]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[0.5736240089565983,-0.3685190490885626,0.71338606911949],"aabb_xy":[[0.5086240110749504,-0.4196427127951035],[0.6386240068382459,-0.3173953853820217]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[0.17033696349473515,-1.119613273227449,0.71338606911949],"aabb_xy":[[0.14036940658490948,-1.1496132735253348],[0.20030452040456082,-1.0896132729295633]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.43136845729108136,-1.9632191724368941,0.71338606911949],"aabb_xy":[[-0.49536845459342765,-2.0075855994047505],[-0.36736845998873485,-1.9188527454690372]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[0.36659882834662927,1.5831285002931756,0.71338606911949],"aabb_xy":[[0.3616428081617481,1.5606285000910542],[0.37155484853151044,1.6056285004952975]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.09014784011868637,1.3660606413753493,0.71338606911949],"aabb_xy":[[0.055831562944068436,1.3160606414021714],[0.12446411729330431,1.4160606413485268]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[0.6412290648656742,-1.1682242559378355,0.71338606911949],"aabb_xy":[[0.6372685810959399,-1.1758921205233561],[0.6451895486354086,-1.160556391352315]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[0.6244574498675441,-0.6597249976752568,0.71338606911949],"aabb_xy":[[0.6135516737799814,-0.739724994074086],[0.6353632259551069,-0.5797250012764277]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.22637974054177395,-0.9647079491474626,0.71338606911949],"aabb_xy":[[-0.3163797442186921,-1.0261403557245667],[-0.13637973686485574,-0.903275542570358]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.13640563314274656,-2.1393558265117143,0.71338606911949],"aabb_xy":[[0.05640563267253061,-2.1476665341260626],[0.21640563361296253,-2.131045118897366]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6593361634519574,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9065.png","name":"9065"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9065.png","name":"9065"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2624.png","name":"2624"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6656.png","name":"6656"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6753.png","name":"6753"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9722.png","name":"9722"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":623.9316254887834,"rotation_z_degrees":314.0367982412987,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005944131241447201,-0.008047769472774049,0.005164783224307502]},{"name":"camera_2","offset_m":[0.017449751444830647,0.009036909760862657,0.01021965483045489]},{"name":"camera_3","offset_m":[-0.007358713244755025,-0.004286549071638293,0.008385161819245295]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00022075507106744576,-0.0014571839433775448,-0.0003165631695197333],"end_effector_yaw_offset_degrees":-0.9917104728779},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001568309148342658,-0.0018928445907436206,-0.0010135027472479355],"end_effector_yaw_offset_degrees":0.07290308210301322},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00019112490122397347,-0.0013048027413230696,-0.00013694889558872126],"end_effector_yaw_offset_degrees":-0.006870487516594803},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010556267474148527,-0.0003872736380450398,0.0015446269072203153],"end_effector_yaw_offset_degrees":-0.06897581265130981}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004310313764511772,0.0034319311273617375],"position_m":[0.16178968623548823,0.15663193112736173,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023925887690010874,-0.0009725916049344819],"position_m":[0.25230741123099887,-0.32197259160493447,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004843795416206138,4.134805103552831e-05],"position_m":[0.14874379541620614,0.2858413480510355,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001544431675977297,-0.00028556301488252313],"position_m":[0.35815556832402273,0.06321443698511747,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"27b7acd8b48520bc3d12ede91fd11921fbaf4fa6430c7354ee300efe98f93f0a","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9065/tex_ceiling_textures_9722/tex_floor_textures_6753/tex_table_textures_2624/tex_wall_textures_6656","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1994176854657663182,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1994176854657663182,"visual_seed":1994176854657663182,"scene_id":"lab_003","finished_at":"2026-09-05T03:52:44"}
+{"episode_id":"ep_000067","started_at":"2026-09-05T03:56:51","dimensions":{"distractor":{"count":24,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.40242040672846424,-1.5171111636470491,0.71338606911949],"aabb_xy":[[0.31242041022759237,-1.5630228060655071],[0.4924204032293359,-1.4711995212285907]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.6161476305358663,0.06281489615032898,0.71338606911949],"aabb_xy":[[-0.6336476298139532,0.04547679608398303],[-0.5986476312577794,0.08015299621667493]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.07227692170751598,-0.9673292946975705,0.71338606911949],"aabb_xy":[[-0.13627692492615384,-1.014052406596579],[-0.00827691848887814,-0.9206061827985622]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.044892290339556884,-1.4491189564310467,0.71338606911949],"aabb_xy":[[0.03364723476893905,-1.4603607541551418],[0.05613734591017472,-1.4378771587069512]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[0.5850574996449975,-1.4051175752745413,0.71338606911949],"aabb_xy":[[0.5621417867599476,-1.4280218724109648],[0.6079732125300474,-1.3822132781381178]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[0.5682527822501713,1.782105497403172,0.71338606911949],"aabb_xy":[[0.5332527808986897,1.7617457614463512],[0.6032527836016531,1.8024652333599929]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[0.5520548994843151,-0.22334561770410666,0.71338606911949],"aabb_xy":[[0.5427612812471644,-0.26084561619224056],[0.5613485177214655,-0.18584561921597278]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.3672389539793812,-0.5475083257399374,0.71338606911949],"aabb_xy":[[0.351683184569116,-0.5630587589843445],[0.3827947233896466,-0.5319578924955302]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[-0.6402689291261926,-0.11134942244972823,0.71338606911949],"aabb_xy":[[-0.6745852063008105,-0.16134942242290595],[-0.6059526519515747,-0.06134942247655051]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[0.5835774685015955,-1.315808603024284,0.71338606911949],"aabb_xy":[[0.5583566316417558,-1.3410323538771705],[0.6087983053614351,-1.290584852171397]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.13341011821181792,-2.4424617818805863,0.71338606911949],"aabb_xy":[[-0.1702047513367242,-2.4793676569771685],[-0.09661548508691165,-2.405555906784004]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.3132113051292497,0.9759627250008513,0.71338606911949],"aabb_xy":[[-0.3632113047055845,0.9259821460487453],[-0.26321130555291505,1.0259433039529573]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.30403729904590715,-2.239150391936268,0.71338606911949],"aabb_xy":[[0.24891209341631634,-2.2991503933775546],[0.3591625046754979,-2.1791503904949803]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.6948470112673444,-2.236190998726237,0.71338606911949],"aabb_xy":[[0.6729383291279932,-2.2580916655463272],[0.7167556934066953,-2.2142903319061458]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.6733827279053339,0.9834944254733893,0.71338606911949],"aabb_xy":[[0.6234096623728185,0.9334944256608566],[0.7233557934378494,1.0334944252859224]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.4505094071297139,1.0609290987219593,0.71338606911949],"aabb_xy":[[-0.4750556227524646,1.0306802021729222],[-0.42596319150696316,1.0911779952709963]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.19311515129470147,0.4917770934914283,0.71338606911949],"aabb_xy":[[-0.23014926072276115,0.4573998861577187],[-0.15608104186664173,0.5261543008251376]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[-0.10699758138530302,-1.3331590465278877,0.71338606911949],"aabb_xy":[[-0.12827558952877527,-1.3981590488539606],[-0.08571957324183076,-1.2681590442018145]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.5840424324116269,-2.176192673290413,0.71338606911949],"aabb_xy":[[-0.6640424326852338,-2.2491422211161294],[-0.5040424321380198,-2.103243125464696]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.5763435318383436,0.710098129225456,0.71338606911949],"aabb_xy":[[0.5518299077413378,0.6858335359234196],[0.6008571559353495,0.7343627225274925]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.2218141807321511,0.8668209020221203,0.71338606911949],"aabb_xy":[[-0.22951737140622816,0.8591115313233822],[-0.21411099005807407,0.8745302727208583]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.4103424234417248,0.0780303390176833,0.71338606911949],"aabb_xy":[[-0.4653424230634707,0.023046646230210577],[-0.355342423819979,0.13301403180515603]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[-0.5515056366987205,1.5531733193525397,0.71338606911949],"aabb_xy":[[-0.6013224161635553,1.503173320868236],[-0.5016888572338858,1.6031733178368428]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[-0.09051292018067525,-1.9354481044655305,0.71338606911949],"aabb_xy":[[-0.12801292047285007,-1.939489579866134],[-0.05301291988850043,-1.931406629064927]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6639847751086786,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6537.png","name":"6537"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6537.png","name":"6537"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6670.png","name":"6670"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3898.png","name":"3898"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7580.png","name":"7580"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/420.png","name":"420"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":644.1443969744506,"rotation_z_degrees":112.39302618363212,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01862675925286705,-0.014648367818626187,0.013067976755664897]},{"name":"camera_2","offset_m":[0.007113480663813801,0.0024755711520289617,0.013360383620728455]},{"name":"camera_3","offset_m":[0.0068338959293512865,-0.009026507866230257,0.01997189411843774]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018101569805015517,-0.0013764745699505455,0.0017273651081523584],"end_effector_yaw_offset_degrees":-0.08221204014491357},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012199413469672318,0.00019545722587968302,-0.0010506413159089684],"end_effector_yaw_offset_degrees":-0.6990555830662453},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001311217386144346,0.0015564466885677713,-0.0017993796838614983],"end_effector_yaw_offset_degrees":0.11101803447878522},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005883954772665663,-0.0009378039504221837,-0.0017589682873276437],"end_effector_yaw_offset_degrees":0.625105348982389}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004378471569452764,-0.0017456787422636898],"position_m":[0.17047847156945276,0.1514543212577363,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001807753614748984,-0.0029857447477151856],"position_m":[0.256507753614749,-0.3239857447477152,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003326802653504589,-0.0015816589210352872],"position_m":[0.1405731973464954,0.2842183410789647,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003666869858919143,-0.004267771090472604],"position_m":[0.3560331301410809,0.059232228909527396,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e0a8c03e61735c28c04eb3ee57b7d7c7beaeb8bc118ebffe46dd901523987f91","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0070.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6537/tex_ceiling_textures_420/tex_floor_textures_7580/tex_table_textures_6670/tex_wall_textures_3898","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3672647538090139543,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3672647538090139543,"visual_seed":3672647538090139543,"scene_id":"lab_003","finished_at":"2026-09-05T04:00:30"}
+{"episode_id":"ep_000068","started_at":"2026-09-05T04:00:33","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.5557606332086819,1.038508721599157,0.71338606911949],"aabb_xy":[[-0.5970094442385965,0.9835087220869397],[-0.514511822178767,1.0935087211113745]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.10941594371463992,-2.25323106098446,0.71338606911949],"aabb_xy":[[-0.1521826505940601,-2.317231064406262],[-0.06664923683521973,-2.1892310575626572]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.07048880424583359,-1.9092549485075225,0.71338606911949],"aabb_xy":[[-0.10798880503782904,-1.915622789465713],[-0.032988803453838145,-1.9028871075493325]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.13011887345817763,0.9763805002259289,0.71338606911949],"aabb_xy":[[0.08012404053023603,0.9263805013306854],[0.18011370638611923,1.0263804991211725]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.0663663974081442,1.0349868348710038,0.71338606911949],"aabb_xy":[[-0.10386639751373716,1.0281646730180225],[-0.02886639730255126,1.0418089967239847]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.23122909806423708,1.1325082782341225,0.71338606911949],"aabb_xy":[[0.16722909615189477,1.0765971289761123],[0.2952290999765794,1.1884194274921331]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[-0.31319932917497145,-2.2344490219535897,0.71338606911949],"aabb_xy":[[-0.31731527928704406,-2.238564576986435],[-0.30908337906289873,-2.2303334669207437]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.4777800732174774,-0.8181476454538064,0.71338606911949],"aabb_xy":[[-0.502326288840228,-0.8483965420028433],[-0.4532338575947266,-0.7878987489047692]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[-0.027161891760076662,1.1920965460454154,0.71338606911949],"aabb_xy":[[-0.03731490731422604,1.1560270044726746],[-0.01700887620592728,1.2281660876181553]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.44660615866459297,1.6470757219483292,0.71338606911949],"aabb_xy":[[-0.45384992471083824,1.567075723744727],[-0.4393623926183476,1.7270757201519318]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[0.18964839561273628,-1.711041443300636,0.71338606911949],"aabb_xy":[[0.1196483940104568,-1.7244742365022936],[0.25964839721501576,-1.6976086500989784]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[0.6152905776554047,-0.5218220985711319,0.71338606911949],"aabb_xy":[[0.5777905764706118,-0.5262403212671923],[0.6527905788401974,-0.5174038758750713]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.5590370668654185,-2.1532519674135715,0.71338606911949],"aabb_xy":[[0.5509234121920414,-2.1613577838676004],[0.5671507215387956,-2.1451461509595418]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.3303084986242584,0.8901178862350796,0.71338606911949],"aabb_xy":[[0.26630849824672476,0.8403726193842672],[0.394308499001792,0.9398631530858917]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.3238091501555518,0.5360548647602079,0.71338606911949],"aabb_xy":[[-0.3318026399508339,0.5280567328197324],[-0.31581566036026987,0.5440529967006836]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.3058841228394197,0.7920328743462131,0.71338606911949],"aabb_xy":[[-0.319330649473463,0.7785630226931217],[-0.29243759620537635,0.8055027259993042]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.13105399225894498,1.8029158194521968,0.71338606911949],"aabb_xy":[[0.12379274468853757,1.7901288091886876],[0.1383152398293524,1.8157028297157065]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.3798701237084674,-0.5299964612510455,0.71338606911949],"aabb_xy":[[-0.3904376033665664,-0.540541491364054],[-0.3693026440503684,-0.5194514311380369]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_18","position":[0.6345215309387311,-1.3763639886209589,0.71338606911949],"aabb_xy":[[0.6184596034802133,-1.4613639904335505],[0.6505834583972486,-1.2913639868083668]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[0.3594683474449367,-0.9120599409109127,0.71338606911949],"aabb_xy":[[0.3044946254086038,-0.9670599404751461],[0.41444206948126955,-0.8570599413466797]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.03931798279032539,-0.2504038425152877,0.71338606911949],"aabb_xy":[[-0.07523148721531506,-0.2863173507320423],[-0.0034044783653357016,-0.21449033429853306]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.20835046524236767,-1.8161923153086068,0.71338606911949],"aabb_xy":[[-0.2146625647787061,-1.8219592545618255],[-0.20203836570602923,-1.8104253760553877]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.09209878005502525,-0.9495596481811335,0.71338606911949],"aabb_xy":[[0.08132580613365747,-0.9845596464001725],[0.10287175397639303,-0.9145596499620945]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.02807638507276844,-1.5946825463538064,0.71338606911949],"aabb_xy":[[0.017664826392284724,-1.6000282796897045],[0.03848794375325215,-1.5893368130179077]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[0.1875026000153862,0.6919452807904221,0.71338606911949],"aabb_xy":[[0.1826590052541563,0.687093628311438],[0.19234619477661624,0.6967969332694063]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_25","position":[0.2440011039739377,1.5975796383507075,0.71338606911949],"aabb_xy":[[0.1824103447499449,1.533579640241661],[0.3055918631979305,1.6615796364597548]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[0.31149371673389603,1.3632983835825918,0.71338606911949],"aabb_xy":[[0.28899371672374774,1.3492021639429883],[0.3339937167440443,1.3773946032221949]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_27","position":[0.388499654802853,-0.5755052478446694,0.71338606911949],"aabb_xy":[[0.3824626418021883,-0.5815319489136177],[0.39453666780351776,-0.5694785467757213]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_28","position":[-0.6298119892276016,0.23850317662350706,0.71338606911949],"aabb_xy":[[-0.6948119903335448,0.2135378035553788],[-0.5648119881216582,0.26346854969163536]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[0.5695387499712627,0.38458183976089,0.71338606911949],"aabb_xy":[[0.5045387518153436,0.3582855952109778],[0.6345387481271817,0.4108780843108022]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_30","position":[-0.1213345429336743,-1.7415214285339995,0.71338606911949],"aabb_xy":[[-0.15696369883363404,-1.7771540952908524],[-0.08570538703371454,-1.7058887617771465]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_31","position":[-0.22321196776599894,0.09734378693658874,0.71338606911949],"aabb_xy":[[-0.25821196695881715,0.08637674093892608],[-0.18821196857318062,0.10831083293425134]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_32","position":[0.20710947172769933,-1.2310922038947745,0.71338606911949],"aabb_xy":[[0.1571094707771665,-1.2626413508982959],[0.25710947267823214,-1.199543056891253]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6639656226261452,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5877.png","name":"5877"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5877.png","name":"5877"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8481.png","name":"8481"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/343.png","name":"343"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9823.png","name":"9823"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2016.png","name":"2016"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":654.3628838655738,"rotation_z_degrees":213.52263494672553,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0034115629137450344,-0.01544492002127774,-0.006523968519288848]},{"name":"camera_2","offset_m":[-0.007897862193086365,-0.002542400121577422,-0.011008909336852106]},{"name":"camera_3","offset_m":[-0.005772828748124419,-0.002707940058323907,0.01641400911422176]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005084004946466455,-0.0011356698659421923,-0.0008157367660925434],"end_effector_yaw_offset_degrees":-0.8334779635555385},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018160159524002284,0.0018391739521182735,-0.0012428721545805813],"end_effector_yaw_offset_degrees":0.43740768032525534},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012006981249554811,0.0018391794482166802,0.0012585870907668517],"end_effector_yaw_offset_degrees":-0.7372832468015496},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015288574736015846,7.536870183118228e-05,0.0011329890180022902],"end_effector_yaw_offset_degrees":-0.07395153198080906}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004577356262981597,0.003293931393518439],"position_m":[0.17067735626298158,0.15649393139351844,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019071343644207327,-0.0027686305476127783],"position_m":[0.25660713436442073,-0.3237686305476128,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0045287441794800735,0.0002941458855804536],"position_m":[0.14842874417948007,0.28609414588558046,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001775584524546211,0.002916062909842609],"position_m":[0.3579244154754538,0.06641606290984262,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9496dc85891401837ac730c97be5fe1b7b2e53928118c2e0fcca701e025a15b8","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5877/tex_ceiling_textures_2016/tex_floor_textures_9823/tex_table_textures_8481/tex_wall_textures_343","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1113154016507112636,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1113154016507112636,"visual_seed":1113154016507112636,"scene_id":"lab_003","finished_at":"2026-09-05T04:04:19"}
+{"episode_id":"ep_000069","started_at":"2026-09-05T04:04:22","dimensions":{"distractor":{"count":29,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.39468120287508085,-0.3112344701543237,0.71338606911949],"aabb_xy":[[-0.41657095046402165,-0.40123446744357283],[-0.37279145528614005,-0.2212344728650746]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.43026165539956573,1.6907091174985767,0.71338606911949],"aabb_xy":[[0.35026165396943854,1.6111919624859672],[0.5102616568296929,1.7702262725111861]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[-0.178269426886417,-1.5367307664771694,0.71338606911949],"aabb_xy":[[-0.2432694254434898,-1.566483299891052],[-0.11326942832934414,-1.5069782330632868]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[0.3526375585157211,-0.6426506931357925,0.71338606911949],"aabb_xy":[[0.34768153833084,-0.6651506933379142],[0.3575935787006023,-0.620150692933671]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[-0.421250745994146,0.11495498546700267,0.71338606911949],"aabb_xy":[[-0.43904425292906246,0.097155239871205],[-0.4034572390592296,0.13275473106280034]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.6072834177793258,-1.4989903103479043,0.71338606911949],"aabb_xy":[[-0.6622788955999852,-1.553990311781811],[-0.5522879399586664,-1.4439903089139972]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[0.13972622123289802,-2.4570588826079582,0.71338606911949],"aabb_xy":[[0.13159853303958483,-2.465972491018666],[0.14785390942621127,-2.4481452741972505]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[0.5661134336550875,-1.9615064099361104,0.71338606911949],"aabb_xy":[[0.5061134327942746,-2.0129328399425965],[0.6261134345159002,-1.910079979929624]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.20036748836740098,-2.4030496646133157,0.71338606911949],"aabb_xy":[[-0.2378674891593964,-2.409417505571506],[-0.1628674875754055,-2.3966818236551255]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[0.5294309024848685,0.03437849547311789,0.71338606911949],"aabb_xy":[[0.519349195406295,-0.04562150241899677],[0.5395126095634419,0.11437849336523254]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.5969459723338653,-1.256216073904262,0.71338606911949],"aabb_xy":[[-0.686945971752236,-1.2895915707484515],[-0.5069459729154943,-1.222840577060072]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[-0.4115370899944967,-1.9726297744558443,0.71338606911949],"aabb_xy":[[-0.4615370913553838,-2.0226076790312595],[-0.36153708863360934,-1.9226518698804287]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.6686126236412959,1.7005444149423572,0.71338606911949],"aabb_xy":[[-0.6745791625820317,1.6945832702829928],[-0.6626460847005602,1.7065055596017211]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[0.5034615926030703,-0.7031083250269099,0.71338606911949],"aabb_xy":[[0.4922165370324524,-0.7143501227510052],[0.514706648173688,-0.6918665273028146]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.6304856519577817,-0.708693372548707,0.71338606911949],"aabb_xy":[[-0.6944856543005833,-0.7536342237928395],[-0.5664856496149802,-0.6637525213045745]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.5939812513508512,-2.267908150356346,0.71338606911949],"aabb_xy":[[-0.6074277779848944,-2.2813780020094367],[-0.5805347247168078,-2.254438298703254]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[0.7169127865055109,-1.3389228981857444,0.71338606911949],"aabb_xy":[[0.7089187979278074,-1.3469229782808345],[0.7249067750832142,-1.3309228180906538]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[0.1430965193586633,0.7705158202826348,0.71338606911949],"aabb_xy":[[0.09810393264021289,0.725515821008186],[0.1880891060771137,0.8155158195570835]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[-0.3641163194661508,-1.6577363281994246,0.71338606911949],"aabb_xy":[[-0.38703203235120076,-1.6806406253358486],[-0.3412006065811009,-1.6348320310630016]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[0.49723623693501096,-1.7405589692233745,0.71338606911949],"aabb_xy":[[0.4736511134711161,-1.8055589714688063],[0.5208213603989058,-1.6755589669779427]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.15933220350332478,1.6964655153100057,0.71338606911949],"aabb_xy":[[0.07933220552253974,1.6888639743481537],[0.23933220148410983,1.7040670562718576]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[-0.6166198088304157,-2.4703157865230643,0.71338606911949],"aabb_xy":[[-0.6490815097123429,-2.5004486186379666],[-0.584158107948488,-2.440182954408161]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.03339899361400278,1.4975702525888406,0.71338606911949],"aabb_xy":[[-0.11339899468712311,1.4877922062514561],[0.04660100745911755,1.507348298926225]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[-0.18028057106211148,-1.889626548120742,0.71338606911949],"aabb_xy":[[-0.21778057224690422,-1.894044770816802],[-0.14278056987731863,-1.885208325424681]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.3585576351503268,-2.3922786092447406,0.71338606911949],"aabb_xy":[[0.32122635862508425,-2.426931664039593],[0.39588891167556944,-2.3576255544498883]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[-0.44867645628848807,1.7048002027398943,0.71338606911949],"aabb_xy":[[-0.45670272691911407,1.696048707762542],[-0.44065018565786207,1.7135516977172471]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_26","position":[0.41706312191286976,-2.2682291399760075,0.71338606911949],"aabb_xy":[[0.3270631221896955,-2.291302492511187],[0.5070631216360438,-2.245155787440827]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_27","position":[0.4098334657894316,-2.025189607837561,0.71338606911949],"aabb_xy":[[0.3603530445754728,-2.0891896057504122],[0.4593138870033904,-1.9611896099247086]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_28","position":[-0.34299363186987614,-2.257286528052024,0.71338606911949],"aabb_xy":[[-0.40299363246589226,-2.312099000597247],[-0.2829936312738599,-2.2024740555068]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660982090981541,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2258.png","name":"2258"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2258.png","name":"2258"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8081.png","name":"8081"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3425.png","name":"3425"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2561.png","name":"2561"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6070.png","name":"6070"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":672.5603596381254,"rotation_z_degrees":182.24483565067086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004017717021143067,-0.01026378283432959,0.014755190214946128]},{"name":"camera_2","offset_m":[0.018316725650128745,0.008336672191323849,-0.013105156449294997]},{"name":"camera_3","offset_m":[-0.01039867536770287,-0.0080330710882235,0.00930140256108311]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015470798710126256,0.0011339006632152802,0.000522560150984798],"end_effector_yaw_offset_degrees":-0.3349132152154266},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002708273398067389,0.001506511667103041,-0.00010590181878696557],"end_effector_yaw_offset_degrees":0.5829392494951042},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000515736071331708,0.0001672585628070349,0.0019290682253962944],"end_effector_yaw_offset_degrees":0.5384239738785488},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019391005992554214,0.0011080679146373367,0.0018618275301304009],"end_effector_yaw_offset_degrees":0.6484268567162932}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021807184715565194,0.0009389305843335825],"position_m":[0.1682807184715565,0.1541389305843336,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002401240509295124,0.0042980416861197425],"position_m":[0.2571012405092951,-0.31670195831388026,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021676562257341046,0.0029341056785127653],"position_m":[0.14606765622573412,0.28873410567851276,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004327197536121342,0.003992411674329466],"position_m":[0.36402719753612134,0.06749241167432947,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dc51c740a43e1b5ab9ddc6393056aac4c0d1d1571afa0df992ffac5f89556bf4","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0072.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2258/tex_ceiling_textures_6070/tex_floor_textures_2561/tex_table_textures_8081/tex_wall_textures_3425","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5249224636160131852,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5249224636160131852,"visual_seed":5249224636160131852,"scene_id":"lab_003","finished_at":"2026-09-05T04:08:08"}
+{"episode_id":"ep_000070","started_at":"2026-09-05T04:08:12","dimensions":{"distractor":{"count":23,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[-0.1890651938859662,-1.2122258351527095,0.71338606911949],"aabb_xy":[[-0.2690651909002142,-1.2323603868261208],[-0.10906519687171823,-1.1920912834792983]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[0.40200451199808307,1.6131658700492735,0.71338606911949],"aabb_xy":[[0.39064277734479685,1.6017974036429854],[0.4133662466513692,1.6245343364555616]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.07753383480763543,-1.9620258321980883,0.71338606911949],"aabb_xy":[[0.06824021657048485,-1.999525830686222],[0.08682745304478601,-1.9245258337099542]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.3454292962252288,0.9752251536943395,0.71338606911949],"aabb_xy":[[0.2814292989395802,0.9337184347414956],[0.4094292935108775,1.0167318726471835]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[0.30231357845476536,-1.543911231443897,0.71338606911949],"aabb_xy":[[0.2787284549908705,-1.608911233689329],[0.3258987019186602,-1.4789112291984654]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[0.6677875698437945,-0.2098335114433727,0.71338606911949],"aabb_xy":[[0.6622058982096657,-0.2223335112611482],[0.6733692414779233,-0.1973335116255972]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[0.28292069864683445,-2.181134698577448,0.71338606911949],"aabb_xy":[[0.20292070124324105,-2.2611272697756304],[0.36292069605042787,-2.1011421273792648]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.6125623004007033,0.3831702809962718,0.71338606911949],"aabb_xy":[[0.5880486763036974,0.3589056876942353],[0.6370759244977091,0.4074348742983082]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[-0.6208837609013518,1.7999076468009965,0.71338606911949],"aabb_xy":[[-0.6375608968944474,1.7832077228270662],[-0.6042066249082564,1.8166075707749267]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.4594206112404877,-1.1635732955406615,0.71338606911949],"aabb_xy":[[0.3978298520164949,-1.2275732936497084],[0.5210113704644805,-1.0995732974316146]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.09285949928800485,-1.4205789964907225,0.71338606911949],"aabb_xy":[[-0.11785949845363798,-1.427531242196079],[-0.06785950012237175,-1.413626750785366]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[-0.026059784669987374,-1.9450405388482346,0.71338606911949],"aabb_xy":[[-0.03368405276016562,-1.9526737623847783],[-0.01843551657980913,-1.9374073153116909]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.48743256070630214,0.30476895342690824,0.71338606911949],"aabb_xy":[[-0.5326038785544711,0.24076895628236988],[-0.44226124285813323,0.3687689505714467]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[0.2652364296136631,-1.105491438692697,0.71338606911949],"aabb_xy":[[0.23023643130296767,-1.1132064536162427],[0.30023642792435856,-1.0977764237691514]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[-0.3463242972496498,-0.4612458397535497,0.71338606911949],"aabb_xy":[[-0.4012980192859827,-0.5162458393177829],[-0.2913505752133169,-0.4062458401893166]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[-0.37649022125080234,-1.525072674092858,0.71338606911949],"aabb_xy":[[-0.3837514688212098,-1.5378596843563674],[-0.369228973680395,-1.5122856638293485]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.14078617203637878,0.31672172851690217,0.71338606911949],"aabb_xy":[[-0.19076498054669463,0.2667217285111833],[-0.09080736352606286,0.3667217285226209]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.3747879901242299,1.4021448905018943,0.71338606911949],"aabb_xy":[[0.3107879887162392,1.3503559389779696],[0.43878799153222053,1.453933842025819]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[-0.4555876205679019,-1.4262344891043626,0.71338606911949],"aabb_xy":[[-0.4930876203849355,-1.4308727004155044],[-0.41808762075086836,-1.4215962777932207]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_19","position":[0.15702911484254645,-1.8180645925131254,0.71338606911949],"aabb_xy":[[0.12918407806193932,-1.8488490912514368],[0.18487415162315357,-1.7872800937748134]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[0.3795272183798857,0.6417115484272706,0.71338606911949],"aabb_xy":[[0.36608069174584235,0.6282416967741794],[0.392973745013929,0.6551814000803619]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[-0.6065544670512332,-1.3469303484412227,0.71338606911949],"aabb_xy":[[-0.6171219467093321,-1.357475378554231],[-0.595986987393134,-1.336385318328214]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.5159582437048027,-0.5411648210583433,0.71338606911949],"aabb_xy":[[-0.5247602990137753,-0.5489761472132723],[-0.5071561883958299,-0.5333534949034141]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6618529187131917,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3161.png","name":"3161"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3161.png","name":"3161"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9331.png","name":"9331"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4778.png","name":"4778"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8456.png","name":"8456"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5890.png","name":"5890"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":563.3763794369977,"rotation_z_degrees":146.22750329728726,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005439768784629009,0.010747034659399773,-0.010467285353017273]},{"name":"camera_2","offset_m":[-0.014250247599472852,0.017237109906928023,0.005760789503786386]},{"name":"camera_3","offset_m":[0.019469591174743835,0.0006040664572266735,0.007331902160231309]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010175314347330511,0.0004485863311990512,0.001926068523293644],"end_effector_yaw_offset_degrees":-0.1214105399021117},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013290160043939033,-0.0014075582947890401,-0.0008552494747971094],"end_effector_yaw_offset_degrees":0.8994404033219177},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002078557292675919,-0.0014614221181478192,0.001260776184599157],"end_effector_yaw_offset_degrees":0.9482794009757127},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010419131760757904,-0.00016182205589750608,-0.00031160476608547505],"end_effector_yaw_offset_degrees":0.5468790391954523}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008407181572524488,-0.004683601242933364],"position_m":[0.16525928184274755,0.14851639875706663,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036785485044091336,0.004822252676873621],"position_m":[0.2583785485044091,-0.31617774732312637,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002355375213555392,-0.000827743141681608],"position_m":[0.1415446247864446,0.2849722568583184,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004807627665516671,0.00028754599730546407],"position_m":[0.35489237233448334,0.06378754599730546,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2e199588155f42475147349e764fb8136e7808a52ebd739e11b809dd97c85567","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3161/tex_ceiling_textures_5890/tex_floor_textures_8456/tex_table_textures_9331/tex_wall_textures_4778","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6651423600838451662,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6651423600838451662,"visual_seed":6651423600838451662,"scene_id":"lab_003","finished_at":"2026-09-05T04:11:56"}
+{"episode_id":"ep_000071","started_at":"2026-09-05T04:12:01","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[-0.4614654517908078,-0.1676394472674123,0.71338606911949],"aabb_xy":[[-0.5264654527913083,-0.21842581242208725],[-0.39646545079030726,-0.11685308211273737]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.11581945280014205,1.2564392908554147,0.71338606911949],"aabb_xy":[[-0.15261408592504833,1.2195334157588325],[-0.07902481967523577,1.293345165951997]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[-0.4191108928576127,-1.4071871107302947,0.71338606911949],"aabb_xy":[[-0.42713716348823877,-1.4159386057076475],[-0.4110846222269868,-1.3984356157529423]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[-0.17960937533848143,0.7837325673555431,0.71338606911949],"aabb_xy":[[-0.18890299357563198,0.7462325688674091],[-0.17031575710133082,0.8212325658436769]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.47485533175345673,-1.8988530955704297,0.71338606911949],"aabb_xy":[[0.47094145855803415,-1.9076021109769863],[0.4787692049488792,-1.8901040801638727]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.44236866266742353,1.4624927252095614,0.71338606911949],"aabb_xy":[[-0.4483352016081593,1.4565315805501973],[-0.43640212372668774,1.4684538698689256]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.540007991267953,-0.7361390913112105,0.71338606911949],"aabb_xy":[[-0.5650079908196914,-0.7462815751763451],[-0.5150079917162145,-0.7259966074460756]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[-0.6085633833604769,1.1387024695851928,0.71338606911949],"aabb_xy":[[-0.6685633838683297,1.0818557358992715],[-0.5485633828526238,1.1955492032711141]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.04696135863421569,-1.0892157263118778,0.71338606911949],"aabb_xy":[[-0.06475486556913213,-1.1070154719076755],[-0.029167851699299252,-1.0714159807160801]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[0.56885369233952,-1.4233900284251224,0.71338606911949],"aabb_xy":[[0.5038536937824472,-1.4531425618390053],[0.6338536908965928,-1.39363749501124]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[0.19218057926901788,-1.405752599296475,0.71338606911949],"aabb_xy":[[0.18093552369840005,-1.41699439702057],[0.20342563483963572,-1.3945108015723795]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[-0.5993925465566503,-0.20977122251105706,0.71338606911949],"aabb_xy":[[-0.6170681771452485,-0.22745143879045981],[-0.5817169159680519,-0.19209100623165432]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.5721617084266044,0.5973716405865397,0.71338606911949],"aabb_xy":[[0.5587151817925611,0.5839017889334485],[0.5856082350606477,0.6108414922396309]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.5370018334511186,-2.3397228305293365,0.71338606911949],"aabb_xy":[[-0.5985925926751114,-2.403722828638384],[-0.4754110742271258,-2.27572283242029]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[-0.2540774212358777,1.1600583472332415,0.71338606911949],"aabb_xy":[[-0.2803662455563183,1.13378691357859],[-0.22778859691543699,1.1863297808878925]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.4686903202866193,1.6764645097646809,0.71338606911949],"aabb_xy":[[0.4327768158616296,1.6405510015479263],[0.5046038247116089,1.7123780179814354]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[0.5023864314295714,1.0798599192317089,0.71338606911949],"aabb_xy":[[0.41238642909555234,1.0023775646465964],[0.5923864337635905,1.1573422738168218]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[0.5719268173120262,-0.534332461676748,0.71338606911949],"aabb_xy":[[0.507926820916453,-0.5982957500954815],[0.6359268137075992,-0.4703691732580144]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[0.35204109878323275,0.38715174126218876,0.71338606911949],"aabb_xy":[[0.34120062055671785,0.36996545997153996],[0.36288157700974766,0.4043380225528376]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.11880337551621722,1.5976153234832142,0.71338606911949],"aabb_xy":[[0.07352476063506795,1.5336153241350305],[0.16408199039736648,1.661615322831398]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.35365482672801485,-2.4732883235851646,0.71338606911949],"aabb_xy":[[0.3186548275351965,-2.4842553695828262],[0.38865482592083306,-2.462321277587501]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6595601371804374,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2088.png","name":"2088"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2088.png","name":"2088"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8120.png","name":"8120"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8861.png","name":"8861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9529.png","name":"9529"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9240.png","name":"9240"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":788.8089576285251,"rotation_z_degrees":224.27426251860322,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017237611121951085,0.004916698698484111,-0.017318516481649227]},{"name":"camera_2","offset_m":[0.0072968358347483345,0.0018382750256826473,-0.016367479445527557]},{"name":"camera_3","offset_m":[-0.010585674082334328,0.006557841616102109,-0.0034536577986659725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00030403936214779643,4.376491644105061e-05,-0.0019514515478989672],"end_effector_yaw_offset_degrees":0.4437010529745449},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017917272700343082,-0.0005672608230231364,0.0017586861373498739],"end_effector_yaw_offset_degrees":-0.9541529229588044},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013725588018337776,-0.0015023785848716342,0.0009019323427712574],"end_effector_yaw_offset_degrees":-0.7406008196767806},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017053987881112263,-0.0011605908634168066,-0.00047418874034289523],"end_effector_yaw_offset_degrees":-0.2606567597011642}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00381773434882957,0.0033914066569246107],"position_m":[0.16228226565117043,0.15659140665692461,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002336403624002701,-0.00133070658665443],"position_m":[0.25236359637599726,-0.3223307065866544,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012954756393943512,-0.0016685109740481132],"position_m":[0.14260452436060564,0.28413148902595187,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024014482255320115,-0.0014287282379846769],"position_m":[0.357298551774468,0.06207127176201532,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4abff979e473e685dfa2e50c6d0a35d40126a448f0342f6811a11216e0f79e82","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2088/tex_ceiling_textures_9240/tex_floor_textures_9529/tex_table_textures_8120/tex_wall_textures_8861","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2671170065135193562,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2671170065135193562,"visual_seed":2671170065135193562,"scene_id":"lab_003","finished_at":"2026-09-05T04:15:40"}
+{"episode_id":"ep_000072","started_at":"2026-09-05T04:15:44","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[0.15529948514997272,-1.3007424449591136,0.71338606911949],"aabb_xy":[[0.15159622382083385,-1.3044444632678311],[0.15900274647911158,-1.2970404266503957]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[0.6676917852241244,-1.701440384543861,0.71338606911949],"aabb_xy":[[0.6320626293241647,-1.7370730513007135],[0.7033209411240842,-1.6658077177870076]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.4062313814316794,0.4226082580166328,0.71338606911949],"aabb_xy":[[-0.4447770742568804,0.3840624869604442],[-0.3676856886064783,0.46115402907282155]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.40379730068497793,-0.2351226900907255,0.71338606911949],"aabb_xy":[[-0.44129729926059874,-0.24785898575428345],[-0.3662973021093571,-0.22238639442716757]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[0.6860342031373416,0.8923182849459295,0.71338606911949],"aabb_xy":[[0.668401367543814,0.8746953389303066],[0.7036670387308691,0.9099412309615525]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.5596057868010447,-2.1040700565021284,0.71338606911949],"aabb_xy":[[0.4796057882137253,-2.183385658440289],[0.6396057853883641,-2.024754454563967]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[-0.13450042690152375,-0.5507252877175337,0.71338606911949],"aabb_xy":[[-0.19450042749753993,-0.6055377602627572],[-0.07450042630550757,-0.49591281517231023]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.06606688545076,1.5365568758759385,0.71338606911949],"aabb_xy":[[-0.013933117807082951,1.4565603680839545],[0.14606688870860296,1.6165533836679224]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[0.4804900246311097,-0.5870924815573515,0.71338606911949],"aabb_xy":[[0.4646055313657845,-0.6014454218561756],[0.4963745178964348,-0.5727395412585274]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.4527485861559524,1.2748858077054441,0.71338606911949],"aabb_xy":[[-0.5177485871564529,1.2240994425507692],[-0.3877485851554519,1.325672172860119]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.06745754167481133,1.0453304711008777,0.71338606911949],"aabb_xy":[[-0.11745754111500695,0.9953625466165614],[-0.01745754223461571,1.095298395585194]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[0.6399603492099983,-1.007232908141701,0.71338606911949],"aabb_xy":[[0.6149603500443651,-1.0141851538470577],[0.6649603483756313,-1.0002806624363445]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[-0.3531821352237197,-1.559244248382342,0.71338606911949],"aabb_xy":[[-0.4081821334254645,-1.5997662150087797],[-0.2981821370219748,-1.5187222817559045]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[-0.4702747604010108,-2.523073480942775,0.71338606911949],"aabb_xy":[[-0.5342747627438122,-2.5680143321869076],[-0.40627475805820923,-2.4781326296986426]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[0.5055466766766277,-0.21489379190195468,0.71338606911949],"aabb_xy":[[0.48863594424028595,-0.22836599749456918],[0.5224574091129695,-0.20142158630934012]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[-0.4514534768436542,0.061125826212216516,0.71338606911949],"aabb_xy":[[-0.5014534754895754,0.011206282552754125],[-0.401453478197733,0.1110453698716789]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.2661691202137566,1.5548624564222613,0.71338606911949],"aabb_xy":[[-0.28975424367765146,1.4898624541768297],[-0.24258399674986175,1.6198624586676933]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[0.6259968626254864,1.5307149574085641,0.71338606911949],"aabb_xy":[[0.5849789192391156,1.4807149567776066],[0.6670148060118574,1.5807149580395212]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.29428145302961173,-0.9026535260163984,0.71338606911949],"aabb_xy":[[0.20428145629400152,-0.9558369893336928],[0.38428144976522194,-0.8494700626991037]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[-0.25410040385714483,-1.660206286113893,0.71338606911949],"aabb_xy":[[-0.3241004064937312,-1.6803111511097586],[-0.18410040122055848,-1.6401014211180276]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[-0.459455313087451,-2.132570050260847,0.71338606911949],"aabb_xy":[[-0.5234553163060889,-2.1792931621598552],[-0.39545530986881317,-2.0858469383618385]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[-0.6408353204776217,-2.3130959916630878,0.71338606911949],"aabb_xy":[[-0.6694846528380379,-2.341741550940163],[-0.6121859881172055,-2.2844504323860115]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[0.0895759016342852,-1.9837506292131357,0.71338606911949],"aabb_xy":[[0.039576626465849044,-2.033750630489083],[0.13957517680272136,-1.933750627937189]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[0.3413380952050542,-1.1337031583723765,0.71338606911949],"aabb_xy":[[0.2913430842456022,-1.1837031574079682],[0.3913331061645063,-1.0837031593367847]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[0.31792747610465066,1.7345965161689736,0.71338606911949],"aabb_xy":[[0.2820139716796609,1.6986830079522188],[0.3538409805296403,1.770510024385728]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_25","position":[-0.3971268541513002,-0.09098171425565305,0.71338606911949],"aabb_xy":[[-0.44212685561752907,-0.13598157111713371],[-0.3521268526850713,-0.04598185739417237]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[0.4688402094906541,-0.06595047538577026,0.71338606911949],"aabb_xy":[[0.40384020838471085,-0.09091584845389855],[0.5338402105965974,-0.040985102317641964]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_27","position":[0.5919357773257841,-1.8337734186933037,0.71338606911949],"aabb_xy":[[0.5419624833225235,-1.8837734192478506],[0.6419090713290444,-1.783773418138756]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_28","position":[-0.1288827096969748,-1.3725237789214855,0.71338606911949],"aabb_xy":[[-0.16638271004520255,-1.3843151745025688],[-0.09138270934874704,-1.3607323833404017]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6630045426579405,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1254.png","name":"1254"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1254.png","name":"1254"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9986.png","name":"9986"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/535.png","name":"535"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5840.png","name":"5840"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9071.png","name":"9071"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":831.3923069413472,"rotation_z_degrees":301.777200717908,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0004363943594301381,-0.018283190632512027,0.0027280790038890536]},{"name":"camera_2","offset_m":[-0.010417715099492058,0.001555153763259258,-0.019244520768155]},{"name":"camera_3","offset_m":[0.0010518451650656999,-0.0016783117059369183,-0.013693915861555057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009122122107935236,0.0013536936985517455,-0.0018100021765331694],"end_effector_yaw_offset_degrees":-0.6407988230085164},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019389942675345382,-0.0014766307204858156,0.001336181086072591],"end_effector_yaw_offset_degrees":-0.9941862355530189},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018398314128116018,-0.000977994073725216,-0.00113545287482762],"end_effector_yaw_offset_degrees":0.24835523503714296},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[4.382304120612718e-05,-0.0006496350060819797,0.001382003733413623],"end_effector_yaw_offset_degrees":-0.10428139956213656}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032835478026923904,0.0013707564927041439],"position_m":[0.16281645219730762,0.15457075649270416,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002863634334932576,0.0009358924314571771],"position_m":[0.25756363433493257,-0.3200641075685428,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025050634561470863,-0.00477263723135649],"position_m":[0.1464050634561471,0.2810273627686435,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004202798783416909,-0.0017904095532459297],"position_m":[0.3554972012165831,0.06170959044675407,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0e25d778fc3734b1ac542fdc8637256ea26bec48877d0f7eb286733597253ef","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1254/tex_ceiling_textures_9071/tex_floor_textures_5840/tex_table_textures_9986/tex_wall_textures_535","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":558426763587788929,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":558426763587788929,"visual_seed":558426763587788929,"scene_id":"lab_003","finished_at":"2026-09-05T04:19:23"}
+{"episode_id":"ep_000073","started_at":"2026-09-05T04:19:27","dimensions":{"distractor":{"count":21,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.3969563117578987,1.2616397671675572,0.71338606911949],"aabb_xy":[[0.35945631096590325,1.2552719262093668],[0.43445631254989414,1.2680076081257472]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[0.6197669699920938,0.17630817675690613,0.71338606911949],"aabb_xy":[[0.5697669696315277,0.12632818954730315],[0.6697669703526599,0.22628816396650905]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.39939478885085056,-1.7968809917158897,0.71338606911949],"aabb_xy":[[-0.4090264250712801,-1.8065183044955988],[-0.3897631526304209,-1.787243678936181]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[0.14118471901536256,1.7961165263330012,0.71338606911949],"aabb_xy":[[0.13654960386312914,1.7922491912558525],[0.14581983416759592,1.79998386141015]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[-0.15826936775669975,-0.2802362810411525,0.71338606911949],"aabb_xy":[[-0.21826936939962158,-0.33223643033309663],[-0.09826936611377787,-0.22823613174920826]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[0.2613484687416381,-0.6203815216600874,0.71338606911949],"aabb_xy":[[0.25484683223363347,-0.6301493436863972],[0.2678501052496427,-0.6106136996337777]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.18725616262962208,0.5471692530778389,0.71338606911949],"aabb_xy":[[-0.2372403983377993,0.49716925426434344],[-0.13727192692144485,0.5971692518913346]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[0.2262286843861765,-2.1159599366296784,0.71338606911949],"aabb_xy":[[0.21751471533624198,-2.138459937288866],[0.23494265343611095,-2.0934599359704897]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[-0.3079341396367502,-2.0214662336209575,0.71338606911949],"aabb_xy":[[-0.3454341397423431,-2.0282883954739384],[-0.2704341395311572,-2.0146440717679757]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[-0.49483551063643505,1.5045506152068806,0.71338606911949],"aabb_xy":[[-0.5060805662070529,1.493308817482785],[-0.48359045506581727,1.5157924129309757]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.07260371380047914,0.9407938101799234,0.71338606911949],"aabb_xy":[[0.06447602560716593,0.9318802017692158],[0.08073140199379238,0.9497074185906311]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[0.48452142723312996,-0.24160264011990584,0.71338606911949],"aabb_xy":[[0.4669747323170111,-0.2791026416841571],[0.5020681221492489,-0.20410263855565458]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[-0.6439830180273102,-0.9763354636487656,0.71338606911949],"aabb_xy":[[-0.667568141491205,-1.0413354658941973],[-0.6203978945634153,-0.9113354614033338]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[0.2435806535146844,0.9683936237542614,0.71338606911949],"aabb_xy":[[0.19645127451284872,0.9043936227098593],[0.29071003251652006,1.0323936247986634]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[-0.1746830263942254,-1.4353617513977803,0.71338606911949],"aabb_xy":[[-0.2323134952814962,-1.495361750324491],[-0.11705255750695451,-1.3753617524710697]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.20639294290068144,-1.0116315826354425,0.71338606911949],"aabb_xy":[[-0.23636049981050708,-1.0416315829333282],[-0.17642538599085575,-0.9816315823375568]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[0.11971330833321592,-0.8259200859398159,0.71338606911949],"aabb_xy":[[0.08512222547917069,-0.8909200862248469],[0.1543043911872611,-0.7609200856547848]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[0.6424490879111457,-0.56665539335894,0.71338606911949],"aabb_xy":[[0.5624490846471326,-0.5802154256678533],[0.7224490911751589,-0.5530953610500267]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.03619766206320618,-2.334310575380602,0.71338606911949],"aabb_xy":[[-0.02880233581844161,-2.385434239087143],[0.101197659944854,-2.2831869116740613]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[-0.49183934347705094,-0.12769450417101336,0.71338606911949],"aabb_xy":[[-0.4974210151111797,-0.14019450398878885],[-0.4862576718429222,-0.11519450435323787]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[0.589187821400541,-0.9005021115928673,0.71338606911949],"aabb_xy":[[0.5251878194881987,-0.9564132608508777],[0.6531878233128834,-0.8445909623348569]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619436328555849,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8129.png","name":"8129"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8129.png","name":"8129"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4920.png","name":"4920"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6183.png","name":"6183"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5626.png","name":"5626"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7507.png","name":"7507"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":847.8283395584267,"rotation_z_degrees":128.3706876232771,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001053413107494374,0.005160209551117734,-0.0010759088172231403]},{"name":"camera_2","offset_m":[-0.00035728199927375845,0.013686695270843038,-0.003910261289711021]},{"name":"camera_3","offset_m":[-0.014220026328898988,0.01766801430530252,0.01655352039742256]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012264781075980538,-0.001972868244575454,0.0019355705970280756],"end_effector_yaw_offset_degrees":0.49612063630112346},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016483145457598858,-0.0014804739757599541,0.0003709240793084963],"end_effector_yaw_offset_degrees":0.2944179497489874},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011132253067537247,0.0007026841251747346,-0.000664183473704949],"end_effector_yaw_offset_degrees":0.11195373624572191},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00019264784021849092,-0.0006098815331395113,-0.0002730427401049628],"end_effector_yaw_offset_degrees":0.5619165887183328}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024483381099553673,0.0033807704817175053],"position_m":[0.16854833810995537,0.1565807704817175,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004369903356881543,-0.001253650105783799],"position_m":[0.25513699033568815,-0.32225365010578383,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004701314065616747,0.0010775432907863458],"position_m":[0.14860131406561675,0.28687754329078635,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018982544500997442,-0.003449696374203421],"position_m":[0.36159825445009974,0.06005030362579658,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f4b5a2a32cc26ccd0fda92748c9aba6e96e2eb1d61abff78f4f831a74aec5e96","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0076.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8129/tex_ceiling_textures_7507/tex_floor_textures_5626/tex_table_textures_4920/tex_wall_textures_6183","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":4688391960332118124,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":4688391960332118124,"visual_seed":4688391960332118124,"scene_id":"lab_003","finished_at":"2026-09-05T04:23:09"}
+{"episode_id":"ep_000074","started_at":"2026-09-05T04:23:13","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[-0.20740857251470574,-2.3935820976635744,0.71338606911949],"aabb_xy":[[-0.21511176318878275,-2.4012914683623126],[-0.19970538184062867,-2.3858727269648363]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[-0.13307224889255587,-0.8241646322214671,0.71338606911949],"aabb_xy":[[-0.1406965169827341,-0.8317978557580108],[-0.12544798080237762,-0.8165314086849234]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[0.18313946711754636,-0.5554433198922881,0.71338606911949],"aabb_xy":[[0.1493639079268534,-0.5694818151054531],[0.21691502630823933,-0.5414048246791231]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_3","position":[-0.6294701095433217,1.0429986594511629,0.71338606911949],"aabb_xy":[[-0.693470110246791,0.9969802769782421],[-0.5654701088398523,1.089017041924084]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[-0.43863250153821914,-1.7139811295222198,0.71338606911949],"aabb_xy":[[-0.4886273344661607,-1.7639811284174631],[-0.3886376686102775,-1.663981130626976]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[-0.1762623959841616,-0.7563529982760617,0.71338606911949],"aabb_xy":[[-0.21072487399724935,-0.7630166754589846],[-0.1417999179710738,-0.7496893210931389]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[0.5463140996131832,-0.5909267451615179,0.71338606911949],"aabb_xy":[[0.5336873123259869,-0.6004728188630907],[0.5589408869003796,-0.5813806714599449]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.19935713367255187,-1.1839818520561969,0.71338606911949],"aabb_xy":[[-0.23639124310061158,-1.2183590593899065],[-0.16232302424449216,-1.1496046447224877]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.31109495591024966,1.7376166439725993,0.71338606911949],"aabb_xy":[[-0.3609776527879459,1.6876166447263248],[-0.2612122590325535,1.7876166432188743]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.12946469293420482,-2.169413673717753,0.71338606911949],"aabb_xy":[[0.12143842230357882,-2.178165168695106],[0.13749096356483081,-2.1606621787404006]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.43373344260878577,0.5202045202448735,0.71338606911949],"aabb_xy":[[0.4202869159747425,0.5067346685917823],[0.44717996924282916,0.5336743718979647]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[-0.4653655456429357,-1.9689734036081203,0.71338606911949],"aabb_xy":[[-0.4988057208389552,-2.00241702943905],[-0.431925370446916,-1.93552977777719]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[0.19207882439566204,0.9082922860413536,0.71338606911949],"aabb_xy":[[0.15707882441916624,0.898827669993737],[0.2270788243721579,0.9177569020889702]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.25506784826187623,-1.718428900446222,0.71338606911949],"aabb_xy":[[0.24422737003536127,-1.7356151817368706],[0.2659083264883911,-1.7012426191555727]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.5325183729348959,0.5934611881158118,0.71338606911949],"aabb_xy":[[0.5252571253644884,0.5806741778523024],[0.5397796205053034,0.6062481983793213]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.15436681915283768,1.5949099079912386,0.71338606911949],"aabb_xy":[[0.11686682057721685,1.5821736123276804],[0.19186681772845846,1.6076462036547963]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[-0.6101259949326268,-0.6732935262359911,0.71338606911949],"aabb_xy":[[-0.6741259981512646,-0.7200166381349996],[-0.5461259917139889,-0.6265704143369829]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.5849545989309907,1.218061974717617,0.71338606911949],"aabb_xy":[[-0.6349545975769119,1.1681424310581543],[-0.5349546002850695,1.267981518377079]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[0.11574081702740013,1.112829331032866,0.71338606911949],"aabb_xy":[[0.09545651430400136,1.092546705890157],[0.13602511975079887,1.1331119561755747]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.6707708355878392,1.1368871095269464,0.71338606911949],"aabb_xy":[[0.6462246199650885,1.1066382129779093],[0.69531705121059,1.1671360060759834]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[0.5226441453543615,1.443505404130439,0.71338606911949],"aabb_xy":[[0.4426503217758033,1.3635054015375974],[0.6026379689329198,1.5235054067232805]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[-0.07635403409087682,1.4189311851810014,0.71338606911949],"aabb_xy":[[-0.11853844825170758,1.3549311849037902],[-0.034169619930046094,1.4829311854582126]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[-0.2748856405584853,0.14287669103560008,0.71338606911949],"aabb_xy":[[-0.32988564018023114,0.08789299824812735],[-0.21988564093673946,0.1978603838230728]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.32829200690772514,-1.9891648589734232,0.71338606911949],"aabb_xy":[[-0.3323701648147749,-1.9932458392216865],[-0.3242138490006754,-1.98508387872516]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[0.04490644969144264,-2.030830212257951,0.71338606911949],"aabb_xy":[[0.010590172516824696,-2.080830212231129],[0.07922272686606058,-1.9808302122847734]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_25","position":[-0.5337671158188634,-0.1892809389363177,0.71338606911949],"aabb_xy":[[-0.5649140346624465,-0.2592809376231249],[-0.5026201969752803,-0.11928094024951053]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[-0.12826814898967587,-1.4272608778013685,0.71338606911949],"aabb_xy":[[-0.13555046536633947,-1.517260881410877],[-0.12098583261301217,-1.337260874191859]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_27","position":[0.5159418195993273,-1.164516498862724,0.71338606911949],"aabb_xy":[[0.4934418200756198,-1.1870124463133445],[0.5384418191230346,-1.142020551412103]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_28","position":[-0.049919469136818995,-2.527736214970139,0.71338606911949],"aabb_xy":[[-0.05870069628405523,-2.5365159622586693],[-0.04113824198958277,-2.5189564676816087]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_29","position":[0.4069950041827841,0.9694421382038421,0.71338606911949],"aabb_xy":[[0.3169950055883142,0.9531915518904212],[0.4969950027772541,0.9856927245172632]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_30","position":[-0.3840418708517934,1.18269286794576,0.71338606911949],"aabb_xy":[[-0.40926270771163303,1.1574691170928728],[-0.3588210339919537,1.2079166187986463]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.658555494473107,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8103.png","name":"8103"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8103.png","name":"8103"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6190.png","name":"6190"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4132.png","name":"4132"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9002.png","name":"9002"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6970.png","name":"6970"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":544.9065143705386,"rotation_z_degrees":329.3538185713923,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0003764433376028803,0.010339398590613086,-0.018507828991625334]},{"name":"camera_2","offset_m":[-0.015339110469084365,0.015584242337330498,0.01042101585307444]},{"name":"camera_3","offset_m":[0.0034064604285203963,-0.019884737913390543,-0.01578929065958771]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019122660159735048,-0.00046366158902863834,0.00014931643169436258],"end_effector_yaw_offset_degrees":-0.4466701766991006},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012377385876608366,-0.001061473528117727,0.00032517420560601844],"end_effector_yaw_offset_degrees":0.9038253468034736},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013374996802759435,-0.0017050401278775633,0.0013582426349144391],"end_effector_yaw_offset_degrees":-0.265249626824666},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011627050059715466,-0.000711087770165948,0.001311258686964003],"end_effector_yaw_offset_degrees":-0.008536213596493702}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006682958737404612,-0.0005284735179790752],"position_m":[0.16676829587374045,0.15267152648202093,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003819561480554309,-0.0019203330179597298],"position_m":[0.2508804385194457,-0.32292033301795975,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00012043422111616357,-0.0034706580820593014],"position_m":[0.14402043422111616,0.2823293419179407,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027124436134196564,0.00018519383224331002],"position_m":[0.3624124436134197,0.06368519383224332,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e474fc9d5c738dbf06009c217c96fd840680a73ea47fd94cbda96e21ecd13510","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0077.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8103/tex_ceiling_textures_6970/tex_floor_textures_9002/tex_table_textures_6190/tex_wall_textures_4132","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3282900867671007430,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3282900867671007430,"visual_seed":3282900867671007430,"scene_id":"lab_003","finished_at":"2026-09-05T04:27:21"}
+{"episode_id":"ep_000075","started_at":"2026-09-05T04:27:26","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.20127030553245523,-0.10763392664024174,0.71338606911949],"aabb_xy":[[-0.2362703047252735,-0.11860097263790435],[-0.16627030633963696,-0.0966668806425791]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.5602880667637015,-0.7133522602065268,0.71338606911949],"aabb_xy":[[-0.6202880673597176,-0.7681647327517501],[-0.5002880661676853,-0.6585397876613032]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.06673868978629105,0.7832564790486627,0.71338606911949],"aabb_xy":[[-0.07207626545229563,0.7582564781195229],[-0.061401114120286496,0.8082564799778025]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[0.2767807252738661,1.5562850894269862,0.71338606911949],"aabb_xy":[[0.22897455766009744,1.4912850867199272],[0.32458689288763476,1.621285092134045]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[0.18361300836558092,0.7943945732379718,0.71338606911949],"aabb_xy":[[0.14230846530184493,0.7303945736698547],[0.2249175514293169,0.8583945728060889]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.3020922211734971,-0.5960229686609888,0.71338606911949],"aabb_xy":[[-0.32460591299695424,-0.6660229692619962],[-0.27957852935003985,-0.5260229680599812]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.6660745178635785,-1.6703846946415442,0.71338606911949],"aabb_xy":[[0.6427926756654472,-1.755384695938772],[0.6893563600617099,-1.5853846933443159]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.6238357820970355,-1.390404742041705,0.71338606911949],"aabb_xy":[[0.612067595302378,-1.4754047419469265],[0.635603968891693,-1.3054047421364834]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.5704955004475023,0.559726246486401,0.71338606911949],"aabb_xy":[[0.4904954999772865,0.5514155388720527],[0.6504955009177184,0.5680369541007495]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.3947298246812918,-0.5243329675042436,0.71338606911949],"aabb_xy":[[0.3697298247487739,-0.531215635725167],[0.4197298246138097,-0.5174502992833203]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[0.36893234079743387,0.30399725024501656,0.71338606911949],"aabb_xy":[[0.333932340901415,0.29562301473307656],[0.40393234069345274,0.31237148575695645]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[0.4101425666984133,1.6612544076851798,0.71338606911949],"aabb_xy":[[0.3950402652373951,1.6461528860541177],[0.4252448681594313,1.6763559293162416]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[-0.15957558791942428,1.1996555384687322,0.71338606911949],"aabb_xy":[[-0.16873546686330088,1.1931243204251951],[-0.15041570897554768,1.2061867565122693]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[-0.48890773074822996,0.44729122541522015,0.71338606911949],"aabb_xy":[[-0.5188993934821002,0.41729122607841956],[-0.4589160680143596,0.4772912247520206]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.4422920601291527,-1.4715580427632813,0.71338606911949],"aabb_xy":[[0.3922920614832314,-1.5214775864227437],[0.4922920587750738,-1.421638499103819]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.313295623713084,1.3177044670149982,0.71338606911949],"aabb_xy":[[-0.37092609260035486,1.2577044680882872],[-0.25566515482581315,1.3777044659417084]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[0.5862378866395994,-1.888337804187902,0.71338606911949],"aabb_xy":[[0.5362378856890665,-1.9198869511914234],[0.6362378875901321,-1.8567886571843806]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_17","position":[-0.1130540342208809,-1.655826182399183,0.71338606911949],"aabb_xy":[[-0.16804628485639184,-1.7108261841424965],[-0.05806178358536995,-1.600826180655871]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[0.5968900276296065,-2.312505057379718,0.71338606911949],"aabb_xy":[[0.57909652069469,-2.330304802975516],[0.6146835345645228,-2.2947053117839205]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.18289050000245266,-1.4725709810866934,0.71338606911949],"aabb_xy":[[0.17028780086537623,-1.4851663773115589],[0.19549319913952914,-1.4599755848618279]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[-0.47415239689230815,-0.5431795342514576,0.71338606911949],"aabb_xy":[[-0.498666020989314,-0.567444127553494],[-0.4496387727953023,-0.5189149409494211]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.5995323747909149,-0.944153037274827,0.71338606911949],"aabb_xy":[[0.5870650166811793,-0.9566183619081506],[0.6119997329006506,-0.9316877126415036]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[0.5268746648762592,0.12661771769192587,0.71338606911949],"aabb_xy":[[0.5065903621528605,0.10633509254921701],[0.547158967599658,0.14690034283463468]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[-0.3784170765513533,0.05105046568156002,0.71338606911949],"aabb_xy":[[-0.4284120875108054,0.0010504666459682998],[-0.3284220655919013,0.10105046471715176]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[-0.2520606969420364,-1.350582514795145,0.71338606911949],"aabb_xy":[[-0.2749764098270864,-1.3734868119315686],[-0.22914498405698658,-1.3276782176587216]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[-0.3373393611638236,0.782519236703227,0.71338606911949],"aabb_xy":[[-0.34533285095910565,0.7745211047627516],[-0.3293458713685416,0.7905173686437028]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6601662692200867,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3515.png","name":"3515"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3515.png","name":"3515"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3128.png","name":"3128"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6203.png","name":"6203"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1266.png","name":"1266"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7798.png","name":"7798"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":543.2745914886086,"rotation_z_degrees":289.50023930932747,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009078663903934884,0.002882431024322424,0.018731142875420246]},{"name":"camera_2","offset_m":[-0.009850361782926873,0.004054438826484808,0.0017936989857275792]},{"name":"camera_3","offset_m":[-0.019893016695043144,0.019346411510175392,0.0035021544775339884]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019669353941686087,-0.0008368295447806475,0.0004892703493400174],"end_effector_yaw_offset_degrees":0.8313676261669303},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012709145128961502,0.0006257087721115596,-0.0004382343203874668],"end_effector_yaw_offset_degrees":0.5048045451137837},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001792299509629225,-0.00054911256172506,-0.0017160901313823377],"end_effector_yaw_offset_degrees":-0.08806615437152976},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001310463037419358,-0.0008071106542271891,-0.0014928909903041503],"end_effector_yaw_offset_degrees":-0.18858832023838157}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-8.233414502809098e-05,0.003306239042396723],"position_m":[0.1660176658549719,0.15650623904239672,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032416990018960803,-0.00417382059432272],"position_m":[0.2514583009981039,-0.3251738205943227,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004092304480909213,-0.002025635689400892],"position_m":[0.13980769551909078,0.2837743643105991,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010849962551574086,-0.0030494577187252492],"position_m":[0.3607849962551574,0.06045054228127475,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8823b848f21a69b51c1dbd2830a61e91ccefc16a27466e6f3bba15b0bf37dabf","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0078.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3515/tex_ceiling_textures_7798/tex_floor_textures_1266/tex_table_textures_3128/tex_wall_textures_6203","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6148264768846791699,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6148264768846791699,"visual_seed":6148264768846791699,"scene_id":"lab_003","finished_at":"2026-09-05T04:31:00"}
+{"episode_id":"ep_000076","started_at":"2026-09-05T04:31:04","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[0.544615655324306,-0.9821913714262058,0.71338606911949],"aabb_xy":[[0.4806199579292094,-1.0461913697269143],[0.6086113527194026,-0.918191373125497]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.15154154064575842,1.3667013438103943,0.71338606911949],"aabb_xy":[[-0.23154154171887875,1.35692329747301],[-0.07154153957263809,1.376479390147779]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[-0.6500390283771378,0.225398248322624,0.71338606911949],"aabb_xy":[[-0.6570804793278854,0.2183714965848295],[-0.6429975774263902,0.23242500006041858]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[-0.17291449568426376,0.906092682457813,0.71338606911949],"aabb_xy":[[-0.17941613219226837,0.8963248604315033],[-0.16641285917625914,0.9158605044841228]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.18612381260063504,-0.30602338461239453,0.71338606911949],"aabb_xy":[[-0.19789199939529264,-0.3910233845176162],[-0.17435562580597758,-0.22102338470717303]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.41847912402449006,1.6943988237026866,0.71338606911949],"aabb_xy":[[0.35447912211214777,1.6384876744446761],[0.48247912593683245,1.750309972960697]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.334992834047789,-1.0026913180607624,0.71338606911949],"aabb_xy":[[0.26999283309066174,-1.0546395299944678],[0.39999283500491617,-0.9507431061270567]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[0.3233166201816058,-1.9320781596387693,0.71338606911949],"aabb_xy":[[0.2593166169629679,-1.9788012715377776],[0.38731662340024364,-1.885355047739761]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[-0.5808617640874995,-0.7524541952945245,0.71338606911949],"aabb_xy":[[-0.5983617632218665,-0.7623338223321122],[-0.5633617649531322,-0.7425745682569366]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[0.40107098016685283,-1.320438586263093,0.71338606911949],"aabb_xy":[[0.3821865963983426,-1.3393245110434457],[0.41995536393536304,-1.3015526614827402]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[0.23550779463305394,-2.0445477967017154,0.71338606911949],"aabb_xy":[[0.22672656748581774,-2.053327543990246],[0.2442890217802902,-2.0357680494131856]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.5064882898588312,0.5989001463886319,0.71338606911949],"aabb_xy":[[0.4932573443241499,0.5856727273666323],[0.5197192353935125,0.6121275654106312]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[0.05500092621156716,-1.1736329718059009,0.71338606911949],"aabb_xy":[[0.0051182293338709476,-1.2236329710521758],[0.10488362308926337,-1.1236329725596264]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[-0.5380234419813014,0.43883757040974825,0.71338606911949],"aabb_xy":[[-0.5704851428632286,0.40870473829484555],[-0.5055617410993737,0.46897040252465083]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.19631747957088796,-0.5300187875354521,0.71338606911949],"aabb_xy":[[-0.21820722715982874,-0.6200187848247011],[-0.17442773198194714,-0.4400187902462029]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.12309760861069607,-2.1944988127418497,0.71338606911949],"aabb_xy":[[0.06809760943410659,-2.249488487516807],[0.17809760778728556,-2.1395091379668916]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.4014919474719125,0.5952451248236725,0.71338606911949],"aabb_xy":[[0.3639919469745542,0.5912764412755541],[0.4389919479692707,0.599213808371791]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.23481795312707,0.24108568266929487,0.71338606911949],"aabb_xy":[[-0.298817955176802,0.20099119957998693],[-0.17081795107733797,0.28118016575860283]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[-0.4763027037191375,-1.2339044567029291,0.71338606911949],"aabb_xy":[[-0.5107650511172792,-1.2683983391007514],[-0.44184035632099566,-1.199410574305106]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[-0.3872972521846744,1.2732108339000092,0.71338606911949],"aabb_xy":[[-0.45129725547438254,1.2298759148960914],[-0.3232972488949663,1.3165457529039266]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.40876429700096645,-0.4411766399931585,0.71338606911949],"aabb_xy":[[-0.43991121584454945,-0.5111766386799657],[-0.3776173781573832,-0.37117664130635125]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.41670633711465116,-0.949578013490068,0.71338606911949],"aabb_xy":[[-0.4542063374628789,-0.9613694090711515],[-0.3792063367664234,-0.9377866179089844]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[0.431277051297958,-0.7416497388275014,0.71338606911949],"aabb_xy":[[0.3862844645795076,-0.78664973810195],[0.4762696380164084,-0.6966497395530525]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[-0.6401383098281409,1.2147313457460522,0.71338606911949],"aabb_xy":[[-0.6450943300130221,1.1922313455439308],[-0.6351822896432597,1.237231345948174]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_24","position":[0.08480745966103342,-1.5723891602948572,0.71338606911949],"aabb_xy":[[0.02717699077376256,-1.6323891592215674],[0.14243792854830425,-1.5123891613681462]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[-0.34526832432428534,-2.2326706831405554,0.71338606911949],"aabb_xy":[[-0.4092683247018189,-2.282415949991367],[-0.28126832394675166,-2.1829254162897427]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[0.5522282139040056,-0.349992435480988,0.71338606911949],"aabb_xy":[[0.48822821168359853,-0.3943655196062763],[0.6162282161244126,-0.30561935135569973]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[-0.4064544680399989,1.5475351120177252,0.71338606911949],"aabb_xy":[[-0.4112980628012289,1.5426834595387413],[-0.40161087327876893,1.5523867644967095]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[0.5450471325233557,-1.9988892208675284,0.71338606911949],"aabb_xy":[[0.5376346769819671,-2.0047404312891564],[0.552459588064744,-1.9930380104459005]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636513070250617,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4623.png","name":"4623"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4623.png","name":"4623"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5571.png","name":"5571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4054.png","name":"4054"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/471.png","name":"471"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4453.png","name":"4453"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":750.1440811976285,"rotation_z_degrees":136.1161718851802,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012862295254808868,-0.014806713794712621,-0.009566238788477678]},{"name":"camera_2","offset_m":[0.005061374236441124,0.005015595474876084,-0.016522520436850784]},{"name":"camera_3","offset_m":[0.015049179499688144,0.01883886753635491,-0.0031236513653379733]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019333529192251367,0.0013107630044777107,-0.0008983468464996141],"end_effector_yaw_offset_degrees":0.4711004976373072},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006407782394400093,-0.0003067330820490971,-0.0007272107644227305],"end_effector_yaw_offset_degrees":0.709602268801959},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003512766983191015,0.0007183347613712466,0.0009049465806300174],"end_effector_yaw_offset_degrees":-0.6745581671034688},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.32398542183019e-05,-0.0007153032589271011,0.001424566457257301],"end_effector_yaw_offset_degrees":0.3256037727584038}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004986308021392212,0.0012995054053108182],"position_m":[0.16111369197860778,0.15449950540531082,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002841074259671718,-0.00044244066617032084],"position_m":[0.2575410742596717,-0.32144244066617034,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038282358656878167,0.0039292103407261554],"position_m":[0.1477282358656878,0.28972921034072613,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002891942516782371,-0.0014834297967821508],"position_m":[0.3625919425167824,0.06201657020321785,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"efd87cc54163737abf2b73a61f1ff866540e75e8b480e9abb2bb6fbb4851cac8","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0079.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4623/tex_ceiling_textures_4453/tex_floor_textures_471/tex_table_textures_5571/tex_wall_textures_4054","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3043815171507570499,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3043815171507570499,"visual_seed":3043815171507570499,"scene_id":"lab_003","finished_at":"2026-09-05T04:34:50"}
+{"episode_id":"ep_000077","started_at":"2026-09-05T04:34:54","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.6131149824285296,-0.6399543565707004,0.71338606911949],"aabb_xy":[[0.5756149840051292,-0.6531185705385311],[0.6506149808519299,-0.6267901426028698]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.05446818886896798,-2.3098045707722443,0.71338606911949],"aabb_xy":[[-0.025531814395045156,-2.323364603081157],[0.1344681921329811,-2.2962445384633305]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.3322514820505966,1.3361229344630092,0.71338606911949],"aabb_xy":[[-0.36725148036129207,1.3284079195394636],[-0.2972514837399012,1.3438379493865549]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[0.45373245507171056,1.1907603892350087,0.71338606911949],"aabb_xy":[[0.43863015361069246,1.1756588676039461],[0.46883475653272866,1.20586191086607]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.10938805519768369,1.4803740171191024,0.71338606911949],"aabb_xy":[[0.09180975300873685,1.4627995275449972],[0.12696635738663054,1.4979485066932072]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.06223605812707733,1.4618745996770355,0.71338606911949],"aabb_xy":[[-0.12623606034748436,1.4175015155517472],[0.0017639440933297015,1.5062476838023238]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[0.4898973847668211,-0.00533327637049652,0.71338606911949],"aabb_xy":[[0.4790457785179455,-0.016192567098147537],[0.5007489910156967,0.005526014357154496]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.37149804341699766,0.46016293330563096,0.71338606911949],"aabb_xy":[[0.34698441931999174,0.43589834000359456],[0.39601166751400346,0.48442752660766747]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[-0.5477086378870464,0.30575228620236095,0.71338606911949],"aabb_xy":[[-0.6117086351893928,0.26138585923450414],[-0.4837086405847,0.35011871317021764]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[0.3575847676317174,-2.212922516298431,0.71338606911949],"aabb_xy":[[0.35212682199469736,-2.29292251960609],[0.3630427132687375,-2.132922512990772]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.20108586481758256,0.47158552231702133,0.71338606911949],"aabb_xy":[[-0.22608586475010045,0.464702854096098],[-0.17608586488506467,0.47846819053794465]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.1918767392913494,1.456530870715285,0.71338606911949],"aabb_xy":[[-0.20150837551177903,1.4468935579355762],[-0.1822451030709198,1.466168183494994]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.16766700451610828,-1.353263987083,0.71338606911949],"aabb_xy":[[0.11785022505127349,-1.4032639855673035],[0.217483783980943,-1.3032639885986967]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.38962204223991087,-0.6673388559698405,0.71338606911949],"aabb_xy":[[-0.44725251112718156,-0.727338854896551],[-0.3319915733526399,-0.6073388570431298]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[-0.582277824715031,0.44735607699603985,0.71338606911949],"aabb_xy":[[-0.5997085397940374,0.430083962332189],[-0.5648471096360244,0.4646281916598906]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.014456618339909078,-1.1365635416714008,0.71338606911949],"aabb_xy":[[-0.008043381473993305,-1.1410381580418816],[0.03695661815381146,-1.13208892530092]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.45821855262570943,-0.3980211510502154,0.71338606911949],"aabb_xy":[[-0.49571855381050217,-0.4024393737462759],[-0.4207185514409166,-0.3936029283541549]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.1821486599010984,-2.087827983864967,0.71338606911949],"aabb_xy":[[-0.2721486564019701,-2.133739626283425],[-0.09214866340022664,-2.0419163414465085]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[-0.053551066764820576,-0.171980264609374,0.71338606911949],"aabb_xy":[[-0.10355106712538664,-0.2219602518189769],[-0.003551066404254517,-0.12200027739977103]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[-0.49546851833467154,1.279986156136641,0.71338606911949],"aabb_xy":[[-0.5179649397685357,1.2574861563298936],[-0.4729720969008075,1.3024861559433885]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.3717935460261786,1.6823156286493188,0.71338606911949],"aabb_xy":[[-0.4092935463183534,1.6782741532487155],[-0.33429354573400377,1.6863571040499226]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[0.5533387531540865,0.22286604248981945,0.71338606911949],"aabb_xy":[[0.5188762751409988,0.2162023653068966],[0.5878012311671743,0.22952971967274224]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[0.6160413387454222,-0.14127480481641408,0.71338606911949],"aabb_xy":[[0.5710487520269717,-0.1862748040908628],[0.6610339254638725,-0.0962748055419653]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[-0.20016115154653202,-2.2382181981028757,0.71338606911949],"aabb_xy":[[-0.2601611513930988,-2.2950368202959144],[-0.14016115169996524,-2.181399575909837]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.30018896294401365,0.9611127176001792,0.71338606911949],"aabb_xy":[[-0.3114340185146315,0.9498709198760841],[-0.2889439073733958,0.9723545153242746]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.584583532645837,-0.9425363599516476,0.71338606911949],"aabb_xy":[[-0.5943395221550108,-0.952298894010882],[-0.5748275431366631,-0.9327738258924131]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6607784365984343,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2158.png","name":"2158"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2158.png","name":"2158"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8947.png","name":"8947"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9577.png","name":"9577"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1598.png","name":"1598"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7150.png","name":"7150"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":519.8105032782589,"rotation_z_degrees":26.06054935059803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007442435939070471,0.004697096687554955,-0.012081789092728145]},{"name":"camera_2","offset_m":[-0.01821906971643688,-0.017404690192469312,-0.01371008450809057]},{"name":"camera_3","offset_m":[-0.009120126089012604,0.0016528305269712627,-0.014210404346398909]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019808682053448364,-0.001072589202408063,-0.0011438202932322343],"end_effector_yaw_offset_degrees":-0.8577442343185622},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003136748894831318,-0.0015464479394143677,4.0363355907475224e-05],"end_effector_yaw_offset_degrees":0.7969121491112556},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017269088979225114,0.00036455814244396555,-0.00016262596559578585],"end_effector_yaw_offset_degrees":-0.11018917294131958},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016254323073592297,-0.0003942053695909706,0.0010016438681579934],"end_effector_yaw_offset_degrees":0.9585022486046666}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018473823303135394,-0.004974222662829248],"position_m":[0.16794738233031353,0.14822577733717077,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002605601301993127,-0.0042927007491339],"position_m":[0.25209439869800687,-0.3252927007491339,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-8.989288126070877e-05,-0.0014085705839052766],"position_m":[0.1438101071187393,0.28439142941609474,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001911582026163732,0.002919115936220012],"position_m":[0.3577884179738363,0.06641911593622002,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f759ba4b882f2790053b7b2178d0584bd90317651dd121654c0ed2e42185b70f","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2158/tex_ceiling_textures_7150/tex_floor_textures_1598/tex_table_textures_8947/tex_wall_textures_9577","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1045988429199453205,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1045988429199453205,"visual_seed":1045988429199453205,"scene_id":"lab_003","finished_at":"2026-09-05T04:38:55"}
+{"episode_id":"ep_000078","started_at":"2026-09-05T04:39:00","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[-0.5313563312634955,-0.9615454798727041,0.71338606911949],"aabb_xy":[[-0.5913563317713483,-1.0183922135586254],[-0.4713563307556425,-0.9046987461867828]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.6560225871069925,-2.125937415319082,0.71338606911949],"aabb_xy":[[-0.6935225886226241,-2.1371641883352273],[-0.6185225855913606,-2.114710642302937]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[0.41507601602195354,-0.8677635745485732,0.71338606911949],"aabb_xy":[[0.39007601674999126,-0.8841089381447356],[0.4400760152939158,-0.8514182109524109]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[-0.12612822593967943,-0.7742606925698801,0.71338606911949],"aabb_xy":[[-0.17612822630024547,-0.8242406797794829],[-0.07612822557911335,-0.724280705360277]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[0.1261499546820134,0.7722180599863755,0.71338606911949],"aabb_xy":[[0.0761499560360922,0.722298516326913],[0.1761499533279346,0.8221376036458378]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[0.4004494291332086,-0.9568859863732764,0.71338606911949],"aabb_xy":[[0.3754494295814701,-0.9670284702384111],[0.42544942868494706,-0.9467435025081417]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[0.014708918769112511,1.1904615947634851,0.71338606911949],"aabb_xy":[[-0.05029107938680655,1.164165350213573],[0.07970891692503157,1.2167578393133973]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[0.3951282807387535,0.21208275360782913,0.71338606911949],"aabb_xy":[[0.3880879708052167,0.13208275420815774],[0.40216859067229066,0.29208275300750053]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[-0.22807769134728195,0.7883337181648731,0.71338606911949],"aabb_xy":[[-0.308077691817498,0.7800230105505249],[-0.14807769087706607,0.7966444257792217]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[0.24871027811863367,0.5167103113885805,0.71338606911949],"aabb_xy":[[0.2378045020310709,0.4367103149897513],[0.2596160542061963,0.5967103077874096]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[0.3771928849299966,-0.3577337074281641,0.71338606911949],"aabb_xy":[[0.3695686168398184,-0.36536693096470785],[0.38481715302017494,-0.3501004838916204]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[0.23078429000142864,1.2439193202836254,0.71338606911949],"aabb_xy":[[0.15078429298718063,1.223784768610214],[0.3107842870156766,1.2640538719570364]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[-0.5596320139968873,1.3756932773194177,0.71338606911949],"aabb_xy":[[-0.6096320152807272,1.3257144229287954],[-0.5096320127130473,1.4256721317100396]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[0.38607968991507446,0.8397073371680763,0.71338606911949],"aabb_xy":[[0.37666221534521166,0.8302911600303573],[0.39549716448493716,0.8491235143057954]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[-0.5583314046383269,-0.4894970223604922,0.71338606911949],"aabb_xy":[[-0.5676784122206221,-0.5038006445781362],[-0.5489843970560316,-0.4751934001428482]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[-0.07535783900772364,-1.7802925775073826,0.71338606911949],"aabb_xy":[[-0.11285783895149004,-1.788585667542219],[-0.03785783906395723,-1.7719994874725458]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[0.4436795446382773,-2.3601097126745865,0.71338606911949],"aabb_xy":[[0.3936795432773901,-2.4100876172500016],[0.4936795459991645,-2.3101318080991704]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.5974925737081467,-2.3429771219998936,0.71338606911949],"aabb_xy":[[0.5894492137821914,-2.42797712309526],[0.6055359336341017,-2.257977120904527]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_18","position":[0.4762130781120244,-1.3744765397726832,0.71338606911949],"aabb_xy":[[0.3862130783888502,-1.3975498923078629],[0.5662130778351986,-1.3514031872375032]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[0.5612008135755322,1.5659700837116435,0.71338606911949],"aabb_xy":[[0.5460286442938989,1.5508012267834401],[0.5763729828571655,1.5811389406398468]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.49018384112752234,-0.040420176053493684,0.71338606911949],"aabb_xy":[[0.48102396218364574,-0.046951394097030696],[0.49934372007139893,-0.03388895800995667]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.34673697295616335,-2.0596981034518187,0.71338606911949],"aabb_xy":[[0.3298262405198215,-2.073170309044433],[0.36364770539250507,-2.0462258978592036]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[-0.43070952474379465,1.3414849218108156,0.71338606911949],"aabb_xy":[[-0.4657095230139145,1.3344107941158274],[-0.3957095264736747,1.3485590495058037]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[-0.25282734971219906,1.7224813980975973,0.71338606911949],"aabb_xy":[[-0.30282735137369376,1.672482955841894],[-0.20282734805070426,1.7724798403532995]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[0.018268639790852248,-1.1666092210083865,0.71338606911949],"aabb_xy":[[-0.022980171239062486,-1.2216092205206037],[0.05951745082076697,-1.1116092214961688]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_25","position":[-0.41723517180216946,0.828753739457273,0.71338606911949],"aabb_xy":[[-0.4291679061639975,0.8163715866494138],[-0.4053024374403414,0.8411358922651325]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[-0.07419685845808632,-2.133009705950727,0.71338606911949],"aabb_xy":[[-0.16419686079210538,-2.21049206053584],[0.015803143875932735,-2.0555273513656145]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_27","position":[-0.5024240437615562,-0.7210410264757985,0.71338606911949],"aabb_xy":[[-0.5524171558707481,-0.7710410271499942],[-0.45243093165236437,-0.6710410258016029]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6571848478836375,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3272.png","name":"3272"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3272.png","name":"3272"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6564.png","name":"6564"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9767.png","name":"9767"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4911.png","name":"4911"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8085.png","name":"8085"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":752.4065193893965,"rotation_z_degrees":104.02878728132026,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008735008691477737,0.010228743829542898,0.002459014153713905]},{"name":"camera_2","offset_m":[0.0060530413153135725,-0.003217301090005023,0.011552703563046742]},{"name":"camera_3","offset_m":[0.014352811210032599,0.006470776457776224,-0.014752314459151133]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007269106446212556,-0.0007086803133613141,-0.0007537340110646987],"end_effector_yaw_offset_degrees":0.7911672503205087},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015854778703719547,-0.0005948027560882707,-0.0015217288235362158],"end_effector_yaw_offset_degrees":0.8587845260809026},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006014150793725169,-0.001537293166605596,0.0017076652270439996],"end_effector_yaw_offset_degrees":0.822236785879952},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001791041402817951,-0.00166077264107697,-0.0017778610349544343],"end_effector_yaw_offset_degrees":-0.15691381613430821}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024239127614300716,0.002204582408138001],"position_m":[0.16367608723856994,0.155404582408138,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002441028054124009,0.0033682882686901965],"position_m":[0.252258971945876,-0.31763171173130983,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018915301950886243,0.004548868142996962],"position_m":[0.14200846980491139,0.290348868142997,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004753998764962448,-0.0028742207031807456],"position_m":[0.35494600123503756,0.060625779296819254,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7c19530fad9b16e34941554b6b9a5887c2ae02bf685829a81af52a79e6dea42e","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0081.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3272/tex_ceiling_textures_8085/tex_floor_textures_4911/tex_table_textures_6564/tex_wall_textures_9767","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8650156365519890372,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8650156365519890372,"visual_seed":8650156365519890372,"scene_id":"lab_003","finished_at":"2026-09-05T04:42:34"}
+{"episode_id":"ep_000079","started_at":"2026-09-05T04:42:39","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.683754526109354,1.4185979016806445,0.71338606911949],"aabb_xy":[[-0.6916778063481025,1.3960979014426411],[-0.6758312458706058,1.4410979019186478]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[0.5973243931666283,-0.6135527979297664,0.71338606911949],"aabb_xy":[[0.5893309033713463,-0.6215509298702421],[0.6053178829619104,-0.6055546659892909]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.14761757775377937,-0.8477759202915356,0.71338606911949],"aabb_xy":[[0.13940303263809536,-0.8564525105891767],[0.15583212286946332,-0.839099329993894]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[0.05571395556235437,-0.8839058424973247,0.71338606911949],"aabb_xy":[[0.047719966984650974,-0.8919059225924151],[0.06370794414005776,-0.8759057624022344]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[0.2592213585503902,0.5496484169825933,0.71338606911949],"aabb_xy":[[0.20520576226849013,0.4856484140903361],[0.31323695483229014,0.6136484198748504]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[-0.4799684146023676,0.6821481381662129,0.71338606911949],"aabb_xy":[[-0.4981742382636153,0.6711227375842213],[-0.46176259094111993,0.6931735387482045]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[0.5732833133943611,-1.379364260992688,0.71338606911949],"aabb_xy":[[0.5132833117514393,-1.4313644102846323],[0.633283315037283,-1.327364111700744]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.13507536568040512,1.4562733282008762,0.71338606911949],"aabb_xy":[[0.09757536533217734,1.4444819326197924],[0.17257536602863285,1.4680647237819595]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.24747888886593988,-2.299815914562513,0.71338606911949],"aabb_xy":[[-0.25804636852403895,-2.3103609446755216],[-0.2369114092078409,-2.2892708844495044]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.5488973268659542,0.926314478714672,0.71338606911949],"aabb_xy":[[-0.5597489331148298,0.915455187987021],[-0.5380457206170786,0.937173769442323]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[0.14477939622867508,-1.9611994755683093,0.71338606911949],"aabb_xy":[[0.1072793978052747,-1.97436368953614],[0.1822793946520754,-1.9480352616004786]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_11","position":[0.5691004842558423,0.08477200255857342,0.71338606911949],"aabb_xy":[[0.5566331261461066,0.07230667792524992],[0.5815678423655779,0.09723732719189693]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[0.4878631291604476,-1.0896369531529795,0.71338606911949],"aabb_xy":[[0.4528631291839518,-1.099101569200596],[0.5228631291369434,-1.0801723371053629]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.44787138362077195,-0.7265447675829921,0.71338606911949],"aabb_xy":[[-0.5178713854295174,-0.7478985363471796],[-0.37787138181202656,-0.7051909988188049]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[0.0334736424049783,-1.664597144305145,0.71338606911949],"aabb_xy":[[-0.04652018117357992,-1.7445971468979866],[0.11346746598353652,-1.5845971417123035]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[-0.3648706500232718,1.0674573631840758,0.71338606911949],"aabb_xy":[[-0.37356861231398714,1.055332388876601],[-0.35617268773255656,1.0795823374915505]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.5214318617633171,-1.068870286690554,0.71338606911949],"aabb_xy":[[-0.6014318650273303,-1.0824303189994673],[-0.441431858499304,-1.0553102543816406]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[0.5726308765840635,-0.8554148674338933,0.71338606911949],"aabb_xy":[[0.5126308760762105,-0.9122616011198146],[0.6326308770919163,-0.798568133747972]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_18","position":[-0.5526487511597288,0.5070602458382032,0.71338606911949],"aabb_xy":[[-0.5603519418338059,0.4993508751394652],[-0.5449455604856517,0.5147696165369412]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[-0.025048682201818218,1.7910324020009596,0.71338606911949],"aabb_xy":[[-0.04796439508686813,1.7681281048645365],[-0.0021329693167683153,1.8139366991373835]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[-0.28109167343088437,-0.6370768207925519,0.71338606911949],"aabb_xy":[[-0.28453234967094154,-0.6409382537669165],[-0.2776509971908272,-0.6332153878181875]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[0.6264815057513211,1.4067266111977021,0.71338606911949],"aabb_xy":[[0.6039815055078057,1.3945219765379302],[0.6489815059948365,1.418931245857474]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[-0.011229863829756215,-1.3976750672310834,0.71338606911949],"aabb_xy":[[-0.07522986523774687,-1.449464018755008],[0.05277013757823445,-1.3458861157071587]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.6047340046485512,0.2810693500498025,0.71338606911949],"aabb_xy":[[0.5661883118233502,0.24252357899361382],[0.6432796974737522,0.31961512110599116]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.3524574459319574,0.7436763456575464,0.71338606911949],"aabb_xy":[[0.3345883381775019,0.7298434376803354],[0.3703265536864129,0.7575092536347573]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[0.12710292001030488,-1.0543201851448085,0.71338606911949],"aabb_xy":[[0.10930941307538844,-1.0721199307406062],[0.1448964269452213,-1.0365204395490109]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_26","position":[-0.16430811979478444,-1.1099325410147682,0.71338606911949],"aabb_xy":[[-0.18019261306010959,-1.1242854813135923],[-0.14842362652945928,-1.0955796007159442]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[0.4227262437654129,1.4231613372842662,0.71338606911949],"aabb_xy":[[0.399141120301518,1.3581613350388344],[0.4463113672293077,1.488161339529698]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_28","position":[0.08201806891152397,-2.240486098603236,0.71338606911949],"aabb_xy":[[0.07560425526833901,-2.2468959188509037],[0.0884318825547089,-2.2340762783555674]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[0.681823773759159,0.7848030503422501,0.71338606911949],"aabb_xy":[[0.640519230695423,0.720803050774133],[0.723128316822895,0.8488030499103671]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_30","position":[-0.34983648765419756,-1.6222527707257446,0.71338606911949],"aabb_xy":[[-0.43983648438980777,-1.675436234043039],[-0.25983649091858735,-1.56906930740845]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_31","position":[0.220648831098319,0.8887666601274837,0.71338606911949],"aabb_xy":[[0.14064883369472556,0.8087740889293009],[0.3006488285019124,0.9687592313256665]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_32","position":[-0.17046393188062425,-2.2255501709876886,0.71338606911949],"aabb_xy":[[-0.1895762392386031,-2.2446849498649306],[-0.15135162452264536,-2.2064153921104466]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6618026528258905,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4733.png","name":"4733"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4733.png","name":"4733"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7080.png","name":"7080"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3997.png","name":"3997"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/324.png","name":"324"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":581.2781743549615,"rotation_z_degrees":162.99726720829474,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00025704301243866315,0.003768302258795521,0.0085802989316433]},{"name":"camera_2","offset_m":[0.009305569667162492,-0.015568463336444915,-0.01632410630880963]},{"name":"camera_3","offset_m":[-0.01034839524083215,0.005715785182729961,-0.0019574883261440426]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009483313438557923,0.001286097415948667,-0.0005693724977288189],"end_effector_yaw_offset_degrees":0.12640553253115505},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006660945928194315,-0.0010932333843386881,0.0011252616942529592],"end_effector_yaw_offset_degrees":-0.12158121544840861},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015093361487826386,0.0007588148337744072,-0.001283343266019186],"end_effector_yaw_offset_degrees":0.9012565425708621},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018807325387380583,0.0007721571740384719,0.0003390171291144158],"end_effector_yaw_offset_degrees":-0.1650183868623447}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036886121094144115,-0.0002933215655528546],"position_m":[0.1697886121094144,0.15290667843444714,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005282996013156417,-0.0007999404427909522],"position_m":[0.2552282996013156,-0.321799940442791,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015088718215727115,-0.0028490500113972994],"position_m":[0.14239112817842728,0.2829509499886027,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009880182646605108,-0.002258510637258594],"position_m":[0.3587119817353395,0.06124148936274141,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d3dc9125678a4e29ec81857a983186782605b0f5ef791ccb773c614be5b5bd2","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4733/tex_ceiling_textures_324/tex_floor_textures_3997/tex_table_textures_7080/tex_wall_textures_5964","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":4903703775766836493,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":4903703775766836493,"visual_seed":4903703775766836493,"scene_id":"lab_003","finished_at":"2026-09-05T04:46:28"}
+{"episode_id":"ep_000080","started_at":"2026-09-05T04:46:31","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[0.48452652167195387,0.4810712215841373,0.71338606911949],"aabb_xy":[[0.47690225358177574,0.4734379980475936],[0.4921507897621322,0.48870444512068106]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.2811390756609363,-0.7989545313733157,0.71338606911949],"aabb_xy":[[-0.28935362077662025,-0.8076311216709569],[-0.2729245305452523,-0.7902779410756742]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.4749871815777744,-1.822390623963766,0.71338606911949],"aabb_xy":[[0.4499871824121414,-1.8293428696691225],[0.49998718074340764,-1.8154383782584094]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[-0.5081519834302363,1.2402167855555226,0.71338606911949],"aabb_xy":[[-0.5931519821223109,1.2082309221606435],[-0.4231519847381616,1.2722026489504012]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.05319835769926218,-0.7491423247555635,0.71338606911949],"aabb_xy":[[-0.05916489663999796,-0.7551034694149275],[-0.04723181875852638,-0.7431811800961994]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.13333024859802745,-1.074816389927191,0.71338606911949],"aabb_xy":[[-0.21333025002815464,-1.1543335449398004],[-0.05333024716790025,-0.9952992349145815]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.05479729819306156,0.3877515420487523,0.71338606911949],"aabb_xy":[[-0.08909420921080219,0.35345465583881086],[-0.020500387175320933,0.4220484282586936]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_7","position":[0.4837576342188943,-1.6783294263538608,0.71338606911949],"aabb_xy":[[0.44625763440186067,-1.6829676376650022],[0.5212576340359278,-1.6736912150427186]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[-0.27058358346629924,-2.546974996768946,0.71338606911949],"aabb_xy":[[-0.2887894071275469,-2.5580003973509373],[-0.25237775980505156,-2.535949596186954]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[0.2718383151260343,1.47354406699684,0.71338606911949],"aabb_xy":[[0.258391788491991,1.4600742153437487],[0.2852848417600777,1.4870139186499314]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[0.13442481101160053,-1.5459325349572028,0.71338606911949],"aabb_xy":[[0.09165810413218031,-1.6099325383790053],[0.1771915178910207,-1.4819325315354004]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[-0.44125760396324315,1.6057132232529887,0.71338606911949],"aabb_xy":[[-0.5012576044710961,1.5488664895670672],[-0.3812576034553902,1.6625599569389098]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.034222585751617296,1.2659993544044483,0.71338606911949],"aabb_xy":[[-0.08921483638712824,1.2109993526611356],[0.020769664883893656,1.320999356147761]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[0.23517575262362156,0.8319434199797855,0.71338606911949],"aabb_xy":[[0.19767575267985515,0.823650329944949],[0.27267575256738796,0.8402365100146222]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[-0.22476901718339942,0.4578949604637459,0.71338606911949],"aabb_xy":[[-0.23533649684149843,0.44734993035073733],[-0.2142015375253004,0.46843999057675445]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[-0.03714078655892761,-0.22238947724825664,0.71338606911949],"aabb_xy":[[-0.05931331353557844,-0.2445651444043798],[-0.01496825958227677,-0.20021381009213343]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.5600657378463655,0.13431941273385162,0.71338606911949],"aabb_xy":[[-0.6100607488058176,0.08431941369825989],[-0.5100707268869136,0.18431941176944333]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[-0.47894760322435526,-1.531001723707026,0.71338606911949],"aabb_xy":[[-0.5389476048672771,-1.58300187299897],[-0.4189476015814334,-1.4790015744150817]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.08566144619682148,0.9076888096695153,0.71338606911949],"aabb_xy":[[-0.11066144546878376,0.891343446073353],[-0.060661446924859204,0.9240341732656777]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[-0.6472602368480385,1.052901157297328,0.71338606911949],"aabb_xy":[[-0.6553738915214157,1.0447953408432988],[-0.6391465821746615,1.061006973751357]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[0.15295603693221727,-1.1884088092735907,0.71338606911949],"aabb_xy":[[0.1029560359816844,-1.219957956277112],[0.20295603788275002,-1.156859662270069]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.36127699756117176,-2.376236998954932,0.71338606911949],"aabb_xy":[[-0.3705706157983223,-2.413736997443066],[-0.35198337932402113,-2.338737000466798]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[-0.26956531452983556,1.7498636202739823,0.71338606911949],"aabb_xy":[[-0.31455790124828603,1.7048636209995336],[-0.2245727278113852,1.794863619548431]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[0.3649582479986202,-2.494935364167987,0.71338606911949],"aabb_xy":[[0.3196796331174709,-2.5589353635161705],[0.4102368628797694,-2.430935364819803]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[0.5604824722825219,1.4613698285400125,0.71338606911949],"aabb_xy":[[0.54357173984618,1.4478976229473979],[0.5773932047188636,1.4748420341326272]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[-0.4417976365543121,-1.3501788670637591,0.71338606911949],"aabb_xy":[[-0.47178929928818236,-1.3801788664005596],[-0.4118059738204417,-1.3201788677269586]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[-0.19948570485066108,-0.5687496295006476,0.71338606911949],"aabb_xy":[[-0.2494857062115483,-0.6187275340760631],[-0.14948570348977386,-0.5187717249252318]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[0.6955173032877078,-1.9678438262042235,0.71338606911949],"aabb_xy":[[0.6868193409969925,-1.9799688005116982],[0.7042152655784231,-1.9557188518967488]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_28","position":[0.08809068843002721,-0.7817203047412689,0.71338606911949],"aabb_xy":[[0.08199606054190889,-0.7902896992929376],[0.09418531631814553,-0.7731509101896001]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659706388148683,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3171.png","name":"3171"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3171.png","name":"3171"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8093.png","name":"8093"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9860.png","name":"9860"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8191.png","name":"8191"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3026.png","name":"3026"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":507.6955073047556,"rotation_z_degrees":162.91270451172832,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001583206082847552,-0.011188486070984527,-0.004890429482776723]},{"name":"camera_2","offset_m":[0.012242044797949204,-0.016109923721086376,0.01829415716196196]},{"name":"camera_3","offset_m":[-0.009495108105125284,-0.0004044988396195402,-0.0018767633167572143]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00011348374561328005,-0.001898481837130849,0.0005342174698495946],"end_effector_yaw_offset_degrees":-0.5407520882123817},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001045447471772907,-0.0009344520068082765,0.0003375063630737876],"end_effector_yaw_offset_degrees":-0.1806810385076627},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009133582564607862,0.00040427408441751815,-5.429212591826545e-05],"end_effector_yaw_offset_degrees":0.8034611953241826},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.046297709927595e-05,0.0018859046212107225,-0.00183864541732204],"end_effector_yaw_offset_degrees":-0.15961365528992832}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007564388950299407,-0.0015702575090267169],"position_m":[0.16685643889502993,0.15162974249097327,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031025478943307516,-0.0029924957301973153],"position_m":[0.25159745210566925,-0.32399249573019734,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010119944341067137,-0.0018451591959142864],"position_m":[0.1428880055658933,0.28395484080408573,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026720507488172396,0.004173495025575018],"position_m":[0.35702794925118275,0.06767349502557501,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0f9a8fe5321a782789bb0429caa436e665d175dfac61b0b3af54493d5310a313","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0083.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3171/tex_ceiling_textures_3026/tex_floor_textures_8191/tex_table_textures_8093/tex_wall_textures_9860","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":62077412326158585,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":62077412326158585,"visual_seed":62077412326158585,"scene_id":"lab_003","finished_at":"2026-09-05T04:50:04"}
+{"episode_id":"ep_000081","started_at":"2026-09-05T04:50:08","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[0.22905671040752418,-0.49589044848214225,0.71338606911949],"aabb_xy":[[0.224100690222643,-0.518390448684264],[0.2340127305924054,-0.47339044828002075]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[-0.16789469879374475,1.243566153818409,0.71338606911949],"aabb_xy":[[-0.23189469808791296,1.1795800134495549],[-0.10389469949957653,1.3075522941872633]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[0.035663962997418586,-0.7478129631997446,0.71338606911949],"aabb_xy":[[0.02010819358715332,-0.763363396444152],[0.051219732407683856,-0.7322625299553375]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[0.6206515239249366,-1.478473641206077,0.71338606911949],"aabb_xy":[[0.5778848170455164,-1.5424736446278795],[0.6634182308043568,-1.4144736377842746]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[-0.477014701680735,-2.000996758200696,0.71338606911949],"aabb_xy":[[-0.5104548768767545,-2.034440384031625],[-0.4435745264847154,-1.967553132369765]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.58984103748056,0.5715198136321122,0.71338606911949],"aabb_xy":[[0.5485922264506452,0.5165198141198947],[0.6310898485104747,0.6265198131443296]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.36827329266244124,-2.273096319214291,0.71338606911949],"aabb_xy":[[0.27827329032842213,-2.3505786737994034],[0.45827329499646025,-2.195613964629178]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[-0.06632148540761384,-1.015965179219256,0.71338606911949],"aabb_xy":[[-0.11132148687384272,-1.0609650360807368],[-0.021321483941385003,-0.9709653223577754]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[-0.24212783190879206,0.9912965517284467,0.71338606911949],"aabb_xy":[[-0.3061278321827703,0.9412304515311586],[-0.1781278316348138,1.0413626519257346]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[-0.3756941464851165,-1.6285659514574196,0.71338606911949],"aabb_xy":[[-0.38390869160080043,-1.6372425417550605],[-0.3674796013694325,-1.6198893611597778]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[0.475372896887033,0.4338513384011975,0.71338606911949],"aabb_xy":[[0.4378728970699993,0.4292131270900556],[0.5128728967040664,0.4384895497123393]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[0.4186256564209554,1.557715757558706,0.71338606911949],"aabb_xy":[[0.3961608864495502,1.5352157566798454],[0.44109042639236046,1.5802157584375665]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[0.4772949261130517,-0.1387991974576508,0.71338606911949],"aabb_xy":[[0.3872949296121798,-0.184710839876109],[0.5672949226139232,-0.09288755503919253]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[0.25281029032507163,1.4327278777679875,0.71338606911949],"aabb_xy":[[0.24409632127513706,1.4102278771087988],[0.261524259375006,1.4552278784271753]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.22456832603031762,-1.5791685036925898,0.71338606911949],"aabb_xy":[[0.20746624807194947,-1.5962753092238597],[0.24167040398868578,-1.5620616981613202]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.519440374561664,-2.4552719027726457,0.71338606911949],"aabb_xy":[[-0.5373094823161195,-2.4691048107498568],[-0.5015712668072085,-2.4414389947954347]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.29003929134685635,0.43909655798570135,0.71338606911949],"aabb_xy":[[0.260047628612986,0.4090965586489008],[0.3200309540807267,0.4690965573225019]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[-0.5913584467667079,-1.9033151317627446,0.71338606911949],"aabb_xy":[[-0.6114168583799482,-1.923380218671902],[-0.5713000351534676,-1.8832500448535867]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.6494791195198706,0.9154346661318162,0.71338606911949],"aabb_xy":[[0.6119791191716427,0.9036432705507326],[0.6869791198680982,0.9272260617128997]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[0.6764274589571209,1.658639869758367,0.71338606911949],"aabb_xy":[[0.6650657243038346,1.6472714033520786],[0.6877891936104069,1.6700083361646547]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[-0.3162912738580433,1.7729035707787761,0.71338606911949],"aabb_xy":[[-0.340837489480794,1.742654674229739],[-0.29174505823529256,1.8031524673278132]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.44655683290059645,-1.979640807969608,0.71338606911949],"aabb_xy":[[0.36655683262698946,-2.0525903557953242],[0.5265568331742034,-1.906691260143891]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.39620367918003985,0.5528542033113855,0.71338606911949],"aabb_xy":[[0.31620367870982385,0.5445434956970372],[0.4762036796502558,0.561164910925734]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.4441129990049666,-0.9450442481941281,0.71338606911949],"aabb_xy":[[0.37911300112331886,-0.9961679119006691],[0.5091129968866144,-0.8939205844875874]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[-0.023316013224346732,-1.5233847585416749,0.71338606911949],"aabb_xy":[[-0.06830859994279714,-1.5683847578161236],[0.02167657349410368,-1.4783847592672261]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_25","position":[-0.4679637293782578,0.6347591070674463,0.71338606911949],"aabb_xy":[[-0.5229637285548473,0.5797694322924886],[-0.4129637302016683,0.6897487818424038]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_26","position":[-0.4085513961031372,-1.8021432952710148,0.71338606911949],"aabb_xy":[[-0.4372007284635534,-1.8307888545480904],[-0.37990206374272095,-1.7734977359939388]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[0.5548728617104512,1.059264954886888,0.71338606911949],"aabb_xy":[[0.5173728601948195,1.048038181870743],[0.592372863226083,1.070491727903033]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[0.3768147354441984,1.4010367045645569,0.71338606911949],"aabb_xy":[[0.36604176152283063,1.3660367063455179],[0.3875877093655662,1.4360367027835959]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_29","position":[-0.0023049731739950285,0.7329418812388266,0.71338606911949],"aabb_xy":[[-0.052283781684310915,0.6829418812331077],[0.04767383533632086,0.7829418812445453]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_30","position":[0.1318977683026883,1.6973441012098758,0.71338606911949],"aabb_xy":[[0.11902586480174814,1.6173441007960394],[0.1447696718036284,1.7773441016237117]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_31","position":[-0.4113893530103135,1.765831789034784,0.71338606911949],"aabb_xy":[[-0.4366101898701531,1.7406080381818974],[-0.38616851615047376,1.7910555398876709]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_32","position":[-0.009044278539517392,1.2945336675014736,0.71338606911949],"aabb_xy":[[-0.020812465334174912,1.2095336675962522],[0.0027239082551401305,1.3795336674066954]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619853977546182,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7327.png","name":"7327"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7327.png","name":"7327"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2486.png","name":"2486"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8198.png","name":"8198"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7075.png","name":"7075"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9861.png","name":"9861"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":582.5211293721313,"rotation_z_degrees":354.1820725598163,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005475640701263749,-0.015150889210833771,-0.01644437856020208]},{"name":"camera_2","offset_m":[-0.008755778209788852,0.019539320755282755,0.00297224493833783]},{"name":"camera_3","offset_m":[0.011467071861197515,0.01865627071478627,-0.014478883517504752]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001544488935043636,0.0006317350753004421,-0.0009073646110370035],"end_effector_yaw_offset_degrees":0.11054523992409071},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008055276784689944,-0.0002517433308583078,0.001114796111340089],"end_effector_yaw_offset_degrees":-0.1215657225302158},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00045074708255309743,0.0015438497362092987,0.0008199815799173372],"end_effector_yaw_offset_degrees":0.38438401812777534},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013672984323952145,-0.0009562438948549153,-0.0005256145144575618],"end_effector_yaw_offset_degrees":-0.8115448929148814}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031108597377795784,-0.0022517205612258974],"position_m":[0.16921085973777958,0.15094827943877412,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002622188342093451,0.0026118331961865514],"position_m":[0.2573221883420934,-0.31838816680381343,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002341911962025345,0.0021239426046475883],"position_m":[0.14624191196202535,0.2879239426046476,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003439023181224913,0.0029864061837015727],"position_m":[0.3562609768187751,0.06648640618370158,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"05dbcc9840752fedf9f3cd67476ffb3daa54612155667125bc166522965ecdfa","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7327/tex_ceiling_textures_9861/tex_floor_textures_7075/tex_table_textures_2486/tex_wall_textures_8198","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8990727145785163930,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8990727145785163930,"visual_seed":8990727145785163930,"scene_id":"lab_003","finished_at":"2026-09-05T04:53:45"}
+{"episode_id":"ep_000082","started_at":"2026-09-05T04:53:49","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.05504176543200112,-1.3583617780439097,0.71338606911949],"aabb_xy":[[0.038364629438905624,-1.3750617020178402],[0.07171890142509663,-1.3416618540699796]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.3850132742998078,-1.5511753059907822,0.71338606911949],"aabb_xy":[[0.3741616680509322,-1.5620345967184333],[0.3958648805486834,-1.5403160152631312]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.6680763202717501,0.8408004295842026,0.71338606911949],"aabb_xy":[[0.6610348693210025,0.8337736778464083],[0.6751177712224977,0.8478271813219974]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.5970359463915885,-2.0644560376671652,0.71338606911949],"aabb_xy":[[-0.667035947993868,-2.077888830868823],[-0.527035944789309,-2.0510232444655077]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[-0.5002848254593552,-1.3103122070840612,0.71338606911949],"aabb_xy":[[-0.5377848262513506,-1.3166800480422516],[-0.4627848246673597,-1.3039443661258712]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[-0.01018493626415462,-2.3760912042231546,0.71338606911949],"aabb_xy":[[-0.02768493652349125,-2.3901827464119276],[0.007315063995182005,-2.3619996620343824]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.022450790349468175,-2.5657867930174043,0.71338606911949],"aabb_xy":[[0.004817954755940604,-2.583409739033027],[0.04008362594299575,-2.548163847001781]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[-0.3700912588150662,1.0258858420782002,0.71338606911949],"aabb_xy":[[-0.3875912579494334,1.0160062150406124],[-0.35259125968069904,1.035765469115788]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[-0.2024879765483012,0.8637303467117801,0.71338606911949],"aabb_xy":[[-0.24467239070913194,0.7997303464345689],[-0.16030356238747046,0.9277303469889913]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.5768771581570454,-2.525351905382939,0.71338606911949],"aabb_xy":[[-0.6668771618339634,-2.586784311960043],[-0.48687715448012703,-2.463919498805834]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[-0.23778056073150944,0.4554449088254229,0.71338606911949],"aabb_xy":[[-0.26161677837211456,0.3654449080169365],[-0.21394434309090443,0.5454449096339096]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.09481358902002213,0.3308247294497568,0.71338606911949],"aabb_xy":[[-0.13214486554526475,0.29617167465490457],[-0.0574823124947795,0.3654777842446092]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[-0.3275566823709868,0.28233831534776854,0.71338606911949],"aabb_xy":[[-0.33496913791237526,0.2764871049261406],[-0.3201442268295983,0.2881895257693965]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[-0.3218966938754578,-1.7790869880275721,0.71338606911949],"aabb_xy":[[-0.3858966957878001,-1.8349981372855826],[-0.25789669196311543,-1.7231758387695617]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[0.3836941106372891,-0.846397092299672,0.71338606911949],"aabb_xy":[[0.3336992777093475,-0.8963970911949156],[0.4336889435652307,-0.7963970934044285]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[-0.37560885333567756,-2.223486736962958,0.71338606911949],"aabb_xy":[[-0.45560885380589367,-2.2317974445773068],[-0.29560885286546174,-2.2151760293486102]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[-0.10560507177939049,-2.0252111482842263,0.71338606911949],"aabb_xy":[[-0.17060507033646333,-2.054963681698109],[-0.040605073222317656,-1.9954586148703437]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[0.23540296152754292,-1.2465360331907536,0.71338606911949],"aabb_xy":[[0.18040296235095343,-1.301525707965711],[0.2904029607041324,-1.1915463584157957]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.2843293964703629,1.079935400820018,0.71338606911949],"aabb_xy":[[-0.3218293967625377,1.0758939254194144],[-0.24682939617818805,1.0839768762206214]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[0.16866709069188135,-1.4293052432949607,0.71338606911949],"aabb_xy":[[0.14366709141991907,-1.445650606891123],[0.19366708996384363,-1.4129598796987983]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6580920168925856,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4561.png","name":"4561"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4561.png","name":"4561"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7211.png","name":"7211"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1442.png","name":"1442"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7427.png","name":"7427"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8172.png","name":"8172"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":586.0773217380416,"rotation_z_degrees":239.500886527669,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.000976595983870298,0.01862778430532649,0.001210874810038686]},{"name":"camera_2","offset_m":[-0.019907380322585082,-0.0056992631912843855,-0.01769367570833937]},{"name":"camera_3","offset_m":[0.010127166395052952,-0.016936245050299493,0.014538670225265986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019840066771394972,0.0010650194879730812,0.0016026678251279455],"end_effector_yaw_offset_degrees":-0.609402601869558},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[5.9239121540177655e-05,0.0008612593417880866,-0.0010174934470660723],"end_effector_yaw_offset_degrees":-0.5801556935734753},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018805294499969617,7.112123026686368e-05,-0.0014105457970628645],"end_effector_yaw_offset_degrees":-0.7864997817468322},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017142754895164338,0.0009635249501138564,-0.0008190697113816454],"end_effector_yaw_offset_degrees":0.05238383099457433}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00045555775251956716,0.00036586926915030404],"position_m":[0.16564444224748043,0.1535658692691503,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015038952327149002,0.0031889040064987757],"position_m":[0.2531961047672851,-0.3178110959935012,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002361007893048857,0.002824268297021774],"position_m":[0.1441361007893049,0.28862426829702176,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029724045055897564,-0.0036911914716723994],"position_m":[0.3626724045055898,0.0598088085283276,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5a7d7021bcfa4ea014ce2bf732b414ad4a9d3ee9d2924754e07b2e36b01416e4","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4561/tex_ceiling_textures_8172/tex_floor_textures_7427/tex_table_textures_7211/tex_wall_textures_1442","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5536139763196296825,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5536139763196296825,"visual_seed":5536139763196296825,"scene_id":"lab_003","finished_at":"2026-09-05T04:57:31"}
+{"episode_id":"ep_000083","started_at":"2026-09-05T04:57:35","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.12676108791970264,1.3692647649128578,0.71338606911949],"aabb_xy":[[-0.1392284460294383,1.3567994402795345],[-0.11429372980996699,1.3817300895461815]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[0.5707526486788677,-1.6980480083817597,0.71338606911949],"aabb_xy":[[0.5421033163184513,-1.7266935676588355],[0.5994019810392838,-1.669402449104684]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.19144007996475243,-0.9558348723523715,0.71338606911949],"aabb_xy":[[-0.2554400831833903,-1.0025579842513799],[-0.12744007674611457,-0.9091117604533633]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.654206076335203,-1.019366966092266,0.71338606911949],"aabb_xy":[[-0.6767060761491055,-1.0238415824627467],[-0.6317060765213007,-1.0148923497217852]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_4","position":[0.0012373138218926272,-2.172575944306279,0.71338606911949],"aabb_xy":[[-0.022598903818712438,-2.2625759451147656],[0.025073531462497696,-2.0825759434977926]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.00024864927940804193,1.8024930661480556,0.71338606911949],"aabb_xy":[[-0.017350727237776198,1.7853862606167858],[0.016853428678960114,1.8195998716793254]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[-0.07272641164722837,-1.8803077250834446,0.71338606911949],"aabb_xy":[[-0.0766402848426509,-1.8890567404900012],[-0.06881253845180585,-1.8715587096768875]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[-0.13678906290581594,-1.941471400894645,0.71338606911949],"aabb_xy":[[-0.15446469349441425,-1.9591516171740477],[-0.11911343231721759,-1.9237911846152422]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.586743499078498,0.5078016463976152,0.71338606911949],"aabb_xy":[[-0.666743502336341,0.4278051386056312],[-0.5067434958206551,0.5877981541895991]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[0.2721417179107223,-1.033186990103376,0.71338606911949],"aabb_xy":[[0.23714171655924052,-1.0535467260601965],[0.30714171926220396,-1.0128272541465548]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[0.637906118416933,-0.03259143119474306,0.71338606911949],"aabb_xy":[[0.5579061151529199,-0.0461514635036564],[0.7179061216809461,-0.01903139888582972]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[-0.3388799483630684,-2.408439730850478,0.71338606911949],"aabb_xy":[[-0.3497204265895833,-2.4256260121411266],[-0.3280394701365535,-2.391253449559829]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[0.07365488548131649,1.6555332645665453,0.71338606911949],"aabb_xy":[[-0.006338938097241731,1.575533261973704],[0.1536487090598747,1.735533267159387]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.2619853837780487,1.0289533472751535,0.71338606911949],"aabb_xy":[[0.22820982458735573,1.0149148520619884],[0.29576094296874167,1.0429918424883182]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.24016037343844077,-1.1398579611797215,0.71338606911949],"aabb_xy":[[-0.28516037490466967,-1.1848578180412022],[-0.19516037197221198,-1.0948581043182408]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.11595356686274716,-0.6150413572607536,0.71338606911949],"aabb_xy":[[-0.127198622433365,-0.6262831549848488],[-0.10470851129212931,-0.6037995595366582]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.2956580719424055,0.24769382729567768,0.71338606911949],"aabb_xy":[[-0.3856580684432772,0.2017821848772194],[-0.20565807544153372,0.29360546971413587]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.542856695888909,-2.3152417659982425,0.71338606911949],"aabb_xy":[[-0.6028566957354756,-2.372060388191281],[-0.48285669604234205,-2.258423143805204]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.11706781971055968,1.6947245452282007,0.71338606911949],"aabb_xy":[[-0.14206781898252197,1.6783791816320384],[-0.0920678204385974,1.711069908824363]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.17344774016817244,1.0413088202801788,0.71338606911949],"aabb_xy":[[-0.2233304370458687,0.9913088210339043],[-0.12356504329047627,1.0913088195264538]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[-0.6127083230644227,0.0786174084112865,0.71338606911949],"aabb_xy":[[-0.6512540158896236,0.04007163735509785],[-0.5741626302392215,0.11716317946747516]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.3056805608305655,-1.4092718822710022,0.71338606911949],"aabb_xy":[[0.21599348452245004,-1.4992718825254527],[0.39536763713868095,-1.3192718820165517]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_22","position":[0.6705663767149947,-1.4098847113798623,0.71338606911949],"aabb_xy":[[0.633066376366767,-1.4216761069609456],[0.7080663770632225,-1.3980933157987785]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.06837422180764408,0.45237622082329887,0.71338606911949],"aabb_xy":[[-0.13237421823496598,0.4052065970012025],[-0.004374225380322172,0.49954584464539536]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[0.5409652513615304,1.0347362234948223,0.71338606911949],"aabb_xy":[[0.5266308262353669,1.0226760079402835],[0.5552996764876938,1.0467964390493611]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[-0.4108381291632394,-0.35462351842513273,0.71338606911949],"aabb_xy":[[-0.5008381285816104,-0.3879990152693224],[-0.32083812974486847,-0.32124802158094296]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[0.605561468205011,1.1094619996805566,0.71338606911949],"aabb_xy":[[0.570561469934891,1.1023878719855684],[0.6405614664751308,1.1165361273755448]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_27","position":[-0.028715078632550406,-0.9342313559820403,0.71338606911949],"aabb_xy":[[-0.06621507942454585,-0.9405991969402304],[0.008784922159445041,-0.9278635150238502]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[0.4728410807286414,-1.801771815969857,0.71338606911949],"aabb_xy":[[0.43550980420339885,-1.836424870764709],[0.5101723572538841,-1.7671187611750045]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_29","position":[-0.42881333314714143,1.0892777497396335,0.71338606911949],"aabb_xy":[[-0.44636002806326025,1.051777748175382],[-0.4112666382310224,1.1267777513038846]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_30","position":[-0.4832608151997422,1.5230615264533829,0.71338606911949],"aabb_xy":[[-0.5057608152098905,1.5089653068137794],[-0.46076081518959383,1.537157746092986]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_31","position":[-0.42475427454851117,1.7385934493392097,0.71338606911949],"aabb_xy":[[-0.47474738665770316,1.6885934486650145],[-0.37476116243931934,1.7885934500134058]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_32","position":[0.23839501068006086,-2.452186815988439,0.71338606911949],"aabb_xy":[[0.23018046556437685,-2.4608634062860792],[0.2466095557957448,-2.4435102256907966]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_33","position":[-0.18973881171064755,0.6990284441863452,0.71338606911949],"aabb_xy":[[-0.22088573055423066,0.6290284454995381],[-0.15859189286706443,0.7690284428731524]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.661414376907327,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7426.png","name":"7426"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7426.png","name":"7426"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8141.png","name":"8141"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3673.png","name":"3673"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8099.png","name":"8099"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/205.png","name":"205"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":787.986104787941,"rotation_z_degrees":272.05125194015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006076678445321854,0.018699990852813115,0.0008112963238952504]},{"name":"camera_2","offset_m":[0.006859398935338504,0.018057215638983017,-0.018197178043353114]},{"name":"camera_3","offset_m":[0.009697517364694448,0.005319460570327859,-0.018212422576322277]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014981444355194008,0.0017392433078320525,-0.0017942805599421249],"end_effector_yaw_offset_degrees":0.5729476847059214},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-6.365747622494398e-05,0.0019239314704625086,0.0009213662973867787],"end_effector_yaw_offset_degrees":-0.5308072332771074},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00042387054174412245,0.00075716423817001,0.0005498553196536297],"end_effector_yaw_offset_degrees":0.4124369545757327},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00010441242846056555,0.0014841243274418287,-0.0001897751162174238],"end_effector_yaw_offset_degrees":-0.680923172736305}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001839589808299985,0.0002563372341427058],"position_m":[0.16793958980829998,0.1534563372341427,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031125957746819836,0.004699705698557744],"position_m":[0.25781259577468196,-0.31630029430144224,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020025124183944247,0.0012088056177386461],"position_m":[0.14590251241839441,0.28700880561773867,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004165372721881733,0.004472482918141607],"position_m":[0.36386537272188174,0.0679724829181416,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a3ea3a58c6988f912cd16cc5b63fd05e27381d3f7a55e54e15bfafca6dd495f2","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0086.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7426/tex_ceiling_textures_205/tex_floor_textures_8099/tex_table_textures_8141/tex_wall_textures_3673","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6544846732230170304,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6544846732230170304,"visual_seed":6544846732230170304,"scene_id":"lab_003","finished_at":"2026-09-05T05:01:12"}
+{"episode_id":"ep_000084","started_at":"2026-09-05T05:01:18","dimensions":{"distractor":{"count":30,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.04859625960145375,1.4258735490105496,0.71338606911949],"aabb_xy":[[-0.059502035689016464,1.3458735526117203],[-0.03769048351389104,1.5058735454093786]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[-0.3675024342522055,-0.6385287350928903,0.71338606911949],"aabb_xy":[[-0.3900161260756627,-0.7085287356938978],[-0.34498874242874833,-0.5685287344918828]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[0.22298798284353372,1.2742085223116573,0.71338606911949],"aabb_xy":[[0.1731052859658375,1.2242085230653827],[0.2728706797212299,1.3242085215579322]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[0.20800141007016737,0.5107718372519594,0.71338606911949],"aabb_xy":[[0.1910906776338256,0.4972996316593447],[0.22491214250650915,0.5242440428445737]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.21455716552562165,1.6615611250201963,0.71338606911949],"aabb_xy":[[-0.23123430151871713,1.644861201046266],[-0.19788002953252612,1.6782610489941265]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[0.6420630059692749,-1.8745996726324456,0.71338606911949],"aabb_xy":[[0.5920681730413332,-1.924599671527689],[0.6920578388972164,-1.8245996737372019]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.14789730235555287,0.8033987769311559,0.71338606911949],"aabb_xy":[[-0.19398239361028433,0.7393987796786008],[-0.10181221110082138,0.867398774183711]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.15477930547874175,-1.0235944949597189,0.71338606911949],"aabb_xy":[[0.09077930908316867,-1.0875577833784524],[0.21877930187431482,-0.9596312065409853]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[-0.21216307341372798,-1.966797776447293,0.71338606911949],"aabb_xy":[[-0.26164349462768677,-2.0307977743601446],[-0.1626826521997692,-1.902797778534441]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[-0.47419036811767545,-1.844467550145128,0.71338606911949],"aabb_xy":[[-0.5091903680136942,-1.852841785657068],[-0.4391903682216566,-1.836093314633188]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[-0.3918748730993229,-1.1689658901916966,0.71338606911949],"aabb_xy":[[-0.4518748747422448,-1.2209660394836408],[-0.3318748714564011,-1.1169657408997524]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.09862360283799654,1.3894445425683344,0.71338606911949],"aabb_xy":[[0.06813935271096638,1.3394445427868382],[0.1291078529650267,1.43944454234983]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[0.34927902783119924,-2.278908058666154,0.71338606911949],"aabb_xy":[[0.2993057338279388,-2.3289080592207014],[0.3992523218344597,-2.2289080581116067]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[-0.5560963205931033,0.6247850494389202,0.71338606911949],"aabb_xy":[[-0.6110917984137627,0.5697850480050133],[-0.5011008427724439,0.6797850508728271]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[0.1605505152314829,0.9495939553007049,0.71338606911949],"aabb_xy":[[0.08055051197363991,0.869597447508721],[0.24055051848932582,1.0295904630926889]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.024481526276642795,-2.513756315095344,0.71338606911949],"aabb_xy":[[-0.07228769389041144,-2.5787563178024024],[0.023324641337125855,-2.4487563123882845]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[0.5582773661066398,-0.7903524457324236,0.71338606911949],"aabb_xy":[[0.4682773666882689,-0.8237279425766132],[0.6482773655250107,-0.7569769488882337]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[0.5333654916036328,0.08121591696796004,0.71338606911949],"aabb_xy":[[0.5227980119455338,0.07067088685495149],[0.5439329712617318,0.0917609470809686]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.13930567662094384,0.595299571428936,0.71338606911949],"aabb_xy":[[0.05930567615072789,0.5869888638145876],[0.2193056770911598,0.6036102790432843]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[-0.3580941484866632,-0.8284353768237673,0.71338606911949],"aabb_xy":[[-0.4180941490826794,-0.8832478493689908],[-0.29809414789064703,-0.7736229042785439]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.5920356891369991,-2.500599614077317,0.71338606911949],"aabb_xy":[[0.5551851412000115,-2.538099614900351],[0.6288862370739867,-2.4630996132542835]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[0.6809831029543854,0.25022753816771726,0.71338606911949],"aabb_xy":[[0.6721810476454126,0.24241621201278815],[0.6897851582633581,0.2580388643226463]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[0.612106361990691,-1.2236235494866519,0.71338606911949],"aabb_xy":[[0.547106363834772,-1.249919794036564],[0.6771063601466101,-1.1973273049367397]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[-0.19870184797498575,-0.10759481726452247,0.71338606911949],"aabb_xy":[[-0.20954232620150062,-0.12478109855517128],[-0.1878613697484708,-0.09040853597387366]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[-0.1612376433956061,1.0938351783183444,0.71338606911949],"aabb_xy":[[-0.2512376431187802,1.0707618257831644],[-0.07123764367243189,1.116908530853524]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_25","position":[-0.486377418858874,-0.4186947422071481,0.71338606911949],"aabb_xy":[[-0.5238774195234526,-0.43438180020737016],[-0.4488774181942952,-0.4030076842069258]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[0.46416327870366114,1.4695652667082855,0.71338606911949],"aabb_xy":[[0.42666327718802943,1.4583384936921402],[0.5016632802192929,1.4807920397244303]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_27","position":[-0.1848896843138177,-0.35876301362367125,0.71338606911949],"aabb_xy":[[-0.24888968760352578,-0.4020979326275888],[-0.12088968102410956,-0.3154280946197536]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[0.4873246383932319,-0.286816210620894,0.71338606911949],"aabb_xy":[[0.4233289409981353,-0.3508162089216027],[0.5513203357883285,-0.22281621232018534]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_29","position":[-0.5197757656308972,-2.4879978692734372,0.71338606911949],"aabb_xy":[[-0.5697757659914632,-2.5379778564830398],[-0.4697757652703311,-2.438017882063834]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6579115285739562,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6429.png","name":"6429"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6429.png","name":"6429"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1292.png","name":"1292"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7491.png","name":"7491"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4915.png","name":"4915"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8545.png","name":"8545"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":713.055053548235,"rotation_z_degrees":15.193233927171566,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006720748341577102,-0.011851852502791393,0.01885395338454605]},{"name":"camera_2","offset_m":[-0.013721436239787792,0.003830211097020829,0.009253190257465217]},{"name":"camera_3","offset_m":[0.0011046377828862648,0.010388006225949157,-0.013408331869194403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005584943749704983,0.00018491327795345548,0.0010813640153209182],"end_effector_yaw_offset_degrees":-0.4793041132499172},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009569301713618921,0.00040068903725805566,-0.0017267622798327752],"end_effector_yaw_offset_degrees":0.03919414246641062},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018988256904391874,-0.0002992823828030127,0.0019531410161967412],"end_effector_yaw_offset_degrees":-0.40294276055835176},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.742105624764913e-05,0.0006075891826960757,-0.0002164156666242664],"end_effector_yaw_offset_degrees":-0.6246029746122705}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004432621872346787,0.003400829821557971],"position_m":[0.16166737812765322,0.15660082982155799,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009004594328971202,0.00466069510347212],"position_m":[0.25379954056710285,-0.3163393048965279,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030482007569488595,-0.0035964811719453706],"position_m":[0.14694820075694887,0.2822035188280546,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003157001235287618,-0.004104419666652236],"position_m":[0.3565429987647124,0.05939558033334776,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e3a557756f0aba6ca14c1a2dc77823b72465667e1624c41ab8c75ec7ffb50af8","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6429/tex_ceiling_textures_8545/tex_floor_textures_4915/tex_table_textures_1292/tex_wall_textures_7491","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":7831326607238280766,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":7831326607238280766,"visual_seed":7831326607238280766,"scene_id":"lab_003","finished_at":"2026-09-05T05:05:08"}
+{"episode_id":"ep_000085","started_at":"2026-09-05T05:05:11","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.27229382882802766,-1.2334609064299682,0.71338606911949],"aabb_xy":[[0.2072938306721086,-1.2597571509798804],[0.3372938269839467,-1.207164661880056]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[0.4508489284697119,-0.9411877272003188,0.71338606911949],"aabb_xy":[[0.41334892695408015,-0.9524145002164637],[0.48834892998534357,-0.9299609541841736]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[0.4093613860355072,0.22886886833750442,0.71338606911949],"aabb_xy":[[0.3708156932103062,0.19032309728131575],[0.4479070788607083,0.2674146393936931]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[0.6832350523260793,0.13653317953336286,0.71338606911949],"aabb_xy":[[0.6707676942163437,0.12406785490003938],[0.695702410435815,0.1489985041666864]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_4","position":[0.16922940454677082,1.3524020034021014,0.71338606911949],"aabb_xy":[[0.15405723526513748,1.337233146473898],[0.18440157382840416,1.3675708603303047]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.09696537513521486,1.6388128843568253,0.71338606911949],"aabb_xy":[[-0.16096537224732055,1.5897805145624146],[-0.03296537802310916,1.6878452541512359]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[0.3239204939563183,-2.16883061358173,0.71338606911949],"aabb_xy":[[0.2864204941392847,-2.173468824892872],[0.36142049377335184,-2.1641924022705883]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[0.6778037367183043,0.29717646144420407,0.71338606911949],"aabb_xy":[[0.6741004753891653,0.2934744431354861],[0.6815069980474431,0.3008784797529218]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.07859249544275937,-1.8461604790357007,0.71338606911949],"aabb_xy":[[-0.1635924938601826,-1.9310347744979857],[0.006407502974663859,-1.7612861835734157]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[-0.5631354963035365,-1.3116471087718968,0.71338606911949],"aabb_xy":[[-0.646857721803619,-1.4016471123065928],[-0.4794132708034541,-1.2216471052372009]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[-0.593687894183023,0.6682978603210668,0.71338606911949],"aabb_xy":[[-0.6358723083438538,0.6042978600438556],[-0.5515034800221923,0.732297860598278]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.1704378417687883,0.6888088735042284,0.71338606911949],"aabb_xy":[[0.1610908341864931,0.6745052512865843],[0.17978484935108355,0.7031124957218724]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.2802287638855165,-2.301330766761277,0.71338606911949],"aabb_xy":[[-0.344224461280613,-2.365330765061985],[-0.21623306649041985,-2.2373307684605677]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[-0.23135630118022538,-2.0484156710450203,0.71338606911949],"aabb_xy":[[-0.2688563019722208,-2.0547835120032105],[-0.19385630038822993,-2.04204783008683]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[-0.5743255486347805,1.3745193307058203,0.71338606911949],"aabb_xy":[[-0.6113596580628402,1.3401421233721105],[-0.5372914392067207,1.4088965380395293]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.5111333236729354,0.5753503677457128,0.71338606911949],"aabb_xy":[[0.4811416609390651,0.5453503684089123],[0.5411249864068057,0.6053503670825133]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[0.3589909942311207,-0.7317072127274837,0.71338606911949],"aabb_xy":[[0.27899099097327773,-0.8117037205194676],[0.43899099748896364,-0.6517107049354997]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.1187031262597007,1.0350147357266226,0.71338606911949],"aabb_xy":[[0.08120312768407988,1.0222784400630647],[0.15620312483532148,1.0477510313901806]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.3973729412958901,-0.6728530255523066,0.71338606911949],"aabb_xy":[[-0.4223729408476286,-0.6829955094174414],[-0.37237294174415164,-0.6627105416871719]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.6395689164975971,-2.403333818139016,0.71338606911949],"aabb_xy":[[-0.6482828855475313,-2.4258338187982034],[-0.6308549474476624,-2.380833817479827]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[-0.5440930541395598,-2.2780379328455114,0.71338606911949],"aabb_xy":[[-0.5619621618940153,-2.2918708408227224],[-0.5262239463851043,-2.2642050248683003]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[0.6062634649677916,-1.4900615975549403,0.71338606911949],"aabb_xy":[[0.5422634685404698,-1.5372312213770367],[0.6702634613951136,-1.4428919737328438]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.060907976060244784,-2.2979597437846415,0.71338606911949],"aabb_xy":[[-0.06533860541508496,-2.303408115519324],[-0.05647734670540461,-2.292511372049959]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[-0.4317142836460625,-1.1301197743097169,0.71338606911949],"aabb_xy":[[-0.44256588989493806,-1.140979065037368],[-0.42086267739718686,-1.1192604835820659]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[-0.35757204504429047,-1.5034876935615815,0.71338606911949],"aabb_xy":[[-0.3744827774806322,-1.5169598991541955],[-0.34066131260794863,-1.4900154879689667]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_25","position":[-0.5247787210975943,0.25824060971591933,0.71338606911949],"aabb_xy":[[-0.6047787196849136,0.17892500777775847],[-0.4447787225102748,0.33755621165408023]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[0.23281001023373704,-2.3905839554557375,0.71338606911949],"aabb_xy":[[0.19531001012814406,-2.397406117308718],[0.27031001033932994,-2.383761793602756]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[-0.043026165099816494,0.30934909640997077,0.71338606911949],"aabb_xy":[[-0.05379913902118427,0.27434909819093184],[-0.032253191178448715,0.3443490946290098]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[0.48298851891145134,1.4136450563371405,0.71338606911949],"aabb_xy":[[0.46478269525020366,1.4026196557551491],[0.501194342572699,1.4246704569191324]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_29","position":[0.5877296776365215,1.6560065786156186,0.71338606911949],"aabb_xy":[[0.5327341998158621,1.6010065771817117],[0.6427251554571809,1.7110065800495255]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_30","position":[0.19911765350049815,-2.0637869562644098,0.71338606911949],"aabb_xy":[[0.19365970786347805,-2.143786959572069],[0.2045755991375182,-1.9837869529567507]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_31","position":[-0.2337638625783412,-0.25693847804213554,0.71338606911949],"aabb_xy":[[-0.31876386127041584,-0.2889243414370144],[-0.14876386388626656,-0.2249526146472567]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_32","position":[-0.5592136554032792,-0.9506535709310346,0.71338606911949],"aabb_xy":[[-0.5967136557515069,-0.962444966512118],[-0.5217136550550514,-0.9388621753499509]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_33","position":[0.14244160664580452,-1.7021821615704111,0.71338606911949],"aabb_xy":[[0.11129468780222138,-1.7721821602572183],[0.1735885254893876,-1.632182162883604]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.657362759808822,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1594.png","name":"1594"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1594.png","name":"1594"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1547.png","name":"1547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9724.png","name":"9724"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5947.png","name":"5947"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4506.png","name":"4506"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":654.5652857846538,"rotation_z_degrees":13.552779478695562,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019273278890873578,-0.015609886979725714,0.012835486828441278]},{"name":"camera_2","offset_m":[0.002085843127648427,-0.0022131475762411715,0.006451163787035953]},{"name":"camera_3","offset_m":[-0.012521466086844135,0.013175840654126792,0.00998547798394175]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00020179899391627783,0.0019628106017206,0.0016824463409519743],"end_effector_yaw_offset_degrees":-0.043097429650651664},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000474699918697898,-0.001922258774911335,0.00016819296729180845],"end_effector_yaw_offset_degrees":0.7202386434631032},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00015841546426756002,0.0005870387039071138,-3.373934605517201e-06],"end_effector_yaw_offset_degrees":0.41798918840485566},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014994862419027161,0.0012872593271412852,0.0011132338113164159],"end_effector_yaw_offset_degrees":-0.25294064560064666}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004322842249985144,0.0021239241653063616],"position_m":[0.16177715775001486,0.15532392416530635,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004494092139926612,-0.0006859513969346654],"position_m":[0.25020590786007335,-0.3216859513969347,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007415324702604951,-0.002855847344926051],"position_m":[0.1446415324702605,0.28294415265507394,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006604079092204064,-0.0012778299373023207],"position_m":[0.3603604079092204,0.06222217006269768,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b4171b454aab221d8e3ebf6517139e80a576a1bfa7a2d58d0cdaf764b433d1e7","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1594/tex_ceiling_textures_4506/tex_floor_textures_5947/tex_table_textures_1547/tex_wall_textures_9724","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":7084744170898196925,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":7084744170898196925,"visual_seed":7084744170898196925,"scene_id":"lab_003","finished_at":"2026-09-05T05:08:56"}
+{"episode_id":"ep_000086","started_at":"2026-09-05T05:09:00","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.10726181502141552,0.4996545723694754,0.71338606911949],"aabb_xy":[[-0.13180803064416624,0.46940567582043835],[-0.08271559939866481,0.5299034689185125]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[-0.04242891442057739,1.6462908069718831,0.71338606911949],"aabb_xy":[[-0.05320188834194517,1.6112908087528444],[-0.03165594049920961,1.6812908051909223]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.3982599271823057,-1.635077814862682,0.71338606911949],"aabb_xy":[[-0.4782599258391917,-1.649582673786945],[-0.3182599285254197,-1.6205729559384192]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.3974961855191454,-0.9933944857213626,0.71338606911949],"aabb_xy":[[-0.4402628923985656,-1.057394489143165],[-0.3547294786397252,-0.92939448229956]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.07694789459850904,-2.288970037469409,0.71338606911949],"aabb_xy":[[-0.09362503059160453,-2.305669961443339],[-0.06027075860541352,-2.2722701134954786]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.446014781329396,0.7117471263358617,0.71338606911949],"aabb_xy":[[-0.45013073144146853,0.707631571303016],[-0.4418988312173232,0.7158626813687071]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[-0.2527342771573658,-1.3430345670252246,0.71338606911949],"aabb_xy":[[-0.2678971501343029,-1.3582000243203434],[-0.2375714041804287,-1.3278691097301059]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[0.29716143905133496,-1.0899622676728673,0.71338606911949],"aabb_xy":[[0.23316143879086412,-1.1349710670257955],[0.3611614393118057,-1.0449534683199395]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[-0.19468757571697792,1.438269928971415,0.71338606911949],"aabb_xy":[[-0.21255668347143342,1.4244370209942039],[-0.17681846796252243,1.452102836948626]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[0.4258753671425075,-1.95840064841545,0.71338606911949],"aabb_xy":[[0.41546380846202374,-1.9637463817513483],[0.43628692582299117,-1.9530549150795515]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[0.6905764823228899,-1.6506150516949694,0.71338606911949],"aabb_xy":[[0.6680764818108493,-1.6731069100603677],[0.7130764828349305,-1.628123193329571]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[0.08577830246070595,-0.6850192186165749,0.71338606911949],"aabb_xy":[[0.02814783357343508,-0.7450192175432854],[0.14340877134797678,-0.6250192196898642]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[-0.4873629412785191,-2.1348731912183085,0.71338606911949],"aabb_xy":[[-0.5673629427086463,-2.2143903462309176],[-0.4073629398483919,-2.0553560362056986]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[0.3560682648764453,-1.3570078223057376,0.71338606911949],"aabb_xy":[[0.342837319341764,-1.3702352413277368],[0.36929921041112657,-1.343780403283738]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[0.4469030371982292,-0.6755302175541686,0.71338606911949],"aabb_xy":[[0.3669030392174441,-0.6831317585160206],[0.5269030351790142,-0.6679286765923167]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[-0.594039132901099,0.33769865770962504,0.71338606911949],"aabb_xy":[[-0.6159288804900397,0.24769866042037594],[-0.5721493853121581,0.42769865499887416]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[-0.2847858199363366,-1.4819616396869277,0.71338606911949],"aabb_xy":[[-0.29569159602389933,-1.5619616360857567],[-0.2738800438487739,-1.4019616432880984]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[0.11145596905977506,-1.1251077899690698,0.71338606911949],"aabb_xy":[[0.04745596584113722,-1.1718309018680781],[0.17545597227841292,-1.0783846780700614]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.2857578420768342,-0.8647440508564173,0.71338606911949],"aabb_xy":[[0.2357790335665183,-0.9147440508621361],[0.3357366505871501,-0.8147440508506985]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[0.6577988119203546,1.5123191006014225,0.71338606911949],"aabb_xy":[[0.6379077720400145,1.4996632893167257],[0.677689851800695,1.5249749118861196]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.7029562203775728,1.2754981705275878,0.71338606911949],"aabb_xy":[[0.6992529590484338,1.2717961522188697],[0.7066594817067116,1.2792001888363052]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[0.3338045584945746,1.306400976698392,0.71338606911949],"aabb_xy":[[0.2538045552367316,1.2264044689064082],[0.41380456175241753,1.3863974844903761]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[0.5391799998175066,0.45162508502006116,0.71338606911949],"aabb_xy":[[0.5048637226428887,0.4016250850468835],[0.5734962769921246,0.5016250849932389]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_23","position":[-0.44769367039906166,0.1678176997596803,0.71338606911949],"aabb_xy":[[-0.5116893677941583,0.1038177014589716],[-0.3836979730039651,0.23181769806038896]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[-0.15528247545429696,0.9876260263538743,0.71338606911949],"aabb_xy":[[-0.21528247709721882,0.9356258770619301],[-0.09528247381137511,1.0396261756458185]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.6037942301450678,0.9237864829864044,0.71338606911949],"aabb_xy":[[-0.6193499995553331,0.9082360497419975],[-0.5882384607348026,0.9393369162308118]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[0.3645396805793262,0.38158004215905006,0.71338606911949],"aabb_xy":[[0.31845458932459464,0.31758004490649494],[0.4106247718340576,0.4455800394116052]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[0.02032963578135827,-2.534560595602682,0.71338606911949],"aabb_xy":[[-0.018216057043842767,-2.5731063666588714],[0.05887532860655929,-2.496014824546494]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_28","position":[-0.513784901061235,1.3324072874974795,0.71338606911949],"aabb_xy":[[-0.5987848994786582,1.2475329920351947],[-0.42878490264381175,1.4172815829597647]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638588278440842,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7472.png","name":"7472"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7472.png","name":"7472"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3165.png","name":"3165"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7403.png","name":"7403"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5266.png","name":"5266"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8400.png","name":"8400"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":794.2041584452568,"rotation_z_degrees":250.03225184100316,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01870233648495415,0.007627137516432486,-0.007629891612060522]},{"name":"camera_2","offset_m":[0.010552759102243483,-0.0005278389355915583,-0.017171103167009115]},{"name":"camera_3","offset_m":[0.018612732701622305,-0.019732772715783102,-0.010665144119289085]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.366273603475612e-05,-0.0015452920838500356,0.0005698524316732107],"end_effector_yaw_offset_degrees":0.38867654993648415},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001981406518431421,-0.0001472826202193831,0.000644584724685416],"end_effector_yaw_offset_degrees":-0.5385228368642163},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00017083756698394337,-0.00063605444329685,0.0016279220094896772],"end_effector_yaw_offset_degrees":-0.8515659843904022},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017022700660169652,-0.001975166895489844,-0.0016334629900183152],"end_effector_yaw_offset_degrees":-0.1713785143479094}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005419361734185909,-0.002465529727615721],"position_m":[0.16664193617341858,0.1507344702723843,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002998519555557389,-0.0005864959695639537],"position_m":[0.2576985195555574,-0.32158649596956396,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002035778900818319,-0.0032721687407246437],"position_m":[0.14186422109918168,0.28252783125927533,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003497358552566555,-0.003975820525462252],"position_m":[0.3631973585525666,0.059524179474537746,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"781d70a42dc58c7103014e6fdd7edd84ffcee4eccf4f05a5fd63784fccd510e3","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7472/tex_ceiling_textures_8400/tex_floor_textures_5266/tex_table_textures_3165/tex_wall_textures_7403","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8623404000190628474,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8623404000190628474,"visual_seed":8623404000190628474,"scene_id":"lab_003","finished_at":"2026-09-05T05:12:39"}
+{"episode_id":"ep_000087","started_at":"2026-09-05T05:16:58","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[0.6530424685215397,-0.28088599964168726,0.71338606911949],"aabb_xy":[[0.5830424669192603,-0.29431879284334483],[0.7230424701238193,-0.2674532064400297]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.3640883851759722,1.3830856903234707,0.71338606911949],"aabb_xy":[[0.3415892494497452,1.3605856895452075],[0.38658752090219917,1.4055856911017335]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[0.5832451079253504,1.6188186156596616,0.71338606911949],"aabb_xy":[[0.4932451055913314,1.5413362610745487],[0.6732451102593695,1.696300970244774]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[0.486106987444648,-0.7831099562635964,0.71338606911949],"aabb_xy":[[0.43612403725716853,-0.8331099559061568],[0.5360899376321271,-0.733109956621036]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[0.44571073295501007,-0.05082719046145012,0.71338606911949],"aabb_xy":[[0.39571073351481434,-0.10079511494576643],[0.4957107323952056,-0.0008592659771338162]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[-0.4861411470211092,-1.6439687022214895,0.71338606911949],"aabb_xy":[[-0.5411411461976987,-1.6989583769964471],[-0.4311411478445198,-1.5889790274465319]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[0.2757898758190217,-0.5685790511872137,0.71338606911949],"aabb_xy":[[0.24201431662832873,-0.5826175464003787],[0.3095654350097147,-0.5545405559740486]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[-0.5240085018041595,0.8255495059811078,0.71338606911949],"aabb_xy":[[-0.5320347724347856,0.8167980110037553],[-0.5159822311735336,0.8343010009584605]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.6020305752908064,-1.405606373447723,0.71338606911949],"aabb_xy":[[-0.6101582634841196,-1.414519981858431],[-0.5939028870974932,-1.3966927650370156]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.09713158664172239,-2.481531729743871,0.71338606911949],"aabb_xy":[[-0.10437535268796772,-2.5615317279474734],[-0.08988782059547706,-2.4015317315402687]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.35301754138426933,1.4790849255330891,0.71338606911949],"aabb_xy":[[-0.3762993835824006,1.3940849242358606],[-0.32973569918613793,1.5640849268303167]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.5389404102367443,-0.6352882194768918,0.71338606911949],"aabb_xy":[[0.4739404102024416,-0.6819888961572192],[0.6039404102710471,-0.5885875427965647]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.500594761506213,-2.3271172277085905,0.71338606911949],"aabb_xy":[[0.4355947605490857,-2.3790654396422957],[0.5655947624633401,-2.2751690157748845]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.15876882646372614,0.5887019111183478,0.71338606911949],"aabb_xy":[[-0.24376882488114937,0.5038276156560628],[-0.07376882804630291,0.6735762065806328]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.414168507159983,-1.050560264726745,0.71338606911949],"aabb_xy":[[0.35416850665213,-1.107406998412666],[0.47416850766783586,-0.9937135310408235]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.4328817136215581,-0.5669734099378401,0.71338606911949],"aabb_xy":[[-0.4416837689305308,-0.574784736092769],[-0.4240796583125854,-0.5591620837829109]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[0.5354444356504724,0.8616349727516108,0.71338606911949],"aabb_xy":[[0.517944435405423,0.8441351849120441],[0.5529444358955218,0.8791347605911778]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_17","position":[0.23576945702192498,-0.8742026259105908,0.71338606911949],"aabb_xy":[[0.21193323938131994,-0.9642026267190775],[0.25960567466253004,-0.7842026251021046]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[0.026771244486081147,-1.2084618207610616,0.71338606911949],"aabb_xy":[[-0.008228754643874518,-1.2142070418367257],[0.06177124361603681,-1.2027165996853975]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.34973622548326255,-1.478525755250032,0.71338606911949],"aabb_xy":[[0.32967781387002226,-1.4985908421591894],[0.36979463709650284,-1.458460668340874]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[-0.5089032807724841,0.05928828987994761,0.71338606911949],"aabb_xy":[[-0.5549883720272156,-0.004711707372607502],[-0.4628181895177527,0.12328828713250273]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[-0.05413895531991986,-1.9446086825299576,0.71338606911949],"aabb_xy":[[-0.07913895448555297,-1.9515609282353141],[-0.02913895615428675,-1.937656436824601]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555305705703037,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1539.png","name":"1539"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1539.png","name":"1539"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2042.png","name":"2042"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1002.png","name":"1002"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1800.png","name":"1800"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2946.png","name":"2946"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":637.7099407746639,"rotation_z_degrees":252.38437038740025,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018093063352609632,-0.01728601196684776,-0.010190191196544083]},{"name":"camera_2","offset_m":[-0.0010844219334769575,-0.004708529405398454,0.00962259577459227]},{"name":"camera_3","offset_m":[-0.010188485036942665,0.002321171557739473,-0.005194452802611372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018445057480859202,-0.0018014975927113576,-0.00147855043374607],"end_effector_yaw_offset_degrees":0.26809909018500644},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[7.07587775327658e-05,-0.000988733878897183,-0.0009710556736298459],"end_effector_yaw_offset_degrees":0.10966197637455255},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011284879802693536,0.0016222457733023193,-0.0009981787420353344],"end_effector_yaw_offset_degrees":-0.6826869432401641},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018001856736859377,0.001983857236580092,-0.001911560178605094],"end_effector_yaw_offset_degrees":0.07785509124188184}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00491101250123963,0.0036069141861694637],"position_m":[0.17101101250123962,0.15680691418616946,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004153434909776592,0.0036898091129076447],"position_m":[0.2505465650902234,-0.31731019088709234,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0047946938412998545,-0.002801976895840669],"position_m":[0.14869469384129985,0.28299802310415934,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008435475085663367,0.003966992588791899],"position_m":[0.35885645249143366,0.0674669925887919,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d52e3dad91b0c6ed4be68694a9f4b4b99d3218b2617fda408159900d8cca6fa","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1539/tex_ceiling_textures_2946/tex_floor_textures_1800/tex_table_textures_2042/tex_wall_textures_1002","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8177042896504038032,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8177042896504038032,"visual_seed":8177042896504038032,"scene_id":"lab_003","finished_at":"2026-09-05T05:20:39"}
+{"episode_id":"ep_000088","started_at":"2026-09-05T05:20:42","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[0.5459458621253412,-0.3609069450908411,0.71338606911949],"aabb_xy":[[0.49606316524764504,-0.4109069443371159],[0.5958285590030374,-0.31090694584456635]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.29753201816406366,1.2768316044985624,0.71338606911949],"aabb_xy":[[-0.33402783879134235,1.2403476620718048],[-0.26103619753678486,1.31331554692532]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.12596971934505952,0.756411180741063,0.71338606911949],"aabb_xy":[[-0.20596971674865291,0.67641860954288],[-0.045969721941466084,0.8364037519392457]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.09675269381077278,-2.420662026813731,0.71338606911949],"aabb_xy":[[-0.11192486309240614,-2.435830883741934],[-0.08158052452913946,-2.4054931698855277]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[0.4157068915845148,0.6696949160284791,0.71338606911949],"aabb_xy":[[0.35170688924171317,0.6247540647843466],[0.4797068939273163,0.7146357672726116]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[-0.19654217393503692,-0.8522068372425393,0.71338606911949],"aabb_xy":[[-0.2605421741955077,-0.8972156365954674],[-0.13254217367456608,-0.8071980378896114]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_6","position":[-0.6189827038922169,1.1997644571483108,0.71338606911949],"aabb_xy":[[-0.6249492428329525,1.1938033124889464],[-0.613016164951481,1.2057256018076747]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.4803406719407579,-1.4426686970391491,0.71338606911949],"aabb_xy":[[0.4602822603275177,-1.4627337839483068],[0.5003990835539982,-1.4226036101299915]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.47704232195765583,-0.19814575559630088,0.71338606911949],"aabb_xy":[[0.4130423215801222,-0.2478910224471131],[0.5410423223351895,-0.14840048874548858]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.1848367938371922,-2.5648929659874105,0.71338606911949],"aabb_xy":[[0.15983679390467434,-2.5717756342083335],[0.20983679376971012,-2.5580102977664874]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[-0.38310390334767036,-2.1324633208457113,0.71338606911949],"aabb_xy":[[-0.39121755802104746,-2.1405691372997406],[-0.37499024867429326,-2.124357504391682]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[0.28284905999476206,-1.7168666443016143,0.71338606911949],"aabb_xy":[[0.21884905794503012,-1.7569611273909223],[0.3468490620444941,-1.6767721612123063]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[0.6332164912082823,-1.4691996164050682,0.71338606911949],"aabb_xy":[[0.5957164907109241,-1.4731682999531865],[0.6707164917056406,-1.46523093285695]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.2808673675289872,-1.9687787342515948,0.71338606911949],"aabb_xy":[[-0.37086737120590535,-2.0302111408286994],[-0.19086736385206898,-1.9073463276744902]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.49696717342040947,-0.515070794148611,0.71338606911949],"aabb_xy":[[-0.534467174212405,-0.5214386351068011],[-0.459467172628414,-0.5087029531904209]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[0.3369688537548414,1.6892791074205644,0.71338606911949],"aabb_xy":[[0.27196885519776864,1.6595265740066816],[0.4019688523119143,1.7190316408344468]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[0.49751687330300065,-0.9920769370233875,0.71338606911949],"aabb_xy":[[0.4823540003260637,-1.0072423943185065],[0.5126797462799378,-0.976911479728269]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[0.6580454197969572,-0.812700031023772,0.71338606911949],"aabb_xy":[[0.6377611170735582,-0.8329826561664807],[0.6783297225203557,-0.792417405881063]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[0.19327328171279012,-1.8451828933275953,0.71338606911949],"aabb_xy":[[0.12327328011051067,-1.858615686529253],[0.2632732833150696,-1.8317501001259378]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[0.10500594696185339,-1.6929193489386614,0.71338606911949],"aabb_xy":[[0.0637014038981174,-1.7569193485067784],[0.14631049002558938,-1.6289193493705443]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.1533308111367062,1.7410987985203419,0.71338606911949],"aabb_xy":[[-0.17221519490521642,1.722212873739989],[-0.134446427368196,1.7599847233006947]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[-0.5401643472909046,0.06015802086684996,0.71338606911949],"aabb_xy":[[-0.5483788924065883,0.051481430569208654],[-0.5319498021752204,0.06883461116449122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6563474894185501,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7590.png","name":"7590"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7590.png","name":"7590"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3469.png","name":"3469"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2525.png","name":"2525"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8722.png","name":"8722"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7590.png","name":"7590"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":703.2240120071073,"rotation_z_degrees":32.139829067613675,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002775384006103443,0.01073531961815618,0.006401225086270154]},{"name":"camera_2","offset_m":[-0.0156780434952616,0.0005251446598477962,-0.01069963019207402]},{"name":"camera_3","offset_m":[-0.008705342545631272,0.011905714397948752,0.0076096787229317335]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00039678679278169456,-0.0006640686867488963,0.0003785240568706695],"end_effector_yaw_offset_degrees":0.2701895400100054},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014973532987807357,-0.0013856440738091345,0.0018767557762207378],"end_effector_yaw_offset_degrees":0.8231877459618493},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00043594458731372214,-0.0019225106053343032,0.0018330195257615024],"end_effector_yaw_offset_degrees":-0.007496291290286727},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00031714504895615967,0.001603973132187369,-0.0018509880688529728],"end_effector_yaw_offset_degrees":-0.039340144521264}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004938288717135031,0.0038303249225495476],"position_m":[0.16116171128286497,0.15703032492254956,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00284641078698734,0.004367230808510251],"position_m":[0.25185358921301265,-0.31663276919148975,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016841232832632037,-0.000843056313057455],"position_m":[0.1422158767167368,0.2849569436869425,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022967015851837916,-0.0033466191320495418],"position_m":[0.3574032984148162,0.06015338086795046,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"01f4a3b93842c4a314534f1be132a7443c26d25648843df588c2e4ee0c96dd58","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0092.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7590/tex_ceiling_textures_7590/tex_floor_textures_8722/tex_table_textures_3469/tex_wall_textures_2525","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1223571796084211320,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1223571796084211320,"visual_seed":1223571796084211320,"scene_id":"lab_003","finished_at":"2026-09-05T05:24:22"}
+{"episode_id":"ep_000089","started_at":"2026-09-05T05:24:25","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[0.06474435799246159,-0.829976542546788,0.71338606911949],"aabb_xy":[[-0.00025564464533189835,-0.881456141246235],[0.12974436063025507,-0.778496943847341]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[0.6525476286196545,1.608526557744724,0.71338606911949],"aabb_xy":[[0.6025483534512185,1.558526556468777],[0.7025469037880908,1.6585265590206713]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.4984086899306989,0.22644538007150006,0.71338606911949],"aabb_xy":[[-0.5308703908126263,0.19631254795659742],[-0.4659469890487714,0.25657821218640264]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[0.435814330215875,-2.0237836549438333,0.71338606911949],"aabb_xy":[[0.42445259556258874,-2.035152121350121],[0.44717606486916106,-2.0124151885375454]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.2433711467830285,-2.4809788590911572,0.71338606911949],"aabb_xy":[[-0.2658675682168926,-2.503478858897905],[-0.22087472534916439,-2.4584788592844102]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[-0.1641067676811353,-1.9300924331706466,0.71338606911949],"aabb_xy":[[-0.17052058132432021,-1.936502253418315],[-0.15769295403795033,-1.9236826129229783]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[0.41165636346011314,-1.315576463749768,0.71338606911949],"aabb_xy":[[0.4055617355719948,-1.3241458583014367],[0.41775099134823146,-1.3070070691980993]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.13119654765491318,-1.537574553313726,0.71338606911949],"aabb_xy":[[0.12177907308505043,-1.546990730451445],[0.14061402222477593,-1.528158376176007]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[0.153993987142497,-1.3980945471396327,0.71338606911949],"aabb_xy":[[0.11180957298166627,-1.4620945474168436],[0.19617840130332775,-1.3340945468624212]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_9","position":[0.644544928101195,1.1119968022094278,0.71338606911949],"aabb_xy":[[0.6319181408139986,1.1024507285078549],[0.6571717153883913,1.1215428759110007]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[0.18913938859074864,-1.6994153213885337,0.71338606911949],"aabb_xy":[[0.14812144520437776,-1.7494153220194908],[0.23015733197711952,-1.6494153207575761]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[0.19867201618727226,-0.49687410262457954,0.71338606911949],"aabb_xy":[[0.18522548955322893,-0.5103439542776707],[0.2121185428213156,-0.48340425097148826]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.3321145774201491,-1.274459036343327,0.71338606911949],"aabb_xy":[[-0.4221145810970672,-1.3358914429204312],[-0.24211457374323087,-1.2130266297662224]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[-0.40675266323012915,-1.8771690329676367,0.71338606911949],"aabb_xy":[[-0.4210870883562925,-1.8892292485221753],[-0.3924182381039656,-1.8651088174130976]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.6081492813930455,-2.196753232105236,0.71338606911949],"aabb_xy":[[-0.672149282801036,-2.248542183629161],[-0.5441492799850547,-2.1449642805813114]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[0.6084161623318927,-1.388781563747409,0.71338606911949],"aabb_xy":[[0.5978486826737937,-1.3993265938604174],[0.6189836419899917,-1.3782365336344002]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.2690644449380438,-1.9974678438978961,0.71338606911949],"aabb_xy":[[0.20406444383210054,-2.022433216966024],[0.3340644460439871,-1.9725024708297678]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.30429290304095613,0.9698553708689457,0.71338606911949],"aabb_xy":[[-0.35142228204279174,0.9058553698245436],[-0.2571635240391204,1.0338553719133476]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.48097532863154013,-0.48827646149517356,0.71338606911949],"aabb_xy":[[-0.5034744643577671,-0.5107764622734365],[-0.4584761929053131,-0.4657764607169106]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[-0.20409001027734325,-2.0939076505458925,0.71338606911949],"aabb_xy":[[-0.26809000757968965,-2.138274077513749],[-0.14009001297499685,-2.0495412235780357]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[0.32668807080436846,1.338214557734155,0.71338606911949],"aabb_xy":[[0.32255221447166826,1.3007145582897983],[0.33082392713706865,1.3757145571785123]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.12416085056496762,-1.385264086484815,0.71338606911949],"aabb_xy":[[-0.14867447466197348,-1.4095286797868514],[-0.09964722646796176,-1.3609994931827785]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[-0.3872320441485396,-1.0248398771735434,0.71338606911949],"aabb_xy":[[-0.39969940225827527,-1.037305201806867],[-0.374764686038804,-1.01237455254022]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_23","position":[0.38634648080041045,-2.373108594572283,0.71338606911949],"aabb_xy":[[0.34884647961561754,-2.377526817268343],[0.42384648198520314,-2.368690371876222]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[-0.1602415136278571,-0.13508716778417318,0.71338606911949],"aabb_xy":[[-0.2242415169175652,-0.17842208678809077],[-0.09624151033814897,-0.09175224878025555]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[0.3566169433455788,-1.540734820494765,0.71338606911949],"aabb_xy":[[0.33750463598759994,-1.559869599372007],[0.37572925070355767,-1.521600041617523]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_26","position":[-0.6091557958751292,1.264716793976873,0.71338606911949],"aabb_xy":[[-0.6341557950407624,1.2577645482715165],[-0.5841557967094961,1.2716690396822297]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6611989153596494,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6619.png","name":"6619"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6619.png","name":"6619"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6509.png","name":"6509"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6311.png","name":"6311"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8927.png","name":"8927"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/891.png","name":"891"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":803.799946753708,"rotation_z_degrees":333.3948704477314,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014257042108397133,0.0023352842164881676,-0.005686779644579665]},{"name":"camera_2","offset_m":[0.006826119648405217,-0.019691708240994865,-0.005707947878831608]},{"name":"camera_3","offset_m":[0.00582657840411176,0.01577790288960852,0.00685393213452953]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013623047032940753,-0.0018794663380944207,-0.0012116962650764883],"end_effector_yaw_offset_degrees":0.5580678850931116},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008199990088858336,-0.0003851004579045298,0.0009494251861265238],"end_effector_yaw_offset_degrees":-0.012313907764813559},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006020241825840805,0.001269136994837856,-0.0010881669086014157],"end_effector_yaw_offset_degrees":0.30619698546011764},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015453536610521214,-0.0018645248604161639,-0.0014871249122001906],"end_effector_yaw_offset_degrees":-0.03615091920594238}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002332528608776888,0.0010601151233385186],"position_m":[0.1684325286087769,0.1542601151233385,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008112431592266411,-0.0019612040170233313],"position_m":[0.25388875684077333,-0.32296120401702333,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001180561710554624,0.001921077330269934],"position_m":[0.1427194382894454,0.2877210773302699,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002247473812003558,0.0012784759401527112],"position_m":[0.3619474738120036,0.06477847594015271,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7680072051721a975d84dc40367bef0df1a4313a416d764e91600deafedfbf61","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6619/tex_ceiling_textures_891/tex_floor_textures_8927/tex_table_textures_6509/tex_wall_textures_6311","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3366600632855249582,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3366600632855249582,"visual_seed":3366600632855249582,"scene_id":"lab_003","finished_at":"2026-09-05T05:28:04"}
+{"episode_id":"ep_000090","started_at":"2026-09-05T05:28:08","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[-0.34539088820503827,-0.24897241041300688,0.71338606911949],"aabb_xy":[[-0.3540888504957535,-0.2610973847204816],[-0.3366929259143229,-0.23684743610553216]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[-0.5170183272495668,-0.48265666376904104,0.71338606911949],"aabb_xy":[[-0.5481652460931499,-0.5526566624558482],[-0.48587140840598364,-0.4126566650822338]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.321574073869515,-1.3031906758756178,0.71338606911949],"aabb_xy":[[0.28657407467669666,-1.3141577218732803],[0.3565740730623332,-1.2922236298779548]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.4305271777994686,-0.42639361466785486,0.71338606911949],"aabb_xy":[[0.3955271779034497,-0.43476785017979475],[0.46552717769548746,-0.41801937915591486]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[-0.5105763176716261,-0.8315842326781318,0.71338606911949],"aabb_xy":[[-0.5745763197213581,-0.8716787157674397],[-0.44657631562189415,-0.7914897495888238]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.47262383600671787,0.29862620649460636,0.71338606911949],"aabb_xy":[[0.46105485525978135,0.27362620637767465],[0.4841928167536545,0.32362620661153807]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.17905970242303626,-0.826153528732039,0.71338606911949],"aabb_xy":[[-0.19895074230337653,-0.8388093400167359],[-0.15916866254269602,-0.8134977174473422]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[0.1163692168303152,0.7289386805120652,0.71338606911949],"aabb_xy":[[0.09278409336642034,0.6639386782666334],[0.13995434029421006,0.793938682757497]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.622563525958985,-2.039814388298299,0.71338606911949],"aabb_xy":[[0.5525635241502396,-2.0611681570624865],[0.6925635277677304,-2.0184606195341117]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[0.47831049703037665,0.1614032030660133,0.71338606911949],"aabb_xy":[[0.4608104967710402,0.1473116608772407],[0.49581049728971344,0.17549474525478595]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[-0.30166319853207646,0.18540677210719592,0.71338606911949],"aabb_xy":[[-0.37166320116866275,0.1653019071113304],[-0.23166319589549006,0.2055116371030614]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.36486604454802807,-2.466819192025316,0.71338606911949],"aabb_xy":[[-0.3689819946601007,-2.4709347470581613],[-0.36075009443595535,-2.46270363699247]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[-0.02143371355991297,-0.7596156803308651,0.71338606911949],"aabb_xy":[[-0.05589606095805476,-0.7941095627286877],[0.013028633838228833,-0.7251217979330423]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.14316427341981508,0.38842224374814416,0.71338606911949],"aabb_xy":[[-0.19315928437926713,0.3384222447125525],[-0.09316926246036304,0.438422242783736]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.5345689261286407,-1.7250769532309338,0.71338606911949],"aabb_xy":[[-0.549741095410274,-1.7402458101591374],[-0.5193967568470074,-1.7099080963027307]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[0.5341804458718256,1.1859455808516643,0.71338606911949],"aabb_xy":[[0.529545330719592,1.1820782457745154],[0.5388155610240587,1.1898129159288129]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[0.383568143329891,-1.5387766179890459,0.71338606911949],"aabb_xy":[[0.3776016043891552,-1.5447377626484096],[0.38953468227062676,-1.5328154733296817]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[0.618192634336457,-0.09920247041748587,0.71338606911949],"aabb_xy":[[0.583876357161839,-0.1492024703906636],[0.6525089115110749,-0.049202470444308144]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[-0.484310766520645,1.3425872355310862,0.71338606911949],"aabb_xy":[[-0.538326362802545,1.278587232638829],[-0.43029517023874503,1.4065872384233433]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[-0.603232715252152,-1.4950687149945483,0.71338606911949],"aabb_xy":[[-0.6356944161340793,-1.5252015471094507],[-0.5707710143702244,-1.4649358828796455]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.665686491240991,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8435.png","name":"8435"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8435.png","name":"8435"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3162.png","name":"3162"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7086.png","name":"7086"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1460.png","name":"1460"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1616.png","name":"1616"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":655.2266447058748,"rotation_z_degrees":313.1032245890332,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005439257593630002,0.002120353924768139,-0.01958160308536578]},{"name":"camera_2","offset_m":[0.01509256838159444,-0.003112220619480653,-0.005764278519647892]},{"name":"camera_3","offset_m":[-0.0014840849847312515,0.011296240970681794,0.00787124994662836]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014942729269323053,-0.0008096481184831498,-0.0005763802093970668],"end_effector_yaw_offset_degrees":0.2221991213453256},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007356387571318525,-0.00017030384487933328,0.001138462677580073],"end_effector_yaw_offset_degrees":-0.050208570756038684},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018077231284286768,0.0010239895645519745,-0.0005065970511984425],"end_effector_yaw_offset_degrees":0.48639760711216806},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001678103505327148,-0.0006559394806189851,-0.0018960127579677796],"end_effector_yaw_offset_degrees":0.7913133163095558}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003888616364601979,-1.93934293736802e-06],"position_m":[0.16221138363539803,0.15319806065706262,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036421044097774405,-0.0031910552082079348],"position_m":[0.2583421044097774,-0.32419105520820796,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004759742154060348,0.0018218513024108084],"position_m":[0.14865974215406036,0.2876218513024108,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-4.847482252941845e-05,-0.00464683803588398],"position_m":[0.3596515251774706,0.058853161964116024,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c36fb4ff6249c61e9b8f26691adc5a660bae8ad7ec8a46ecd9b67cab1436c073","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8435/tex_ceiling_textures_1616/tex_floor_textures_1460/tex_table_textures_3162/tex_wall_textures_7086","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6581857166044391988,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6581857166044391988,"visual_seed":6581857166044391988,"scene_id":"lab_003","finished_at":"2026-09-05T05:31:45"}
+{"episode_id":"ep_000091","started_at":"2026-09-05T05:31:48","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[0.4492626087884033,-1.1448449788741852,0.71338606911949],"aabb_xy":[[0.40213322978656757,-1.208844979918587],[0.4963919877902389,-1.080844977829783]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.5926853948482784,-0.7625181890711668,0.71338606911949],"aabb_xy":[[0.5592452196522587,-0.7959618149020967],[0.6261255700442979,-0.7290745632402366]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.23504378723492325,1.077019161795579,0.71338606911949],"aabb_xy":[[-0.23915973734699586,1.072903606762733],[-0.23092783712285053,1.0811347168284242]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[0.2766830522277248,-1.8303990400992447,0.71338606911949],"aabb_xy":[[0.24669138949385444,-1.860399039436045],[0.3066747149615951,-1.800399040762444]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[-0.036572760358690504,-1.3656814070887369,0.71338606911949],"aabb_xy":[[-0.07407276154348327,-1.370099629784797],[0.0009272408261023004,-1.361263184392676]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.2427433787329355,-1.3565120757480127,0.71338606911949],"aabb_xy":[[0.1927433777824027,-1.3880612227515337],[0.2927433796834683,-1.3249629287444908]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[-0.26007256579329835,-2.3969273263656117,0.71338606911949],"aabb_xy":[[-0.297403842318541,-2.431580381160464],[-0.22274128926805573,-2.3622742715707594]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.6078666407090447,0.19394822375488818,0.71338606911949],"aabb_xy":[[-0.611307316949102,0.19008679078052373],[-0.6044259644689877,0.1978096567292527]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[-0.4753401508003226,-1.023967243310405,0.71338606911949],"aabb_xy":[[-0.5403401517574496,-1.0759154552441106],[-0.41034014984319533,-0.9720190313766995]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.043482557760296414,-1.7285169635958142,0.71338606911949],"aabb_xy":[[0.0021780146965604263,-1.792516963163931],[0.0847871008240324,-1.6645169640276969]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[-0.135690874200325,-2.563268314287974,0.71338606911949],"aabb_xy":[[-0.22569087392349915,-2.5863416668231536],[-0.045690874477150804,-2.540194961752794]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.5910195108805536,0.98147168885852,0.71338606911949],"aabb_xy":[[-0.680706587188669,0.8914716886040694],[-0.5013324345724381,1.0714716891129705]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.2382292959671387,1.4461463106088588,0.71338606911949],"aabb_xy":[[0.15822929489401835,1.4363682642714743],[0.31822929704025904,1.4559243569462432]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.07474045423200748,1.4629144253006596,0.71338606911949],"aabb_xy":[[0.04027797621891971,1.4562507481177365],[0.10920293224509525,1.469578102483582]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_14","position":[-0.48639092342454937,-0.30415941538889824,0.71338606911949],"aabb_xy":[[-0.5362736203022456,-0.354159414635173],[-0.43650822654685323,-0.2541594161426235]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.11722463071555167,-1.230873558834225,0.71338606911949],"aabb_xy":[[-0.14770888084258182,-1.2808735586157207],[-0.08674038058852153,-1.1808735590527288]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.48198943404522565,1.7334426370117044,0.71338606911949],"aabb_xy":[[-0.4907914893541983,1.7256313108567751],[-0.4731873787362529,1.7412539631666333]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.6060355380222582,-2.492610294418631,0.71338606911949],"aabb_xy":[[-0.6660355382736592,-2.5468916194550952],[-0.5460355377708569,-2.4383289693821655]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[0.41605434481869086,0.23290631911950976,0.71338606911949],"aabb_xy":[[0.410087805877955,0.2269451744601457],[0.4220208837594266,0.23886746377887377]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[0.37438259175902866,1.3115593340408362,0.71338606911949],"aabb_xy":[[0.31038259533170676,1.26438971021874],[0.43838258818635056,1.358728957862933]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[-0.15327430690665933,-0.6423133779047778,0.71338606911949],"aabb_xy":[[-0.1684371798835964,-0.6574788351998966],[-0.13811143392972225,-0.6271479206096591]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[0.6264358402557069,0.6867304289653986,0.71338606911949],"aabb_xy":[[0.6063774286424666,0.6666653420562411],[0.6464942518689472,0.7067955158745561]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.3952842080753858,-0.7445657903795884,0.71338606911949],"aabb_xy":[[0.3402919574398748,-0.7995657921229014],[0.4502764587108967,-0.6895657886362757]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[0.4357228305817955,-2.4972797482065423,0.71338606911949],"aabb_xy":[[0.4073931206332553,-2.5017404904002594],[0.46405254053033573,-2.4928190060128252]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[-0.3786141911606668,0.5026296496522007,0.71338606911949],"aabb_xy":[[-0.4686141876615385,0.4567180072337425],[-0.288614194659795,0.5485412920706589]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[0.43902297530216927,-0.25710091886713826,0.71338606911949],"aabb_xy":[[0.41037364294175305,-0.285746478144214],[0.4676723076625855,-0.2284553595900624]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6588073582897372,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3973.png","name":"3973"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3973.png","name":"3973"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/907.png","name":"907"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6691.png","name":"6691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4035.png","name":"4035"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6915.png","name":"6915"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":786.1029401827873,"rotation_z_degrees":198.03123527085114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0051083764053803,0.00561083287948453,-0.003926353638347872]},{"name":"camera_2","offset_m":[-0.013249100216583064,0.0017330082508838981,-0.017658608003315146]},{"name":"camera_3","offset_m":[-0.009652320673050307,-0.00295200516182283,-0.004746710150937493]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006402741753201349,-0.0015653112490530035,-0.0007858436535577091],"end_effector_yaw_offset_degrees":0.9510359699712434},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001548170098808945,0.001935827508278522,2.5848543492312977e-05],"end_effector_yaw_offset_degrees":0.8506627199677388},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014652865354896059,-0.00033864997248841846,-0.0016853550875231234],"end_effector_yaw_offset_degrees":0.07730864983971353},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019098557327573732,-0.00043918372244774193,0.0008781614659825578],"end_effector_yaw_offset_degrees":0.3646461028617667}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021527395791239605,0.0018841479958899687],"position_m":[0.16825273957912396,0.15508414799588996,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004596006024108239,-0.0038076013986689337],"position_m":[0.2501039939758917,-0.32480760139866893,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002909271959416975,0.0031710472183792996],"position_m":[0.14099072804058302,0.2889710472183793,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006883924912260567,-0.0028153981062716306],"position_m":[0.36038839249122606,0.060684601893728374,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a8abb9d3d4dbb9f04f2d8554fa1685e6e6c50c3756eaf6fbb4c881c12fafe493","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3973/tex_ceiling_textures_6915/tex_floor_textures_4035/tex_table_textures_907/tex_wall_textures_6691","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":2997761460163215704,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":2997761460163215704,"visual_seed":2997761460163215704,"scene_id":"lab_003","finished_at":"2026-09-05T05:35:28"}
+{"episode_id":"ep_000092","started_at":"2026-09-05T05:35:32","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[0.34181786963278227,0.7348782609898734,0.71338606911949],"aabb_xy":[[0.2923374484188235,0.6708782630770216],[0.39129829084674106,0.7988782589027252]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[0.5565833889624914,1.725510341464768,0.71338606911949],"aabb_xy":[[0.4765833919482434,1.7053757897913566],[0.6365833859767394,1.7456448931381792]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.07732648185085556,-0.7410084180847352,0.71338606911949],"aabb_xy":[[-0.012673514650016203,-0.7869200605031933],[0.1673264783517273,-0.6950967756662768]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.36413051575571065,1.516837988368,0.71338606911949],"aabb_xy":[[0.3065000468684398,1.456837989441289],[0.42176098464298145,1.57683798729471]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[-0.274364114838886,-0.17328789997240435,0.71338606911949],"aabb_xy":[[-0.33436411543490213,-0.2281003725176278],[-0.21436411424286977,-0.11847542742718084]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.43063641199453323,1.162633735680524,0.71338606911949],"aabb_xy":[[-0.4681364127865286,1.1562658947223339],[-0.39313641120253773,1.1690015766387143]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[0.33938600901860383,0.4566171954021163,0.71338606911949],"aabb_xy":[[0.33210369264194006,0.36661719179260727],[0.3466683253952674,0.5466171990116252]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.11708513984004809,-0.6048764640854727,0.71338606911949],"aabb_xy":[[-0.12955249794978374,-0.6173417887187963],[-0.10461778173031246,-0.5924111394521493]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.08312202547219971,1.73786395984988,0.71338606911949],"aabb_xy":[[-0.09074629356237796,1.730230736313337],[-0.07549775738202147,1.7454971833864243]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[0.5148312631238485,0.31646905596785135,0.71338606911949],"aabb_xy":[[0.4798312648537286,0.30939492827286313],[0.5498312613939684,0.32354318366283946]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.5612895533255415,1.5427650235602157,0.71338606911949],"aabb_xy":[[-0.6512895570024595,1.4813326169831111],[-0.47128954964862313,1.6041974301373196]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[-0.6100981511298236,-2.2342753574284724,0.71338606911949],"aabb_xy":[[-0.6210039272173863,-2.314275353827301],[-0.5991923750422609,-2.154275361029643]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[0.5690634913318047,0.24338105098693363,0.71338606911949],"aabb_xy":[[0.5634818196976759,0.23088105116915814],[0.5746451629659335,0.25588105080470913]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.3923531384300901,-0.4882571184911235,0.71338606911949],"aabb_xy":[[-0.4563531404798222,-0.5283516015804315],[-0.3283531363803582,-0.4481626354018155]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[0.6854869392228689,1.509539664279162,0.71338606911949],"aabb_xy":[[0.6699311698126037,1.4939892310347551],[0.7010427086331342,1.5250900975235697]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.1628206704005304,-0.45138571694800955,0.71338606911949],"aabb_xy":[[-0.17983076769058104,-0.4675202054462834],[-0.14581057311047974,-0.43525122844973557]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[-0.40798877076616213,0.5458695174846131,0.71338606911949],"aabb_xy":[[-0.48798876935348157,0.46655391554645215],[-0.3279887721788427,0.6251851194227739]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.3686946370451607,-2.112950764085238,0.71338606911949],"aabb_xy":[[-0.4032857198992058,-2.1779507643702685],[-0.33410355419111537,-2.0479507638002064]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[-0.26531965589828777,-0.8271144037302087,0.71338606911949],"aabb_xy":[[-0.2754726714524371,-0.8631839453029487],[-0.25516664034413833,-0.791044862157468]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.60920160832224,0.8581527216859222,0.71338606911949],"aabb_xy":[[-0.6467016082660064,0.8498596316510856],[-0.5717016083784736,0.8664458117207587]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[0.5197890857353626,1.329512623581846,0.71338606911949],"aabb_xy":[[0.4962039622714677,1.2645126213364142],[0.5433742091992574,1.3945126258272778]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.4702937666822314,1.0011395403189427,0.71338606911949],"aabb_xy":[[-0.4880872736171479,0.983339794723145],[-0.452500259747315,1.0189392859147404]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.645555313731605,0.655905250092959,0.71338606911949],"aabb_xy":[[0.604250770667869,0.5919052505248418],[0.686859856795341,0.7199052496610759]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[0.6994080260501025,-2.2285127410544767,0.71338606911949],"aabb_xy":[[0.6805236422815923,-2.2473986658348295],[0.7182924098186128,-2.209626816274124]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[-0.23423518651406194,0.8728734231902702,0.71338606911949],"aabb_xy":[[-0.24940735579569528,0.8577045662620668],[-0.2190630172324286,0.8880422801184735]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_25","position":[0.32857176154061785,1.2213109517818794,0.71338606911949],"aabb_xy":[[0.2485717610704019,1.2130002441675314],[0.40857176201083384,1.229621659396228]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[0.4695268340757157,-1.2417181775118158,0.71338606911949],"aabb_xy":[[0.4658235727465768,-1.2454201958205338],[0.4732300954048546,-1.2380161592030978]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[0.018348203128180418,-1.234510449278053,0.71338606911949],"aabb_xy":[[-0.009981506820359809,-1.2389711914717703],[0.046677913076720645,-1.2300497070843361]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[0.22464709262265248,-1.7907342943787952,0.71338606911949],"aabb_xy":[[0.1346470928994783,-1.813807646913975],[0.31464709234582666,-1.7676609418436153]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6580235459892662,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5304.png","name":"5304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5304.png","name":"5304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7133.png","name":"7133"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2608.png","name":"2608"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5679.png","name":"5679"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4659.png","name":"4659"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":804.9236465374296,"rotation_z_degrees":52.82334860230156,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01457225911803017,0.0021421911005546114,0.01830065498787357]},{"name":"camera_2","offset_m":[0.012619555956715062,0.012876840525228087,-0.011870663003601574]},{"name":"camera_3","offset_m":[0.007651489371194406,0.011206849981468099,0.005826818939451438]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00011893648981438397,0.0013843013276456924,0.00026035125867121143],"end_effector_yaw_offset_degrees":-0.9200862772156173},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016374943012403666,0.0008615207440832362,0.0003380333472083217],"end_effector_yaw_offset_degrees":-0.17034817622088227},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00146671156514081,0.0016722116255646164,-0.00016639746210231321],"end_effector_yaw_offset_degrees":-0.8986076357903152},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00029835415401693183,-0.0008236758347230681,-0.0008254299799810246],"end_effector_yaw_offset_degrees":-0.6762748290460947}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023928493186281554,0.0012857728375912517],"position_m":[0.16370715068137184,0.15448577283759127,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015699974673431573,0.003210828833163654],"position_m":[0.25313000253265683,-0.31778917116683636,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00376891376222131,0.002170682345165118],"position_m":[0.1401310862377787,0.2879706823451651,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021017044250272753,0.004990987170436847],"position_m":[0.35759829557497275,0.06849098717043685,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f060ecefb1fa9e79df2b3459a19d7aa0c6b41040148062e05e2f9f0daa89303","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0096.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5304/tex_ceiling_textures_4659/tex_floor_textures_5679/tex_table_textures_7133/tex_wall_textures_2608","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":243388244787364582,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":243388244787364582,"visual_seed":243388244787364582,"scene_id":"lab_003","finished_at":"2026-09-05T05:39:14"}
+{"episode_id":"ep_000093","started_at":"2026-09-05T05:39:18","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.2871225140571475,1.049854911238866,0.71338606911949],"aabb_xy":[[0.2798612664867401,1.0370679009753565],[0.2943837616275549,1.0626419215023755]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[-0.4900714606874106,-1.6812146426448789,0.71338606911949],"aabb_xy":[[-0.5361565519421421,-1.7452146398974338],[-0.44398636943267916,-1.6172146453923235]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.2118005173038756,1.1707208655545718,0.71338606911949],"aabb_xy":[[0.12180052080300387,1.1248092231361135],[0.3018005138047474,1.21663250797303]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.32059797002290913,1.5449557935103413,0.71338606911949],"aabb_xy":[[0.25659796974893084,1.494889693313053],[0.3845979702968873,1.595021893707629]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[-0.5008962462295165,-1.0617400561126158,0.71338606911949],"aabb_xy":[[-0.5183269613085228,-1.0790121707764666],[-0.4834655311505099,-1.044467941448765]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.29696753839128237,-0.10172497131157465,0.71338606911949],"aabb_xy":[[-0.3469517740994596,-0.15172497012507025],[-0.24698330268310514,-0.051724972498079044]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[0.38151148879833685,-1.2030633511483753,0.71338606911949],"aabb_xy":[[0.31751148809486757,-1.2490817336212963],[0.4455114895018063,-1.1570449686754543]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[0.5540316799018448,0.3656912471132996,0.71338606911949],"aabb_xy":[[0.4703094544017623,0.27569124357860364],[0.6377539054019272,0.45569125064799554]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[0.36090621954891344,-1.766198396030837,0.71338606911949],"aabb_xy":[[0.35220825725819815,-1.7783233703383117],[0.36960418183962873,-1.7540734217233622]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[-0.3850782707010758,0.9027846733261629,0.71338606911949],"aabb_xy":[[-0.40959189479808167,0.8785200800241264],[-0.36056464660406995,0.9270492666281993]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.5517534392867516,-1.3396028999601333,0.71338606911949],"aabb_xy":[[0.5272072236640009,-1.36985179650917],[0.5762996549095023,-1.309354003411096]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[-0.5742910827795656,-0.1987402184511491,0.71338606911949],"aabb_xy":[[-0.5848585624376647,-0.20928524856415767],[-0.5637236031214666,-0.18819518833814056]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[-0.541828035961814,-1.3600909712721387,0.71338606911949],"aabb_xy":[[-0.6058280351315838,-1.406857658391101],[-0.47782803679204394,-1.313324284153176]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[0.6347510622120838,-0.21571660426116335,0.71338606911949],"aabb_xy":[[0.6004541511943431,-0.2500134904711047],[0.6690479732298242,-0.18141971805122198]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.3646764631903374,-2.155596600923923,0.71338606911949],"aabb_xy":[[0.30967646356859163,-2.210580293711396],[0.4196764628120833,-2.1006129081364504]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.4077413936842287,0.4691611670812783,0.71338606911949],"aabb_xy":[[0.40164676579611036,0.46059177252960964],[0.413836021572347,0.4777305616329471]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.6711013556382529,0.32387746516704974,0.71338606911949],"aabb_xy":[[-0.6871632830967705,0.2388774633544579],[-0.6550394281797353,0.4088774669796415]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.5626168629881023,-2.4486330934433576,0.71338606911949],"aabb_xy":[[-0.5707305176614793,-2.4567389098973864],[-0.5545032083147251,-2.4405272769893287]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[0.0904026466886696,1.275812006274641,0.71338606911949],"aabb_xy":[[0.06540264752303648,1.2688597605692844],[0.11540264585430271,1.2827642519799975]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[-0.6022361116598623,0.4909025667222511,0.71338606911949],"aabb_xy":[[-0.6272361109318245,0.47455720312608873],[-0.5772361123879,0.5072479303184134]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.6621913975303891,-1.4398035613611178,0.71338606911949],"aabb_xy":[[-0.6677730691645177,-1.4523035611788933],[-0.6566097258962603,-1.4273035615433423]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[0.319901408075814,-1.0017569054826811,0.71338606911949],"aabb_xy":[[0.30974839252166453,-1.0378264470554213],[0.3300544236299633,-0.9656873639099406]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.435342870663978,-0.6603702991583513,0.71338606911949],"aabb_xy":[[-0.46318790744458516,-0.691154797896663],[-0.4074978338833709,-0.6295858004200396]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[-0.40508358824976054,-0.06464742658002853,0.71338606911949],"aabb_xy":[[-0.4151652953283339,-0.14464742447214318],[-0.39500188117118695,0.015352571312086116]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[0.5959715135683461,0.19417791501107606,0.71338606911949],"aabb_xy":[[0.5734715133248307,0.18197328035130414],[0.6184715138118615,0.20638254967084804]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_25","position":[-0.5305606815550328,1.547054300079313,0.71338606911949],"aabb_xy":[[-0.5480606808331197,1.5297162000129672],[-0.5130606822769459,1.564392400145659]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[-0.29309172121180266,1.0236885745003725,0.71338606911949],"aabb_xy":[[-0.3143697293552749,0.9586885721742995],[-0.2718137130683304,1.0886885768264456]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_27","position":[-0.026344762024622437,-2.1860095957518855,0.71338606911949],"aabb_xy":[[-0.08397523091189328,-2.2460095946785956],[0.03128570686264841,-2.1260095968251744]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[0.2923821440656501,1.3555104618960172,0.71338606911949],"aabb_xy":[[0.22838214380517932,1.3105016625430892],[0.3563821443261209,1.4005192612489452]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_29","position":[0.5013383846904882,-0.49163524582722173,0.71338606911949],"aabb_xy":[[0.42133838143264524,-0.5716317536192057],[0.5813383879483311,-0.4116387380352378]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_30","position":[0.5556095420947853,-0.3154688129427443,0.71338606911949],"aabb_xy":[[0.5181095435191645,-0.3282051086063022],[0.5931095406704061,-0.3027325172791863]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_31","position":[-0.1914574892919103,-0.7691664028820928,0.71338606911949],"aabb_xy":[[-0.19938076953065864,-0.7916664031200963],[-0.18353420905316198,-0.7466664026440896]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626656345667791,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2035.png","name":"2035"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2035.png","name":"2035"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5971.png","name":"5971"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6143.png","name":"6143"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2371.png","name":"2371"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9790.png","name":"9790"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":708.705153154797,"rotation_z_degrees":76.47174838880379,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002676877514252128,0.008464865575786691,0.019953826459380004]},{"name":"camera_2","offset_m":[0.008803952090269625,0.017371079449222875,0.018836838330345804]},{"name":"camera_3","offset_m":[-0.01730088117798337,0.0023111774990716913,-0.01858353539175674]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007186879991941196,0.0011325414318118167,0.0003709576615392204],"end_effector_yaw_offset_degrees":0.13175133299021535},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003748285830483724,0.0008051062768103519,0.0014855713111505708],"end_effector_yaw_offset_degrees":0.1399041685215563},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004991420752425428,-0.0014201598625399221,0.0002328557181853915],"end_effector_yaw_offset_degrees":0.589302757589734},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001061067769506803,0.0016637552406691572,0.001071812686191216],"end_effector_yaw_offset_degrees":-0.1339486104142329}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003043627716206366,-0.0036336987819872136],"position_m":[0.16914362771620636,0.1495663012180128,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006751582955965328,-0.0023083571996184026],"position_m":[0.25537515829559654,-0.3233083571996184,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036529728758013446,-0.004710822448361628],"position_m":[0.14755297287580135,0.28108917755163837,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006789814853607459,0.0030049729234974737],"position_m":[0.36037898148536074,0.06650497292349747,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7f85d6b196dd084344de8a9994495890c3a59ff1177c8657d19ea24530907476","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0097.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2035/tex_ceiling_textures_9790/tex_floor_textures_2371/tex_table_textures_5971/tex_wall_textures_6143","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":8656572718248033739,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":8656572718248033739,"visual_seed":8656572718248033739,"scene_id":"lab_003","finished_at":"2026-09-05T05:43:03"}
+{"episode_id":"ep_000094","started_at":"2026-09-05T05:43:07","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.41165685613959835,-0.49239355164237564,0.71338606911949],"aabb_xy":[[0.4056198431389337,-0.49842025271132384],[0.41769386914026313,-0.48636685057342743]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.14351002415641256,0.6257939599017921,0.71338606911949],"aabb_xy":[[-0.15154635885769738,0.6177558405973752],[-0.1354736894551277,0.6338320792062088]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.12362379354971742,-2.5563428911463375,0.71338606911949],"aabb_xy":[[-0.2036237905639654,-2.5764774428197486],[-0.043623796535469425,-2.5362083394729265]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[-0.2872503838572703,-2.5383138290300606,0.71338606911949],"aabb_xy":[[-0.324750384205498,-2.5501052246111438],[-0.2497503835090425,-2.5265224334489766]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.09262997988797161,-1.3467984691263053,0.71338606911949],"aabb_xy":[[-0.1378012977361406,-1.4107984662708437],[-0.04745866203980266,-1.2827984719817669]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.16618733562206922,-2.2050487602569353,0.71338606911949],"aabb_xy":[[0.1398985113016285,-2.231320193911586],[0.19247615994250983,-2.1787773266022836]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[-0.12004118275810516,1.374315452351245,0.71338606911949],"aabb_xy":[[-0.18404118205227338,1.3103293119823909],[-0.056041183463936925,1.4383015927200993]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.6142276058013953,1.2000522754981477,0.71338606911949],"aabb_xy":[[0.5670982267995596,1.1360522744537456],[0.6613569848032309,1.2640522765425495]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.39451279318011445,-1.6686460364447933,0.71338606911949],"aabb_xy":[[0.3742284904567156,-1.6889286615875019],[0.4147970959035131,-1.6483634113020842]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.6095151679198233,-0.6737628369710214,0.71338606911949],"aabb_xy":[[-0.6895151659006084,-0.6813643779328733],[-0.5295151699390382,-0.6661612960091694]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.23342351971592756,-1.1294220377826238,0.71338606911949],"aabb_xy":[[0.19842351973943173,-1.1388866538302405],[0.2684235196924234,-1.1199574217350072]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[-0.09826625548555945,-1.9780025841301847,0.71338606911949],"aabb_xy":[[-0.10698022453549393,-2.000502584789372],[-0.08955228643562495,-1.9555025834709958]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[0.37148750226937266,-0.7006204990374099,0.71338606911949],"aabb_xy":[[0.321487502693038,-0.7506010779895158],[0.42148750184570744,-0.6506399200853039]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_13","position":[-0.5410360585482853,-1.2553557262733537,0.71338606911949],"aabb_xy":[[-0.5760360576782408,-1.2611009473490178],[-0.5060360594183295,-1.2496105051976896]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.2978404931495499,0.36105506789829,0.71338606911949],"aabb_xy":[[-0.3323029711626377,0.3543913907153672],[-0.26337801513646214,0.36771874508121283]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.4151444025285491,-2.1998668409228515,0.71338606911949],"aabb_xy":[[0.4098068268625446,-2.2248668418519912],[0.42048197819455374,-2.1748668399937117]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[-0.2661601567706546,-0.8782830855682273,0.71338606911949],"aabb_xy":[[-0.2710594490772181,-0.9059600048707959],[-0.2612608644640911,-0.8506061662656583]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[-0.12602252634019018,-2.2282838609369278,0.71338606911949],"aabb_xy":[[-0.21570960264830563,-2.3182838611913783],[-0.03633545003207472,-2.1382838606824772]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.6569039105340935,0.7947408914896972,0.71338606911949],"aabb_xy":[[0.6019039113575039,0.7397512167147395],[0.7119039097106828,0.8497305662646548]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[0.3540440336462951,-1.0144899517441648,0.71338606911949],"aabb_xy":[[0.3311283207612452,-1.0373942488805883],[0.37695974653134506,-0.9915856546077413]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6614660539894173,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1085.png","name":"1085"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1085.png","name":"1085"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4873.png","name":"4873"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2441.png","name":"2441"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5283.png","name":"5283"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9448.png","name":"9448"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":780.7768765200559,"rotation_z_degrees":352.88193758000864,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012807082647103115,-0.001479912117715608,0.014569416848294058]},{"name":"camera_2","offset_m":[-0.004384059600918295,0.006906125959466675,0.009182284694875774]},{"name":"camera_3","offset_m":[0.009949744115532975,-0.01479588554200658,-0.007030714541659924]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00024932666871762014,7.529309410344914e-05,-4.110364547594246e-07],"end_effector_yaw_offset_degrees":-0.11951269309914636},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018100597481066553,-0.0014375866416138964,0.0004391979270196131],"end_effector_yaw_offset_degrees":-0.7258929446304245},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00023578361974995084,-0.0002470111954723691,0.000798098067870004],"end_effector_yaw_offset_degrees":0.1152158130315275},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014043253292258494,0.0011315275417141859,-0.00017284346272570823],"end_effector_yaw_offset_degrees":-0.3063080813110166}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026787812253220526,0.0039552396097581296],"position_m":[0.16877878122532206,0.15715523960975813,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014027832379940328,0.001472776367878047],"position_m":[0.256102783237994,-0.31952722363212194,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003399036340167554,0.002783847178778863],"position_m":[0.14729903634016756,0.2885838471787789,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004346688844749145,0.004719781954223631],"position_m":[0.3553533111552509,0.06821978195422364,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a99054974d8d0ba2c08d033878ce159e616a376fbf99b8c35d9788c82a081c46","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0098.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1085/tex_ceiling_textures_9448/tex_floor_textures_5283/tex_table_textures_4873/tex_wall_textures_2441","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3488748792612340733,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3488748792612340733,"visual_seed":3488748792612340733,"scene_id":"lab_003","finished_at":"2026-09-05T05:47:04"}
+{"episode_id":"ep_000095","started_at":"2026-09-05T05:47:09","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.39298246265625575,-1.1006296488127028,0.71338606911949],"aabb_xy":[[-0.4234667127832859,-1.1506296485941987],[-0.3624982125292256,-1.0506296490312068]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.28934628429871234,0.6430780126255202,0.71338606911949],"aabb_xy":[[-0.30684628343307957,0.6331983855879323],[-0.2718462851643452,0.6529576396631079]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[-0.6383714897815218,-2.3835396087348255,0.71338606911949],"aabb_xy":[[-0.65547356773989,-2.4006464142660953],[-0.6212694118231536,-2.3664328032035558]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.514984009442377,0.6966085789490579,0.71338606911949],"aabb_xy":[[-0.5251370249965263,0.6605390373763175],[-0.5048309938882275,0.7326781205217981]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.2862554384931697,-0.08516500159436768,0.71338606911949],"aabb_xy":[[-0.3038882740866972,-0.10278794760999066],[-0.26862260289964207,-0.06754205557874471]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.03249039126774711,1.5956033014068827,0.71338606911949],"aabb_xy":[[-0.039902846809135584,1.5897520909852547],[-0.025077935726358636,1.6014545118285106]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[0.5773814226410172,-1.1643687776617142,0.71338606911949],"aabb_xy":[[0.5273814230646825,-1.2143493566138204],[0.6273814222173519,-1.1143881987096085]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[0.3873709720315912,-2.509994651756396,0.71338606911949],"aabb_xy":[[0.3535954128408982,-2.5240331469695607],[0.4211465312222841,-2.495956156543231]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[0.6220621419486112,-2.5067179522484455,0.71338606911949],"aabb_xy":[[0.6179839840415614,-2.510798932496708],[0.6261402998556608,-2.502636972000182]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[0.3174780209980308,-0.7287263588593278,0.71338606911949],"aabb_xy":[[0.2830156735998889,-0.7632202412571503],[0.3519403683961725,-0.6942324764615049]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.5558945141616272,-0.6906049796430642,0.71338606911949],"aabb_xy":[[-0.6208945151187544,-0.7425531915767698],[-0.4908945132045,-0.6386567677093586]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.28259801631449294,1.3504711660893034,0.71338606911949],"aabb_xy":[[-0.2952007154515694,1.337875769864438],[-0.2699953171774165,1.363066562314169]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.5739160645979141,0.800952549895086,0.71338606911949],"aabb_xy":[[-0.585161120168532,0.7897107521709906],[-0.5626710090272963,0.8121943476191812]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.5333316046455696,-0.7011103991911034,0.71338606911949],"aabb_xy":[[0.44364452833745416,-0.7911103994455538],[0.6230186809536851,-0.6111103989366528]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[0.31534246043311676,-1.4248194116004442,0.71338606911949],"aabb_xy":[[0.27784245976853805,-1.440506469600666],[0.35284246109769546,-1.4091323536002216]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[-0.1614760799316166,0.32643854313135634,0.71338606911949],"aabb_xy":[[-0.21144914546413213,0.2764385433188235],[-0.11150301439910118,0.37643854294388934]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.10447229613381359,0.7674839509687863,0.71338606911949],"aabb_xy":[[0.049347090504222806,0.7074839495274989],[0.15959750176340434,0.8274839524100732]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[-0.006548096574442441,-2.4321269348763934,0.71338606911949],"aabb_xy":[[-0.04404809736643789,-2.4384947758345836],[0.030951904217553006,-2.425759093918203]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[0.3012311011603327,1.6010171272598632,0.71338606911949],"aabb_xy":[[0.251231101720137,1.5510492027755467],[0.35123110060052826,1.6509850517441793]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[0.028857300823462273,-1.3836412400322482,0.71338606911949],"aabb_xy":[[0.011278998634515421,-1.4012157296063532],[0.04643560301240912,-1.3660667504581432]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[-0.5341810991185251,-0.2827720061628627,0.71338606911949],"aabb_xy":[[-0.571681099290397,-0.3154727415457698],[-0.49668109894665313,-0.25007127077995545]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[0.4438186131987807,-0.9974373662078402,0.71338606911949],"aabb_xy":[[0.42135384322737557,-1.0199373670867007],[0.4662833831701858,-0.9749373653289798]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.11790242820884655,-0.8850044289042018,0.71338606911949],"aabb_xy":[[0.053902429622274095,-0.9320113923037106],[0.18190242679541901,-0.8379974655046931]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[-0.6223567023588016,0.681979245730203,0.71338606911949],"aabb_xy":[[-0.6286688018951401,0.676212306476984],[-0.6160446028224631,0.6877461849834217]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[0.592808830918029,-1.4554532849382127,0.71338606911949],"aabb_xy":[[0.5784744057918656,-1.4675135004927515],[0.6071432560441925,-1.4433930693836738]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[0.17645743281374127,-2.0240311563251416,0.71338606911949],"aabb_xy":[[0.12645743245317517,-2.074011143534744],[0.2264574331743073,-1.9740511691155385]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_26","position":[0.6068827594708623,-0.2689644493318162,0.71338606911949],"aabb_xy":[[0.5718827595748435,-0.27733868484375607],[0.6418827593668812,-0.2605902138198762]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[0.7141483647070075,-0.24629830599293445,0.71338606911949],"aabb_xy":[[0.7054504024162922,-0.2584232803004092],[0.7228463269977228,-0.23417333168545973]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645614635022873,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4552.png","name":"4552"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4552.png","name":"4552"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5055.png","name":"5055"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1188.png","name":"1188"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7409.png","name":"7409"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2546.png","name":"2546"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":724.4174394518753,"rotation_z_degrees":62.74095484289878,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015882193721603783,0.008868326405168811,0.017976242638171058]},{"name":"camera_2","offset_m":[-0.007973358287476504,-0.0126325392607264,1.6620145432185568e-05]},{"name":"camera_3","offset_m":[0.0005128248955749287,0.002549510498243965,-0.00022522766980999018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006302152750408893,0.0007893135255747771,0.0007012917565129514],"end_effector_yaw_offset_degrees":0.31640708072883106},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005326674872132798,0.000961203073529043,-0.0004976647654374219],"end_effector_yaw_offset_degrees":-0.8292930804253735},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001559059671648452,-0.0013034916421496776,-0.0016970690328218696],"end_effector_yaw_offset_degrees":-0.03162022685619115},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00011876203711728376,-0.0008681126946269786,0.001672850352653685],"end_effector_yaw_offset_degrees":0.04142569695872811}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001977491219417554,-0.0007890190531951499],"position_m":[0.16807749121941756,0.15241098094680486,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003447184734167461,-0.0012265077510672617],"position_m":[0.2581471847341674,-0.32222650775106726,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00013983030525524087,-0.0012757790938383827],"position_m":[0.14376016969474475,0.28452422090616164,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002239932405102012,0.004609230726299581],"position_m":[0.361939932405102,0.06810923072629958,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"232c282230011f73ca4ff6e6503e512d4844ed723a6d9b4839c40c919145fdb5","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4552/tex_ceiling_textures_2546/tex_floor_textures_7409/tex_table_textures_5055/tex_wall_textures_1188","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":5300672469943480509,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":5300672469943480509,"visual_seed":5300672469943480509,"scene_id":"lab_003","finished_at":"2026-09-05T05:51:05"}
+{"episode_id":"ep_000096","started_at":"2026-09-05T05:51:11","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[-0.5669126977292185,-2.4000914899963224,0.71338606911949],"aabb_xy":[[-0.6120840155773875,-2.4640914871408612],[-0.5217413798810495,-2.3360914928517844]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[0.3032059904498532,-1.4898470072639296,0.71338606911949],"aabb_xy":[[0.23920598853751085,-1.54575815652194],[0.36720599236219553,-1.4339358580059192]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.4054804559419019,0.0868230592284518,0.71338606911949],"aabb_xy":[[-0.4954804526775121,0.03363959591115727],[-0.3154804592062917,0.1400065225457463]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[-0.36502246761584334,0.9435041916278633,0.71338606911949],"aabb_xy":[[-0.3738036947630796,0.9347244443393333],[-0.35624124046860717,0.9522839389163936]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[0.17562181445928082,-1.5899116368048882,0.71338606911949],"aabb_xy":[[0.16632819622213024,-1.6274116352930221],[0.1849154326964314,-1.5524116383167543]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[-0.6783192579658243,-1.9291737625041443,0.71338606911949],"aabb_xy":[[-0.6831628527270542,-1.9340254149831284],[-0.6734756632045943,-1.9243221100251602]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.4134833762103447,-0.9578433720502526,0.71338606911949],"aabb_xy":[[0.3494833759498739,-1.0028521714031804],[0.4774833764708155,-0.9128345726973246]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.21527945368844303,1.6556073609254898,0.71338606911949],"aabb_xy":[[0.19777945344339365,1.638107573085923],[0.23277945393349242,1.6731071487650566]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[0.08597040088683283,-2.4346400410157254,0.71338606911949],"aabb_xy":[[0.028339931999561953,-2.494640039942435],[0.14360086977410363,-2.374640042089014]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_9","position":[0.0551716241688156,-1.705066277857723,0.71338606911949],"aabb_xy":[[0.037378117233899166,-1.7228660234535205],[0.07296513110373204,-1.6872665322619251]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.34321630659571256,-0.6153784212475983,0.71338606911949],"aabb_xy":[[0.2792206092006159,-0.6793784195483069],[0.4072120039908091,-0.5513784229468895]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.3463394165868349,1.6960838170527501,0.71338606911949],"aabb_xy":[[-0.43133941527890957,1.6640979536578713],[-0.2613394178947603,1.728069680447629]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[0.2721689321867956,-2.3784456443184014,0.71338606911949],"aabb_xy":[[0.25515883489674496,-2.394580132816675],[0.28917902947684626,-2.362311155820127]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.6183051139336975,-1.350128835777073,0.71338606911949],"aabb_xy":[[-0.6833051120896166,-1.376425080326985],[-0.5533051157777785,-1.3238325912271607]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.6206339432505568,-0.21755446327711248,0.71338606911949],"aabb_xy":[[-0.6806339438465729,-0.27236693582233595],[-0.5606339426545406,-0.162741990731889]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[0.02370670474530212,1.1720292470323979,0.71338606911949],"aabb_xy":[[-0.06598037156281333,1.0820292467779473],[0.11339378105341757,1.2620292472868484]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.019873784382620885,-1.6324330029905394,0.71338606911949],"aabb_xy":[[-0.027156100759284537,-1.722433006600048],[-0.012591468005957228,-1.54243299938103]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[-0.6033071673039677,-0.03858954248170976,0.71338606911949],"aabb_xy":[[-0.6245851754474399,-0.10358954480778282],[-0.5820291591604954,0.0264104598443633]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.6249440893713827,1.0151118603504923,0.71338606911949],"aabb_xy":[[-0.6426197199599809,0.9974316440710894],[-0.6072684587827842,1.0327920766298948]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.5314738776232482,0.29316607003938033,0.71338606911949],"aabb_xy":[[0.5051850533028074,0.26689463638472904],[0.5577627019436887,0.3194375036940315]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.5588559302387804,-0.6482769556398482,0.71338606911949],"aabb_xy":[[-0.5675698992887147,-0.6707769562990362],[-0.5501419611888457,-0.6257769549806598]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[0.34979087954255395,-2.1494056098962218,0.71338606911949],"aabb_xy":[[0.2882001203185612,-2.2134056080052686],[0.4113816387665468,-2.085405611787175]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[0.017275120990266846,-1.176168551182006,0.71338606911949],"aabb_xy":[[-0.02022487895349956,-1.1844616412168423],[0.05477512093403325,-1.1678754611471691]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_23","position":[0.35934279427962035,1.2369443677123946,0.71338606911949],"aabb_xy":[[0.33606095208148895,1.1519443664151665],[0.38262463647775163,1.3219443690096226]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[-0.19716578145039515,-1.7648134153371555,0.71338606911949],"aabb_xy":[[-0.2174500841737939,-1.7850960404798644],[-0.1768814787269964,-1.7445307901944467]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631564168435331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3466.png","name":"3466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3466.png","name":"3466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9015.png","name":"9015"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/158.png","name":"158"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8378.png","name":"8378"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9122.png","name":"9122"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":528.467705448017,"rotation_z_degrees":359.9297644046561,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009712907077622762,-0.011531926146193267,-0.009215322591299717]},{"name":"camera_2","offset_m":[0.0021453173027920144,0.0050922150787808505,-0.011895301044682168]},{"name":"camera_3","offset_m":[0.00562572869585698,-0.00022687431448926293,0.0008995316709652229]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018379891935484624,-0.0004025826906221095,-0.0007056105323475887],"end_effector_yaw_offset_degrees":-0.8467594190579368},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00042178648816085153,-0.001405325257384475,0.0013179897629997596],"end_effector_yaw_offset_degrees":0.5422614131797874},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008451303261070456,5.890496212321945e-05,-0.001965401768789179],"end_effector_yaw_offset_degrees":-0.35030789143011587},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001848752338364943,-0.001169081225167496,0.0004235245049969169],"end_effector_yaw_offset_degrees":-0.15616174840393038}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018565997936908283,0.0018742296908888243],"position_m":[0.16424340020630918,0.15507422969088883,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003105299569692869,0.0010597698757284276],"position_m":[0.25780529956969284,-0.3199402301242716,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011757788079873412,-0.0005749933203192861],"position_m":[0.14272422119201267,0.2852250066796807,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00098818951673942,-0.003826515975311127],"position_m":[0.3606881895167394,0.059673484024688875,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"387bacfb8adf559b265777634b0739c12cbbe5ec016c722ef6371b5ce05437b7","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0100.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3466/tex_ceiling_textures_9122/tex_floor_textures_8378/tex_table_textures_9015/tex_wall_textures_158","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":6879914317241350886,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":6879914317241350886,"visual_seed":6879914317241350886,"scene_id":"lab_003","finished_at":"2026-09-05T05:55:05"}
+{"episode_id":"ep_000097","started_at":"2026-09-05T05:55:09","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[-0.41982549797890184,-1.0030664214203795,0.71338606911949],"aabb_xy":[[-0.4573254977959354,-1.0077046327315213],[-0.3823254981618683,-0.9984282101092377]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[-0.2580143274843813,1.223013870099015,0.71338606911949],"aabb_xy":[[-0.3180143277357825,1.16873254506255],[-0.19801432723298013,1.2772951951354794]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[0.41551433824856265,0.3738374874030441,0.71338606911949],"aabb_xy":[[0.40671228293958994,0.366026161248115],[0.42431639355753537,0.38164881355797314]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[0.4931972901701742,-0.6593404244862424,0.71338606911949],"aabb_xy":[[0.4382040788330376,-0.7143404248250361],[0.5481905015073111,-0.6043404241474489]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[0.27807140503291683,0.5593730486210626,0.71338606911949],"aabb_xy":[[0.22807140367202958,0.5093951440456469],[0.328071406393804,0.6093509531964781]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.5064526354463403,-0.5799143306712242,0.71338606911949],"aabb_xy":[[-0.5434867448744001,-0.6142915380049336],[-0.4694185260182806,-0.5455371233375148]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.5533374687717678,-0.19128234326435045,0.71338606911949],"aabb_xy":[[0.527048644451327,-0.21755377691900166],[0.5796262930922084,-0.1650109096096992]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[-0.5784591853577296,-1.5268350002200601,0.71338606911949],"aabb_xy":[[-0.5893649614452923,-1.6068349966188893],[-0.5675534092701668,-1.446835003821231]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[-0.41319262925434797,-0.3706087907751754,0.71338606911949],"aabb_xy":[[-0.4171531130240823,-0.37827665536069605],[-0.4092321454846136,-0.36294092618965484]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[-0.06709596595016742,0.6118299380708758,0.71338606911949],"aabb_xy":[[-0.12206968798650032,0.5568299385066426],[-0.012122243913834554,0.666829937635109]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.2592424191524813,-1.3029163607912608,0.71338606911949],"aabb_xy":[[-0.30924242017161657,-1.3393825765290888],[-0.20924241813334604,-1.266450145053433]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.37096757355408294,-2.5092783750957643,0.71338606911949],"aabb_xy":[[0.3209675749081617,-2.5591979187552263],[0.4209675722000041,-2.4593588314363015]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[0.7141990793978981,-2.2722894412102934,0.71338606911949],"aabb_xy":[[0.7069378318274906,-2.285076451473803],[0.7214603269683055,-2.259502430946784]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.33442092402635265,-0.2195184837227404,0.71338606911949],"aabb_xy":[[-0.37660533818718345,-0.2835184839999516],[-0.29223650986552197,-0.1555184834455292]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.2834850713403221,-0.7256908666514037,0.71338606911949],"aabb_xy":[[-0.34748507301831943,-0.7742082581307178],[-0.21948506966232473,-0.6771734751720894]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.49915030626888446,-2.478501137399449,0.71338606911949],"aabb_xy":[[-0.5329258654595774,-2.492539632612614],[-0.4653747470781915,-2.4644626421862843]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[-0.1693458704180204,-1.1353591975853452,0.71338606911949],"aabb_xy":[[-0.1912356180069612,-1.2253591948745943],[-0.1474561228290796,-1.045359200296096]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[0.1477093500379616,-1.9458312279241756,0.71338606911949],"aabb_xy":[[0.11311826718391636,-2.0108312282092067],[0.1823004328920068,-1.8808312276391448]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.3843740238919478,-2.0564083048108794,0.71338606911949],"aabb_xy":[[-0.39782055052599113,-2.069878156463971],[-0.37092749725790447,-2.0429384531577885]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[-0.6256211885898942,1.3753636282677455,0.71338606911949],"aabb_xy":[[-0.6333243792639712,1.3676542575690074],[-0.617917997915817,1.3830729989664836]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[-0.1478430201529105,-0.8739860857945778,0.71338606911949],"aabb_xy":[[-0.15719002773520574,-0.8882897080122218],[-0.13849601257061528,-0.8596824635769338]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[-0.4450287603927707,-1.639243891338488,0.71338606911949],"aabb_xy":[[-0.4504867060297907,-1.719243894646147],[-0.43957081475575055,-1.5592438880308288]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[0.37907535643760837,-1.6270764284861423,0.71338606911949],"aabb_xy":[[0.3708608113219243,-1.6357530187837832],[0.38728990155329224,-1.6183998381885005]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[-0.4918964474589198,-2.0139842255900136,0.71338606911949],"aabb_xy":[[-0.5292277239841624,-2.048637280384866],[-0.4545651709336772,-1.9793311707951613]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[-0.39863919514109725,1.2876148251115076,0.71338606911949],"aabb_xy":[[-0.4145236884064224,1.2732618848126835],[-0.3827547018757721,1.3019677654103317]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6596642318606196,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3359.png","name":"3359"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3359.png","name":"3359"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5284.png","name":"5284"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4652.png","name":"4652"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5198.png","name":"5198"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/66.png","name":"66"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":556.3011723734868,"rotation_z_degrees":115.97490537240071,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00829479804115914,-0.015157000110497174,-0.017765644777350615]},{"name":"camera_2","offset_m":[-0.008699786765199375,0.010290837366710059,-0.004946573902210524]},{"name":"camera_3","offset_m":[-0.013466804018984434,0.005073592278542809,0.010106157992355244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014546916466067232,-0.0008776826707660025,0.0015449020412441408],"end_effector_yaw_offset_degrees":0.9130751223384901},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015092902915295288,-0.001408104592490246,-0.0006319030574664967],"end_effector_yaw_offset_degrees":0.8535188216818981},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005894774733439961,0.0010089026049041297,-0.001278979191635194],"end_effector_yaw_offset_degrees":-0.30696829620896593},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013553361807262325,0.0017679305884244116,-0.00031242669594684093],"end_effector_yaw_offset_degrees":0.25135596256143344}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011059785719785458,-0.0006320042709336768],"position_m":[0.16720597857197855,0.15256799572906632,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00036190816256102647,0.0033180335934743363],"position_m":[0.255061908162561,-0.3176819664065257,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024767481155305447,-0.000960502985712014],"position_m":[0.14142325188446944,0.284839497014288,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004727957071917316,-0.0023753027080541146],"position_m":[0.36442795707191733,0.06112469729194589,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f79ad60faa87c1ec3d0b062fe69178f78cd48592d164fedd88fceee115007cf3","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0101.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3359/tex_ceiling_textures_66/tex_floor_textures_5198/tex_table_textures_5284/tex_wall_textures_4652","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":4941777578388486921,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":4941777578388486921,"visual_seed":4941777578388486921,"scene_id":"lab_003","finished_at":"2026-09-05T05:58:56"}
+{"episode_id":"ep_000098","started_at":"2026-09-05T05:59:00","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.5351828146661489,0.12910418673948332,0.71338606911949],"aabb_xy":[[-0.5764316256960635,0.07410418722726585],[-0.49393400363623413,0.18410418625170075]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[-0.24018408983940137,-0.6613554006703046,0.71338606911949],"aabb_xy":[[-0.2776840899449943,-0.6681775625232856],[-0.20268408973380841,-0.6545332388173234]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[0.18842174030710146,1.4001818927640444,0.71338606911949],"aabb_xy":[[0.12442174391152838,1.3362186043453108],[0.25242173670267454,1.464145181182778]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.38312239665910375,-2.2121883720373963,0.71338606911949],"aabb_xy":[[0.31912239807253123,-2.2591953354369045],[0.44712239524567615,-2.165181408637887]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[0.2043684767718299,-2.1192297727079854,0.71338606911949],"aabb_xy":[[0.14939475473549704,-2.1742297722722186],[0.2593421988081628,-2.0642297731437522]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.5577521540636359,-0.6439724323972416,0.71338606911949],"aabb_xy":[[0.522752155793516,-0.6510465600922296],[0.5927521523337558,-0.6368983047022533]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[-0.057825387745146895,0.665448609557163,0.71338606911949],"aabb_xy":[[-0.0745025237382424,0.6487486855832327],[-0.04114825175205139,0.6821485335310933]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.19651978836127282,0.49344211275061234,0.71338606911949],"aabb_xy":[[-0.25651978922208557,0.4420156827441259],[-0.13651978750045998,0.5448685427570986]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.11099845834689037,-1.6859090141611666,0.71338606911949],"aabb_xy":[[-0.15880462596065903,-1.750909016868225],[-0.06319229073312173,-1.6209090114541072]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[0.05110586289092056,0.8130834029652219,0.71338606911949],"aabb_xy":[[0.0456479172539005,0.7330833996575628],[0.056563808527940636,0.893083406272881]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.22529413573062307,1.6341184651476888,0.71338606911949],"aabb_xy":[[0.18966497983066333,1.598485798390836],[0.2609232916305828,1.669751131904542]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[0.5566199378956327,0.7084876065806389,0.71338606911949],"aabb_xy":[[0.5153153948318967,0.644487607012522],[0.5979244809593687,0.7724876061487561]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[-0.4727707201450766,0.908525658034872,0.71338606911949],"aabb_xy":[[-0.5627707166459482,0.8626140156164136],[-0.3827707236442048,0.9544373004533301]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.22783272423154455,-0.5369848111790954,0.71338606911949],"aabb_xy":[[-0.2778101410967981,-0.5869848126683438],[-0.17785530736629093,-0.48698480968984675]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[-0.31143591902090406,0.17353356513011509,0.71338606911949],"aabb_xy":[[-0.3313269589012443,0.16087775384541825],[-0.2915448791405638,0.18618937641481192]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[0.6798889456365365,1.3227414559711725,0.71338606911949],"aabb_xy":[[0.6448889457405176,1.3143672204592327],[0.7148889455325553,1.3311156914831128]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.006837778384487958,-1.3413216349141917,0.71338606911949],"aabb_xy":[[-0.028162221592007874,-1.350786250961808],[0.04183777836098379,-1.3318570188665748]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[-0.5038912914286565,-0.8404988251791197,0.71338606911949],"aabb_xy":[[-0.5838912917022634,-0.9134483730048364],[-0.4238912911550495,-0.767549277353403]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[0.254518480472103,-1.1291322783813382,0.71338606911949],"aabb_xy":[[0.24107195383805968,-1.1426021300344296],[0.26796500710614635,-1.115662426728247]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[-0.439211504441409,1.0352777788171652,0.71338606911949],"aabb_xy":[[-0.44691469511548604,1.027568408118427],[-0.43150831376733195,1.0429871495159033]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[-0.4788586783176483,0.5003782873316864,0.71338606911949],"aabb_xy":[[-0.5163586784895202,0.46767755194877914],[-0.44135867814577634,0.5330790227145935]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.5551825989430097,-0.18620798126963622,0.71338606911949],"aabb_xy":[[-0.6003539167911787,-0.25020797841417464],[-0.5100112810948407,-0.12220798412509781]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.3801312753383363,-0.6766493033498933,0.71338606911949],"aabb_xy":[[-0.38456190469317647,-0.6820976750845759],[-0.3757006459834961,-0.6712009316152107]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[-0.28053773706691154,1.3036773314742476,0.71338606911949],"aabb_xy":[[-0.3030377365906189,1.2811813840236264],[-0.2580377375432041,1.326173278924868]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[0.1708838609460569,-1.45576402777429,0.71338606911949],"aabb_xy":[[0.14838386043401627,-1.4782558861396884],[0.19338386145809747,-1.4332721694088917]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.13468519143087954,-1.1125163952646007,0.71338606911949],"aabb_xy":[[0.11176947854582964,-1.1354206924010244],[0.15760090431592944,-1.0896120981281774]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[-0.12494116543221312,0.24112334923189005,0.71338606911949],"aabb_xy":[[-0.14743758686607722,0.21862334942514264],[-0.10244474399834903,0.2636233490386375]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[0.1621904079359271,-2.401761091570493,0.71338606911949],"aabb_xy":[[0.09819041065027842,-2.443267810523337],[0.2261904052215757,-2.360254372617649]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[0.468873786511127,0.475640605328012,0.71338606911949],"aabb_xy":[[0.418873785227287,0.4256617509373899],[0.518873787794967,0.5256194597186341]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[0.10085223399603249,0.6343427216270472,0.71338606911949],"aabb_xy":[[0.08264641033478483,0.6233173210450557],[0.11905805765728018,0.6453681222090389]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_30","position":[0.504982232339025,-2.366705614113954,0.71338606911949],"aabb_xy":[[0.4664365395138239,-2.4052513851701427],[0.543527925164226,-2.3281598430577652]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6592263470501932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2518.png","name":"2518"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2518.png","name":"2518"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9538.png","name":"9538"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2250.png","name":"2250"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7490.png","name":"7490"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":798.9154016145887,"rotation_z_degrees":200.2534622184494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01092565540422252,0.0039754776741881825,-0.007617721394772806]},{"name":"camera_2","offset_m":[0.019254014436033143,-0.00020560081006251035,0.015983465224226247]},{"name":"camera_3","offset_m":[0.004061621785594979,-0.015018738300577424,-0.017612705769754138]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005651071792836418,-0.00015451571307788562,-0.0002900311765506962],"end_effector_yaw_offset_degrees":0.6967774169962033},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00016351279059333623,-0.0013657511479564866,0.00052048182131179],"end_effector_yaw_offset_degrees":0.05051297482242645},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010032003724872,0.0019476168545931169,-1.4621777566081653e-05],"end_effector_yaw_offset_degrees":0.4003174341505995},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012150242732451107,0.0012352857827785083,-0.0010688329559965304],"end_effector_yaw_offset_degrees":-0.2729116688688773}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004368967080096151,0.0019200583820605565],"position_m":[0.17046896708009615,0.15512005838206055,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003988389874858088,-0.003584843602370119],"position_m":[0.25071161012514187,-0.3245848436023701,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004026031629855522,0.0030603390476590863],"position_m":[0.13987396837014449,0.28886033904765906,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004206216555336815,-0.004167900367147712],"position_m":[0.3554937834446632,0.05933209963285229,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8ef8becd06ffafef153f447d43cb03d982aaa42d054a9034e2b3f8b3d5f2e633","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0102.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2518/tex_ceiling_textures_3393/tex_floor_textures_7490/tex_table_textures_9538/tex_wall_textures_2250","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":1022167969435807335,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":1022167969435807335,"visual_seed":1022167969435807335,"scene_id":"lab_003","finished_at":"2026-09-05T06:02:41"}
+{"episode_id":"ep_000099","started_at":"2026-09-05T06:02:46","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.08446728954830196,1.598383292015948,0.71338606911949],"aabb_xy":[[0.06930441657136488,1.5832178347208294],[0.09963016252523905,1.613548749311067]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[-0.38999110618641286,1.1013629277563686,0.71338606911949],"aabb_xy":[[-0.46999110334598815,1.0898153267985515],[-0.3099911090268376,1.1129105287141856]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.002447291584197986,-1.4023330582742166,0.71338606911949],"aabb_xy":[[-0.009320895210459536,-1.487333058179438],[0.01421547837885551,-1.3173330583689948]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.12257607218577304,-1.1080459465152215,0.71338606911949],"aabb_xy":[[-0.1272111873380064,-1.11191328159237],[-0.11794095703353964,-1.1041786114380725]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.09783427495065145,-0.2863932692440425,0.71338606911949],"aabb_xy":[[-0.1554647438379223,-0.34639326817075305],[-0.040203806063380594,-0.22639327031733186]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.6732653592305873,-0.2702776519570462,0.71338606911949],"aabb_xy":[[0.6382653592540914,-0.27974226800466284],[0.7082653592070831,-0.2608130359094296]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[0.03529736813828821,1.3306828646731805,0.71338606911949],"aabb_xy":[[0.029964853483675224,1.3253585364279448],[0.040629882792901195,1.3360071929184159]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.2675041676814108,1.6292717551446798,0.71338606911949],"aabb_xy":[[-0.3275041685422235,1.5778453251381932],[-0.20750416682059789,1.680698185151166]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.5970734519933245,0.6746114355217521,0.71338606911949],"aabb_xy":[[0.5770150403800842,0.6545463486125945],[0.6171318636065648,0.6946765224309096]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[-0.5500118675366297,-2.135648386841759,0.71338606911949],"aabb_xy":[[-0.59277857441605,-2.1996483902635617],[-0.5072451606572096,-2.071648383419957]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.5376095204382739,0.14266860789074576,0.71338606911949],"aabb_xy":[[-0.5545202528746156,0.1291964022981312],[-0.520698788001932,0.15614081348336026]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.47630235171090085,-1.3314824835719705,0.71338606911949],"aabb_xy":[[0.40630234907431445,-1.3515873485678358],[0.5463023543474872,-1.3113776185761048]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.08705631267517855,1.692819952821972,0.71338606911949],"aabb_xy":[[-0.15105631408316922,1.6410310012980471],[-0.023056311267187903,1.7446089043458965]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[-0.09224825807037873,0.21481157174356902,0.71338606911949],"aabb_xy":[[-0.14224825751057435,0.16484364725925268],[-0.0422482586301831,0.2647794962278853]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.1532662350661994,1.3279772151662521,0.71338606911949],"aabb_xy":[[-0.20839144069579016,1.2679772137249647],[-0.09814102943660861,1.387977216607539]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.6650768473294004,-0.7055660389006391,0.71338606911949],"aabb_xy":[[0.657833081283155,-0.7855660371042413],[0.6723206133756456,-0.6255660406970366]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[0.5465449837194469,-1.5727587568909889,0.71338606911949],"aabb_xy":[[0.4915517723823102,-1.627758757229783],[0.6015381950565837,-1.5177587565521957]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[-0.20733656356567998,-1.605562082433384,0.71338606911949],"aabb_xy":[[-0.29733656589969903,-1.6830444370184967],[-0.11733656123166092,-1.5280797278482714]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.17782844405793086,-1.6641909295200854,0.71338606911949],"aabb_xy":[[0.13174335280319938,-1.7281909267726405],[0.22391353531266234,-1.6001909322675303]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[-0.3981681849936555,0.5614950144599371,0.71338606911949],"aabb_xy":[[-0.416037292748111,0.5476621064827263],[-0.38029907723920003,0.5753279224371481]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.5629538136324257,1.4375752199136271,0.71338606911949],"aabb_xy":[[0.5279538144396073,1.4266081739159644],[0.5979538128252438,1.4485422659112894]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[-0.1832472064776225,-2.5379139143154066,0.71338606911949],"aabb_xy":[[-0.19340022203177182,-2.573983455888146],[-0.17309419092347308,-2.5018443727426654]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[0.6977505984996688,-0.37778336028633097,0.71338606911949],"aabb_xy":[[0.6929070037384388,-0.38263501276531503],[0.7025941932608988,-0.3729317078073468]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_23","position":[-0.5704031636763792,1.7409513489413135,0.71338606911949],"aabb_xy":[[-0.6204031623223004,1.691031805281851],[-0.520403165030458,1.7908708926007757]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_24","position":[-0.10101608000784712,-2.4190247499557533,0.71338606911949],"aabb_xy":[[-0.13851607995161352,-2.42731783999059],[-0.06351608006408072,-2.4107316599209168]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_25","position":[0.3957551883943047,0.5622073679276522,0.71338606911949],"aabb_xy":[[0.33075518739380416,0.5114210027729773],[0.4607551893948052,0.6129937330823272]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.07178892589952879,-1.4522980564835737,0.71338606911949],"aabb_xy":[[0.06437647035814031,-1.4581492669052016],[0.07920138144091726,-1.4464468460619457]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_27","position":[-0.039575112297488335,-2.2482084189735927,0.71338606911949],"aabb_xy":[[-0.0895751126580544,-2.298188406183195],[0.010424888063077722,-2.1982284317639893]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_28","position":[0.358363855065557,-2.551065562603527,0.71338606911949],"aabb_xy":[[0.3523973161248212,-2.5570267072628905],[0.3643303940062928,-2.545104417944162]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_29","position":[0.12252577903526385,-1.371278427810779,0.71338606911949],"aabb_xy":[[0.11448944433397899,-1.3793165471151956],[0.1305621137365487,-1.363240308506362]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6592243849203596,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1198.png","name":"1198"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1198.png","name":"1198"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/968.png","name":"968"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2582.png","name":"2582"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/266.png","name":"266"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9830.png","name":"9830"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":637.0306132612865,"rotation_z_degrees":143.21956366046615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01317270770984456,0.0015823224901677958,-0.009936287389778404]},{"name":"camera_2","offset_m":[0.015204060961812028,0.019191215907236703,-0.0032877795133359963]},{"name":"camera_3","offset_m":[0.016326747744548852,-0.012346303211866784,0.007568152214188013]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004032304954531959,-0.0008385584776831058,0.0012924516345311759],"end_effector_yaw_offset_degrees":0.9830009125645258},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001119543278185553,-0.0005206328653305642,0.00021252822513392194],"end_effector_yaw_offset_degrees":0.9864472300028562},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00038118124001061205,0.000834680897728794,0.00012245082715735918],"end_effector_yaw_offset_degrees":0.11057545364044796},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00033720627770964483,-0.00028959802232935154,0.0019164595144383024],"end_effector_yaw_offset_degrees":0.9039226360041754}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00029","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001301180793359231,-0.00406372963752822],"position_m":[0.16479881920664077,0.1491362703624718,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018203835702683526,0.00028175354131754204],"position_m":[0.2528796164297316,-0.32071824645868247,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028637389611184316,0.000353691251568985],"position_m":[0.14103626103888156,0.286153691251569,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009320682288747285,-0.0031579963501681563],"position_m":[0.3587679317711253,0.060342003649831846,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"253fc4873cfec08fc967f9b3d3a3eaa7a60516ba8376405b1fe566533d5a722c","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/dataset/episode_0103.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1198/tex_ceiling_textures_9830/tex_floor_textures_266/tex_table_textures_968/tex_wall_textures_2582","seeds":{"action_seed":6098476093969262866,"physical_seed":1610928277203926360,"visual_seed":3525165135183895491,"layout_id":"layout_00029","physical_randomization_enabled":true},"episode_seed":3525165135183895491,"visual_seed":3525165135183895491,"scene_id":"lab_003","finished_at":"2026-09-05T06:06:36"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f5659d5482f682991fa90b4e1f3c686900084c1c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00029
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00029
+  reproducibility:
+    enabled: true
+    layout_id: layout_00029
+    action_seed: 6098476093969262866
+    step_seeds:
+    - 4958422072777399816
+    - 1462235376509235589
+    - 5298651874515874446
+    - 83620680969400301
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1661
+      - 0.1661
+      'y':
+      - 0.1532
+      - 0.1532
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1439
+      - 0.1439
+      'y':
+      - 0.2858
+      - 0.2858
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3597
+      - 0.3597
+      'y':
+      - 0.0635
+      - 0.0635
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2547
+      - 0.2547
+      'y':
+      - -0.321
+      - -0.321
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a98843facb6a650dd376b48a8ad217eedba839fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1946355529857126,
+              0.160280201713017,
+              1.0458456548464685
+            ],
+            "current_z": 1.0458456548464685,
+            "required_z": 0.8611066210541046,
+            "initial_z": 0.7611066210541046,
+            "lift_margin": 0.1847390337923639,
+            "gripper_z": 1.0522206119995043,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1906290664948898,
+              0.15611360016195683,
+              1.0522206119995043
+            ],
+            "object_minus_gripper": [
+              0.004006486490822803,
+              0.004166601551060162,
+              -0.006374957153035821
+            ],
+            "object_to_gripper_xy": 0.0057803548754762945,
+            "object_to_gripper_z": -0.006374957153035821,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1946355529857126,
+              0.13624370846400516,
+              1.0458456548464685
+            ],
+            "finger_b": [
+              0.1842452922159392,
+              0.160280201713017,
+              1.0458456548464685
+            ],
+            "finger_midpoint": [
+              0.1894404226008259,
+              0.1482619550885111,
+              1.0458456548464685
+            ],
+            "object_minus_finger_midpoint": [
+              0.005195130384886726,
+              0.012018246624505902,
+              0.0
+            ],
+            "finger_gap": 0.02618607505094423,
+            "fingertip_max_gap": 0.09318572353026866,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013093037525472109,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458456548464685,
+            "object_top_z": 1.097075385787012,
+            "finger_top_clearance": 0.051229730940543394,
+            "fingertip_min_top_clearance": 0.015368919282163034,
+            "object_projection_between_fingers": 0.8425610885641087,
+            "object_to_finger_line_xy": 0.009537337396393267,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04909286176513433,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0149312843362437,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19481126433988244,
+              0.16126914002083875,
+              1.243159991125443
+            ],
+            "held_position": [
+              0.19897315161543075,
+              0.16512252602794047,
+              1.2366723024246637
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008617423866348716,
+            "max_held_gripper_dist": 0.008631361460411071,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006487688700779204,
+            "max_held_gripper_z_dist": 0.006511616698061884,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0855809274893089,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19897315161543075,
+              0.14053401273696933,
+              1.2366723024246637
+            ],
+            "held_grasp_finger_b": [
+              0.189994115371742,
+              0.16512252602794047,
+              1.2366723024246637
+            ],
+            "held_grasp_midpoint": [
+              0.19448363349358638,
+              0.15282826938245492,
+              1.2366723024246637
+            ],
+            "held_grasp_object_position": [
+              0.19897315161543075,
+              0.16512252602794047,
+              1.2366723024246637
+            ],
+            "held_grasp_finger_gap": 0.026176670485868535,
+            "held_grasp_max_gap": 0.12496580690145492,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024185597329823685,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04131653072845929,
+              -0.998701290562172,
+              0.02981067791943514
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003994831078025275,
+            "held_grasp_line_xy_max_dist": 0.04748290345072746,
+            "held_grasp_object_top_z": 0.04972067102789879,
+            "held_grasp_top_clearance": 0.03725688973611263,
+            "held_grasp_min_top_clearance": 0.014916201308369636
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3184458316331195,
+              -0.31722400943838935,
+              0.8515395818450499
+            ],
+            "target_position": [
+              0.31214705430328876,
+              -0.31878990584128214,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006490502861518695,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18349380632646373,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395818450499,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542867626122109,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568917963202081,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15185345682683188,
+            "release_required_pad_clearance": 0.05284458981601041,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7327494098949263,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076468586921691895,
+            "max_z_decrease": 0.0076468586921691895,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520727682563187,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076468586921691895,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114566228658865,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076468586921691895,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007646870273770375,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16784697771072388,
+              -0.37505134940147394,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16784697771072388,
+              -0.37505134940147394,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16923435761511077,
+              -0.37297773323050365,
+              0.8060503971526483
+            ],
+            "closest_button": [
+              0.16783566772937772,
+              -0.3750543296337127,
+              0.7709322571754456
+            ],
+            "closest_ee_minus_button": [
+              0.001398689885733051,
+              0.0020765964032090634,
+              0.0351181399772027
+            ],
+            "button_min_z_position": [
+              0.16783401370048523,
+              -0.3750543594360351,
+              0.7691619992256165
+            ],
+            "min_active_finger_to_button": 0.14385445640914163,
+            "closest_active_finger": [
+              0.04213529825210571,
+              -0.4359581172466278,
+              0.8104866743087769
+            ],
+            "closest_active_finger_button": [
+              0.16784940659999845,
+              -0.3750547766685486,
+              0.7761231660842896
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12571410834789273,
+              -0.060903340578079224,
+              0.034363508224487305
+            ],
+            "min_contact_pad_to_button": 0.02114566228658865,
+            "closest_contact_pad": [
+              0.16783401370048523,
+              -0.3750543594360351,
+              0.7903076615122051
+            ],
+            "closest_contact_pad_button": [
+              0.16783401370048523,
+              -0.3750543594360351,
+              0.7691619992256165
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02114566228658865
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10910050946d2edeb9cfebf2077b10f45aa6efdd75870e3b38b505666c8911b9",
+    "visual_seed": 3648312492134531977,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d23442a77e05c8f8d6f19fe277035d1270cb018
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18879856177357515,
+              0.15701951084519597,
+              1.046833687635549
+            ],
+            "current_z": 1.046833687635549,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18572700080684867,
+            "gripper_z": 1.0533322396617963,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18536464359419108,
+              0.15320975256103664,
+              1.0533322396617963
+            ],
+            "object_minus_gripper": [
+              0.003433918179384071,
+              0.0038097582841593314,
+              -0.006498552026247273
+            ],
+            "object_to_gripper_xy": 0.005128942605101472,
+            "object_to_gripper_z": -0.006498552026247273,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18879856177357515,
+              0.1332254233158399,
+              1.046833687635549
+            ],
+            "finger_b": [
+              0.17912900148257213,
+              0.15701951084519597,
+              1.046833687635549
+            ],
+            "finger_midpoint": [
+              0.18396378162807364,
+              0.14512246708051793,
+              1.046833687635549
+            ],
+            "object_minus_finger_midpoint": [
+              0.0048347801455015105,
+              0.01189704376467804,
+              0.0
+            ],
+            "finger_gap": 0.025683827549179677,
+            "fingertip_max_gap": 0.09758731862635414,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012841913774589838,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046833687635549,
+            "object_top_z": 1.100550864123624,
+            "finger_top_clearance": 0.053717176488074836,
+            "fingertip_min_top_clearance": 0.016115152946422434,
+            "object_projection_between_fingers": 0.8582594998856662,
+            "object_to_finger_line_xy": 0.008958102661838658,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05129365931317707,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5322335046518023,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18977534050246575,
+              0.15803300620221128,
+              1.2443050231344042
+            ],
+            "held_position": [
+              0.1933500622541687,
+              0.1615554522852656,
+              1.2376979423980117
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008296974018721025,
+            "max_held_gripper_dist": 0.008311969896193946,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00660708073639249,
+            "max_held_gripper_z_dist": 0.006628819342185288,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08623933614602032,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1933500622541687,
+              0.137196427541234,
+              1.2376979423980117
+            ],
+            "held_grasp_finger_b": [
+              0.18513194961760898,
+              0.1615554522852656,
+              1.2376979423980117
+            ],
+            "held_grasp_midpoint": [
+              0.18924100593588883,
+              0.14937593991324982,
+              1.2376979423980117
+            ],
+            "held_grasp_object_position": [
+              0.1933500622541687,
+              0.1615554522852656,
+              1.2376979423980117
+            ],
+            "held_grasp_finger_gap": 0.02570796494838761,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023988296119511286,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03799678845712807,
+              -0.9975997915447571,
+              0.05788695860728553
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037117569505845313,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037413840122971206,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31399716451100923,
+              -0.3203271560988155,
+              0.8515395572140756
+            ],
+            "target_position": [
+              0.3108697526944254,
+              -0.31994804444059044,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0031503063850854738,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17899747069063185,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395572140756,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536627499745123,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584472026741906,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.147359313054753,
+            "release_required_pad_clearance": 0.05292236013370953,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8829242056186282,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007590532302856445,
+            "max_z_decrease": 0.007590532302856445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035142435789353284,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007590532302856445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0212013514380182,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007590532302856445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007590548806411608,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16656967997550967,
+              -0.3762094974517822,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16656967997550967,
+              -0.3762094974517822,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16509993644540474,
+              -0.3772796175713399,
+              0.8062771867596356
+            ],
+            "closest_button": [
+              0.16655512154102328,
+              -0.37620875239372253,
+              0.7711812257766724
+            ],
+            "closest_ee_minus_button": [
+              -0.0014551850956185386,
+              -0.0010708651776173417,
+              0.03509596098296319
+            ],
+            "button_min_z_position": [
+              0.16655397415161136,
+              -0.3762114644050598,
+              0.7692183256149292
+            ],
+            "min_active_finger_to_button": 0.1472956455559254,
+            "closest_active_finger": [
+              0.024175070226192474,
+              -0.360750675201416,
+              0.8104838132858276
+            ],
+            "closest_active_finger_button": [
+              0.1665715426206589,
+              -0.37621384859085083,
+              0.7761306166648865
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14239647239446643,
+              0.015463173389434814,
+              0.03435319662094116
+            ],
+            "min_contact_pad_to_button": 0.0212013514380182,
+            "closest_contact_pad": [
+              0.16655397415161136,
+              -0.37858034998891965,
+              0.7902869203447382
+            ],
+            "closest_contact_pad_button": [
+              0.16655397415161136,
+              -0.3762114644050598,
+              0.7692183256149292
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023688855838598366,
+              0.021068594729809043
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "387bacfb8adf559b265777634b0739c12cbbe5ec016c722ef6371b5ce05437b7",
+    "visual_seed": 6879914317241350886,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f15c453d05dea68992247307315f2d81c52b4abe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19293408406663787,
+              0.15495275282768492,
+              1.0491419463909541
+            ],
+            "current_z": 1.0491419463909541,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18803514035296431,
+            "gripper_z": 1.0554863577984777,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18818025127454366,
+              0.15019447054835,
+              1.0554863577984777
+            ],
+            "object_minus_gripper": [
+              0.004753832792094209,
+              0.004758282279334919,
+              -0.006344411407523509
+            ],
+            "object_to_gripper_xy": 0.0067260818062987405,
+            "object_to_gripper_z": -0.006344411407523509,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19293408406663787,
+              0.13084783254812843,
+              1.0491419463909541
+            ],
+            "finger_b": [
+              0.18108825683501886,
+              0.15495275282768492,
+              1.0491419463909541
+            ],
+            "finger_midpoint": [
+              0.18701117045082838,
+              0.14290029268790666,
+              1.0491419463909541
+            ],
+            "object_minus_finger_midpoint": [
+              0.005922913615809489,
+              0.01205246013977826,
+              0.0
+            ],
+            "finger_gap": 0.026858347016991576,
+            "fingertip_max_gap": 0.09171036819280029,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013429173508495793,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491419463909541,
+            "object_top_z": 1.0997553551062822,
+            "finger_top_clearance": 0.050613408715328045,
+            "fingertip_min_top_clearance": 0.01518402261459838,
+            "object_projection_between_fingers": 0.8054764319142098,
+            "object_to_finger_line_xy": 0.010631433158672453,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835518409640015,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5991417260905165,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19274531681042087,
+              0.15497078266582937,
+              1.2443331246580098
+            ],
+            "held_position": [
+              0.1977837560114809,
+              0.15922207856462434,
+              1.237827492837413
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009261891372017533,
+            "max_held_gripper_dist": 0.009278871495149275,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0065056318205969355,
+            "max_held_gripper_z_dist": 0.006533793890558526,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08638107213592087,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1977837560114809,
+              0.13410438027750649,
+              1.237827492837413
+            ],
+            "held_grasp_finger_b": [
+              0.18816351170832077,
+              0.15922207856462434,
+              1.237827492837413
+            ],
+            "held_grasp_midpoint": [
+              0.19297363385990085,
+              0.1466632294210654,
+              1.237827492837413
+            ],
+            "held_grasp_object_position": [
+              0.1977837560114809,
+              0.15922207856462434,
+              1.237827492837413
+            ],
+            "held_grasp_finger_gap": 0.026896986219559396,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024284367659512723,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07787681488625722,
+              -0.9966503044233752,
+              0.024967426698902166
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038307107652816572,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03682887225558092,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3163815836089617,
+              -0.31520313494453134,
+              0.8515396222305351
+            ],
+            "target_position": [
+              0.3081263612872936,
+              -0.31768978072284454,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008621606741609705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18350996845984777,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396222305351,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537787719596109,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860847621170192,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522526347138288,
+            "release_required_pad_clearance": 0.0530423810585096,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1155600602781848,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007415890693664551,
+            "max_z_decrease": 0.007415890693664551,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03524055152543859,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007415890693664551,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02110743329381659,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007415890693664551,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007415911231867133,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1638262867927551,
+              -0.37395122647285456,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1638262867927551,
+              -0.37395122647285456,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1653364703317727,
+              -0.372095004887379,
+              0.8047455249481543
+            ],
+            "closest_button": [
+              0.16380833089351649,
+              -0.37395483255386347,
+              0.7695872783660889
+            ],
+            "closest_ee_minus_button": [
+              0.0015281394382562208,
+              0.0018598276664844593,
+              0.035158246582065455
+            ],
+            "button_min_z_position": [
+              0.16380921006202692,
+              -0.37395483255386347,
+              0.7693929672241211
+            ],
+            "min_active_finger_to_button": 0.1435822434415389,
+            "closest_active_finger": [
+              0.038754455745220184,
+              -0.43560659885406494,
+              0.8106033205986023
+            ],
+            "closest_active_finger_button": [
+              0.16382840275764463,
+              -0.3739542961120605,
+              0.7763781547546387
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12507394701242444,
+              -0.06165230274200445,
+              0.03422516584396362
+            ],
+            "min_contact_pad_to_button": 0.02110743329381659,
+            "closest_contact_pad": [
+              0.16380921006202692,
+              -0.37395483255386347,
+              0.7905004005179377
+            ],
+            "closest_contact_pad_button": [
+              0.16380921006202692,
+              -0.37395483255386347,
+              0.7693929672241211
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02110743329381659
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f79ad60faa87c1ec3d0b062fe69178f78cd48592d164fedd88fceee115007cf3",
+    "visual_seed": 4941777578388486921,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f3a55379993d52ccd5cbb82e776745776350fc1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19579443130591803,
+              0.15803807358919086,
+              1.047531976364405
+            ],
+            "current_z": 1.047531976364405,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18642534914034958,
+            "gripper_z": 1.0538054173749296,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19134043450383903,
+              0.1534890142615712,
+              1.0538054173749296
+            ],
+            "object_minus_gripper": [
+              0.004453996802079002,
+              0.004549059327619676,
+              -0.006273441010524516
+            ],
+            "object_to_gripper_xy": 0.006366476912636498,
+            "object_to_gripper_z": -0.006273441010524516,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19579443130591803,
+              0.1340630037894354,
+              1.047531976364405
+            ],
+            "finger_b": [
+              0.18435271447900484,
+              0.15803807358919086,
+              1.047531976364405
+            ],
+            "finger_midpoint": [
+              0.19007357289246143,
+              0.14605053868931311,
+              1.047531976364405
+            ],
+            "object_minus_finger_midpoint": [
+              0.005720858413456598,
+              0.01198753489987775,
+              0.0
+            ],
+            "finger_gap": 0.02656533184152638,
+            "fingertip_max_gap": 0.09344531061766517,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013282665920763204,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047531976364405,
+            "object_top_z": 1.0991720734861232,
+            "finger_top_clearance": 0.05164009712171813,
+            "fingertip_min_top_clearance": 0.015492029136515439,
+            "object_projection_between_fingers": 0.8144965890186744,
+            "object_to_finger_line_xy": 0.010326088196100602,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04922265530883259,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2012887901160658,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.195835664649854,
+              0.15806865072466897,
+              1.2444621233520339
+            ],
+            "held_position": [
+              0.20056558097118948,
+              0.16215102037887408,
+              1.238049404087671
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008953257438716961,
+            "max_held_gripper_dist": 0.008967772735396952,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006412719264362821,
+            "max_held_gripper_z_dist": 0.006439047221239447,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08596550150383486,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20056558097118948,
+              0.13721470861124357,
+              1.238049404087671
+            ],
+            "held_grasp_finger_b": [
+              0.1912234941484972,
+              0.16215102037887408,
+              1.238049404087671
+            ],
+            "held_grasp_midpoint": [
+              0.19589453755984335,
+              0.14968286449505883,
+              1.238049404087671
+            ],
+            "held_grasp_object_position": [
+              0.20056558097118948,
+              0.16215102037887408,
+              1.238049404087671
+            ],
+            "held_grasp_finger_gap": 0.026628823308122124,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024163504564274036,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07369930775912126,
+              -0.9966193127402317,
+              0.03630919317493208
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00376750290855874,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03694999245610001,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3102037322329956,
+              -0.32312471998140413,
+              0.8515395932793846
+            ],
+            "target_position": [
+              0.30377606324987444,
+              -0.32459265791868896,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006593160876567292,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843942517623663,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395932793846,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566374544232282,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568143217663136,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15221136198967097,
+            "release_required_pad_clearance": 0.052840716088315684,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7252338052646803,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007706403732299805,
+            "max_z_decrease": 0.007706403732299805,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516291897467058,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007706403732299805,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021082193980666464,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007706403732299805,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007706423795917581,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15947598218917844,
+              -0.3808541297912597,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15947598218917844,
+              -0.3808541297912597,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15892724241627507,
+              -0.3795012812220891,
+              0.8078115941345078
+            ],
+            "closest_button": [
+              0.15946580469608304,
+              -0.3808622360229491,
+              0.7726791501045227
+            ],
+            "closest_ee_minus_button": [
+              -0.0005385622798079748,
+              0.0013609548008600147,
+              0.035132444029985055
+            ],
+            "button_min_z_position": [
+              0.15945866703987122,
+              -0.3808571994304656,
+              0.7691024541854858
+            ],
+            "min_active_finger_to_button": 0.14602263764206233,
+            "closest_active_finger": [
+              0.03131215274333954,
+              -0.4419323205947876,
+              0.8106095194816589
+            ],
+            "closest_active_finger_button": [
+              0.1594768166542053,
+              -0.3808569014072417,
+              0.7764595150947571
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12816466391086576,
+              -0.06107541918754589,
+              0.034150004386901855
+            ],
+            "min_contact_pad_to_button": 0.021082193980666464,
+            "closest_contact_pad": [
+              0.15945866703987122,
+              -0.3808571994304656,
+              0.7901846481661523
+            ],
+            "closest_contact_pad_button": [
+              0.15945866703987122,
+              -0.3808571994304656,
+              0.7691024541854858
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021082193980666464
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ef8becd06ffafef153f447d43cb03d982aaa42d054a9034e2b3f8b3d5f2e633",
+    "visual_seed": 1022167969435807335,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cecb0ae6ff401eb51a707e717444e149d381b77f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1899672416811865,
+              0.1512201134623837,
+              1.0489277974800624
+            ],
+            "current_z": 1.0489277974800624,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.18782122986065175,
+            "gripper_z": 1.0552094274998836,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18586211989104218,
+              0.14681098096309209,
+              1.0552094274998836
+            ],
+            "object_minus_gripper": [
+              0.004105121790144328,
+              0.004409132499291618,
+              -0.006281630019821183
+            ],
+            "object_to_gripper_xy": 0.006024323556070617,
+            "object_to_gripper_z": -0.006281630019821183,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1899672416811865,
+              0.12749260635753606,
+              1.0489277974800624
+            ],
+            "finger_b": [
+              0.17874106504614692,
+              0.1512201134623837,
+              1.0489277974800624
+            ],
+            "finger_midpoint": [
+              0.18435415336366673,
+              0.13935635990995987,
+              1.0489277974800624
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056130883175197765,
+              0.011863753552423834,
+              0.0
+            ],
+            "finger_gap": 0.026249221612301265,
+            "fingertip_max_gap": 0.09377919123065079,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01312461080615064,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489277974800624,
+            "object_top_z": 1.1006103046783307,
+            "finger_top_clearance": 0.05168250719826828,
+            "fingertip_min_top_clearance": 0.0155047521594805,
+            "object_projection_between_fingers": 0.8170927654614646,
+            "object_to_finger_line_xy": 0.010147698465212646,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049389595615325396,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.369525572407462,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19037855941262005,
+              0.15163098792255675,
+              1.2454539187477818
+            ],
+            "held_position": [
+              0.19476196420951591,
+              0.15558514880135313,
+              1.239037251906129
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00871913064620662,
+            "max_held_gripper_dist": 0.008733874925343381,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006416666841652763,
+            "max_held_gripper_z_dist": 0.006440525968588018,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0857588313734024,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19476196420951591,
+              0.13078829603628928,
+              1.239037251906129
+            ],
+            "held_grasp_finger_b": [
+              0.18574538327260254,
+              0.15558514880135313,
+              1.239037251906129
+            ],
+            "held_grasp_midpoint": [
+              0.19025367374105923,
+              0.1431867224188212,
+              1.239037251906129
+            ],
+            "held_grasp_object_position": [
+              0.19476196420951591,
+              0.15558514880135313,
+              1.239037251906129
+            ],
+            "held_grasp_finger_gap": 0.02638527314325483,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02406333676314553,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07228449676786042,
+              -0.9967029289119286,
+              0.036854077459626204
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036299213726890666,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037036822672930826,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31206836277256367,
+              -0.3194019469022954,
+              0.8515395926908437
+            ],
+            "target_position": [
+              0.3059440695544642,
+              -0.3207260607750013,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00626579962727437,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18341113004261964,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395926908437,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554059595195409,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551935398501502,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15154072532531124,
+            "release_required_pad_clearance": 0.05275967699250751,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5692372270559642,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007742762565612793,
+            "max_z_decrease": 0.007742762565612793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035139943647776686,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007742762565612793,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021097422281407315,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007742762565612793,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077427842170866255,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16164399683475494,
+              -0.3769875168800353,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16164399683475494,
+              -0.3769875168800353,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16190527656535145,
+              -0.37719078735242456,
+              0.8078280430336762
+            ],
+            "closest_button": [
+              0.16163292527198792,
+              -0.376995027065277,
+              0.772689700126648
+            ],
+            "closest_ee_minus_button": [
+              0.0002723512933635319,
+              -0.00019576028714757276,
+              0.03513834290702822
+            ],
+            "button_min_z_position": [
+              0.16162586212158203,
+              -0.37699005007743824,
+              0.7690660953521729
+            ],
+            "min_active_finger_to_button": 0.14585583635135774,
+            "closest_active_finger": [
+              0.02050262689590454,
+              -0.36339300870895386,
+              0.8106445074081421
+            ],
+            "closest_active_finger_button": [
+              0.16164429485797882,
+              -0.3769900202751159,
+              0.7764673829078674
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14114166796207428,
+              0.013597011566162054,
+              0.03417712450027466
+            ],
+            "min_contact_pad_to_button": 0.021097422281407315,
+            "closest_contact_pad": [
+              0.16162586212158203,
+              -0.3781593437254664,
+              0.7901310895198602
+            ],
+            "closest_contact_pad_button": [
+              0.16162586212158203,
+              -0.37699005007743824,
+              0.7690660953521729
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011692936480281468,
+              0.021064994167687368
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "253fc4873cfec08fc967f9b3d3a3eaa7a60516ba8376405b1fe566533d5a722c",
+    "visual_seed": 3525165135183895491,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2c517bc25377ca20114bedecb89c90324e20a41
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19016363776306894,
+              0.15151298004492336,
+              1.0456826279257898
+            ],
+            "current_z": 1.0456826279257898,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.18457582188779986,
+            "gripper_z": 1.0521627598906662,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18605371021078282,
+              0.14719274006927835,
+              1.0521627598906662
+            ],
+            "object_minus_gripper": [
+              0.004109927552286119,
+              0.004320239975645013,
+              -0.006480131964876401
+            ],
+            "object_to_gripper_xy": 0.005962883357252747,
+            "object_to_gripper_z": -0.006480131964876401,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19016363776306894,
+              0.12771689416816764,
+              1.0456826279257898
+            ],
+            "finger_b": [
+              0.17913654348476188,
+              0.15151298004492336,
+              1.0456826279257898
+            ],
+            "finger_midpoint": [
+              0.1846500906239154,
+              0.1396149371065455,
+              1.0456826279257898
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055135471391535296,
+              0.011898042938377873,
+              0.0
+            ],
+            "finger_gap": 0.026226904340325895,
+            "fingertip_max_gap": 0.09403504637898968,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01311345217016296,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0456826279257898,
+            "object_top_z": 1.0972758198639485,
+            "finger_top_clearance": 0.0515931919381587,
+            "fingertip_min_top_clearance": 0.015477957581447627,
+            "object_projection_between_fingers": 0.8232220428287585,
+            "object_to_finger_line_xy": 0.010005057364479488,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049517523189494844,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4341738773779793,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19050902770442868,
+              0.15190557379240338,
+              1.2416724822599943
+            ],
+            "held_position": [
+              0.19485467614284194,
+              0.15580153573788355,
+              1.2350499285780931
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008827309731768526,
+            "max_held_gripper_dist": 0.008842033073794565,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006622553681901122,
+            "max_held_gripper_z_dist": 0.006646234538413953,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08620422527056616,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19485467614284194,
+              0.131036311301934,
+              1.2350499285780931
+            ],
+            "held_grasp_finger_b": [
+              0.18592347196640507,
+              0.15580153573788355,
+              1.2350499285780931
+            ],
+            "held_grasp_midpoint": [
+              0.19038907405462352,
+              0.14341892351990876,
+              1.2350499285780931
+            ],
+            "held_grasp_object_position": [
+              0.19485467614284194,
+              0.15580153573788355,
+              1.2350499285780931
+            ],
+            "held_grasp_finger_gap": 0.026326464810227677,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024163863315400956,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06061004610378602,
+              -0.9975756156053535,
+              0.03419522570326283
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037315127419331423,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03709699771549842,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31768934156774903,
+              -0.31488053385619574,
+              0.8515395621068259
+            ],
+            "target_position": [
+              0.3116119858199401,
+              -0.31620397717604004,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00621978738432969,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18421773486128795,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395621068259,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566229931950048,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566437083822308,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15197897447327474,
+            "release_required_pad_clearance": 0.05283218541911154,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7088606790241289,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007550716400146484,
+            "max_z_decrease": 0.007550716400146484,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035094775471413056,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007550716400146484,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021285324902819588,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007550716400146484,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007550738339348432,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1673119068145752,
+              -0.37246543169021606,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1673119068145752,
+              -0.37246543169021606,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16830434413944567,
+              -0.3732769210320136,
+              0.8075728364755206
+            ],
+            "closest_button": [
+              0.16730187833309174,
+              -0.3724706768989563,
+              0.7725016474723816
+            ],
+            "closest_ee_minus_button": [
+              0.001002465806353936,
+              -0.0008062441330572989,
+              0.03507118900313899
+            ],
+            "button_min_z_position": [
+              0.16729430854320526,
+              -0.37247008085250854,
+              0.7692581415176392
+            ],
+            "min_active_finger_to_button": 0.1451734098431733,
+            "closest_active_finger": [
+              0.02733933925628662,
+              -0.35551902651786804,
+              0.8079480528831482
+            ],
+            "closest_active_finger_button": [
+              0.1673179715871811,
+              -0.37247422337532043,
+              0.7733963131904602
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13997863233089447,
+              0.016955196857452393,
+              0.03455173969268799
+            ],
+            "min_contact_pad_to_button": 0.021285324902819588,
+            "closest_contact_pad": [
+              0.16729430854320526,
+              -0.374738429396393,
+              0.7904222538567393
+            ],
+            "closest_contact_pad_button": [
+              0.16729430854320526,
+              -0.37247008085250854,
+              0.7692581415176392
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022683485438844686,
+              0.021164112339100094
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e2eaaaf16273f37bc22e8f7773ae18d17674aac776b242fef87b5c59198a8f3e",
+    "visual_seed": 4522273194908168437,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cea1f86d29ccdd32b5f5b5ed48c9dd902768a43f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18780751826775818,
+              0.15960310824944277,
+              1.0471603559120344
+            ],
+            "current_z": 1.0471603559120344,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1860536094786892,
+            "gripper_z": 1.0536669738309228,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18360812545801994,
+              0.15530518683774405,
+              1.0536669738309228
+            ],
+            "object_minus_gripper": [
+              0.004199392809738245,
+              0.004297921411698713,
+              -0.006506617918888402
+            ],
+            "object_to_gripper_xy": 0.006008912416704002,
+            "object_to_gripper_z": -0.006506617918888402,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18780751826775818,
+              0.13550437879057967,
+              1.0471603559120344
+            ],
+            "finger_b": [
+              0.1771321139567857,
+              0.15960310824944277,
+              1.0471603559120344
+            ],
+            "finger_midpoint": [
+              0.18246981611227192,
+              0.14755374352001122,
+              1.0471603559120344
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053377021554862625,
+              0.01204936472943155,
+              0.0
+            ],
+            "finger_gap": 0.026357409180991335,
+            "fingertip_max_gap": 0.0921719470526963,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013178704590495673,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471603559120344,
+            "object_top_z": 1.0977596803781364,
+            "finger_top_clearance": 0.05059932446610205,
+            "fingertip_min_top_clearance": 0.01517979733983058,
+            "object_projection_between_fingers": 0.8359549135693795,
+            "object_to_finger_line_xy": 0.009760583014344335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858597352634815,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7845607634670229,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18786469359394006,
+              0.1607190307084823,
+              1.2435590601831412
+            ],
+            "held_position": [
+              0.1922157213793809,
+              0.16468419829073905,
+              1.23692192831613
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00887161294044972,
+            "max_held_gripper_dist": 0.008885683380300909,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006637131867011314,
+            "max_held_gripper_z_dist": 0.006662688151203522,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08576695673459314,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1922157213793809,
+              0.1399860034160284,
+              1.23692192831613
+            ],
+            "held_grasp_finger_b": [
+              0.183064361187265,
+              0.16468419829073905,
+              1.23692192831613
+            ],
+            "held_grasp_midpoint": [
+              0.18764004128332296,
+              0.15233510085338373,
+              1.23692192831613
+            ],
+            "held_grasp_object_position": [
+              0.1922157213793809,
+              0.16468419829073905,
+              1.23692192831613
+            ],
+            "held_grasp_finger_gap": 0.02633910065729327,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02427498597980022,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04304382227023081,
+              -0.9988137038589763,
+              0.022768714234276736
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004049815668955236,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03718884755855465,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3179085783050001,
+              -0.31863992079306536,
+              0.8515395702148063
+            ],
+            "target_position": [
+              0.31077150138799225,
+              -0.32073520463056426,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007438284834487722,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18515512389161873,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395702148063,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533846577536649,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525044568553374,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15390985877131047,
+            "release_required_pad_clearance": 0.05262522284276687,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3115327123658455,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007697701454162598,
+            "max_z_decrease": 0.007697701454162598,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511205488635716,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007697701454162598,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021139136412824642,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007697701454162598,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007697729830148932,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1664714217185974,
+              -0.3769966661930084,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1664714217185974,
+              -0.3769966661930084,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1662721428512311,
+              -0.376920806521516,
+              0.8077063768526201
+            ],
+            "closest_button": [
+              0.1664615273475647,
+              -0.37700292468070984,
+              0.7725949287414551
+            ],
+            "closest_ee_minus_button": [
+              -0.0001893844963336,
+              8.211815919384469e-05,
+              0.03511144811116507
+            ],
+            "button_min_z_position": [
+              0.16645081341266632,
+              -0.3770001530647277,
+              0.769111156463623
+            ],
+            "min_active_finger_to_button": 0.14629311454469926,
+            "closest_active_finger": [
+              0.03873606026172638,
+              -0.4395112097263336,
+              0.8109538555145264
+            ],
+            "closest_active_finger_button": [
+              0.16647545993328094,
+              -0.3769991993904113,
+              0.7766526937484741
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12773939967155457,
+              -0.0625120103359223,
+              0.034301161766052246
+            ],
+            "min_contact_pad_to_button": 0.021139136412824642,
+            "closest_contact_pad": [
+              0.16645081341266632,
+              -0.37824185755295353,
+              0.7902137927502089
+            ],
+            "closest_contact_pad_button": [
+              0.16645081341266632,
+              -0.3770001530647277,
+              0.769111156463623
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012417044882258033,
+              0.02110263628658582
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca2eee5c1790530d3fcf09d771abe77853ffca6ff5447d81c32e701a832ec25e",
+    "visual_seed": 5640933070831640114,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..58111cf8a162badc1e1f8538ffcac3d56d57e9c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1928182498766588,
+              0.15657492454044442,
+              1.045741894025308
+            ],
+            "current_z": 1.045741894025308,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18463532640589708,
+            "gripper_z": 1.0521922559325716,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1889696796317073,
+              0.1525160122636309,
+              1.0521922559325716
+            ],
+            "object_minus_gripper": [
+              0.003848570244951499,
+              0.004058912276813514,
+              -0.006450361907263558
+            ],
+            "object_to_gripper_xy": 0.0055934123575142845,
+            "object_to_gripper_z": -0.006450361907263558,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1928182498766588,
+              0.13259956070916668,
+              1.045741894025308
+            ],
+            "finger_b": [
+              0.1826398810433491,
+              0.15657492454044442,
+              1.045741894025308
+            ],
+            "finger_midpoint": [
+              0.18772906546000395,
+              0.14458724262480555,
+              1.045741894025308
+            ],
+            "object_minus_finger_midpoint": [
+              0.005089184416654846,
+              0.01198768191563887,
+              0.0
+            ],
+            "finger_gap": 0.02604644434369173,
+            "fingertip_max_gap": 0.09515634524319205,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013023222171845865,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045741894025308,
+            "object_top_z": 1.0982215041101158,
+            "finger_top_clearance": 0.052479610084807726,
+            "fingertip_min_top_clearance": 0.015743883025442332,
+            "object_projection_between_fingers": 0.8472928126024508,
+            "object_to_finger_line_xy": 0.009369036816214807,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05007817262159603,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7453601257220024,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19343813768138207,
+              0.15742093583864458,
+              1.2409706232231965
+            ],
+            "held_position": [
+              0.1974270639987165,
+              0.16116749700852126,
+              1.2343855977466398
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008562173456059616,
+            "max_held_gripper_dist": 0.008576977746406214,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006585025476556705,
+            "max_held_gripper_z_dist": 0.006608359882400494,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08613866134493489,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1974270639987165,
+              0.136559018364868,
+              1.2343855977466398
+            ],
+            "held_grasp_finger_b": [
+              0.18885181845462679,
+              0.16116749700852126,
+              1.2343855977466398
+            ],
+            "held_grasp_midpoint": [
+              0.19313944122667165,
+              0.14886325768669462,
+              1.2343855977466398
+            ],
+            "held_grasp_object_position": [
+              0.1974270639987165,
+              0.16116749700852126,
+              1.2343855977466398
+            ],
+            "held_grasp_finger_gap": 0.02605977853506375,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0241666242725283,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04580476744935657,
+              -0.9980060838434052,
+              0.04342556724396939
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037583189690557554,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03724415080586275,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3079279502060427,
+              -0.32042382218087134,
+              0.8515395494108099
+            ],
+            "target_position": [
+              0.30324867939244354,
+              -0.32095402645672294,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004709213514073463,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18397598914026128,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395494108099,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526374028699342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527336377442034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15262952163172158,
+            "release_required_pad_clearance": 0.05263668188721017,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3333780482083055,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007670283317565918,
+            "max_z_decrease": 0.007670283317565918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514229198306786,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007670283317565918,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107255491094125,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007670283317565918,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007670306171432002,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1589486002922058,
+              -0.3772154748439788,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1589486002922058,
+              -0.3772154748439788,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1589482172053754,
+              -0.37673734124297825,
+              0.8078967550412054
+            ],
+            "closest_button": [
+              0.15893779695034027,
+              -0.37722355127334595,
+              0.7727578282356262
+            ],
+            "closest_ee_minus_button": [
+              1.0420255035142878e-05,
+              0.0004862100303676953,
+              0.035138926805579174
+            ],
+            "button_min_z_position": [
+              0.15893004834651947,
+              -0.37721800804138184,
+              0.7691385746002197
+            ],
+            "min_active_finger_to_button": 0.14589452076518328,
+            "closest_active_finger": [
+              0.03217625617980957,
+              -0.4408581554889679,
+              0.8106521368026733
+            ],
+            "closest_active_finger_button": [
+              0.15894936025142672,
+              -0.3772178292274475,
+              0.7765390872955322
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12677310407161715,
+              -0.06364032626152039,
+              0.03411304950714111
+            ],
+            "min_contact_pad_to_button": 0.02107255491094125,
+            "closest_contact_pad": [
+              0.15893004834651947,
+              -0.3778118787025321,
+              0.7902027595621987
+            ],
+            "closest_contact_pad_button": [
+              0.15893004834651947,
+              -0.37721800804138184,
+              0.7691385746002197
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000593870661150242,
+              0.021064184961978927
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce351179ecf2108e083760c93d6ab2fdd34f92afaf2389bd562b55e19a9e1197",
+    "visual_seed": 4736785899977905927,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7b46b55b25e17c79025225591a9b3cc003352c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19200264117548638,
+              0.15243267951315354,
+              1.0496017614766187
+            ],
+            "current_z": 1.0496017614766187,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18849519385720792,
+            "gripper_z": 1.0561447797982613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1875904906776654,
+              0.1479168684115465,
+              1.0561447797982613
+            ],
+            "object_minus_gripper": [
+              0.0044121504978209825,
+              0.004515811101607037,
+              -0.006543018321642613
+            ],
+            "object_to_gripper_xy": 0.006313447704766335,
+            "object_to_gripper_z": -0.006543018321642613,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19200264117548638,
+              0.12849271226066483,
+              1.0496017614766187
+            ],
+            "finger_b": [
+              0.1806005959719134,
+              0.15243267951315354,
+              1.0496017614766187
+            ],
+            "finger_midpoint": [
+              0.1863016185736999,
+              0.14046269588690918,
+              1.0496017614766187
+            ],
+            "object_minus_finger_midpoint": [
+              0.005701022601786482,
+              0.011969983626244352,
+              0.0
+            ],
+            "finger_gap": 0.02651657343765504,
+            "fingertip_max_gap": 0.09270730098239385,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01325828671882752,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496017614766187,
+            "object_top_z": 1.1007641258786414,
+            "finger_top_clearance": 0.05116236440202271,
+            "fingertip_min_top_clearance": 0.015348709320606812,
+            "object_projection_between_fingers": 0.8151026391766841,
+            "object_to_finger_line_xy": 0.010294112451094729,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04885365049119693,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9680574672631823,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1921696846760345,
+              0.15265637122055764,
+              1.246278431279749
+            ],
+            "held_position": [
+              0.19685240849689745,
+              0.1567001304323193,
+              1.2395958472956985
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009106965446792533,
+            "max_held_gripper_dist": 0.009120812688499564,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0066825839840505274,
+            "max_held_gripper_z_dist": 0.006708730105904781,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08624775525682865,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19685240849689745,
+              0.1317871119093351,
+              1.2395958472956985
+            ],
+            "held_grasp_finger_b": [
+              0.18757990044734474,
+              0.1567001304323193,
+              1.2395958472956985
+            ],
+            "held_grasp_midpoint": [
+              0.1922161544721211,
+              0.1442436211708272,
+              1.2395958472956985
+            ],
+            "held_grasp_object_position": [
+              0.19685240849689745,
+              0.1567001304323193,
+              1.2395958472956985
+            ],
+            "held_grasp_finger_gap": 0.02658266159464802,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024156213478308614,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07308841894264995,
+              -0.9968252706259647,
+              0.03158263538617623
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037347742027845437,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696443037796595,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3181899754011123,
+              -0.3227028719562538,
+              0.8515395695065135
+            ],
+            "target_position": [
+              0.311211385061757,
+              -0.3244740967400483,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007199858356889485,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18343299633210197,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395695065135,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546847001889029,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539073642955107,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15188474606969085,
+            "release_required_pad_clearance": 0.05269536821477554,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4458716017706749,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00783538818359375,
+            "max_z_decrease": 0.00783538818359375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035121760569789745,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00783538818359375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021135839613230577,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00783538818359375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007835412625856448,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1669113039970398,
+              -0.38073554635047907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1669113039970398,
+              -0.38073554635047907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16777102693844378,
+              -0.38014428275951495,
+              0.8075142289491285
+            ],
+            "closest_button": [
+              0.16690109670162195,
+              -0.38074052333831776,
+              0.7724083065986633
+            ],
+            "closest_ee_minus_button": [
+              0.0008699302368218309,
+              0.0005962405788028091,
+              0.03510592235046517
+            ],
+            "button_min_z_position": [
+              0.16689212620258326,
+              -0.38073945045471186,
+              0.7689734697341919
+            ],
+            "min_active_finger_to_button": 0.14515311916340634,
+            "closest_active_finger": [
+              0.04018329083919525,
+              -0.44261878728866577,
+              0.8108726143836975
+            ],
+            "closest_active_finger_button": [
+              0.1669146418571472,
+              -0.38073825836181635,
+              0.7765303254127502
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12673135101795194,
+              -0.06188052892684942,
+              0.034342288970947266
+            ],
+            "min_contact_pad_to_button": 0.021135839613230577,
+            "closest_contact_pad": [
+              0.16689212620258326,
+              -0.3814536982142353,
+              0.7900972375395391
+            ],
+            "closest_contact_pad_button": [
+              0.16689212620258326,
+              -0.38073945045471186,
+              0.7689734697341919
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007142477595234453,
+              0.021123767805347193
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b4b07ab48b8edfe365aafaa35d96b62a8b7fe7e8385993497060e4cbfd47dee5",
+    "visual_seed": 5026603503082149328,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdedbacd3b579ad9900847ae97561bc6b8a57892
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18752978808611032,
+              0.1549687764439339,
+              1.0495595523680734
+            ],
+            "current_z": 1.0495595523680734,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.18845280593472824,
+            "gripper_z": 1.0559968629897223,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18343984902653845,
+              0.15071954931693984,
+              1.0559968629897223
+            ],
+            "object_minus_gripper": [
+              0.004089939059571862,
+              0.0042492271269940485,
+              -0.006437310621648873
+            ],
+            "object_to_gripper_xy": 0.00589775658092072,
+            "object_to_gripper_z": -0.006437310621648873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18752978808611032,
+              0.1309752917109409,
+              1.0495595523680734
+            ],
+            "finger_b": [
+              0.1768807005843334,
+              0.1549687764439339,
+              1.0495595523680734
+            ],
+            "finger_midpoint": [
+              0.18220524433522184,
+              0.14297203407743742,
+              1.0495595523680734
+            ],
+            "object_minus_finger_midpoint": [
+              0.005324543750888477,
+              0.011996742366496477,
+              0.0
+            ],
+            "finger_gap": 0.026250530932780555,
+            "fingertip_max_gap": 0.09382338411338748,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01312526546639027,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495595523680734,
+            "object_top_z": 1.101071232328703,
+            "finger_top_clearance": 0.051511679960629664,
+            "fingertip_min_top_clearance": 0.015453503988188932,
+            "object_projection_between_fingers": 0.8354307811316385,
+            "object_to_finger_line_xy": 0.009733468593396044,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04941169205669374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.339703168280492,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1878763749592293,
+              0.15574894491029534,
+              1.2472037703781111
+            ],
+            "held_position": [
+              0.19216862566016712,
+              0.1596402462914426,
+              1.2406464939015844
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00875005813170578,
+            "max_held_gripper_dist": 0.008762765305487877,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006557276476526708,
+            "max_held_gripper_z_dist": 0.006582767782439047,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0862378279342147,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19216862566016712,
+              0.1349504274684418,
+              1.2406464939015844
+            ],
+            "held_grasp_finger_b": [
+              0.1831674637241324,
+              0.1596402462914426,
+              1.2406464939015844
+            ],
+            "held_grasp_midpoint": [
+              0.18766804469214976,
+              0.1472953368799422,
+              1.2406464939015844
+            ],
+            "held_grasp_object_position": [
+              0.19216862566016712,
+              0.1596402462914426,
+              1.2406464939015844
+            ],
+            "held_grasp_finger_gap": 0.026279422933377466,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024228322929135293,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04671483602127066,
+              -0.998339068815501,
+              0.033716876665906614
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003941393807496239,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03718560080168465,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3159848915923234,
+              -0.3221225700703465,
+              0.85153958247877
+            ],
+            "target_position": [
+              0.3098085248986256,
+              -0.3234228862918074,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006311761070478975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.182985304412199,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153958247877,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528559895966007,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850069467743043,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519061206895406,
+            "release_required_pad_clearance": 0.05250347338715215,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.079129356840405,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007608950138092041,
+            "max_z_decrease": 0.007608950138092041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515114702267624,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007608950138092041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021152876366859585,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007608950138092041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007608970931499653,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16550844907760615,
+              -0.37968435883522034,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16550844907760615,
+              -0.37968435883522034,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16560649964054774,
+              -0.3775515999994184,
+              0.8073609134575609
+            ],
+            "closest_button": [
+              0.16549672186374664,
+              -0.37968784570693964,
+              0.772274911403656
+            ],
+            "closest_ee_minus_button": [
+              0.00010977777680110101,
+              0.002136245707521245,
+              0.035086002053904886
+            ],
+            "button_min_z_position": [
+              0.16549120843410486,
+              -0.3796887397766113,
+              0.7691999077796936
+            ],
+            "min_active_finger_to_button": 0.14518520044052338,
+            "closest_active_finger": [
+              0.0373094379901886,
+              -0.43848100304603577,
+              0.8105877637863159
+            ],
+            "closest_active_finger_button": [
+              0.1655117720365524,
+              -0.37968847155570984,
+              0.7761444449424744
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1282023340463638,
+              -0.05879253149032593,
+              0.03444331884384155
+            ],
+            "min_contact_pad_to_button": 0.021152876366859585,
+            "closest_contact_pad": [
+              0.16549120843410486,
+              -0.3796887397766113,
+              0.7903527841465532
+            ],
+            "closest_contact_pad_button": [
+              0.16549120843410486,
+              -0.3796887397766113,
+              0.7691999077796936
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021152876366859585
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "963a8e7fa12fce5b53dbdb87f76ce2c69352ed31d72458d131dea8e2daa3aca5",
+    "visual_seed": 3662363284065173649,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b6bc1efadf206913bcf879f284b36df6f46e177
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1872040036045052,
+              0.15857490512953681,
+              1.0495919366970892
+            ],
+            "current_z": 1.0495919366970892,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.18848536907767854,
+            "gripper_z": 1.055892603278743,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18295624329226637,
+              0.1542201520731838,
+              1.055892603278743
+            ],
+            "object_minus_gripper": [
+              0.004247760312238835,
+              0.004354753056353022,
+              -0.0063006665816538465
+            ],
+            "object_to_gripper_xy": 0.006083365996884238,
+            "object_to_gripper_z": -0.0063006665816538465,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1872040036045052,
+              0.13451097797436856,
+              1.0495919366970892
+            ],
+            "finger_b": [
+              0.17635478115441963,
+              0.15857490512953681,
+              1.0495919366970892
+            ],
+            "finger_midpoint": [
+              0.18177939237946242,
+              0.1465429415519527,
+              1.0495919366970892
+            ],
+            "object_minus_finger_midpoint": [
+              0.005424611225042786,
+              0.012031963577584126,
+              0.0
+            ],
+            "finger_gap": 0.02639655693268887,
+            "fingertip_max_gap": 0.09212426460967454,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013198278466344434,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495919366970892,
+            "object_top_z": 1.1001038785670088,
+            "finger_top_clearance": 0.050511941869919585,
+            "fingertip_min_top_clearance": 0.015153582560975876,
+            "object_projection_between_fingers": 0.8310716024876972,
+            "object_to_finger_line_xy": 0.009890490619470395,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048562132304837274,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8326430364017904,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18724847362343666,
+              0.1594240342645717,
+              1.244434660681034
+            ],
+            "held_position": [
+              0.19166648374388454,
+              0.16343811227324342,
+              1.2379843384533888
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008788531875377936,
+            "max_held_gripper_dist": 0.008801825092506124,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006450322227645078,
+            "max_held_gripper_z_dist": 0.006475527271678327,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08581514968037252,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19166648374388454,
+              0.13865938100407663,
+              1.2379843384533888
+            ],
+            "held_grasp_finger_b": [
+              0.18250992348562342,
+              0.16343811227324342,
+              1.2379843384533888
+            ],
+            "held_grasp_midpoint": [
+              0.18708820361475398,
+              0.15104874663866003,
+              1.2379843384533888
+            ],
+            "held_grasp_object_position": [
+              0.19166648374388454,
+              0.16343811227324342,
+              1.2379843384533888
+            ],
+            "held_grasp_finger_gap": 0.026416436532446068,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024315825561114918,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.047000312025464515,
+              -0.9986865946250388,
+              0.020397460277017946
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003999048415567813,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03713197610031937,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31423818125854985,
+              -0.3161952145143816,
+              0.8515396505269169
+            ],
+            "target_position": [
+              0.3068826168283032,
+              -0.31835563998738264,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007666274604519563,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185114559146465,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396505269169,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531290806481103,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499584793693248,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15401449980813545,
+            "release_required_pad_clearance": 0.05249792396846624,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852801327525852,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00764840841293335,
+            "max_z_decrease": 0.00764840841293335,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519892741833718,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00764840841293335,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021071054943103018,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00764840841293335,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076484303637189225,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16258254647254947,
+              -0.37461709976196284,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16258254647254947,
+              -0.37461709976196284,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16188933394016716,
+              -0.3726732191889508,
+              0.8078865591051995
+            ],
+            "closest_button": [
+              0.1625722646713257,
+              -0.37462478876113886,
+              0.7727484107017517
+            ],
+            "closest_ee_minus_button": [
+              -0.0006829307311585486,
+              0.001951569572188061,
+              0.035138148403447755
+            ],
+            "button_min_z_position": [
+              0.1625644862651825,
+              -0.37462019920349116,
+              0.7691604495048523
+            ],
+            "min_active_finger_to_button": 0.14586009763769853,
+            "closest_active_finger": [
+              0.03522279113531113,
+              -0.43698883056640625,
+              0.8106553554534912
+            ],
+            "closest_active_finger_button": [
+              0.16258341073989868,
+              -0.3746198117733001,
+              0.7765299081802368
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12736061960458755,
+              -0.062369018793106135,
+              0.034125447273254395
+            ],
+            "min_contact_pad_to_button": 0.021071054943103018,
+            "closest_contact_pad": [
+              0.1625644862651825,
+              -0.37462019920349116,
+              0.7902315044479553
+            ],
+            "closest_contact_pad_button": [
+              0.1625644862651825,
+              -0.37462019920349116,
+              0.7691604495048523
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021071054943103018
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f914ccb512df8d51fd425b89e94c8628aa034cf7f9be1ff647ac1d1c8b035d0f",
+    "visual_seed": 2294052767343172494,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eddbc3b832a5a5f2777d52546ee6b90c00e95a7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19208339031889218,
+              0.15068094072266697,
+              1.0473152906476433
+            ],
+            "current_z": 1.0473152906476433,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18620890184216687,
+            "gripper_z": 1.0540048695985391,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18766246583750681,
+              0.14616551016871138,
+              1.0540048695985391
+            ],
+            "object_minus_gripper": [
+              0.004420924481385369,
+              0.0045154305539555906,
+              -0.006689578950895836
+            ],
+            "object_to_gripper_xy": 0.006319310591963983,
+            "object_to_gripper_z": -0.006689578950895836,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19208339031889218,
+              0.12672631024071132,
+              1.0473152906476433
+            ],
+            "finger_b": [
+              0.1806978893266496,
+              0.15068094072266697,
+              1.0473152906476433
+            ],
+            "finger_midpoint": [
+              0.18639063982277088,
+              0.13870362548168913,
+              1.0473152906476433
+            ],
+            "object_minus_finger_midpoint": [
+              0.005692750496121307,
+              0.011977315240977837,
+              0.0
+            ],
+            "finger_gap": 0.026522706392285753,
+            "fingertip_max_gap": 0.09316068731094287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013261353196142895,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473152906476433,
+            "object_top_z": 1.0985825197431502,
+            "finger_top_clearance": 0.05126722909550696,
+            "fingertip_min_top_clearance": 0.015380168728652104,
+            "object_projection_between_fingers": 0.815724068307792,
+            "object_to_finger_line_xy": 0.010283093477988229,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04908034365547144,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.108679179347081,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19211921566235773,
+              0.15094882248001656,
+              1.2449745747919485
+            ],
+            "held_position": [
+              0.19681410648656977,
+              0.15499713690859443,
+              1.2381561269125636
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00921531773992577,
+            "max_held_gripper_dist": 0.009229546206024014,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0068184478793849035,
+            "max_held_gripper_z_dist": 0.006844132496240718,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651495889044158,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19681410648656977,
+              0.13010524035488572,
+              1.2381561269125636
+            ],
+            "held_grasp_finger_b": [
+              0.18747685536287528,
+              0.15499713690859443,
+              1.2381561269125636
+            ],
+            "held_grasp_midpoint": [
+              0.19214548092472253,
+              0.14255118863174007,
+              1.2381561269125636
+            ],
+            "held_grasp_object_position": [
+              0.19681410648656977,
+              0.15499713690859443,
+              1.2381561269125636
+            ],
+            "held_grasp_finger_gap": 0.02658553690613507,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024194776071298166,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06725031806641799,
+              -0.9972204860193441,
+              0.03207330639813799
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003842381415155546,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0369949289265115,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31553911183610156,
+              -0.32412662686056837,
+              0.8515395728326731
+            ],
+            "target_position": [
+              0.3087681367740097,
+              -0.325815218016152,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00697835534937745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18402779305534073,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395728326731,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562632802953145,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08511884718450356,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15189240492393555,
+            "release_required_pad_clearance": 0.05255942359225178,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.18557474661204004,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007744491100311279,
+            "max_z_decrease": 0.007744491100311279,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514755301565882,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007744491100311279,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021222677733019286,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007744491100311279,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007744514905493553,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1644680649042129,
+              -0.3820766806602478,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1644680649042129,
+              -0.3820766806602478,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16339668253882234,
+              -0.3834369586284771,
+              0.8079134639294934
+            ],
+            "closest_button": [
+              0.1644622683525085,
+              -0.38208696246147156,
+              0.7728080153465271
+            ],
+            "closest_ee_minus_button": [
+              -0.001065585813686154,
+              -0.0013499961670055405,
+              0.03510544858296627
+            ],
+            "button_min_z_position": [
+              0.16444897651672358,
+              -0.38207876682281494,
+              0.7690643668174744
+            ],
+            "min_active_finger_to_button": 0.14706745667020327,
+            "closest_active_finger": [
+              0.022311300039291382,
+              -0.3664563000202179,
+              0.8103531002998352
+            ],
+            "closest_active_finger_button": [
+              0.164468377828598,
+              -0.3820813894271851,
+              0.7760593891143799
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1421570777893066,
+              0.01562508940696722,
+              0.03429371118545532
+            ],
+            "min_contact_pad_to_button": 0.021222677733019286,
+            "closest_contact_pad": [
+              0.16444897651672358,
+              -0.38480168734205195,
+              0.7901116410829347
+            ],
+            "closest_contact_pad_button": [
+              0.16444897651672358,
+              -0.38207876682281494,
+              0.7690643668174744
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027229205192370043,
+              0.02104727426546038
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40ad50dd42dffc7add175a6e5f6f051f052d0a14eb75450365b138b1c3fdc47e",
+    "visual_seed": 2571333035225358244,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae9d9ce905374bdb8d61e2ac0fc074650335e10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1929861284669824,
+              0.1612595300020512,
+              1.0477129899160986
+            ],
+            "current_z": 1.0477129899160986,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.18660624348275334,
+            "gripper_z": 1.053903418277524,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18871092929648764,
+              0.156880477842396,
+              1.053903418277524
+            ],
+            "object_minus_gripper": [
+              0.0042751991704947645,
+              0.0043790521596552,
+              -0.00619042836142536
+            ],
+            "object_to_gripper_xy": 0.006119920405069007,
+            "object_to_gripper_z": -0.00619042836142536,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1929861284669824,
+              0.13719822406823834,
+              1.0477129899160986
+            ],
+            "finger_b": [
+              0.18207050536031166,
+              0.1612595300020512,
+              1.0477129899160986
+            ],
+            "finger_midpoint": [
+              0.18752831691364702,
+              0.14922887703514476,
+              1.0477129899160986
+            ],
+            "object_minus_finger_midpoint": [
+              0.005457811553335384,
+              0.012030652966906447,
+              0.0
+            ],
+            "finger_gap": 0.026421530444836507,
+            "fingertip_max_gap": 0.09136255934380141,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013210765222418272,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477129899160986,
+            "object_top_z": 1.0980944360629161,
+            "finger_top_clearance": 0.0503814461468175,
+            "fingertip_min_top_clearance": 0.015114433844045266,
+            "object_projection_between_fingers": 0.8293205936357397,
+            "object_to_finger_line_xy": 0.009940534957888091,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818127967190071,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.46666788851145735,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19299810288927205,
+              0.16188601411233391,
+              1.2460229290240894
+            ],
+            "held_position": [
+              0.19748616519210097,
+              0.16588316004950476,
+              1.2397149363620397
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008712671823360999,
+            "max_held_gripper_dist": 0.008728840552089402,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006307992662049733,
+            "max_held_gripper_z_dist": 0.006335006364670548,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08580225539219288,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19748616519210097,
+              0.14112858798794914,
+              1.2397149363620397
+            ],
+            "held_grasp_finger_b": [
+              0.18821506625586723,
+              0.16588316004950476,
+              1.2397149363620397
+            ],
+            "held_grasp_midpoint": [
+              0.1928506157239841,
+              0.15350587401872695,
+              1.2397149363620397
+            ],
+            "held_grasp_object_position": [
+              0.19748616519210097,
+              0.16588316004950476,
+              1.2397149363620397
+            ],
+            "held_grasp_finger_gap": 0.026433730600053117,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024173655687410114,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05752165914270278,
+              -0.9980760167803036,
+              0.023141379765130754
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003926598959631446,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0371001332335017,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31698000077795524,
+              -0.31583272628594034,
+              0.8515396003524568
+            ],
+            "target_position": [
+              0.30912872179188133,
+              -0.31822594984732183,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008207929137846966,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18382934539885387,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396003524568,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536152572578052,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514750054049024,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15254746628932264,
+            "release_required_pad_clearance": 0.05257375027024512,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21306234875883495,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075272321701049805,
+            "max_z_decrease": 0.0075272321701049805,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512968440135532,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075272321701049805,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02119434877647798,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075272321701049805,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007527257153529423,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16482864320278162,
+              -0.37448740005493164,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16482864320278162,
+              -0.37448740005493164,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16637293249691196,
+              -0.3742639503179712,
+              0.8043757753093184
+            ],
+            "closest_button": [
+              0.16480979323387138,
+              -0.37449195981025696,
+              0.7692816257476807
+            ],
+            "closest_ee_minus_button": [
+              0.0015631392630405805,
+              0.0002280094922857412,
+              0.0350941495616377
+            ],
+            "button_min_z_position": [
+              0.16480979323387138,
+              -0.37449195981025696,
+              0.7692816257476807
+            ],
+            "min_active_finger_to_button": 0.14431626988446106,
+            "closest_active_finger": [
+              0.038578227162361145,
+              -0.4352971911430359,
+              0.8112801909446716
+            ],
+            "closest_active_finger_button": [
+              0.1648328304290771,
+              -0.37448856234550476,
+              0.7767943739891052
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12625460326671595,
+              -0.06080862879753113,
+              0.034485816955566406
+            ],
+            "min_contact_pad_to_button": 0.02119434877647798,
+            "closest_contact_pad": [
+              0.16480979323387138,
+              -0.375630969196032,
+              0.790445346537705
+            ],
+            "closest_contact_pad_button": [
+              0.16480979323387138,
+              -0.37449195981025696,
+              0.7692816257476807
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011390093857750472,
+              0.021163720790024376
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "930cd397fc1c575942071482ad25a276236065184f4ce36eafef5b3a9a64bb76",
+    "visual_seed": 2972872419876889014,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b92ca97b02cc007206443604aad151ece25b9cf2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18724602193524528,
+              0.15046191313090332,
+              1.0482131675657604
+            ],
+            "current_z": 1.0482131675657604,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18710648073706015,
+            "gripper_z": 1.0547417636733385,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18333134251521782,
+              0.14623944878758674,
+              1.0547417636733385
+            ],
+            "object_minus_gripper": [
+              0.0039146794200274615,
+              0.004222464343316579,
+              -0.006528596107578055
+            ],
+            "object_to_gripper_xy": 0.005757944085536646,
+            "object_to_gripper_z": -0.006528596107578055,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18724602193524528,
+              0.12680291148394585,
+              1.0482131675657604
+            ],
+            "finger_b": [
+              0.17636706444666153,
+              0.15046191313090332,
+              1.0482131675657604
+            ],
+            "finger_midpoint": [
+              0.1818065431909534,
+              0.13863241230742457,
+              1.0482131675657604
+            ],
+            "object_minus_finger_midpoint": [
+              0.005439478744291876,
+              0.01182950082347875,
+              0.0
+            ],
+            "finger_gap": 0.026040354739694866,
+            "fingertip_max_gap": 0.09628253338402107,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013020177369847445,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482131675657604,
+            "object_top_z": 1.1009993757550807,
+            "finger_top_clearance": 0.05278620818932023,
+            "fingertip_min_top_clearance": 0.01583586245679605,
+            "object_projection_between_fingers": 0.8254657086657937,
+            "object_to_finger_line_xy": 0.009884092429326061,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050641266692010536,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1035709365072552,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18773412424196415,
+              0.15138814940119533,
+              1.24534455265028
+            ],
+            "held_position": [
+              0.19188115443945997,
+              0.1552091048769461,
+              1.2386908449097178
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008721776591006512,
+            "max_held_gripper_dist": 0.008736234085531015,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006653707740562176,
+            "max_held_gripper_z_dist": 0.006676334397372363,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08595284326795902,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19188115443945997,
+              0.13059813048078286,
+              1.2386908449097178
+            ],
+            "held_grasp_finger_b": [
+              0.18300938644974318,
+              0.1552091048769461,
+              1.2386908449097178
+            ],
+            "held_grasp_midpoint": [
+              0.18744527044460157,
+              0.1429036176788645,
+              1.2386908449097178
+            ],
+            "held_grasp_object_position": [
+              0.19188115443945997,
+              0.1552091048769461,
+              1.2386908449097178
+            ],
+            "held_grasp_finger_gap": 0.026161198902037466,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024055410991657544,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05538147896417766,
+              -0.9973901166538878,
+              0.046323287759881926
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003791542085034259,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03720121294196872,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31166741266862785,
+              -0.3254622702625798,
+              0.8515395658759195
+            ],
+            "target_position": [
+              0.30723286751054113,
+              -0.32576018022694353,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044445405956046345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1818248478681817,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395658759195,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587958529703344,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08654971854867431,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14905167308732628,
+            "release_required_pad_clearance": 0.05327485927433716,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5691896411391655,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00769352912902832,
+            "max_z_decrease": 0.00769352912902832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514130010740064,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00769352912902832,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021076308075267846,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00769352912902832,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00769355138279739,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16293279826641077,
+              -0.38202163577079773,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16293279826641077,
+              -0.38202163577079773,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16310284698057304,
+              -0.3817435795160899,
+              0.8080497917609292
+            ],
+            "closest_button": [
+              0.1629220843315124,
+              -0.3820292949676514,
+              0.7729101181030273
+            ],
+            "closest_ee_minus_button": [
+              0.00018076264906063955,
+              0.0002857154515615301,
+              0.035139673657901827
+            ],
+            "button_min_z_position": [
+              0.16291439533233637,
+              -0.382023572921753,
+              0.7691153287887573
+            ],
+            "min_active_finger_to_button": 0.1458360523256693,
+            "closest_active_finger": [
+              0.036630719900131226,
+              -0.4464552402496338,
+              0.8108844757080078
+            ],
+            "closest_active_finger_button": [
+              0.16293632984161371,
+              -0.3820220530033112,
+              0.7767756581306458
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263056099414825,
+              -0.06443318724632258,
+              0.03410881757736206
+            ],
+            "min_contact_pad_to_button": 0.021076308075267846,
+            "closest_contact_pad": [
+              0.16291439533233637,
+              -0.3827579574276614,
+              0.7901788385029783
+            ],
+            "closest_contact_pad_button": [
+              0.16291439533233637,
+              -0.382023572921753,
+              0.7691153287887573
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007343845059084031,
+              0.021063509714220996
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a352a34975f30fddb9ddffa1f37dd2a1c857e493c47f0f7f36499a5513c56569",
+    "visual_seed": 202075578114232267,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84a4b6e5884b68b72e9e007132884480d2043bd9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18636212046612244,
+              0.15831604362313753,
+              1.0494393005934624
+            ],
+            "current_z": 1.0494393005934624,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18833261376476218,
+            "gripper_z": 1.05602158964478,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18294047044161107,
+              0.15447844257035825,
+              1.05602158964478
+            ],
+            "object_minus_gripper": [
+              0.0034216500245113635,
+              0.003837601052779277,
+              -0.006582289051317636
+            ],
+            "object_to_gripper_xy": 0.005141485265031033,
+            "object_to_gripper_z": -0.006582289051317636,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18636212046612244,
+              0.13457611867084124,
+              1.0494393005934624
+            ],
+            "finger_b": [
+              0.17661687706316623,
+              0.15831604362313753,
+              1.0494393005934624
+            ],
+            "finger_midpoint": [
+              0.18148949876464432,
+              0.14644608114698937,
+              1.0494393005934624
+            ],
+            "object_minus_finger_midpoint": [
+              0.004872621701478119,
+              0.01186996247614816,
+              0.0
+            ],
+            "finger_gap": 0.025662303203795284,
+            "fingertip_max_gap": 0.10057986462182875,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012831151601897661,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494393005934624,
+            "object_top_z": 1.1042841361799265,
+            "finger_top_clearance": 0.054844835586464136,
+            "fingertip_min_top_clearance": 0.016453450675939257,
+            "object_projection_between_fingers": 0.8557904180987568,
+            "object_to_finger_line_xy": 0.009015221478398922,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052789932310914375,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3921539453668297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18675000985626916,
+              0.16069125118015248,
+              1.2447947155670611
+            ],
+            "held_position": [
+              0.19024001161522505,
+              0.16432559000251856,
+              1.2381038594348723
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008375923037786386,
+            "max_held_gripper_dist": 0.008388124674974306,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006690856132188783,
+            "max_held_gripper_z_dist": 0.006710362406763926,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0847520655488487,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19024001161522505,
+              0.1401540510833066,
+              1.2381038594348723
+            ],
+            "held_grasp_finger_b": [
+              0.18162633787535903,
+              0.16432559000251856,
+              1.2381038594348723
+            ],
+            "held_grasp_midpoint": [
+              0.18593317474529203,
+              0.15223982054291257,
+              1.2381038594348723
+            ],
+            "held_grasp_object_position": [
+              0.19024001161522505,
+              0.16432559000251856,
+              1.2381038594348723
+            ],
+            "held_grasp_finger_gap": 0.02566044950930976,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024048497065047372,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.008693831534655236,
+              -0.9980077385251866,
+              0.06248976825921182
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004269146866944704,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0376211157091825,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3099438355433386,
+              -0.3217928165164048,
+              0.8515395870392481
+            ],
+            "target_position": [
+              0.308608630985927,
+              -0.3208096590604951,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.001658122369803734,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1800516389803468,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395870392481,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575349469038777,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08776871118530648,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1472859555919964,
+            "release_required_pad_clearance": 0.05388435559265324,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7783427197520156,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007595419883728027,
+            "max_z_decrease": 0.007595419883728027,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035167707584178164,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007595419883728027,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021211195442659984,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007595419883728027,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007595440742109317,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.164308562874794,
+              -0.3770711123943328,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.164308562874794,
+              -0.3770711123943328,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16518958431224476,
+              -0.3783109607304518,
+              0.808090618579626
+            ],
+            "closest_button": [
+              0.16430224478244781,
+              -0.3770802319049834,
+              0.7729556560516357
+            ],
+            "closest_ee_minus_button": [
+              0.0008873395297969433,
+              -0.0012307288254683746,
+              0.03513496252799031
+            ],
+            "button_min_z_position": [
+              0.16429097950458527,
+              -0.37707388401031483,
+              0.7692134380340576
+            ],
+            "min_active_finger_to_button": 0.14519296348308597,
+            "closest_active_finger": [
+              0.023873791098594666,
+              -0.3634306788444519,
+              0.8104639053344727
+            ],
+            "closest_active_finger_button": [
+              0.16431061923503876,
+              -0.37707370519638056,
+              0.7762241363525391
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1404368281364441,
+              0.013643026351928655,
+              0.034239768981933594
+            ],
+            "min_contact_pad_to_button": 0.021211195442659984,
+            "closest_contact_pad": [
+              0.16429097950458527,
+              -0.3794181465944237,
+              0.7902946914371043
+            ],
+            "closest_contact_pad_button": [
+              0.16429097950458527,
+              -0.37707388401031483,
+              0.7692134380340576
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023442625841088582,
+              0.021081253403046674
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c1f06992b9c967401ec6a0f7585fc434e41021a5994f1ed1a99bbbb40fde6a0",
+    "visual_seed": 9151898496913107943,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e752bc418392bd3f8d0ff77dd9a9fe52b42e0176
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19592370798942224,
+              0.1544175027241454,
+              1.0478101611541024
+            ],
+            "current_z": 1.0478101611541024,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18670347432540213,
+            "gripper_z": 1.054145547721611,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19102714198870108,
+              0.14967213012094388,
+              1.054145547721611
+            ],
+            "object_minus_gripper": [
+              0.004896566000721164,
+              0.004745372603201514,
+              -0.00633538656750865
+            ],
+            "object_to_gripper_xy": 0.006818718335774984,
+            "object_to_gripper_z": -0.00633538656750865,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19592370798942224,
+              0.13009405215566938,
+              1.0478101611541024
+            ],
+            "finger_b": [
+              0.1842492516660357,
+              0.1544175027241454,
+              1.0478101611541024
+            ],
+            "finger_midpoint": [
+              0.19008647982772897,
+              0.1422557774399074,
+              1.0478101611541024
+            ],
+            "object_minus_finger_midpoint": [
+              0.00583722816169327,
+              0.012161725284238006,
+              0.0
+            ],
+            "finger_gap": 0.026980051482600177,
+            "fingertip_max_gap": 0.09047746573123597,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013490025741300088,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478101611541024,
+            "object_top_z": 1.0976173952080672,
+            "finger_top_clearance": 0.04980723405396481,
+            "fingertip_min_top_clearance": 0.014942170216189425,
+            "object_projection_between_fingers": 0.8127646782447189,
+            "object_to_finger_line_xy": 0.01052492659173969,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047738732865617986,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.35480243616178886,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19538273083495739,
+              0.15457188863489058,
+              1.2422718502095453
+            ],
+            "held_position": [
+              0.2005000033218192,
+              0.1588851226400299,
+              1.2357748174769898
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009327480882627479,
+            "max_held_gripper_dist": 0.009338772430578825,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00649703273255553,
+            "max_held_gripper_z_dist": 0.00652475371078487,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08628859639772696,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2005000033218192,
+              0.13375332228299175,
+              1.2357748174769898
+            ],
+            "held_grasp_finger_b": [
+              0.1907215809464522,
+              0.1588851226400299,
+              1.2357748174769898
+            ],
+            "held_grasp_midpoint": [
+              0.19561079213413568,
+              0.14631922246151083,
+              1.2357748174769898
+            ],
+            "held_grasp_object_position": [
+              0.2005000033218192,
+              0.1588851226400299,
+              1.2357748174769898
+            ],
+            "held_grasp_finger_gap": 0.026967108360688233,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024471127344032922,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06233707504622258,
+              -0.9979661320386064,
+              0.013329980442025047
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004099887334673525,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03687512814863168,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31919692624148077,
+              -0.31695247910895596,
+              0.8515396106677018
+            ],
+            "target_position": [
+              0.3108864692110184,
+              -0.31961821184684497,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008727532703176442,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848133243219256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396106677018,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528499235896088,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568587017904293,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15377642069417158,
+            "release_required_pad_clearance": 0.05284293508952147,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7295379171148506,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076441168785095215,
+            "max_z_decrease": 0.0076441168785095215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035170970927376054,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076441168785095215,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021114134857623368,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076441168785095215,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007644136375875656,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16658639907836914,
+              -0.3758796751499176,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16658639907836914,
+              -0.3758796751499176,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16798661612430876,
+              -0.37466696837254576,
+              0.807784244197521
+            ],
+            "closest_button": [
+              0.16657578945159912,
+              -0.3758850991725921,
+              0.7726626992225647
+            ],
+            "closest_ee_minus_button": [
+              0.001410826672709642,
+              0.0012181308000463464,
+              0.03512154497495634
+            ],
+            "button_min_z_position": [
+              0.1665695607662201,
+              -0.37588348984718317,
+              0.7691647410392761
+            ],
+            "min_active_finger_to_button": 0.14440365504789326,
+            "closest_active_finger": [
+              0.04091867059469223,
+              -0.4382131099700928,
+              0.8104062676429749
+            ],
+            "closest_active_finger_button": [
+              0.16658835113048553,
+              -0.3758836984634399,
+              0.7761339545249939
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1256696805357933,
+              -0.06232941150665289,
+              0.03427231311798096
+            ],
+            "min_contact_pad_to_button": 0.021114134857623368,
+            "closest_contact_pad": [
+              0.1665695607662201,
+              -0.37588348984718317,
+              0.7902788758968995
+            ],
+            "closest_contact_pad_button": [
+              0.1665695607662201,
+              -0.37588348984718317,
+              0.7691647410392761
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021114134857623368
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "901fe1729dae27826027cae2db33b015a2ba6ed83ca56bcad87bd7d216ce1b0d",
+    "visual_seed": 5801287848699345892,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..432a40493f39c451df65ca3dd6d617e28c3f9309
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19586327435950537,
+              0.1606136887437111,
+              1.0461571804788077
+            ],
+            "current_z": 1.0461571804788077,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18505061285939695,
+            "gripper_z": 1.05208973421991,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1917266506667933,
+              0.15633028890081851,
+              1.05208973421991
+            ],
+            "object_minus_gripper": [
+              0.00413662369271206,
+              0.004283399842892582,
+              -0.005932553741102353
+            ],
+            "object_to_gripper_xy": 0.005954760262949212,
+            "object_to_gripper_z": -0.005932553741102353,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19586327435950537,
+              0.1365965504683163,
+              1.0461571804788077
+            ],
+            "finger_b": [
+              0.185158059786028,
+              0.1606136887437111,
+              1.0461571804788077
+            ],
+            "finger_midpoint": [
+              0.1905106670727667,
+              0.1486051196060137,
+              1.0461571804788077
+            ],
+            "object_minus_finger_midpoint": [
+              0.00535260728673867,
+              0.012008569137697406,
+              0.0
+            ],
+            "finger_gap": 0.0262949529378477,
+            "fingertip_max_gap": 0.09172278380482235,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013147476468923856,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461571804788077,
+            "object_top_z": 1.0966678049637997,
+            "finger_top_clearance": 0.050510624484991995,
+            "fingertip_min_top_clearance": 0.015153187345497598,
+            "object_projection_between_fingers": 0.8342528927218575,
+            "object_to_finger_line_xy": 0.00977786951308467,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836139190241118,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5280754913767743,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19603068874578708,
+              0.16150451784581,
+              1.2431270908480343
+            ],
+            "held_position": [
+              0.20036104293472892,
+              0.16544655197974348,
+              1.237066311145206
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00842761242114265,
+            "max_held_gripper_dist": 0.008441759237949216,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006060779702828256,
+            "max_held_gripper_z_dist": 0.006086092220479733,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08577380692992542,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20036104293472892,
+              0.1407364639880895,
+              1.237066311145206
+            ],
+            "held_grasp_finger_b": [
+              0.1912804805929627,
+              0.16544655197974348,
+              1.237066311145206
+            ],
+            "held_grasp_midpoint": [
+              0.19582076176384583,
+              0.1530915079839165,
+              1.237066311145206
+            ],
+            "held_grasp_object_position": [
+              0.20036104293472892,
+              0.16544655197974348,
+              1.237066311145206
+            ],
+            "held_grasp_finger_gap": 0.026325749011148467,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024178906628062338,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05387481633996865,
+              -0.9983015950740637,
+              0.02216820779663486
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003877938008816548,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0371415831276376,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31854961010069394,
+              -0.32147732568218457,
+              0.8515395635053717
+            ],
+            "target_position": [
+              0.31104609613688156,
+              -0.32361288204790856,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007801494907792457,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845654076505541,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395635053717,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554572906423301,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08532148117365078,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15281782591240609,
+            "release_required_pad_clearance": 0.05266074058682539,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.379491270062054,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00740283727645874,
+            "max_z_decrease": 0.00740283727645874,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035099597662670554,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00740283727645874,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021202811994163632,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00740283727645874,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074028593344012674,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1667460203170777,
+              -0.37987434864044184,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1667460203170777,
+              -0.37987434864044184,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16770776388181696,
+              -0.3799619491859614,
+              0.8079089745369059
+            ],
+            "closest_button": [
+              0.16673640906810766,
+              -0.379879742860794,
+              0.772822916507721
+            ],
+            "closest_ee_minus_button": [
+              0.000971354813709302,
+              -8.220632516736659e-05,
+              0.03508605802918496
+            ],
+            "button_min_z_position": [
+              0.16672843694686895,
+              -0.3798785209655761,
+              0.7694060206413269
+            ],
+            "min_active_finger_to_button": 0.14527933301934276,
+            "closest_active_finger": [
+              0.026738159358501434,
+              -0.36222290992736816,
+              0.8098341822624207
+            ],
+            "closest_active_finger_button": [
+              0.1667505353689194,
+              -0.37987917661666865,
+              0.7753251194953918
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14001237601041797,
+              0.01765626668930048,
+              0.03450906276702881
+            ],
+            "min_contact_pad_to_button": 0.021202811994163632,
+            "closest_contact_pad": [
+              0.16672843694686895,
+              -0.38138433110058273,
+              0.7905552942056165
+            ],
+            "closest_contact_pad_button": [
+              0.16672843694686895,
+              -0.3798785209655761,
+              0.7694060206413269
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015058101350066133,
+              0.02114927356428964
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "579ceb5c93de6d5e3399c0069f94b473365e046ed0ced6d538396cd3c8360ec5",
+    "visual_seed": 1426254263582347701,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a5e792ee93c256ceeb5561229cc51eb8fce41b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1929507113738495,
+              0.15374289299771116,
+              1.0468335704419678
+            ],
+            "current_z": 1.0468335704419678,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.1857268836132674,
+            "gripper_z": 1.0532296425800838,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1885291246831037,
+              0.14937590673670553,
+              1.0532296425800838
+            ],
+            "object_minus_gripper": [
+              0.004421586690745799,
+              0.004366986261005623,
+              -0.0063960721381159935
+            ],
+            "object_to_gripper_xy": 0.006214579460236409,
+            "object_to_gripper_z": -0.0063960721381159935,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1929507113738495,
+              0.1294151775365482,
+              1.0468335704419678
+            ],
+            "finger_b": [
+              0.18227014690040866,
+              0.15374289299771116,
+              1.0468335704419678
+            ],
+            "finger_midpoint": [
+              0.18761042913712908,
+              0.14157903526712967,
+              1.0468335704419678
+            ],
+            "object_minus_finger_midpoint": [
+              0.005340282236720423,
+              0.012163857730581484,
+              0.0
+            ],
+            "finger_gap": 0.02656900820562624,
+            "fingertip_max_gap": 0.09187882005657497,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01328450410281312,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468335704419678,
+            "object_top_z": 1.0973664205047138,
+            "finger_top_clearance": 0.05053285006274599,
+            "fingertip_min_top_clearance": 0.015159855018823764,
+            "object_projection_between_fingers": 0.8384013508320551,
+            "object_to_finger_line_xy": 0.009779579706684433,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048439410028287486,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6320557028198447,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1927669498153113,
+              0.154472783311352,
+              1.2416851235903434
+            ],
+            "held_position": [
+              0.19730810599688206,
+              0.15853928388997246,
+              1.2351445955752238
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008940751262500445,
+            "max_held_gripper_dist": 0.008953390080800276,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006540528015119618,
+            "max_held_gripper_z_dist": 0.006564950529149849,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08590815454521109,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19730810599688206,
+              0.13368232372881156,
+              1.2351445955752238
+            ],
+            "held_grasp_finger_b": [
+              0.1880571854590652,
+              0.15853928388997246,
+              1.2351445955752238
+            ],
+            "held_grasp_midpoint": [
+              0.1926826457279736,
+              0.146110803809392,
+              1.2351445955752238
+            ],
+            "held_grasp_object_position": [
+              0.19730810599688206,
+              0.15853928388997246,
+              1.2351445955752238
+            ],
+            "held_grasp_finger_gap": 0.02652259412747068,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024460721727308198,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04012965681466292,
+              -0.9989941582845089,
+              0.020007057688804397
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004130587075028162,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03711865294003866,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3189165291803413,
+              -0.3164058689998316,
+              0.8515395544601523
+            ],
+            "target_position": [
+              0.3118485950259889,
+              -0.318438506383572,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007354407382246416,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18389596320198942,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395544601523,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579469034808421,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08672418964704541,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15164482896027043,
+            "release_required_pad_clearance": 0.05336209482352271,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7404130725212978,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007660627365112305,
+            "max_z_decrease": 0.007660627365112305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514756451125431,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007660627365112305,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02125130789356543,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007660627365112305,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007660647056758067,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16754852235317225,
+              -0.3746999502182006,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16754852235317225,
+              -0.3746999502182006,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1689222547585282,
+              -0.375598362846278,
+              0.8045885259822498
+            ],
+            "closest_button": [
+              0.1675300449132919,
+              -0.3747041821479797,
+              0.7694799304008484
+            ],
+            "closest_ee_minus_button": [
+              0.001392209845236303,
+              -0.0008941806982983302,
+              0.03510859558140145
+            ],
+            "button_min_z_position": [
+              0.16753169894218442,
+              -0.37470427155494684,
+              0.7691482305526733
+            ],
+            "min_active_finger_to_button": 0.14439912682744557,
+            "closest_active_finger": [
+              0.028215274214744568,
+              -0.3589220643043518,
+              0.8093627691268921
+            ],
+            "closest_active_finger_button": [
+              0.16755212843418116,
+              -0.37470623850822443,
+              0.7749068737030029
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1393368542194366,
+              0.015784174203872625,
+              0.03445589542388916
+            ],
+            "min_contact_pad_to_button": 0.02125130789356543,
+            "closest_contact_pad": [
+              0.16753169894218442,
+              -0.3768375525604192,
+              0.7902921942146457
+            ],
+            "closest_contact_pad_button": [
+              0.16753169894218442,
+              -0.37470427155494684,
+              0.7691482305526733
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021332810054723317,
+              0.021143963661972354
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5d30bb900ff7e0413abd5684f8687f5987108b0551071a0d49d7536ba1ecaff4",
+    "visual_seed": 2640847494174397197,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..354b5bdcf34bcfc9722e0d7564839853e46d848e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19074531346521173,
+              0.15033236545074,
+              1.0486193239494899
+            ],
+            "current_z": 1.0486193239494899,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.18751257751614492,
+            "gripper_z": 1.055101627020177,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18636894594697617,
+              0.1459325524120238,
+              1.055101627020177
+            ],
+            "object_minus_gripper": [
+              0.004376367518235558,
+              0.004399813038716199,
+              -0.00648230307068709
+            ],
+            "object_to_gripper_xy": 0.006205718929368645,
+            "object_to_gripper_z": -0.00648230307068709,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19074531346521173,
+              0.12613168073213143,
+              1.0486193239494899
+            ],
+            "finger_b": [
+              0.17989475450975573,
+              0.15033236545074,
+              1.0486193239494899
+            ],
+            "finger_midpoint": [
+              0.18532003398748373,
+              0.13823202309143573,
+              1.0486193239494899
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425279477728001,
+              0.012100342359304267,
+              0.0
+            ],
+            "finger_gap": 0.026521835730117183,
+            "fingertip_max_gap": 0.0916268726813585,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013260917865058579,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486193239494899,
+            "object_top_z": 1.0988216269866435,
+            "finger_top_clearance": 0.05020230303715367,
+            "fingertip_min_top_clearance": 0.015060690911146101,
+            "object_projection_between_fingers": 0.8326225063409223,
+            "object_to_finger_line_xy": 0.009900934421499233,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831343634067925,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7569232291710778,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1906705749858902,
+              0.1510978291215203,
+              1.2440305011732053
+            ],
+            "held_position": [
+              0.19521455817358024,
+              0.15516754062149274,
+              1.2373955783992816
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009012909359299553,
+            "max_held_gripper_dist": 0.009024755504481449,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006634922773923746,
+            "max_held_gripper_z_dist": 0.006658779156209604,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08594336069027143,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19521455817358024,
+              0.13030416095116115,
+              1.2373955783992816
+            ],
+            "held_grasp_finger_b": [
+              0.18595998921035167,
+              0.15516754062149274,
+              1.2373955783992816
+            ],
+            "held_grasp_midpoint": [
+              0.19058727369196596,
+              0.14273585078632695,
+              1.2373955783992816
+            ],
+            "held_grasp_object_position": [
+              0.19521455817358024,
+              0.15516754062149274,
+              1.2373955783992816
+            ],
+            "held_grasp_finger_gap": 0.02652988306280696,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024427870493867535,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044082289138975606,
+              -0.9988920817710357,
+              0.01647303127521815
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004079996195398191,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03709835223826766,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31766328062700877,
+              -0.3149788768802896,
+              0.8515395872804125
+            ],
+            "target_position": [
+              0.3100986451924705,
+              -0.3172298120321212,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00789242791004285,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527754773463492,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395872804125,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573949793165742,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08647851125721505,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15307694455512683,
+            "release_required_pad_clearance": 0.053239255628607526,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4992981129516907,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007585704326629639,
+            "max_z_decrease": 0.007585704326629639,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035194757036760546,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007585704326629639,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02125425828137983,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007585704326629639,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007585724064712144,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16579857468605042,
+              -0.37349125742912287,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16579857468605042,
+              -0.37349125742912287,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16753668009247322,
+              -0.3746746579179717,
+              0.8046838058268169
+            ],
+            "closest_button": [
+              0.16578009724617004,
+              -0.37349513173103327,
+              0.7695527076721191
+            ],
+            "closest_ee_minus_button": [
+              0.001756582846303173,
+              -0.001179526186938451,
+              0.035131098154697726
+            ],
+            "button_min_z_position": [
+              0.16578175127506256,
+              -0.37349531054496754,
+              0.769223153591156
+            ],
+            "min_active_finger_to_button": 0.14398288746325927,
+            "closest_active_finger": [
+              0.026780329644680023,
+              -0.3585767447948456,
+              0.8105698227882385
+            ],
+            "closest_active_finger_button": [
+              0.1658010482788086,
+              -0.3734939396381377,
+              0.7761926651000977
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13902071863412857,
+              0.014917194843292125,
+              0.03437715768814087
+            ],
+            "min_contact_pad_to_button": 0.02125425828137983,
+            "closest_contact_pad": [
+              0.16578175127506256,
+              -0.37585669632770224,
+              0.7903458274814735
+            ],
+            "closest_contact_pad_button": [
+              0.16578175127506256,
+              -0.37349531054496754,
+              0.769223153591156
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002361385782734704,
+              0.021122673890317523
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a1eec467582e941cf565c13701b20f26d2ae4fd51befa4c0febcebc37fb08b06",
+    "visual_seed": 5956089013306491453,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3f510eea24c8eff919888b31319516ea84edea4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1910002723151472,
+              0.15604712253897265,
+              1.0494216794229012
+            ],
+            "current_z": 1.0494216794229012,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1883150521988456,
+            "gripper_z": 1.055737112214257,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18697819382069922,
+              0.15191332840997246,
+              1.055737112214257
+            ],
+            "object_minus_gripper": [
+              0.004022078494447995,
+              0.004133794129000196,
+              -0.006315432791355713
+            ],
+            "object_to_gripper_xy": 0.005767613832119617,
+            "object_to_gripper_z": -0.006315432791355713,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1910002723151472,
+              0.13193459975971591,
+              1.0494216794229012
+            ],
+            "finger_b": [
+              0.18072738097121038,
+              0.15604712253897265,
+              1.0494216794229012
+            ],
+            "finger_midpoint": [
+              0.1858638266431788,
+              0.14399086114934428,
+              1.0494216794229012
+            ],
+            "object_minus_finger_midpoint": [
+              0.005136445671968415,
+              0.01205626138962837,
+              0.0
+            ],
+            "finger_gap": 0.02620965568916363,
+            "fingertip_max_gap": 0.09443408102375495,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013104827844581815,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494216794229012,
+            "object_top_z": 1.1014817087366042,
+            "finger_top_clearance": 0.052060029313703016,
+            "fingertip_min_top_clearance": 0.015618008794110905,
+            "object_projection_between_fingers": 0.8463746951339455,
+            "object_to_finger_line_xy": 0.009450918755942297,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049717040511877475,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5687481171734918,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19159471240183543,
+              0.15644184214691342,
+              1.2462617670053713
+            ],
+            "held_position": [
+              0.19578653087011694,
+              0.16024026003930106,
+              1.239819014626927
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00857370274538287,
+            "max_held_gripper_dist": 0.008587508499412878,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006442752378444272,
+            "max_held_gripper_z_dist": 0.006466947901710984,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08613788562567956,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19578653087011694,
+              0.13553700337779007,
+              1.239819014626927
+            ],
+            "held_grasp_finger_b": [
+              0.1870660785068401,
+              0.16024026003930106,
+              1.239819014626927
+            ],
+            "held_grasp_midpoint": [
+              0.19142630468847852,
+              0.14788863170854555,
+              1.239819014626927
+            ],
+            "held_grasp_object_position": [
+              0.19578653087011694,
+              0.16024026003930106,
+              1.239819014626927
+            ],
+            "held_grasp_finger_gap": 0.026197274268607944,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024260677603371018,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04537500420357142,
+              -0.9981019306020369,
+              0.041637064281873415
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038305199568992934,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719422070576882,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31128984780617935,
+              -0.323389063093805,
+              0.8515395647886093
+            ],
+            "target_position": [
+              0.3061261096908303,
+              -0.3238943757897167,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005188403631615217,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18328924123050988,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395647886093,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757476459210694,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08706307107170196,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.150829693417979,
+            "release_required_pad_clearance": 0.05353153553585098,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0748177619912127,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007633388042449951,
+            "max_z_decrease": 0.007633388042449951,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035180497425703554,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007633388042449951,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021152656715999762,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007633388042449951,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007633407814021471,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16182602941989893,
+              -0.3801558315753936,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16182602941989893,
+              -0.3801558315753936,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1634953273027509,
+              -0.3807673204727026,
+              0.808074100917317
+            ],
+            "closest_button": [
+              0.16181641817092896,
+              -0.38016512989997864,
+              0.7729388475418091
+            ],
+            "closest_ee_minus_button": [
+              0.0016789091318219485,
+              -0.0006021905727239818,
+              0.035135253375507935
+            ],
+            "button_min_z_position": [
+              0.16180890798568726,
+              -0.38015878200531006,
+              0.7691754698753357
+            ],
+            "min_active_finger_to_button": 0.1444771452688458,
+            "closest_active_finger": [
+              0.022231988608837128,
+              -0.3654848337173462,
+              0.8110339045524597
+            ],
+            "closest_active_finger_button": [
+              0.16182684898376465,
+              -0.3801577091217041,
+              0.7768048644065857
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13959486037492752,
+              0.01467287540435791,
+              0.03422904014587402
+            ],
+            "min_contact_pad_to_button": 0.021152656715999762,
+            "closest_contact_pad": [
+              0.16180890798568726,
+              -0.38189423409469514,
+              0.7902568145238722
+            ],
+            "closest_contact_pad_button": [
+              0.16180890798568726,
+              -0.38015878200531006,
+              0.7691754698753357
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017354520893850811,
+              0.021081344648536504
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1182615ac8e01546ec589d32ff2a42780cbe092346cc42c113aee59485260487",
+    "visual_seed": 5174438865815516936,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..af0e514aa72552f924fa524da8848fbd3304ced0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19468347989894474,
+              0.1560019464728658,
+              1.0470294689916093
+            ],
+            "current_z": 1.0470294689916093,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18592278216290903,
+            "gripper_z": 1.0534735357126517,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19012066914285133,
+              0.15139007825309586,
+              1.0534735357126517
+            ],
+            "object_minus_gripper": [
+              0.004562810756093411,
+              0.004611868219769943,
+              -0.006444066721042363
+            ],
+            "object_to_gripper_xy": 0.006487570459921472,
+            "object_to_gripper_z": -0.006444066721042363,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19468347989894474,
+              0.1319077051378526,
+              1.0470294689916093
+            ],
+            "finger_b": [
+              0.18321405561411036,
+              0.1560019464728658,
+              1.0470294689916093
+            ],
+            "finger_midpoint": [
+              0.18894876775652755,
+              0.1439548258053592,
+              1.0470294689916093
+            ],
+            "object_minus_finger_midpoint": [
+              0.005734712142417192,
+              0.0120471206675066,
+              0.0
+            ],
+            "finger_gap": 0.026684830127535145,
+            "fingertip_max_gap": 0.09125500609616635,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013342415063767573,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470294689916093,
+            "object_top_z": 1.0972736128617777,
+            "finger_top_clearance": 0.0502441438701684,
+            "fingertip_min_top_clearance": 0.015073243161050553,
+            "object_projection_between_fingers": 0.8152628018421149,
+            "object_to_finger_line_xy": 0.010355961622079357,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04812750304808318,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5222067661126937,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19447860580937992,
+              0.15632466223005165,
+              1.2431620356524467
+            ],
+            "held_position": [
+              0.19929015359479463,
+              0.160493779843161,
+              1.236579619380485
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009157550859299295,
+            "max_held_gripper_dist": 0.009173340069580586,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006582416271961655,
+            "max_held_gripper_z_dist": 0.006607292246382013,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08623378285642616,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19929015359479463,
+              0.13552881341347894,
+              1.236579619380485
+            ],
+            "held_grasp_finger_b": [
+              0.18976961576035972,
+              0.160493779843161,
+              1.236579619380485
+            ],
+            "held_grasp_midpoint": [
+              0.19452988467757718,
+              0.14801129662831997,
+              1.236579619380485
+            ],
+            "held_grasp_object_position": [
+              0.19929015359479463,
+              0.160493779843161,
+              1.236579619380485
+            ],
+            "held_grasp_finger_gap": 0.02671872357527691,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024281975521784974,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06554469588966384,
+              -0.9976378838321656,
+              0.02055591359219988
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003940444760367909,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0369552415521385,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31461791543563394,
+              -0.31562185645564383,
+              0.851539591600756
+            ],
+            "target_position": [
+              0.30679086731661526,
+              -0.31803710328099416,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008191220878770075,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18594938212551218,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539591600756,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562265353646269,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515879800508762,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15408978056425052,
+            "release_required_pad_clearance": 0.05257939900254381,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22381165106219947,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007471740245819092,
+            "max_z_decrease": 0.007471740245819092,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035202670569014785,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007471740245819092,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021254984882008526,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007471740245819092,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007471759485475164,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16249080002307892,
+              -0.3742985725402832,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16249080002307892,
+              -0.3742985725402832,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16422647464351062,
+              -0.3757189147125295,
+              0.8081371665909461
+            ],
+            "closest_button": [
+              0.16248503327369693,
+              -0.37430834770202637,
+              0.7730059027671814
+            ],
+            "closest_ee_minus_button": [
+              0.00174144136981369,
+              -0.0014105670105031276,
+              0.03513126382376475
+            ],
+            "button_min_z_position": [
+              0.162474200129509,
+              -0.3743020296096801,
+              0.7693371176719666
+            ],
+            "min_active_finger_to_button": 0.14435159796828073,
+            "closest_active_finger": [
+              0.02298571914434433,
+              -0.36010846495628357,
+              0.8105356693267822
+            ],
+            "closest_active_finger_button": [
+              0.1624927818775177,
+              -0.3743013441562652,
+              0.7762759923934937
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13950706273317337,
+              0.014192879199981634,
+              0.034259676933288574
+            ],
+            "min_contact_pad_to_button": 0.021254984882008526,
+            "closest_contact_pad": [
+              0.162474200129509,
+              -0.3769094221162313,
+              0.7904315692327726
+            ],
+            "closest_contact_pad_button": [
+              0.162474200129509,
+              -0.3743020296096801,
+              0.7693371176719666
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002607392506551176,
+              0.021094451560806027
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bbc56391edb886a0832a96d38649455861ec22077cbe5819903611c87229a32c",
+    "visual_seed": 8473860494714973755,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..418a85a64d4dadbe05cdd8baa5cde723286895d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18791493846908122,
+              0.15097497712418306,
+              1.04920541663083
+            ],
+            "current_z": 1.04920541663083,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18809890861606382,
+            "gripper_z": 1.0556643238071968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1837451626655618,
+              0.14660880600749515,
+              1.0556643238071968
+            ],
+            "object_minus_gripper": [
+              0.004169775803519432,
+              0.004366171116687911,
+              -0.006458907176366768
+            ],
+            "object_to_gripper_xy": 0.006037423330512437,
+            "object_to_gripper_z": -0.006458907176366768,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18791493846908122,
+              0.1270797692061996,
+              1.04920541663083
+            ],
+            "finger_b": [
+              0.1769035736773753,
+              0.15097497712418306,
+              1.04920541663083
+            ],
+            "finger_midpoint": [
+              0.18240925607322828,
+              0.13902737316519131,
+              1.04920541663083
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055056823958529455,
+              0.011947603958991748,
+              0.0
+            ],
+            "finger_gap": 0.026310285365607127,
+            "fingertip_max_gap": 0.09352053863477491,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01315514268280357,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04920541663083,
+            "object_top_z": 1.1003936151716724,
+            "finger_top_clearance": 0.051188198540842444,
+            "fingertip_min_top_clearance": 0.015356459562252749,
+            "object_projection_between_fingers": 0.8248415135205024,
+            "object_to_finger_line_xy": 0.010000608032268836,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926026931738746,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3269546212698522,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1880814553951373,
+              0.15191166625573516,
+              1.2477452265705333
+            ],
+            "held_position": [
+              0.19249241262166758,
+              0.1558778841522134,
+              1.2411743051973314
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008852368934326333,
+            "max_held_gripper_dist": 0.008865543548664964,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006570921373201921,
+            "max_held_gripper_z_dist": 0.006596147061818103,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08568567540800402,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19249241262166758,
+              0.1311650613467796,
+              1.2411743051973314
+            ],
+            "held_grasp_finger_b": [
+              0.18327368474486067,
+              0.1558778841522134,
+              1.2411743051973314
+            ],
+            "held_grasp_midpoint": [
+              0.1878830486832641,
+              0.1435214727494965,
+              1.2411743051973314
+            ],
+            "held_grasp_object_position": [
+              0.19249241262166758,
+              0.1558778841522134,
+              1.2411743051973314
+            ],
+            "held_grasp_finger_gap": 0.026376287734997617,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02420134967779319,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05080990419793888,
+              -0.9982571619708409,
+              0.03001653226671308
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003993172797111939,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03715117255095104,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3112189564240998,
+              -0.32090557752158244,
+              0.851539571264399
+            ],
+            "target_position": [
+              0.30467391723776166,
+              -0.3225752146244257,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00675464477273917,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1813409582671691,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539571264399,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577256866632227,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860261470694808,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14904581072262346,
+            "release_required_pad_clearance": 0.0530130735347404,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0586824984481888,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007373034954071045,
+            "max_z_decrease": 0.007373034954071045,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513194373528806,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007373034954071045,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021143488657232215,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007373034954071045,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007373059798407863,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16037383675575254,
+              -0.3788366615772247,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16037383675575254,
+              -0.3788366615772247,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15951555353200897,
+              -0.3790431856774693,
+              0.8082260957264722
+            ],
+            "closest_button": [
+              0.16036693751811976,
+              -0.3788456320762634,
+              0.7731050252914429
+            ],
+            "closest_ee_minus_button": [
+              -0.0008513839861107875,
+              -0.00019755360120587984,
+              0.03512107043502932
+            ],
+            "button_min_z_position": [
+              0.16035501658916468,
+              -0.37884014844894404,
+              0.7694358229637146
+            ],
+            "min_active_finger_to_button": 0.14698120039945575,
+            "closest_active_finger": [
+              0.018555402755737305,
+              -0.36109066009521484,
+              0.8106772899627686
+            ],
+            "closest_active_finger_button": [
+              0.16037529706954953,
+              -0.37883919477462763,
+              0.776390552520752
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14181989431381223,
+              0.017748534679412786,
+              0.0342867374420166
+            ],
+            "min_contact_pad_to_button": 0.021143488657232215,
+            "closest_contact_pad": [
+              0.16035501658916468,
+              -0.3804850257061178,
+              0.7905152321444137
+            ],
+            "closest_contact_pad_button": [
+              0.16035501658916468,
+              -0.37884014844894404,
+              0.7694358229637146
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016448772571737713,
+              0.02107940918069906
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9aa3fbb1ca742002653c5b109fae8eaa7323a0e176d9a425f587ce8032ee82f7",
+    "visual_seed": 7307179825834894701,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d420824e563e1df06111e0ab47de52452bf1e53
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18824222411961078,
+              0.1533298355009277,
+              1.0482677181410263
+            ],
+            "current_z": 1.0482677181410263,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1871609717076811,
+            "gripper_z": 1.0546906474777007,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18409100083985502,
+              0.14909857645638458,
+              1.0546906474777007
+            ],
+            "object_minus_gripper": [
+              0.004151223279755756,
+              0.004231259044543134,
+              -0.006422929336674432
+            ],
+            "object_to_gripper_xy": 0.005927580266889197,
+            "object_to_gripper_z": -0.006422929336674432,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18824222411961078,
+              0.1291844900805625,
+              1.0482677181410263
+            ],
+            "finger_b": [
+              0.17777105736000756,
+              0.1533298355009277,
+              1.0482677181410263
+            ],
+            "finger_midpoint": [
+              0.18300664073980916,
+              0.1412571627907451,
+              1.0482677181410263
+            ],
+            "object_minus_finger_midpoint": [
+              0.005235583379801623,
+              0.012072672710182614,
+              0.0
+            ],
+            "finger_gap": 0.02631811237106817,
+            "fingertip_max_gap": 0.09258058281595535,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01315905618553409,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482677181410263,
+            "object_top_z": 1.0990121989973545,
+            "finger_top_clearance": 0.05074448085632821,
+            "fingertip_min_top_clearance": 0.015223344256898462,
+            "object_projection_between_fingers": 0.8417000862361205,
+            "object_to_finger_line_xy": 0.009606689674401002,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879029140797768,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9570046928942285,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1883289736373339,
+              0.15427894653897634,
+              1.2447191575803338
+            ],
+            "held_position": [
+              0.19261539918701234,
+              0.15821076742893625,
+              1.2381696400540285
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008759499947545034,
+            "max_held_gripper_dist": 0.008772207414170488,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006549517526305282,
+            "max_held_gripper_z_dist": 0.006573628352332994,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08572124960700737,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19261539918701234,
+              0.13351759852266,
+              1.2381696400540285
+            ],
+            "held_grasp_finger_b": [
+              0.1835630655778858,
+              0.15821076742893625,
+              1.2381696400540285
+            ],
+            "held_grasp_midpoint": [
+              0.18808923238244907,
+              0.14586418297579812,
+              1.2381696400540285
+            ],
+            "held_grasp_object_position": [
+              0.19261539918701234,
+              0.15821076742893625,
+              1.2381696400540285
+            ],
+            "held_grasp_finger_gap": 0.026300139436984164,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02434529067650205,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03595997746350786,
+              -0.9990946274541476,
+              0.02273335463767279
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004089028487405716,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037222083019267695,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31791669037651005,
+              -0.3238512567229287,
+              0.8515395452871415
+            ],
+            "target_position": [
+              0.31127323794971434,
+              -0.32561025913024577,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006872375834894728,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18370269257931934,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395452871415,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553007077493155,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627894214751329,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15192824941193728,
+            "release_required_pad_clearance": 0.05313947107375665,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3044420620742532,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007583737373352051,
+            "max_z_decrease": 0.007583737373352051,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516104730686739,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007583737373352051,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02121426908108883,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007583737373352051,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075837626806689595,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1669731587171554,
+              -0.38187173008918757,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1669731587171554,
+              -0.38187173008918757,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16783782276994744,
+              -0.38313699604874607,
+              0.8082285358676797
+            ],
+            "closest_button": [
+              0.1669690161943435,
+              -0.38188090920448303,
+              0.7731006741523743
+            ],
+            "closest_ee_minus_button": [
+              0.0008688065756039254,
+              -0.001256086844263038,
+              0.035127861715305464
+            ],
+            "button_min_z_position": [
+              0.1669537723064422,
+              -0.38187456130981445,
+              0.7692251205444336
+            ],
+            "min_active_finger_to_button": 0.145223775377921,
+            "closest_active_finger": [
+              0.026519976556301117,
+              -0.36820557713508606,
+              0.8107096552848816
+            ],
+            "closest_active_finger_button": [
+              0.1669753193855285,
+              -0.3818751573562622,
+              0.7764257788658142
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1404553428292274,
+              0.013669580221176147,
+              0.03428387641906738
+            ],
+            "min_contact_pad_to_button": 0.02121426908108883,
+            "closest_contact_pad": [
+              0.1669537723064422,
+              -0.3842264298272865,
+              0.7903086194741977
+            ],
+            "closest_contact_pad_button": [
+              0.1669537723064422,
+              -0.38187456130981445,
+              0.7692251205444336
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023518685174720444,
+              0.021083498929764133
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b6b617ad927e5aeabff066a818ffa83be86acdb384e7b35061eac3b4e859483f",
+    "visual_seed": 8332144574124161005,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03f630360fffd6bcdacd56422544a45afcfe310f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1916750766541791,
+              0.1590666175743855,
+              1.0464396628365096
+            ],
+            "current_z": 1.0464396628365096,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18533303561245396,
+            "gripper_z": 1.0528550275710598,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18748446545282263,
+              0.15473354640735576,
+              1.0528550275710598
+            ],
+            "object_minus_gripper": [
+              0.00419061120135647,
+              0.004333071167029745,
+              -0.006415364734550177
+            ],
+            "object_to_gripper_xy": 0.006027995353306009,
+            "object_to_gripper_z": -0.006415364734550177,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1916750766541791,
+              0.13515142966698296,
+              1.0464396628365096
+            ],
+            "finger_b": [
+              0.18071144793612032,
+              0.1590666175743855,
+              1.0464396628365096
+            ],
+            "finger_midpoint": [
+              0.1861932622951497,
+              0.14710902362068423,
+              1.0464396628365096
+            ],
+            "object_minus_finger_midpoint": [
+              0.005481814359029391,
+              0.011957593953701273,
+              0.0
+            ],
+            "finger_gap": 0.026308503707239153,
+            "fingertip_max_gap": 0.09260928438272548,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013154251853619577,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464396628365096,
+            "object_top_z": 1.0973530492392682,
+            "finger_top_clearance": 0.050913386402758665,
+            "fingertip_min_top_clearance": 0.015274015920827631,
+            "object_projection_between_fingers": 0.8263333835970399,
+            "object_to_finger_line_xy": 0.009966254404169081,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880464219136274,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8802677663461771,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19179384661259213,
+              0.15974348254288456,
+              1.2414346969210357
+            ],
+            "held_position": [
+              0.1961802146692912,
+              0.16369357913251145,
+              1.2348754259082697
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00882425770334956,
+            "max_held_gripper_dist": 0.008839357888473502,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006559271012765988,
+            "max_held_gripper_z_dist": 0.006584901480685801,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08596470748724776,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1961802146692912,
+              0.13895329035066437,
+              1.2348754259082697
+            ],
+            "held_grasp_finger_b": [
+              0.18709165752434043,
+              0.16369357913251145,
+              1.2348754259082697
+            ],
+            "held_grasp_midpoint": [
+              0.1916359360968158,
+              0.1513234347415879,
+              1.2348754259082697
+            ],
+            "held_grasp_object_position": [
+              0.1961802146692912,
+              0.16369357913251145,
+              1.2348754259082697
+            ],
+            "held_grasp_finger_gap": 0.026356854136755863,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02417421762478484,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05695658902134623,
+              -0.9980429515844701,
+              0.02581111697723537
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038458957671784204,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03711548804360066,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3095721958448219,
+              -0.32228776844919815,
+              0.8515395997075907
+            ],
+            "target_position": [
+              0.30313971121313943,
+              -0.3238352281936038,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006616002584445289,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1832415991630098,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395997075907,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555829694908979,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537597357337982,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1514817374972367,
+            "release_required_pad_clearance": 0.052687986786689914,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4315999719922518,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007467210292816162,
+            "max_z_decrease": 0.007467210292816162,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515597769305274,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007467210292816162,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021088972100861893,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007467210292816162,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074672342795804696,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15883964300155637,
+              -0.38009667396545405,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15883964300155637,
+              -0.38009667396545405,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15970488417952292,
+              -0.3793802623471239,
+              0.8082011660542658
+            ],
+            "closest_button": [
+              0.15883082151412964,
+              -0.3801055550575256,
+              0.7730635404586792
+            ],
+            "closest_ee_minus_button": [
+              0.000874062665393277,
+              0.0007252927104016704,
+              0.03513762559558664
+            ],
+            "button_min_z_position": [
+              0.15882095694541926,
+              -0.3800996840000152,
+              0.7693416476249695
+            ],
+            "min_active_finger_to_button": 0.14506394674203174,
+            "closest_active_finger": [
+              0.03214425593614578,
+              -0.4419456720352173,
+              0.8104919195175171
+            ],
+            "closest_active_finger_button": [
+              0.1588407903909683,
+              -0.3800994455814361,
+              0.776336669921875
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1266965344548225,
+              -0.06184622645378118,
+              0.03415524959564209
+            ],
+            "min_contact_pad_to_button": 0.021088972100861893,
+            "closest_contact_pad": [
+              0.15882095694541926,
+              -0.38065123128093986,
+              0.7904234060873899
+            ],
+            "closest_contact_pad_button": [
+              0.15882095694541926,
+              -0.3800996840000152,
+              0.7693416476249695
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000551547280924658,
+              0.02108175846242044
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e54f7672448c00d42ea5ee658b1be8bee562ed6eb2a982cadd17b07006bc29c6",
+    "visual_seed": 2625391351300682562,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d69f9c53869171695c65b8d436159110ec5e298
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18647277384450822,
+              0.1537810329398462,
+              1.0471462044658906
+            ],
+            "current_z": 1.0471462044658906,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18603963684647984,
+            "gripper_z": 1.0536985194131145,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18271852098341654,
+              0.1497562998682347,
+              1.0536985194131145
+            ],
+            "object_minus_gripper": [
+              0.0037542528610916837,
+              0.004024733071611525,
+              -0.0065523149472239695
+            ],
+            "object_to_gripper_xy": 0.005503897786363645,
+            "object_to_gripper_z": -0.0065523149472239695,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18647277384450822,
+              0.12989795561008705,
+              1.0471462044658906
+            ],
+            "finger_b": [
+              0.17631744334493515,
+              0.1537810329398462,
+              1.0471462044658906
+            ],
+            "finger_midpoint": [
+              0.1813951085947217,
+              0.14183949427496662,
+              1.0471462044658906
+            ],
+            "object_minus_finger_midpoint": [
+              0.005077665249786534,
+              0.011941538664879597,
+              0.0
+            ],
+            "finger_gap": 0.02595249738069181,
+            "fingertip_max_gap": 0.09727624558213657,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012976248690345917,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471462044658906,
+            "object_top_z": 1.1005833117587267,
+            "finger_top_clearance": 0.05343710729283613,
+            "fingertip_min_top_clearance": 0.016031132187850853,
+            "object_projection_between_fingers": 0.8468807434003043,
+            "object_to_finger_line_xy": 0.009345557002580062,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05113812279106829,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.408034694495398,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1870577021311959,
+              0.1550306473557862,
+              1.2413232476686882
+            ],
+            "held_position": [
+              0.1909329112108811,
+              0.15876505831009502,
+              1.2346338626685116
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008585507688396977,
+            "max_held_gripper_dist": 0.008600040769800622,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006689385000176573,
+            "max_held_gripper_z_dist": 0.006711488267310939,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08581205054116228,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1909329112108811,
+              0.13423360838147413,
+              1.2346338626685116
+            ],
+            "held_grasp_finger_b": [
+              0.18236607436356028,
+              0.15876505831009502,
+              1.2346338626685116
+            ],
+            "held_grasp_midpoint": [
+              0.1866494927872207,
+              0.14649933334578458,
+              1.2346338626685116
+            ],
+            "held_grasp_object_position": [
+              0.1909329112108811,
+              0.15876505831009502,
+              1.2346338626685116
+            ],
+            "held_grasp_finger_gap": 0.025984278500067064,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024167564441151153,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0367524717722508,
+              -0.9980012164709479,
+              0.051408440368662656
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038819506834158394,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03732161542011085,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3072289575519075,
+              -0.31995204596274157,
+              0.8515396066664035
+            ],
+            "target_position": [
+              0.3038682191396785,
+              -0.3197147573437892,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0033691050093631473,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1809444617908029,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396066664035,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568930796000456,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08672376197680885,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14837869784253718,
+            "release_required_pad_clearance": 0.05336188098840443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7399632860599434,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007748961448669434,
+            "max_z_decrease": 0.007748961448669434,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035169535057475235,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007748961448669434,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021075136485767934,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007748961448669434,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007748981291618887,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15956814587116241,
+              -0.37597620487213135,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15956814587116241,
+              -0.37597620487213135,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16077664457911592,
+              -0.37533043852890596,
+              0.8078306661030601
+            ],
+            "closest_button": [
+              0.15955787897109985,
+              -0.375983864068985,
+              0.7726883292198181
+            ],
+            "closest_ee_minus_button": [
+              0.0012187656080160647,
+              0.0006534255400790223,
+              0.035142336883241976
+            ],
+            "button_min_z_position": [
+              0.15955081582069403,
+              -0.3759788870811462,
+              0.7690598964691162
+            ],
+            "min_active_finger_to_button": 0.14477282750433138,
+            "closest_active_finger": [
+              0.034229256212711334,
+              -0.43989577889442444,
+              0.8105757832527161
+            ],
+            "closest_active_finger_button": [
+              0.15956878662109375,
+              -0.3759792149066925,
+              0.776460587978363
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12533953040838242,
+              -0.06391656398773193,
+              0.03411519527435303
+            ],
+            "min_contact_pad_to_button": 0.021075136485767934,
+            "closest_contact_pad": [
+              0.15955081582069403,
+              -0.37635976405002164,
+              0.7901315910053496
+            ],
+            "closest_contact_pad_button": [
+              0.15955081582069403,
+              -0.3759788870811462,
+              0.7690598964691162
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003808769688754543,
+              0.021071694536233365
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b0d9c7d90fb8524bd1e88eee3fa535a9aff282fb7a3a966473902bfb575a7b1b",
+    "visual_seed": 3735913760001426925,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eac92c223d6f334d3a5f5c47dce14e1a8f66de7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18647288383500546,
+              0.15951694541245068,
+              1.046620932650482
+            ],
+            "current_z": 1.046620932650482,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.18551430542642666,
+            "gripper_z": 1.0532132216424164,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1822608327631223,
+              0.1550826513893882,
+              1.0532132216424164
+            ],
+            "object_minus_gripper": [
+              0.0042120510718831605,
+              0.004434294023062474,
+              -0.006592288991934314
+            ],
+            "object_to_gripper_xy": 0.006115908576419342,
+            "object_to_gripper_z": -0.006592288991934314,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18647288383500546,
+              0.13567849475934593,
+              1.046620932650482
+            ],
+            "finger_b": [
+              0.17525240106781292,
+              0.15951694541245068,
+              1.046620932650482
+            ],
+            "finger_midpoint": [
+              0.1808626424514092,
+              0.1475977200858983,
+              1.046620932650482
+            ],
+            "object_minus_finger_midpoint": [
+              0.005610241383596254,
+              0.011919225326552374,
+              0.0
+            ],
+            "finger_gap": 0.026347124379510086,
+            "fingertip_max_gap": 0.09188124992525193,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013173562189755038,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046620932650482,
+            "object_top_z": 1.0969791788372905,
+            "finger_top_clearance": 0.0503582461868084,
+            "fingertip_min_top_clearance": 0.015107473856042553,
+            "object_projection_between_fingers": 0.8186336792709056,
+            "object_to_finger_line_xy": 0.010152110753982225,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844062496262597,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9032296582267804,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.186499534122324,
+              0.16027374818749657,
+              1.241409763140274
+            ],
+            "held_position": [
+              0.19091596303159983,
+              0.16429934044187847,
+              1.2346635067602083
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009012336681172357,
+            "max_held_gripper_dist": 0.009027493337029343,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006746256380065763,
+            "max_held_gripper_z_dist": 0.0067727007177451615,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08567418917325598,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19091596303159983,
+              0.1395211764521184,
+              1.2346635067602083
+            ],
+            "held_grasp_finger_b": [
+              0.1817428147678438,
+              0.16429934044187847,
+              1.2346635067602083
+            ],
+            "held_grasp_midpoint": [
+              0.1863293888997218,
+              0.15191025844699843,
+              1.2346635067602083
+            ],
+            "held_grasp_object_position": [
+              0.19091596303159983,
+              0.16429934044187847,
+              1.2346635067602083
+            ],
+            "held_grasp_finger_gap": 0.026421658914085867,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024192375026501515,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05865416207891905,
+              -0.9980730760260531,
+              0.02024411476731902
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038603401492549325,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037086019231808,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3174566353127052,
+              -0.32125298440038697,
+              0.8515395595947772
+            ],
+            "target_position": [
+              0.31005072977708237,
+              -0.32346241135809756,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007728454197575795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831439561882154,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395595947772,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554386057281548,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496536115925456,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15158154354824752,
+            "release_required_pad_clearance": 0.05248268057962728,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956467226667262,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007860958576202393,
+            "max_z_decrease": 0.007860958576202393,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0352560505715207,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007860958576202393,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021223391545165397,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007860958576202393,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007860982168170442,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16575065255165097,
+              -0.3797238767147064,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16575065255165097,
+              -0.3797238767147064,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16832148446472872,
+              -0.38118505742483816,
+              0.8078790941164824
+            ],
+            "closest_button": [
+              0.16574108600616455,
+              -0.3797334730625152,
+              0.7727475762367249
+            ],
+            "closest_ee_minus_button": [
+              0.0025803984585641704,
+              -0.0014515843623229552,
+              0.035131517879757546
+            ],
+            "button_min_z_position": [
+              0.16573159396648404,
+              -0.3797266483306885,
+              0.7689478993415833
+            ],
+            "min_active_finger_to_button": 0.14353997978290112,
+            "closest_active_finger": [
+              0.02691037207841873,
+              -0.36731934547424316,
+              0.8108338117599487
+            ],
+            "closest_active_finger_button": [
+              0.16575321555137632,
+              -0.37972557544708246,
+              0.7765923738479614
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13884284347295758,
+              0.0124062299728393,
+              0.034241437911987305
+            ],
+            "min_contact_pad_to_button": 0.021223391545165397,
+            "closest_contact_pad": [
+              0.16573159396648404,
+              -0.3821713921950383,
+              0.7900300144185181
+            ],
+            "closest_contact_pad_button": [
+              0.16573159396648404,
+              -0.3797266483306885,
+              0.7689478993415833
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002444743864349841,
+              0.021082115076934804
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a44e33797ace0c6d1c6a27400eae979702dfd71a1f70f6d3fbc980cdbfd5c569",
+    "visual_seed": 299003105792964716,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c0e581382a20e599b3643d1e78f0dfa333a40b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1920719900686667,
+              0.1513358861833023,
+              1.04902273979746
+            ],
+            "current_z": 1.04902273979746,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18791611257340457,
+            "gripper_z": 1.0556650872563342,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18794856216809147,
+              0.147073963299032,
+              1.0556650872563342
+            ],
+            "object_minus_gripper": [
+              0.004123427900575238,
+              0.004261922884270297,
+              -0.006642347458874154
+            ],
+            "object_to_gripper_xy": 0.0059301470742899095,
+            "object_to_gripper_z": -0.006642347458874154,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1920719900686667,
+              0.12730194691532015,
+              1.04902273979746
+            ],
+            "finger_b": [
+              0.1814305633147786,
+              0.1513358861833023,
+              1.04902273979746
+            ],
+            "finger_midpoint": [
+              0.18675127669172265,
+              0.13931891654931122,
+              1.04902273979746
+            ],
+            "object_minus_finger_midpoint": [
+              0.005320713376944064,
+              0.01201696963399107,
+              0.0
+            ],
+            "finger_gap": 0.02628440982969599,
+            "fingertip_max_gap": 0.09461844163345862,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013142204914848002,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04902273979746,
+            "object_top_z": 1.1011703438807607,
+            "finger_top_clearance": 0.05214760408330066,
+            "fingertip_min_top_clearance": 0.015644281224990196,
+            "object_projection_between_fingers": 0.8360908266954844,
+            "object_to_finger_line_xy": 0.009730308041334663,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04980922081672931,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.513294341744016,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1922712461542805,
+              0.15237379774546234,
+              1.246588157695888
+            ],
+            "held_position": [
+              0.19657940073519423,
+              0.15629883055802463,
+              1.2398312273066578
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008923126512475295,
+            "max_held_gripper_dist": 0.008935714081326374,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006756930389230087,
+            "max_held_gripper_z_dist": 0.006782942857949781,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08566477420589821,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19657940073519423,
+              0.13161661238372824,
+              1.2398312273066578
+            ],
+            "held_grasp_finger_b": [
+              0.1874850556097988,
+              0.15629883055802463,
+              1.2398312273066578
+            ],
+            "held_grasp_midpoint": [
+              0.19203222817249652,
+              0.14395772147087643,
+              1.2398312273066578
+            ],
+            "held_grasp_object_position": [
+              0.19657940073519423,
+              0.15629883055802463,
+              1.2398312273066578
+            ],
+            "held_grasp_finger_gap": 0.02630435338994993,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024198028815237964,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04804614274735794,
+              -0.9980860247390919,
+              0.038933987563789185
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003978616997615511,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037184287458387595,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30924982381312777,
+              -0.31511154834178146,
+              0.8515395624447736
+            ],
+            "target_position": [
+              0.30386612360517695,
+              -0.3162163460856127,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005495889917371371,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18396937006197772,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395624447736,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754106610908868,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510954995224028,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15233295271063432,
+            "release_required_pad_clearance": 0.05255477497612014,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1769386528954529,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00743025541305542,
+            "max_z_decrease": 0.00743025541305542,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514165070872959,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00743025541305542,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108656226801822,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00743025541305542,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007430272654161483,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1595660448074341,
+              -0.3724777996540069,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1595660448074341,
+              -0.3724777996540069,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1595379789160096,
+              -0.3723269280998268,
+              0.8081356245872643
+            ],
+            "closest_button": [
+              0.15955494344234472,
+              -0.3724863231182098,
+              0.772994339466095
+            ],
+            "closest_ee_minus_button": [
+              -1.6964526335122576e-05,
+              0.00015939501838296843,
+              0.03514128512116932
+            ],
+            "button_min_z_position": [
+              0.1595502495765686,
+              -0.3724803924560546,
+              0.7693786025047302
+            ],
+            "min_active_finger_to_button": 0.1460626813048993,
+            "closest_active_finger": [
+              0.03293726593255997,
+              -0.43678513169288635,
+              0.8109310269355774
+            ],
+            "closest_active_finger_button": [
+              0.15956562757492068,
+              -0.37247943878173817,
+              0.7768085598945618
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12662836164236072,
+              -0.06430569291114818,
+              0.034122467041015625
+            ],
+            "min_contact_pad_to_button": 0.02108656226801822,
+            "closest_contact_pad": [
+              0.1595502495765686,
+              -0.3733822053114149,
+              0.7904458719494617
+            ],
+            "closest_contact_pad_button": [
+              0.1595502495765686,
+              -0.3724803924560546,
+              0.7693786025047302
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00090181285536034,
+              0.021067269444731473
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac88c8220d8ca8856d2d65746f06ca5873c810b130159215517b4ea890f62f6d",
+    "visual_seed": 2300081453826066854,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a48e0f97996ff818699df3ce53b74368a1cae31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19413667507383658,
+              0.15591241201589356,
+              1.0482720285963922
+            ],
+            "current_z": 1.0482720285963922,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1871652821630473,
+            "gripper_z": 1.0546635280259387,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1896756994304374,
+              0.15138500864947074,
+              1.0546635280259387
+            ],
+            "object_minus_gripper": [
+              0.004460975643399173,
+              0.004527403366422822,
+              -0.006391499429546421
+            ],
+            "object_to_gripper_xy": 0.0063559173164302075,
+            "object_to_gripper_z": -0.006391499429546421,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19413667507383658,
+              0.13191405665292733,
+              1.0482720285963922
+            ],
+            "finger_b": [
+              0.18275293068472587,
+              0.15591241201589356,
+              1.0482720285963922
+            ],
+            "finger_midpoint": [
+              0.18844480287928123,
+              0.14391323433441044,
+              1.0482720285963922
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056918721945553585,
+              0.01199917768148312,
+              0.0
+            ],
+            "finger_gap": 0.026561451324124217,
+            "fingertip_max_gap": 0.09282092342990866,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013280725662062108,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482720285963922,
+            "object_top_z": 1.0994042988611687,
+            "finger_top_clearance": 0.051132270264776514,
+            "fingertip_min_top_clearance": 0.015339681079432954,
+            "object_projection_between_fingers": 0.8163179708403911,
+            "object_to_finger_line_xy": 0.010285249095667014,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048910461714954334,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9509600016469033,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19408151855527064,
+              0.1561753236255149,
+              1.2452927656962238
+            ],
+            "held_position": [
+              0.19880884374821467,
+              0.160253619283798,
+              1.2387750278408274
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009025575090146995,
+            "max_held_gripper_dist": 0.0090388005232341,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006517737855396444,
+            "max_held_gripper_z_dist": 0.006545336471320162,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0863802184021063,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19880884374821467,
+              0.13536356577550487,
+              1.2387750278408274
+            ],
+            "held_grasp_finger_b": [
+              0.1893909444970362,
+              0.160253619283798,
+              1.2387750278408274
+            ],
+            "held_grasp_midpoint": [
+              0.19409989412262543,
+              0.14780859252965145,
+              1.2387750278408274
+            ],
+            "held_grasp_object_position": [
+              0.19880884374821467,
+              0.160253619283798,
+              1.2387750278408274
+            ],
+            "held_grasp_finger_gap": 0.026612245112937073,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024196695398032524,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0665467526902838,
+              -0.9973231275735017,
+              0.03030031210049178
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003889123224823439,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699517175874862,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31601485004254376,
+              -0.32008641503599966,
+              0.8515395648182236
+            ],
+            "target_position": [
+              0.3088162989406274,
+              -0.32202442054154057,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007454864405635298,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841179599732279,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395648182236,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526285402085958,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588415908795254,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530436948230682,
+            "release_required_pad_clearance": 0.05294207954397627,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.921103622638301,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00752788782119751,
+            "max_z_decrease": 0.00752788782119751,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513433371068437,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00752788782119751,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021097223767373652,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00752788782119751,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007527910291377529,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1645162254571914,
+              -0.3782858848571778,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1645162254571914,
+              -0.3782858848571778,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16407457870417175,
+              -0.37788306378177206,
+              0.8081039334708289
+            ],
+            "closest_button": [
+              0.16451072692871094,
+              -0.37829563021659857,
+              0.7729747295379639
+            ],
+            "closest_ee_minus_button": [
+              -0.0004361482245391901,
+              0.00041256643482651123,
+              0.035129203932865005
+            ],
+            "button_min_z_position": [
+              0.16449806094169614,
+              -0.3782887756824494,
+              0.7692809700965881
+            ],
+            "min_active_finger_to_button": 0.14635365679495344,
+            "closest_active_finger": [
+              0.036860138177871704,
+              -0.4411633014678955,
+              0.8104419708251953
+            ],
+            "closest_active_finger_button": [
+              0.16451850533485413,
+              -0.3782885372638703,
+              0.776244044303894
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12765836715698242,
+              -0.06287476420402521,
+              0.03419792652130127
+            ],
+            "min_contact_pad_to_button": 0.021097223767373652,
+            "closest_contact_pad": [
+              0.16449806094169614,
+              -0.3790828928475354,
+              0.7903632429488864
+            ],
+            "closest_contact_pad_button": [
+              0.16449806094169614,
+              -0.3782887756824494,
+              0.7692809700965881
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007941171650859835,
+              0.021082272852298245
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "02298d8649f5e6d22181943bffbf6869048a8b5cf3219b396dfbf0d94ee5ebee",
+    "visual_seed": 1033087586664289766,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e15fed92cf66a0adca49194d3de99f561b95fe7a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1903735494468313,
+              0.15380929389562498,
+              1.046822916443097
+            ],
+            "current_z": 1.046822916443097,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18571622961439682,
+            "gripper_z": 1.0533013593971465,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18625782477827532,
+              0.14951363306961535,
+              1.0533013593971465
+            ],
+            "object_minus_gripper": [
+              0.004115724668555976,
+              0.0042956608260096285,
+              -0.006478442954049424
+            ],
+            "object_to_gripper_xy": 0.00594910846089344,
+            "object_to_gripper_z": -0.006478442954049424,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1903735494468313,
+              0.12994715452421543,
+              1.046822916443097
+            ],
+            "finger_b": [
+              0.17946152035287521,
+              0.15380929389562498,
+              1.046822916443097
+            ],
+            "finger_midpoint": [
+              0.18491753489985324,
+              0.1418782242099202,
+              1.046822916443097
+            ],
+            "object_minus_finger_midpoint": [
+              0.005456014546978055,
+              0.011931069685704787,
+              0.0
+            ],
+            "finger_gap": 0.02623878949814411,
+            "fingertip_max_gap": 0.09394880197810071,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013119394749072073,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046822916443097,
+            "object_top_z": 1.09851892602988,
+            "finger_top_clearance": 0.05169600958678289,
+            "fingertip_min_top_clearance": 0.01550880287603485,
+            "object_projection_between_fingers": 0.8270488557414724,
+            "object_to_finger_line_xy": 0.009923642212354077,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04947440098905036,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.327278259501957,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19070498988326615,
+              0.1544376681268227,
+              1.242912593214493
+            ],
+            "held_position": [
+              0.19503337183525327,
+              0.15833266693404943,
+              1.2362964945167287
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008813550249992612,
+            "max_held_gripper_dist": 0.00882790697062798,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006616098697764361,
+            "max_held_gripper_z_dist": 0.006640134419659827,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08582747585281912,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19503337183525327,
+              0.13360355058802348,
+              1.2362964945167287
+            ],
+            "held_grasp_finger_b": [
+              0.18606397885235296,
+              0.15833266693404943,
+              1.2362964945167287
+            ],
+            "held_grasp_midpoint": [
+              0.1905486753438031,
+              0.14596810876103644,
+              1.2362964945167287
+            ],
+            "held_grasp_object_position": [
+              0.19503337183525327,
+              0.15833266693404943,
+              1.2362964945167287
+            ],
+            "held_grasp_finger_gap": 0.026305497633327322,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024137741463155022,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05933996544377927,
+              -0.997608834364053,
+              0.035431371691293845
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003769180590220344,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03711913586886057,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30938098890711235,
+              -0.3219037992376925,
+              0.8515395043469096
+            ],
+            "target_position": [
+              0.30375353126791516,
+              -0.3229729844880401,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005728126795080549,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18246694952895295,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395043469096,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569714726324075,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515866000891802,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15019497016356415,
+            "release_required_pad_clearance": 0.05257933000445901,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2238116738034753,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007528543472290039,
+            "max_z_decrease": 0.007528543472290039,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520279507393068,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007528543472290039,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021277988313139404,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007528543472290039,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075285687262285714,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1594534516334533,
+              -0.3792344331741333,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1594534516334533,
+              -0.3792344331741333,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1612404650009482,
+              -0.38068015599831945,
+              0.8080940661253506
+            ],
+            "closest_button": [
+              0.1594485342502594,
+              -0.3792437016963959,
+              0.7729662656784058
+            ],
+            "closest_ee_minus_button": [
+              0.0017919307506888138,
+              -0.0014364543019235732,
+              0.03512780044694486
+            ],
+            "button_min_z_position": [
+              0.15943422913551328,
+              -0.37923771142959595,
+              0.7692803144454956
+            ],
+            "min_active_finger_to_button": 0.14429428382234433,
+            "closest_active_finger": [
+              0.020180344581604004,
+              -0.3634904623031616,
+              0.8105195760726929
+            ],
+            "closest_active_finger_button": [
+              0.15945543348789212,
+              -0.37923756241798395,
+              0.7762366533279419
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13927508890628812,
+              0.015747100114822332,
+              0.03428292274475098
+            ],
+            "min_contact_pad_to_button": 0.021277988313139404,
+            "closest_contact_pad": [
+              0.15943422913551328,
+              -0.3820102539206521,
+              0.7903768969836553
+            ],
+            "closest_contact_pad_button": [
+              0.15943422913551328,
+              -0.37923771142959595,
+              0.7692803144454956
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002772542491056129,
+              0.021096582538159714
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e97e10107b45d0a1c634dbe50b3bebc58898d64f0040d821dc9a2c706421847",
+    "visual_seed": 6924524179674144781,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..43bdeb11ee64021a6c8ecff31efddd16a917e900
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1914142230925841,
+              0.16007683075068158,
+              1.0484441546848
+            ],
+            "current_z": 1.0484441546848,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18733746785609973,
+            "gripper_z": 1.0547801616055137,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18703910234580173,
+              0.15559012012259227,
+              1.0547801616055137
+            ],
+            "object_minus_gripper": [
+              0.004375120746782368,
+              0.004486710628089308,
+              -0.006336006920713677
+            ],
+            "object_to_gripper_xy": 0.006266757838718125,
+            "object_to_gripper_z": -0.006336006920713677,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1914142230925841,
+              0.13606541711854472,
+              1.0484441546848
+            ],
+            "finger_b": [
+              0.1801876243556513,
+              0.16007683075068158,
+              1.0484441546848
+            ],
+            "finger_midpoint": [
+              0.18580092372411772,
+              0.14807112393461314,
+              1.0484441546848
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056132993684663846,
+              0.01200570681606844,
+              0.0
+            ],
+            "finger_gap": 0.026506310641310846,
+            "fingertip_max_gap": 0.09202537219750606,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013253155320655428,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484441546848,
+            "object_top_z": 1.0989831392149008,
+            "finger_top_clearance": 0.05053898453010075,
+            "fingertip_min_top_clearance": 0.01516169535903024,
+            "object_projection_between_fingers": 0.8206101635946029,
+            "object_to_finger_line_xy": 0.010169899145993989,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851268609875303,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8002829198567702,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1913827939036015,
+              0.16048660819806917,
+              1.245182598490502
+            ],
+            "held_position": [
+              0.1959979525828293,
+              0.16454604602539252,
+              1.2387159962390555
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00892164053225466,
+            "max_held_gripper_dist": 0.00893744995098998,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006466602251446574,
+            "max_held_gripper_z_dist": 0.006493918105314966,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864537763915248,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1959979525828293,
+              0.1397026307641298,
+              1.2387159962390555
+            ],
+            "held_grasp_finger_b": [
+              0.18665386458812128,
+              0.16454604602539252,
+              1.2387159962390555
+            ],
+            "held_grasp_midpoint": [
+              0.19132590858547527,
+              0.15212433839476117,
+              1.2387159962390555
+            ],
+            "held_grasp_object_position": [
+              0.1959979525828293,
+              0.16454604602539252,
+              1.2387159962390555
+            ],
+            "held_grasp_finger_gap": 0.02654255568509535,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024236856715916858,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05942609242737924,
+              -0.9979360362501075,
+              0.024335305468324964
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003937494786644306,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03704653907531355,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3173387159760165,
+              -0.3147550520361291,
+              0.851539556841546
+            ],
+            "target_position": [
+              0.30938120008243336,
+              -0.3171283336445464,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008303886125753406,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18500537649212562,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539556841546,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756151706618449,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544278135154858,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15306482462328277,
+            "release_required_pad_clearance": 0.05272139067577429,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.49574442796317114,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007501423358917236,
+            "max_z_decrease": 0.007501423358917236,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516269632453321,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007501423358917236,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021180836726453513,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007501423358917236,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007501443446932114,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16508112847805023,
+              -0.3733897805213928,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16508112847805023,
+              -0.3733897805213928,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16659242627994775,
+              -0.3739863037669233,
+              0.8081044681658408
+            ],
+            "closest_button": [
+              0.16507765650749212,
+              -0.3733992874622345,
+              0.7729793190956116
+            ],
+            "closest_ee_minus_button": [
+              0.0015147697724556264,
+              -0.0005870163046888255,
+              0.035125149070229233
+            ],
+            "button_min_z_position": [
+              0.16506418585777283,
+              -0.37339356541633606,
+              0.7693074345588684
+            ],
+            "min_active_finger_to_button": 0.14467066037297616,
+            "closest_active_finger": [
+              0.025331929326057434,
+              -0.35848790407180786,
+              0.810562014579773
+            ],
+            "closest_active_finger_button": [
+              0.16508318483829498,
+              -0.37339276075363154,
+              0.7762541174888611
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13975125551223755,
+              0.014904856681823675,
+              0.034307897090911865
+            ],
+            "min_contact_pad_to_button": 0.021180836726453513,
+            "closest_contact_pad": [
+              0.16506418585777283,
+              -0.37517603768544666,
+              0.7904131360881361
+            ],
+            "closest_contact_pad_button": [
+              0.16506418585777283,
+              -0.37339356541633606,
+              0.7693074345588684
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001782472269110602,
+              0.021105701529267717
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7139ff5a062d610dbdb427a1635bcf534a0b19a5007804b9a63b1c92c7fb2633",
+    "visual_seed": 3217655073264051576,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..982d0dbbbf914ac2d5d685b58c87931240198cf6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19204966363236523,
+              0.15616353771733052,
+              1.0474211202801893
+            ],
+            "current_z": 1.0474211202801893,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18631461226542323,
+            "gripper_z": 1.0537068984796265,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1878919477523055,
+              0.15185806548473452,
+              1.0537068984796265
+            ],
+            "object_minus_gripper": [
+              0.004157715880059726,
+              0.004305472232596003,
+              -0.006285778199437209
+            ],
+            "object_to_gripper_xy": 0.005985289674272752,
+            "object_to_gripper_z": -0.006285778199437209,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19204966363236523,
+              0.1321551817135719,
+              1.0474211202801893
+            ],
+            "finger_b": [
+              0.18128503759745518,
+              0.15616353771733052,
+              1.0474211202801893
+            ],
+            "finger_midpoint": [
+              0.1866673506149102,
+              0.1441593597154512,
+              1.0474211202801893
+            ],
+            "object_minus_finger_midpoint": [
+              0.005382313017455037,
+              0.012004178001879307,
+              0.0
+            ],
+            "finger_gap": 0.026311182635424722,
+            "fingertip_max_gap": 0.09376202627198857,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013155591317712366,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474211202801893,
+            "object_top_z": 1.0986238181127568,
+            "finger_top_clearance": 0.05120269783256748,
+            "fingertip_min_top_clearance": 0.01536080934977026,
+            "object_projection_between_fingers": 0.8326147614772988,
+            "object_to_finger_line_xy": 0.009822476536858154,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04938101313599429,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4277748079458832,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1921371905433627,
+              0.15707480529027154,
+              1.24448018109375
+            ],
+            "held_position": [
+              0.19648949641528626,
+              0.16102971159698629,
+              1.238077756638352
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008693381919871589,
+            "max_held_gripper_dist": 0.008706514904384515,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006402424455397959,
+            "max_held_gripper_z_dist": 0.0064282996629334566,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08558164879709543,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19648949641528626,
+              0.13633651458991988,
+              1.238077756638352
+            ],
+            "held_grasp_finger_b": [
+              0.1873267476593585,
+              0.16102971159698629,
+              1.238077756638352
+            ],
+            "held_grasp_midpoint": [
+              0.19190812203732238,
+              0.14868311309345308,
+              1.238077756638352
+            ],
+            "held_grasp_object_position": [
+              0.19648949641528626,
+              0.16102971159698629,
+              1.238077756638352
+            ],
+            "held_grasp_finger_gap": 0.02633837396640212,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024307364588679527,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03895275900557705,
+              -0.998828905213841,
+              0.028696701468517993
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004112475841669337,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03720965343163699,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31107307917484217,
+              -0.319896617544417,
+              0.8515395902380648
+            ],
+            "target_position": [
+              0.30459913463941785,
+              -0.3216575226803754,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00670915380249962,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18255140807353784,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395902380648,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526763579840155,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854294831373512,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1515214661702533,
+            "release_required_pad_clearance": 0.0527147415686756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.48294884353974027,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007788419723510742,
+            "max_z_decrease": 0.007788419723510742,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516775197519528,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007788419723510742,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021129147087165723,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007788419723510742,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007788441521223797,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1602990627288819,
+              -0.37791898846626276,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1602990627288819,
+              -0.37791898846626276,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16166098650733968,
+              -0.3784232049130745,
+              0.8077911460055648
+            ],
+            "closest_button": [
+              0.16028818488121035,
+              -0.37792721390724177,
+              0.7726536989212036
+            ],
+            "closest_ee_minus_button": [
+              0.0013728016261293219,
+              -0.0004959910058327521,
+              0.03513744708436117
+            ],
+            "button_min_z_position": [
+              0.16028082370758062,
+              -0.3779216110706329,
+              0.7690204381942749
+            ],
+            "min_active_finger_to_button": 0.14476977297647742,
+            "closest_active_finger": [
+              0.020324930548667908,
+              -0.36391252279281616,
+              0.8106223344802856
+            ],
+            "closest_active_finger_button": [
+              0.16029968857765203,
+              -0.37792193889617914,
+              0.7764303684234619
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13997475802898413,
+              0.014009416103362982,
+              0.03419196605682373
+            ],
+            "min_contact_pad_to_button": 0.021129147087165723,
+            "closest_contact_pad": [
+              0.16028082370758062,
+              -0.3794645597175663,
+              0.7900931733300851
+            ],
+            "closest_contact_pad_button": [
+              0.16028082370758062,
+              -0.3779216110706329,
+              0.7690204381942749
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015429486469334397,
+              0.021072735135810206
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50dc7f3b6d2ed40b4c907ed2523518565aa0bc8699144185330170ef418529e4",
+    "visual_seed": 6152966482260866376,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ed1ab7a3d39e5f69c6bb9ec623b6ff0d91ad6f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19380602692992202,
+              0.1545521793365367,
+              1.047009436415586
+            ],
+            "current_z": 1.047009436415586,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18590274958688557,
+            "gripper_z": 1.053303374160567,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19040839485770014,
+              0.15075770834179814,
+              1.053303374160567
+            ],
+            "object_minus_gripper": [
+              0.003397632072221879,
+              0.0037944709947385635,
+              -0.006293937744981104
+            ],
+            "object_to_gripper_xy": 0.005093320511032366,
+            "object_to_gripper_z": -0.006293937744981104,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19380602692992202,
+              0.130787142235569,
+              1.047009436415586
+            ],
+            "finger_b": [
+              0.1841593594434529,
+              0.1545521793365367,
+              1.047009436415586
+            ],
+            "finger_midpoint": [
+              0.18898269318668748,
+              0.14266966078605287,
+              1.047009436415586
+            ],
+            "object_minus_finger_midpoint": [
+              0.0048233337432345424,
+              0.011882518550483834,
+              0.0
+            ],
+            "finger_gap": 0.025648297838353158,
+            "fingertip_max_gap": 0.09974280941135957,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012824148919176562,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047009436415586,
+            "object_top_z": 1.1018546041595605,
+            "finger_top_clearance": 0.05484516774397452,
+            "fingertip_min_top_clearance": 0.01645355032319234,
+            "object_projection_between_fingers": 0.8585387401888591,
+            "object_to_finger_line_xy": 0.008938347962172487,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05237140470567979,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.223380405538676,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19478610241901637,
+              0.15584720504688251,
+              1.2427238674007066
+            ],
+            "held_position": [
+              0.19829616104097963,
+              0.15937509844715486,
+              1.2363114034481142
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00811703377574599,
+            "max_held_gripper_dist": 0.00812996519055351,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006412463952592429,
+            "max_held_gripper_z_dist": 0.006433465983630704,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08599949125160161,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19829616104097963,
+              0.13503763982547562,
+              1.2363114034481142
+            ],
+            "held_grasp_finger_b": [
+              0.19010352840932584,
+              0.15937509844715486,
+              1.2363114034481142
+            ],
+            "held_grasp_midpoint": [
+              0.19419984472515273,
+              0.14720636913631524,
+              1.2363114034481142
+            ],
+            "held_grasp_object_position": [
+              0.19829616104097963,
+              0.15937509844715486,
+              1.2363114034481142
+            ],
+            "held_grasp_finger_gap": 0.02567939098964747,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02399310753758633,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03337549347042278,
+              -0.9970860586435099,
+              0.06859641458820709
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037822217337213277,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03745026314439856,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31118499996579685,
+              -0.321563601832508,
+              0.8515395805538404
+            ],
+            "target_position": [
+              0.3094428001866942,
+              -0.3203749819898776,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0021090465145652926,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17887668885465846,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395805538404,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565574105616393,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08706576850140739,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14634688687319372,
+            "release_required_pad_clearance": 0.0535328842507037,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.077456832896707,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007465660572052002,
+            "max_z_decrease": 0.007465660572052002,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510709122378144,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007465660572052002,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021158232428006886,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007465660572052002,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007465681445878453,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16514272987842557,
+              -0.3766364455223083,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16514272987842557,
+              -0.3766364455223083,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16399235786451616,
+              -0.37674131766387264,
+              0.8064993289293583
+            ],
+            "closest_button": [
+              0.16512812674045557,
+              -0.3766391277313232,
+              0.7714107632637024
+            ],
+            "closest_ee_minus_button": [
+              -0.0011357688759394136,
+              -0.00010218993254945685,
+              0.03508856566565588
+            ],
+            "button_min_z_position": [
+              0.16512535512447352,
+              -0.376639574766159,
+              0.7693431973457336
+            ],
+            "min_active_finger_to_button": 0.14703345683479985,
+            "closest_active_finger": [
+              0.03606211394071579,
+              -0.43809494376182556,
+              0.8105897903442383
+            ],
+            "closest_active_finger_button": [
+              0.1651455461978912,
+              -0.37663945555686945,
+              0.7762455344200134
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12908343225717542,
+              -0.06145548820495611,
+              0.034344255924224854
+            ],
+            "min_contact_pad_to_button": 0.021158232428006886,
+            "closest_contact_pad": [
+              0.16512535512447352,
+              -0.37817501051694735,
+              0.7904456435672683
+            ],
+            "closest_contact_pad_button": [
+              0.16512535512447352,
+              -0.376639574766159,
+              0.7693431973457336
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015354357507883498,
+              0.021102446221534676
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73ce0b3d920c170037a7c2d605b710460ae2651e6277879ff45fc6267f1e9ccd",
+    "visual_seed": 1630715981054189065,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8752115ebe3435bf5faf1e4228bdf418e5d0593
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18628717747947438,
+              0.15632026492987547,
+              1.0471402544441872
+            ],
+            "current_z": 1.0471402544441872,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18603356761548684,
+            "gripper_z": 1.0534782409756922,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18273767799424137,
+              0.1524261049162837,
+              1.0534782409756922
+            ],
+            "object_minus_gripper": [
+              0.003549499485233004,
+              0.003894160013591774,
+              -0.006337986531504969
+            ],
+            "object_to_gripper_xy": 0.005269101328227276,
+            "object_to_gripper_z": -0.006337986531504969,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18628717747947438,
+              0.13251156094576177,
+              1.0471402544441872
+            ],
+            "finger_b": [
+              0.1764121419948419,
+              0.15632026492987547,
+              1.0471402544441872
+            ],
+            "finger_midpoint": [
+              0.18134965973715814,
+              0.14441591293781864,
+              1.0471402544441872
+            ],
+            "object_minus_finger_midpoint": [
+              0.004937517742316239,
+              0.011904351992056833,
+              0.0
+            ],
+            "finger_gap": 0.025775389642562183,
+            "fingertip_max_gap": 0.09675310105303586,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012887694821281078,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471402544441872,
+            "object_top_z": 1.1002376570040087,
+            "finger_top_clearance": 0.05309740255982143,
+            "fingertip_min_top_clearance": 0.015929220767946443,
+            "object_projection_between_fingers": 0.8532200107936535,
+            "object_to_finger_line_xy": 0.009121561301172334,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05087655052651793,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2165758889961173,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18706574029687323,
+              0.15743322379618943,
+              1.244760642851237
+            ],
+            "held_position": [
+              0.19076597841949242,
+              0.16103921904753074,
+              1.2383154785684503
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00826045437908172,
+            "max_held_gripper_dist": 0.008273470582247481,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006445164282786742,
+            "max_held_gripper_z_dist": 0.006469069739418076,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08596052113289135,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19076597841949242,
+              0.13664869187969858,
+              1.2383154785684503
+            ],
+            "held_grasp_finger_b": [
+              0.18233485388908824,
+              0.16103921904753074,
+              1.2383154785684503
+            ],
+            "held_grasp_midpoint": [
+              0.18655041615429033,
+              0.14884395546361467,
+              1.2383154785684503
+            ],
+            "held_grasp_object_position": [
+              0.19076597841949242,
+              0.16103921904753074,
+              1.2383154785684503
+            ],
+            "held_grasp_finger_gap": 0.025806620785603484,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02405080766961701,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034944597528672294,
+              -0.9981510344374379,
+              0.04973316353331814
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003835671555038369,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03740022398185747,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31385917518430595,
+              -0.31775815156728593,
+              0.8515395627153045
+            ],
+            "target_position": [
+              0.3099649835476488,
+              -0.3179305330788898,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003898005116537615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18103675201736066,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395627153045,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528625780650368,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577008858554157,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14962049251720635,
+            "release_required_pad_clearance": 0.052885044292770786,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8108363855559297,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007754325866699219,
+            "max_z_decrease": 0.007754325866699219,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515457019910723,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007754325866699219,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021080291890495984,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007754325866699219,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007754348956099789,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16566491127014155,
+              -0.3741919994354248,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16566491127014155,
+              -0.3741919994354248,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1651754837995074,
+              -0.3729990648173609,
+              0.8077711580803408
+            ],
+            "closest_button": [
+              0.16565535962581632,
+              -0.3742006719112396,
+              0.7726404070854187
+            ],
+            "closest_ee_minus_button": [
+              -0.00047987582630892867,
+              0.0012016070938787315,
+              0.03513075099492213
+            ],
+            "button_min_z_position": [
+              0.16564628481864924,
+              -0.3741953372955322,
+              0.7690545320510864
+            ],
+            "min_active_finger_to_button": 0.14601927032312081,
+            "closest_active_finger": [
+              0.03862030804157257,
+              -0.43755245208740234,
+              0.8105730414390564
+            ],
+            "closest_active_finger_button": [
+              0.1656659692525863,
+              -0.3741949796676636,
+              0.7764137387275696
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12704566121101374,
+              -0.06335747241973877,
+              0.034159302711486816
+            ],
+            "min_contact_pad_to_button": 0.021080291890495984,
+            "closest_contact_pad": [
+              0.16564628481864924,
+              -0.3741953372955322,
+              0.7901348239415824
+            ],
+            "closest_contact_pad_button": [
+              0.16564628481864924,
+              -0.3741953372955322,
+              0.7690545320510864
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021080291890495984
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5e86ffd8819b4be29feb7ac99e17e7f188ffea3d163e026127e5001cade037f",
+    "visual_seed": 8670226099357126911,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bd29c6a5f3f10a3f3922242996b1b00cd8f4ee9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1899941252643624,
+              0.15277484080820658,
+              1.0460266566555334
+            ],
+            "current_z": 1.0460266566555334,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18491996982683334,
+            "gripper_z": 1.0524044236053285,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1861367490894845,
+              0.14865609712776595,
+              1.0524044236053285
+            ],
+            "object_minus_gripper": [
+              0.0038573761748779134,
+              0.0041187436804406286,
+              -0.006377766949795083
+            ],
+            "object_to_gripper_xy": 0.0056429956990667095,
+            "object_to_gripper_z": -0.006377766949795083,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1899941252643624,
+              0.12890106244138583,
+              1.0460266566555334
+            ],
+            "finger_b": [
+              0.17958928334780183,
+              0.15277484080820658,
+              1.0460266566555334
+            ],
+            "finger_midpoint": [
+              0.1847917043060821,
+              0.1408379516247962,
+              1.0460266566555334
+            ],
+            "object_minus_finger_midpoint": [
+              0.005202420958280302,
+              0.011936889183410376,
+              0.0
+            ],
+            "finger_gap": 0.026042619469183483,
+            "fingertip_max_gap": 0.09512566951750437,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013021309734591747,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460266566555334,
+            "object_top_z": 1.0984296763489194,
+            "finger_top_clearance": 0.05240301969338601,
+            "fingertip_min_top_clearance": 0.015720905908015836,
+            "object_projection_between_fingers": 0.8403747309733104,
+            "object_to_finger_line_xy": 0.009538321986070228,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05006283475875219,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7585140620354764,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19063307558429046,
+              0.15347108118321837,
+              1.2416591954252842
+            ],
+            "held_position": [
+              0.19465949991284257,
+              0.1572382780996216,
+              1.2351430132338206
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008536070280454725,
+            "max_held_gripper_dist": 0.008550317781507735,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00651618219146366,
+            "max_held_gripper_z_dist": 0.006539740408198602,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860994620260612,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19465949991284257,
+              0.13259265062916392,
+              1.2351430132338206
+            ],
+            "held_grasp_finger_b": [
+              0.18606883509833122,
+              0.1572382780996216,
+              1.2351430132338206
+            ],
+            "held_grasp_midpoint": [
+              0.19036416750558688,
+              0.14491546436439276,
+              1.2351430132338206
+            ],
+            "held_grasp_object_position": [
+              0.19465949991284257,
+              0.1572382780996216,
+              1.2351430132338206
+            ],
+            "held_grasp_finger_gap": 0.02609993247822418,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02414158821768298,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05205814546467763,
+              -0.9976943101046751,
+              0.04354323225869817
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036879655451633334,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03720224188270145,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31017039465154705,
+              -0.3230883971276677,
+              0.85153951979035
+            ],
+            "target_position": [
+              0.3050109850443735,
+              -0.3237031139240583,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00519590071444397,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18341140129652753,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153951979035,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532977624708975,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08501674194934093,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15191977845843765,
+            "release_required_pad_clearance": 0.05250837097467047,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.08846931538948899,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007739245891571045,
+            "max_z_decrease": 0.007739245891571045,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515510485396703,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007739245891571045,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021119022847849268,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007739245891571045,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007739269765448284,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1607109159231186,
+              -0.37996456027030945,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1607109159231186,
+              -0.37996456027030945,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15962538612096788,
+              -0.3808702293584393,
+              0.8078242734787204
+            ],
+            "closest_button": [
+              0.16069997847080225,
+              -0.3799715042114258,
+              0.7726970911026001
+            ],
+            "closest_ee_minus_button": [
+              -0.001074592349834369,
+              -0.0008987251470135016,
+              0.035127182376120336
+            ],
+            "button_min_z_position": [
+              0.16069170832633972,
+              -0.3799653351306915,
+              0.7690696120262146
+            ],
+            "min_active_finger_to_button": 0.14708799904090822,
+            "closest_active_finger": [
+              0.018275462090969086,
+              -0.3665483593940735,
+              0.8106405138969421
+            ],
+            "closest_active_finger_button": [
+              0.16071027517318726,
+              -0.37996777892112726,
+              0.7764773368835449
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14243481308221817,
+              0.013419419527053777,
+              0.03416317701339722
+            ],
+            "min_contact_pad_to_button": 0.021119022847849268,
+            "closest_contact_pad": [
+              0.16069170832633972,
+              -0.3819528918883214,
+              0.7900949002331139
+            ],
+            "closest_contact_pad_button": [
+              0.16069170832633972,
+              -0.3799653351306915,
+              0.7690696120262146
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019875567576299047,
+              0.021025288206899306
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8e1b8e598f87189b2e07c264e69e87df17939026e1528a7458b799371ab2d38",
+    "visual_seed": 9104032870876865832,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b81fbc42264533703da8db14c60424bd9695c321
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19300551895185475,
+              0.153626768761834,
+              1.046324023521072
+            ],
+            "current_z": 1.046324023521072,
+            "required_z": 0.8611068656426348,
+            "initial_z": 0.7611068656426349,
+            "lift_margin": 0.18521715787843718,
+            "gripper_z": 1.0525215035195008,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18843200812698058,
+              0.14904471597762906,
+              1.0525215035195008
+            ],
+            "object_minus_gripper": [
+              0.004573510824874172,
+              0.004582052784204954,
+              -0.00619747999842879
+            ],
+            "object_to_gripper_xy": 0.006473963931200234,
+            "object_to_gripper_z": -0.00619747999842879,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19300551895185475,
+              0.1294518086197862,
+              1.046324023521072
+            ],
+            "finger_b": [
+              0.18167217069467498,
+              0.153626768761834,
+              1.046324023521072
+            ],
+            "finger_midpoint": [
+              0.18733884482326485,
+              0.14153928869081012,
+              1.046324023521072
+            ],
+            "object_minus_finger_midpoint": [
+              0.005666674128589899,
+              0.012087480071023893,
+              0.0
+            ],
+            "finger_gap": 0.02669969064592547,
+            "fingertip_max_gap": 0.09054102542817524,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334984532296273,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046324023521072,
+            "object_top_z": 1.09610878650629,
+            "finger_top_clearance": 0.049784762985217945,
+            "fingertip_min_top_clearance": 0.014935428895565383,
+            "object_projection_between_fingers": 0.8198210675300296,
+            "object_to_finger_line_xy": 0.010261663553584266,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04777051271408762,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4582125838140231,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19281157924730066,
+              0.15415335715338885,
+              1.2410551810885293
+            ],
+            "held_position": [
+              0.19759560544396118,
+              0.15832987282166738,
+              1.2347023196318712
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008982707746843533,
+            "max_held_gripper_dist": 0.008996089044768065,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006352861456658143,
+            "max_held_gripper_z_dist": 0.0063835724371754665,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622864650477119,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19759560544396118,
+              0.13334001320142694,
+              1.2347023196318712
+            ],
+            "held_grasp_finger_b": [
+              0.1881427690351564,
+              0.15832987282166738,
+              1.2347023196318712
+            ],
+            "held_grasp_midpoint": [
+              0.1928691872395588,
+              0.14583494301154715,
+              1.2347023196318712
+            ],
+            "held_grasp_object_position": [
+              0.19759560544396118,
+              0.15832987282166738,
+              1.2347023196318712
+            ],
+            "held_grasp_finger_gap": 0.026717956508890223,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024378028700094877,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05975414491802851,
+              -0.9981198468418215,
+              0.01364600694613638
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003975090210074877,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696638956338949,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32013672912207125,
+              -0.3141370931951315,
+              0.8515395668422711
+            ],
+            "target_position": [
+              0.31168926009023806,
+              -0.3168231277679706,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00886422668766248,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836027017392397,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395668422711,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524045075330722,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858100882966578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15280171009007215,
+            "release_required_pad_clearance": 0.0529050441483289,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8494916904715858,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007553696632385254,
+            "max_z_decrease": 0.007553696632385254,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035182041803070475,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007553696632385254,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210924586759208,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007553696632385254,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007553718336689617,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1673891842365265,
+              -0.3730845749378204,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1673891842365265,
+              -0.3730845749378204,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16885768860024555,
+              -0.37201325017654685,
+              0.8080978354031432
+            ],
+            "closest_button": [
+              0.16738270223140717,
+              -0.3730940222740173,
+              0.7729633450508118
+            ],
+            "closest_ee_minus_button": [
+              0.001474986368838388,
+              0.0010807720974704282,
+              0.035134490352331404
+            ],
+            "button_min_z_position": [
+              0.16737139225006104,
+              -0.3730879426002502,
+              0.7692551612854004
+            ],
+            "min_active_finger_to_button": 0.1443932166984003,
+            "closest_active_finger": [
+              0.04261031746864319,
+              -0.4371986985206604,
+              0.810419499874115
+            ],
+            "closest_active_finger_button": [
+              0.1673910766839981,
+              -0.3730871975421905,
+              0.7762306332588196
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12478075921535492,
+              -0.0641115009784699,
+              0.03418886661529541
+            ],
+            "min_contact_pad_to_button": 0.0210924586759208,
+            "closest_contact_pad": [
+              0.16737139225006104,
+              -0.3730879426002502,
+              0.7903476199613212
+            ],
+            "closest_contact_pad_button": [
+              0.16737139225006104,
+              -0.3730879426002502,
+              0.7692551612854004
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0210924586759208
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "021abb9f273aede4d0a08f07bf75baeb914d1ed3adac131ad0689036240a9290",
+    "visual_seed": 2541668023181349745,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eea8fff28a351ed64a2e662633fea1450ebbef6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1919597179918981,
+              0.15146141381188102,
+              1.046999035538961
+            ],
+            "current_z": 1.046999035538961,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1858924083149054,
+            "gripper_z": 1.0536236636585699,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1874503320981472,
+              0.1469570063207527,
+              1.0536236636585699
+            ],
+            "object_minus_gripper": [
+              0.0045093858937508835,
+              0.0045044074911283205,
+              -0.006624628119608955
+            ],
+            "object_to_gripper_xy": 0.0063737153987993836,
+            "object_to_gripper_z": -0.006624628119608955,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1919597179918981,
+              0.12724455611429733,
+              1.046999035538961
+            ],
+            "finger_b": [
+              0.18085808429913125,
+              0.15146141381188102,
+              1.046999035538961
+            ],
+            "finger_midpoint": [
+              0.18640890114551467,
+              0.13935298496308918,
+              1.046999035538961
+            ],
+            "object_minus_finger_midpoint": [
+              0.005550816846383422,
+              0.012108428848791847,
+              0.0
+            ],
+            "finger_gap": 0.026640241504036606,
+            "fingertip_max_gap": 0.09222432382131565,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013320120752018303,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046999035538961,
+            "object_top_z": 1.0976084698334996,
+            "finger_top_clearance": 0.05060943429453868,
+            "fingertip_min_top_clearance": 0.015182830288361586,
+            "object_projection_between_fingers": 0.8263409297405478,
+            "object_to_finger_line_xy": 0.01009175098160047,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861216191065783,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7960702291506805,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19170521669873983,
+              0.15210381516268712,
+              1.242089392912303
+            ],
+            "held_position": [
+              0.19638022111949924,
+              0.15624856945577936,
+              1.2353155005655685
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009215219585521217,
+            "max_held_gripper_dist": 0.009226617212951156,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0067738923467344225,
+            "max_held_gripper_z_dist": 0.006798794439999867,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08586950769714274,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19638022111949924,
+              0.13131990918607597,
+              1.2353155005655685
+            ],
+            "held_grasp_finger_b": [
+              0.18698206160389874,
+              0.15624856945577936,
+              1.2353155005655685
+            ],
+            "held_grasp_midpoint": [
+              0.191681141361699,
+              0.14378423932092765,
+              1.2353155005655685
+            ],
+            "held_grasp_object_position": [
+              0.19638022111949924,
+              0.15624856945577936,
+              1.2353155005655685
+            ],
+            "held_grasp_finger_gap": 0.026641387072053144,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024442835111543597,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048082553661806346,
+              -0.9986386091927306,
+              0.020223656023781064
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004102220741270828,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03704694500509219,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31587855060398407,
+              -0.3218483753179574,
+              0.8515396699221152
+            ],
+            "target_position": [
+              0.3087817935369536,
+              -0.3238515099006399,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007374042922629694,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18326257082323716,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396699221152,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551654523971184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554179288784046,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15173876858609964,
+            "release_required_pad_clearance": 0.05277089644392023,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5908273470631293,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077117085456848145,
+            "max_z_decrease": 0.0077117085456848145,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512740373510222,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077117085456848145,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021216938494402766,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0077117085456848145,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077117338661921424,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1644817143678665,
+              -0.3801129758358001,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1644817143678665,
+              -0.3801129758358001,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16584758027553273,
+              -0.3805247532123206,
+              0.8071221344169154
+            ],
+            "closest_button": [
+              0.1644693613052368,
+              -0.38011631369590754,
+              0.7720241546630859
+            ],
+            "closest_ee_minus_button": [
+              0.0013782189702959413,
+              -0.00040843951641306164,
+              0.035097979753829445
+            ],
+            "button_min_z_position": [
+              0.16446237266063685,
+              -0.3801170289516449,
+              0.7690971493721008
+            ],
+            "min_active_finger_to_button": 0.1447775187120525,
+            "closest_active_finger": [
+              0.024955399334430695,
+              -0.36266112327575684,
+              0.8104832768440247
+            ],
+            "closest_active_finger_button": [
+              0.1644848138093948,
+              -0.3801169991493225,
+              0.776025116443634
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13952941447496411,
+              0.017455875873565674,
+              0.034458160400390625
+            ],
+            "min_contact_pad_to_button": 0.021216938494402766,
+            "closest_contact_pad": [
+              0.16446237266063685,
+              -0.38193890896194727,
+              0.7902357215164849
+            ],
+            "closest_contact_pad_button": [
+              0.16446237266063685,
+              -0.3801170289516449,
+              0.7690971493721008
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001821880010302368,
+              0.021138572144384082
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd22c7219ef702dd1d8c277c77b0a55666cf175f8b3a26de50016b5fe39355d4",
+    "visual_seed": 4845878427548323070,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc88a660f88b131de3ccb2e393e778839e2b0962
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19357974688999469,
+              0.15651977042391893,
+              1.047635103171095
+            ],
+            "current_z": 1.047635103171095,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18652847594703947,
+            "gripper_z": 1.0538771945906433,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18957569716226794,
+              0.1523456283070584,
+              1.0538771945906433
+            ],
+            "object_minus_gripper": [
+              0.0040040497277267495,
+              0.004174142116860541,
+              -0.006242091419548235
+            ],
+            "object_to_gripper_xy": 0.005784105517178751,
+            "object_to_gripper_z": -0.006242091419548235,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19357974688999469,
+              0.13249831098443388,
+              1.047635103171095
+            ],
+            "finger_b": [
+              0.1831626554467894,
+              0.15651977042391893,
+              1.047635103171095
+            ],
+            "finger_midpoint": [
+              0.18837120116839204,
+              0.14450904070417642,
+              1.047635103171095
+            ],
+            "object_minus_finger_midpoint": [
+              0.005208545721602648,
+              0.012010729719742513,
+              0.0
+            ],
+            "finger_gap": 0.026182939249422065,
+            "fingertip_max_gap": 0.09348519518053997,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01309146962471102,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047635103171095,
+            "object_top_z": 1.099070151115617,
+            "finger_top_clearance": 0.051435047944521806,
+            "fingertip_min_top_clearance": 0.01543051438335654,
+            "object_projection_between_fingers": 0.8417090240132596,
+            "object_to_finger_line_xy": 0.009557129442061628,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049242597590269985,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.067750220568122,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19385038472031776,
+              0.15737279165681023,
+              1.2450910306650842
+            ],
+            "held_position": [
+              0.1980384311099777,
+              0.1612264012448967,
+              1.2387375563683918
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008529752344474424,
+            "max_held_gripper_dist": 0.00854245820575721,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0063534742966924185,
+            "max_held_gripper_z_dist": 0.006379430149608067,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08570199862103187,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1980384311099777,
+              0.13661040968178767,
+              1.2387375563683918
+            ],
+            "held_grasp_finger_b": [
+              0.1890742421324203,
+              0.1612264012448967,
+              1.2387375563683918
+            ],
+            "held_grasp_midpoint": [
+              0.193556336621199,
+              0.14891840546334217,
+              1.2387375563683918
+            ],
+            "held_grasp_object_position": [
+              0.1980384311099777,
+              0.1612264012448967,
+              1.2387375563683918
+            ],
+            "held_grasp_finger_gap": 0.026197399196493092,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024169008497062827,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04560958519063879,
+              -0.998451001857408,
+              0.031864755274067624
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003935982381053495,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03722689288072676,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3128522562489808,
+              -0.3171966375141906,
+              0.8515395542965774
+            ],
+            "target_position": [
+              0.3069971244179528,
+              -0.318491490321655,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005996600082689827,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18392959120656127,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395542965774,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583480799299247,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08634669033218743,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513164854095707,
+            "release_required_pad_clearance": 0.05317334516609372,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.370568952119355,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007724881172180176,
+            "max_z_decrease": 0.007724881172180176,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514984122299557,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007724881172180176,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107131640774577,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007724881172180176,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007724898671154041,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16269704699516296,
+              -0.3747529387474059,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16269704699516296,
+              -0.3747529387474059,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16146434763290743,
+              -0.37449754103738386,
+              0.8077925901606954
+            ],
+            "closest_button": [
+              0.1626875102519989,
+              -0.3747607767581939,
+              0.7726650238037109
+            ],
+            "closest_ee_minus_button": [
+              -0.0012231626190914724,
+              0.0002632357208100511,
+              0.03512756635698444
+            ],
+            "button_min_z_position": [
+              0.1626807451248169,
+              -0.3747550845146178,
+              0.7690839767456055
+            ],
+            "min_active_finger_to_button": 0.1470706545635291,
+            "closest_active_finger": [
+              0.03438109904527664,
+              -0.4379994571208954,
+              0.8105705976486206
+            ],
+            "closest_active_finger_button": [
+              0.16269655525684357,
+              -0.37475624680519093,
+              0.7764353156089783
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12831545621156693,
+              -0.06324321031570446,
+              0.034135282039642334
+            ],
+            "min_contact_pad_to_button": 0.02107131640774577,
+            "closest_contact_pad": [
+              0.1626807451248169,
+              -0.3757101454131138,
+              0.7901336378791131
+            ],
+            "closest_contact_pad_button": [
+              0.1626807451248169,
+              -0.3747550845146178,
+              0.7690839767456055
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009550608984960074,
+              0.02104966113350759
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb479e5372eaefd2f4066145c3544580fef5517cd687826ce24158928f38cb23",
+    "visual_seed": 4867380098934917681,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94478d1f7a244ff389fd586cdb8d2f1d575e7f36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1902713380607749,
+              0.15701136668325352,
+              1.0495022541037804
+            ],
+            "current_z": 1.0495022541037804,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.18839538846114579,
+            "gripper_z": 1.055894945235086,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18606357172032692,
+              0.15258372289101935,
+              1.055894945235086
+            ],
+            "object_minus_gripper": [
+              0.004207766340447977,
+              0.004427643792234176,
+              -0.0063926911313056944
+            ],
+            "object_to_gripper_xy": 0.006108136141796186,
+            "object_to_gripper_z": -0.0063926911313056944,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1902713380607749,
+              0.1331593924479292,
+              1.0495022541037804
+            ],
+            "finger_b": [
+              0.17907819062884603,
+              0.15701136668325352,
+              1.0495022541037804
+            ],
+            "finger_midpoint": [
+              0.18467476434481045,
+              0.14508537956559137,
+              1.0495022541037804
+            ],
+            "object_minus_finger_midpoint": [
+              0.005596573715964448,
+              0.011925987117662157,
+              0.0
+            ],
+            "finger_gap": 0.02634773660782783,
+            "fingertip_max_gap": 0.09319392267178689,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317386830391392,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495022541037804,
+            "object_top_z": 1.1006501839702871,
+            "finger_top_clearance": 0.051147929866506736,
+            "fingertip_min_top_clearance": 0.015344378959952004,
+            "object_projection_between_fingers": 0.8195246794636867,
+            "object_to_finger_line_xy": 0.010132888002198838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049096961335893446,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1859407777829558,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1904810788403208,
+              0.15760195051869846,
+              1.2435423836165322
+            ],
+            "held_position": [
+              0.19490374296997753,
+              0.161612414380827,
+              1.236990664583512
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008863904370018348,
+            "max_held_gripper_dist": 0.008879038640152827,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006551719033020209,
+            "max_held_gripper_z_dist": 0.0065760619170676105,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08613106124753164,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19490374296997753,
+              0.13678658681693476,
+              1.236990664583512
+            ],
+            "held_grasp_finger_b": [
+              0.18582884641229935,
+              0.161612414380827,
+              1.236990664583512
+            ],
+            "held_grasp_midpoint": [
+              0.19036629469113844,
+              0.14919950059888087,
+              1.236990664583512
+            ],
+            "held_grasp_object_position": [
+              0.19490374296997753,
+              0.161612414380827,
+              1.236990664583512
+            ],
+            "held_grasp_finger_gap": 0.026432469838527588,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02421961148391908,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.060643452381511205,
+              -0.9977489965816191,
+              0.028623617933862703
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037933825308813012,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037060111270872824,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31738301260959295,
+              -0.3231588028120965,
+              0.8515396001921763
+            ],
+            "target_position": [
+              0.31032292789921756,
+              -0.3249260225281538,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007277902283110008,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18353817984413537,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396001921763,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751909185097659,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08589562436116459,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15277171737933448,
+            "release_required_pad_clearance": 0.052947812180582296,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9320846693774192,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007857143878936768,
+            "max_z_decrease": 0.007857143878936768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514049966128206,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007857143878936768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021081146065492815,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007857143878936768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007857164375834755,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16602285206317902,
+              -0.3811874687671661,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16602285206317902,
+              -0.3811874687671661,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1666357652804058,
+              -0.3807629805363259,
+              0.8079141418367112
+            ],
+            "closest_button": [
+              0.16601243615150452,
+              -0.38119676709175104,
+              0.7727818489074707
+            ],
+            "closest_ee_minus_button": [
+              0.0006233291289012843,
+              0.0004337865554251419,
+              0.03513229292924047
+            ],
+            "button_min_z_position": [
+              0.16600513458251953,
+              -0.38119032979011536,
+              0.7689517140388489
+            ],
+            "min_active_finger_to_button": 0.14539876739800586,
+            "closest_active_finger": [
+              0.040223509073257446,
+              -0.4455975294113159,
+              0.8107794523239136
+            ],
+            "closest_active_finger_button": [
+              0.16602426767349246,
+              -0.3811903893947601,
+              0.7766225934028625
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.125800758600235,
+              -0.06440714001655584,
+              0.034156858921051025
+            ],
+            "min_contact_pad_to_button": 0.021081146065492815,
+            "closest_contact_pad": [
+              0.16600513458251953,
+              -0.3817611371854542,
+              0.7900251309035168
+            ],
+            "closest_contact_pad_button": [
+              0.16600513458251953,
+              -0.38119032979011536,
+              0.7689517140388489
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005708073953388237,
+              0.021073416864667904
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3ef5369355c1f0385cda267e8abfadbc03c37d0333ce308816094e61067e240d",
+    "visual_seed": 7848699320355551380,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6483074a919cb6adbf3d5d74098b0f38c69e3e48
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1952797424604209,
+              0.15537352764298962,
+              1.047704356767075
+            ],
+            "current_z": 1.047704356767075,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.18659743151979558,
+            "gripper_z": 1.054225433977032,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19052605549673446,
+              0.15063885837666535,
+              1.054225433977032
+            ],
+            "object_minus_gripper": [
+              0.004753686963686443,
+              0.004734669266324265,
+              -0.0065210772099570935
+            ],
+            "object_to_gripper_xy": 0.006709294509126723,
+            "object_to_gripper_z": -0.0065210772099570935,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1952797424604209,
+              0.13125259753619917,
+              1.047704356767075
+            ],
+            "finger_b": [
+              0.18348777957506915,
+              0.15537352764298962,
+              1.047704356767075
+            ],
+            "finger_midpoint": [
+              0.189383761017745,
+              0.1433130625895944,
+              1.047704356767075
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058959814426758905,
+              0.012060465053395225,
+              0.0
+            ],
+            "finger_gap": 0.026849015957874194,
+            "fingertip_max_gap": 0.09227172077230744,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013424507978937104,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047704356767075,
+            "object_top_z": 1.0985703524931054,
+            "finger_top_clearance": 0.050865995726030455,
+            "fingertip_min_top_clearance": 0.015259798717809102,
+            "object_projection_between_fingers": 0.8071074470058915,
+            "object_to_finger_line_xy": 0.01059380027281852,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863586038615372,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8000811887573569,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1949991243940183,
+              0.15531915407392102,
+              1.2438801945931173
+            ],
+            "held_position": [
+              0.20004425915787383,
+              0.15955633770440167,
+              1.2372152332632438
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009371703123370134,
+            "max_held_gripper_dist": 0.009384554685949457,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006664961329873487,
+            "max_held_gripper_z_dist": 0.006694250575814076,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08598302336740121,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20004425915787383,
+              0.1344734866943594,
+              1.2372152332632438
+            ],
+            "held_grasp_finger_b": [
+              0.1903699811634865,
+              0.15955633770440167,
+              1.2372152332632438
+            ],
+            "held_grasp_midpoint": [
+              0.19520712016068015,
+              0.14701491219938054,
+              1.2372152332632438
+            ],
+            "held_grasp_object_position": [
+              0.20004425915787383,
+              0.15955633770440167,
+              1.2372152332632438
+            ],
+            "held_grasp_finger_gap": 0.026883844023961028,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02429989266870478,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07302946857605036,
+              -0.996952062565783,
+              0.027445977215814103
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003923883949181305,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03686379635495559,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31522246745033705,
+              -0.3199309291873108,
+              0.851539598790719
+            ],
+            "target_position": [
+              0.3074854512961304,
+              -0.3221357624678028,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008045042496172373,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18535592843252846,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539598790719,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516601326895454,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08643899803791676,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546232126859266,
+            "release_required_pad_clearance": 0.05321949901895838,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4606916459423827,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007502853870391846,
+            "max_z_decrease": 0.007502853870391846,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0352176550470701,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007502853870391846,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021095344902012036,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007502853870391846,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007502875279157205,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16318537294864657,
+              -0.37839722633361816,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16318537294864657,
+              -0.37839722633361816,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.164889198606453,
+              -0.3767588198896697,
+              0.8081523850721992
+            ],
+            "closest_button": [
+              0.1631797105073929,
+              -0.37840625643730164,
+              0.7730148434638977
+            ],
+            "closest_ee_minus_button": [
+              0.0017094880990601025,
+              0.001647436547631942,
+              0.035137541608301515
+            ],
+            "button_min_z_position": [
+              0.16316772997379306,
+              -0.37840038537979126,
+              0.7693060040473938
+            ],
+            "min_active_finger_to_button": 0.14394963501926308,
+            "closest_active_finger": [
+              0.03791450709104538,
+              -0.44052305817604065,
+              0.8104857206344604
+            ],
+            "closest_active_finger_button": [
+              0.16318736970424655,
+              -0.3784000873565674,
+              0.7762959003448486
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12527286261320117,
+              -0.06212297081947327,
+              0.034189820289611816
+            ],
+            "min_contact_pad_to_button": 0.021095344902012036,
+            "closest_contact_pad": [
+              0.16316772997379306,
+              -0.37840038537979126,
+              0.7904013489494058
+            ],
+            "closest_contact_pad_button": [
+              0.16316772997379306,
+              -0.37840038537979126,
+              0.7693060040473938
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021095344902012036
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f29e6174fbc00f988df194eb6537734e58afedbd4b32f4edbf9017286802fa1",
+    "visual_seed": 1653019355188038379,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fb0596e2555052db31d3068117d8d52ee1bf1e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1949658595792306,
+              0.15164423025833704,
+              1.0463016652883657
+            ],
+            "current_z": 1.0463016652883657,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18519509766895492,
+            "gripper_z": 1.052702751134135,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19025364857712218,
+              0.14697680072443692,
+              1.052702751134135
+            ],
+            "object_minus_gripper": [
+              0.0047122110021084185,
+              0.004667429533900119,
+              -0.006401085845769261
+            ],
+            "object_to_gripper_xy": 0.00663248301786855,
+            "object_to_gripper_z": -0.006401085845769261,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1949658595792306,
+              0.12749013466164516,
+              1.0463016652883657
+            ],
+            "finger_b": [
+              0.1833522020469884,
+              0.15164423025833704,
+              1.0463016652883657
+            ],
+            "finger_midpoint": [
+              0.1891590308131095,
+              0.1395671824599911,
+              1.0463016652883657
+            ],
+            "object_minus_finger_midpoint": [
+              0.005806828766121097,
+              0.012077047798345925,
+              0.0
+            ],
+            "finger_gap": 0.026801070414637095,
+            "fingertip_max_gap": 0.09152255261384348,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013400535207318535,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463016652883657,
+            "object_top_z": 1.0967773062854989,
+            "finger_top_clearance": 0.0504756409971332,
+            "fingertip_min_top_clearance": 0.015142692299139976,
+            "object_projection_between_fingers": 0.8122267379765008,
+            "object_to_finger_line_xy": 0.010466648903239967,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048261276306921744,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5199265143053764,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19469217665887256,
+              0.15186522880273956,
+              1.2424436400492318
+            ],
+            "held_position": [
+              0.19966628688194432,
+              0.15607296128411793,
+              1.2358999219448046
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009234014932645614,
+            "max_held_gripper_dist": 0.009246094401139321,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006543718104427221,
+            "max_held_gripper_z_dist": 0.006572415289114009,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865062394130664,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19966628688194432,
+              0.13102898031959406,
+              1.2358999219448046
+            ],
+            "held_grasp_finger_b": [
+              0.19004649819871716,
+              0.15607296128411793,
+              1.2358999219448046
+            ],
+            "held_grasp_midpoint": [
+              0.19485639254033074,
+              0.143550970801856,
+              1.2358999219448046
+            ],
+            "held_grasp_object_position": [
+              0.19966628688194432,
+              0.15607296128411793,
+              1.2358999219448046
+            ],
+            "held_grasp_finger_gap": 0.026827995021271703,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024306891917764153,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06964133736842845,
+              -0.9973185533979908,
+              0.02248971270772215
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003936525283051573,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03689686916211137,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.311839503835945,
+              -0.3186335133432394,
+              0.8515395542293551
+            ],
+            "target_position": [
+              0.30396104977845617,
+              -0.32097209510785396,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008218211667129889,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18536982040397193,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395542293551,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557372827692184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506775940211862,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536410273839957,
+            "release_required_pad_clearance": 0.05253387970105931,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13705608008631262,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007805049419403076,
+            "max_z_decrease": 0.007805049419403076,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03524456798865287,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007805049419403076,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02124339463207824,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007805049419403076,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0078050713923034035,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15966098010540009,
+              -0.3772335648536681,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15966098010540009,
+              -0.3772335648536681,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16202928071141154,
+              -0.3787028242178581,
+              0.8077688391619554
+            ],
+            "closest_button": [
+              0.15964995324611664,
+              -0.3772431910037994,
+              0.7726349830627441
+            ],
+            "closest_ee_minus_button": [
+              0.0023793274652949004,
+              -0.001459633214058731,
+              0.03513385609921127
+            ],
+            "button_min_z_position": [
+              0.15964269638061523,
+              -0.37723651528358454,
+              0.7690038084983826
+            ],
+            "min_active_finger_to_button": 0.14370985057090627,
+            "closest_active_finger": [
+              0.02078155428171158,
+              -0.36330437660217285,
+              0.8106279969215393
+            ],
+            "closest_active_finger_button": [
+              0.15966208279132843,
+              -0.3772365152835845,
+              0.7764137387275696
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13888052850961685,
+              0.013932138681411632,
+              0.03421425819396973
+            ],
+            "min_contact_pad_to_button": 0.02124339463207824,
+            "closest_contact_pad": [
+              0.15964269638061523,
+              -0.379844967663562,
+              0.7900864504503676
+            ],
+            "closest_contact_pad_button": [
+              0.15964269638061523,
+              -0.37723651528358454,
+              0.7690038084983826
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026084523799774773,
+              0.02108264195198506
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "75fc326f32f7865525173d432ff43356bc995fd49622ab4b3f9096a9acd9ab5f",
+    "visual_seed": 579822622301328460,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eb97c5d3eb4b9e586390d970a46d81c6583d38d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1877695159641147,
+              0.1593451165894866,
+              1.0481210718270102
+            ],
+            "current_z": 1.0481210718270102,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18701438499831013,
+            "gripper_z": 1.0544000025959812,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18370559668951272,
+              0.1551762347018848,
+              1.0544000025959812
+            ],
+            "object_minus_gripper": [
+              0.004063919274601979,
+              0.004168881887601811,
+              -0.006278930768971014
+            ],
+            "object_to_gripper_xy": 0.0058219426365480375,
+            "object_to_gripper_z": -0.006278930768971014,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1877695159641147,
+              0.1352150612995109,
+              1.0481210718270102
+            ],
+            "finger_b": [
+              0.17744900057315005,
+              0.1593451165894866,
+              1.0481210718270102
+            ],
+            "finger_midpoint": [
+              0.1826092582686324,
+              0.14728008894449876,
+              1.0481210718270102
+            ],
+            "object_minus_finger_midpoint": [
+              0.005160257695482312,
+              0.012065027644987847,
+              0.0
+            ],
+            "finger_gap": 0.02624447763306449,
+            "fingertip_max_gap": 0.0922240943111754,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013122238816532239,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481210718270102,
+            "object_top_z": 1.0986917523272124,
+            "finger_top_clearance": 0.05057068050020219,
+            "fingertip_min_top_clearance": 0.015171204150060657,
+            "object_projection_between_fingers": 0.8453581966365309,
+            "object_to_finger_line_xy": 0.00948902891064871,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486120471555877,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8241811120556084,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18792078803454507,
+              0.16051655437302995,
+              1.2458610776634456
+            ],
+            "held_position": [
+              0.1921302407366299,
+              0.16439586414947563,
+              1.2394750117546924
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008576151478586142,
+            "max_held_gripper_dist": 0.008588940273346475,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006386065908753125,
+            "max_held_gripper_z_dist": 0.006412659379896546,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.085490710228873,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1921302407366299,
+              0.13980328295372846,
+              1.2394750117546924
+            ],
+            "held_grasp_finger_b": [
+              0.18307216628235878,
+              0.16439586414947563,
+              1.2394750117546924
+            ],
+            "held_grasp_midpoint": [
+              0.18760120350949433,
+              0.15209957355160203,
+              1.2394750117546924
+            ],
+            "held_grasp_object_position": [
+              0.1921302407366299,
+              0.16439586414947563,
+              1.2394750117546924
+            ],
+            "held_grasp_finger_gap": 0.026207704262077906,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02426368867759563,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0340603818843228,
+              -0.9991716590080443,
+              0.022268502891009453
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004116823908039186,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03727988425624814,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3169360805054704,
+              -0.32391219982342656,
+              0.8515396081974701
+            ],
+            "target_position": [
+              0.3102995509704094,
+              -0.32579297044005406,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006897885355825098,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1821234555119745,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396081974701,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562301055007951,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08662143525578113,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15025836562950154,
+            "release_required_pad_clearance": 0.053310717627890566,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6394437828231576,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007461130619049072,
+            "max_z_decrease": 0.007461130619049072,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035134754145180865,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007461130619049072,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021165005932474057,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007461130619049072,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007461155238848112,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16599947214126587,
+              -0.3820544183254242,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16599947214126587,
+              -0.3820544183254242,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16688726926149952,
+              -0.3805823491397779,
+              0.8044397468058531
+            ],
+            "closest_button": [
+              0.1659807711839676,
+              -0.3820586204528808,
+              0.7693477272987366
+            ],
+            "closest_ee_minus_button": [
+              0.0009064980775319309,
+              0.001476271313102906,
+              0.03509201950711649
+            ],
+            "button_min_z_position": [
+              0.1659807711839676,
+              -0.3820586204528808,
+              0.7693477272987366
+            ],
+            "min_active_finger_to_button": 0.14438661799005806,
+            "closest_active_finger": [
+              0.038967058062553406,
+              -0.44137564301490784,
+              0.8109396696090698
+            ],
+            "closest_active_finger_button": [
+              0.1660030335187912,
+              -0.38205674290657043,
+              0.7764342427253723
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270359754562378,
+              -0.0593189001083374,
+              0.03450542688369751
+            ],
+            "min_contact_pad_to_button": 0.021165005932474057,
+            "closest_contact_pad": [
+              0.1659807711839676,
+              -0.3820586204528808,
+              0.7905127332312106
+            ],
+            "closest_contact_pad_button": [
+              0.1659807711839676,
+              -0.3820586204528808,
+              0.7693477272987366
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021165005932474057
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c99af238403ebaed980cbcf88db4dc1cfe638e8a9a8c127aec88dce29a860ee6",
+    "visual_seed": 3518765239767610659,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f6f0cc365ac77b53a2c632d035488680e02fadc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18779365747578067,
+              0.15277321706744842,
+              1.046655831279819
+            ],
+            "current_z": 1.046655831279819,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.1855491444511187,
+            "gripper_z": 1.053167950388392,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18393180318209681,
+              0.14865477677845196,
+              1.053167950388392
+            ],
+            "object_minus_gripper": [
+              0.003861854293683853,
+              0.004118440288996467,
+              -0.006512119108572856
+            ],
+            "object_to_gripper_xy": 0.005645836430474559,
+            "object_to_gripper_z": -0.006512119108572856,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18779365747578067,
+              0.12889875566707243,
+              1.046655831279819
+            ],
+            "finger_b": [
+              0.1773938382869522,
+              0.15277321706744842,
+              1.046655831279819
+            ],
+            "finger_midpoint": [
+              0.18259374788136645,
+              0.1408359863672604,
+              1.046655831279819
+            ],
+            "object_minus_finger_midpoint": [
+              0.005199909594414215,
+              0.011937230700188012,
+              0.0
+            ],
+            "finger_gap": 0.026041239339139908,
+            "fingertip_max_gap": 0.09657677858100536,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013020619669569961,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046655831279819,
+            "object_top_z": 1.099612848871942,
+            "finger_top_clearance": 0.05295701759212301,
+            "fingertip_min_top_clearance": 0.015887105277636888,
+            "object_projection_between_fingers": 0.8405119018260281,
+            "object_to_finger_line_xy": 0.009534495596044662,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05078838929050268,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.194037919400788,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1882746449337502,
+              0.1539235390487343,
+              1.242514357474573
+            ],
+            "held_position": [
+              0.19228617735577153,
+              0.15771765806570479,
+              1.2358680161141833
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008640693546625276,
+            "max_held_gripper_dist": 0.008655545383836144,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006646341360389663,
+            "max_held_gripper_z_dist": 0.006668440241785589,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08587494598010742,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19228617735577153,
+              0.13313209240527707,
+              1.2358680161141833
+            ],
+            "held_grasp_finger_b": [
+              0.18356672942304914,
+              0.15771765806570479,
+              1.2358680161141833
+            ],
+            "held_grasp_midpoint": [
+              0.18792645338941033,
+              0.1454248752354909,
+              1.2358680161141833
+            ],
+            "held_grasp_object_position": [
+              0.19228617735577153,
+              0.15771765806570479,
+              1.2358680161141833
+            ],
+            "held_grasp_finger_gap": 0.02608598878890082,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024194141091555613,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.039550160972770906,
+              -0.9981058398174586,
+              0.04712236506494194
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003913844314710528,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03727832395498439,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.309381927068618,
+              -0.3251174336863343,
+              0.8515396137819404
+            ],
+            "target_position": [
+              0.30518264917417687,
+              -0.32535560550826526,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004206026705990332,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18116991013818112,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396137819404,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533489835157259,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855092151584713,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1496702573014583,
+            "release_required_pad_clearance": 0.052754607579235654,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5595296511164844,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007640480995178223,
+            "max_z_decrease": 0.007640480995178223,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515316589310311,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007640480995178223,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021140834636759854,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007640480995178223,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007640501726533301,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16088257730007166,
+              -0.3816170692443847,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16088257730007166,
+              -0.3816170692443847,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16204492093588418,
+              -0.38083330286306794,
+              0.8044903991524999
+            ],
+            "closest_button": [
+              0.16086387634277338,
+              -0.38162085413932795,
+              0.7693659067153931
+            ],
+            "closest_ee_minus_button": [
+              0.0011810445931108027,
+              0.0007875512762600123,
+              0.0351244924371068
+            ],
+            "button_min_z_position": [
+              0.16086523234844202,
+              -0.38162106275558466,
+              0.7691683769226074
+            ],
+            "min_active_finger_to_button": 0.14440559586876653,
+            "closest_active_finger": [
+              0.03408580273389816,
+              -0.441581130027771,
+              0.8104602098464966
+            ],
+            "closest_active_finger_button": [
+              0.16088539361953733,
+              -0.38162082433700556,
+              0.7761148810386658
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12679959088563916,
+              -0.059960305690765436,
+              0.03434532880783081
+            ],
+            "min_contact_pad_to_button": 0.021140834636759854,
+            "closest_contact_pad": [
+              0.16086523234844202,
+              -0.38223301243426683,
+              0.7903003528531631
+            ],
+            "closest_contact_pad_button": [
+              0.16086523234844202,
+              -0.38162106275558466,
+              0.7691683769226074
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006119496786821665,
+              0.021131975930555713
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5d14c3373fb0dec6aefd6f75de11e8a4f700c41175a3bc84235c6e9e4400fcd0",
+    "visual_seed": 6315127186316834914,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9bde5c9add838dc7c8858f5081ff6e188de03ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1882318671174504,
+              0.1558041707541977,
+              1.0484328268577858
+            ],
+            "current_z": 1.0484328268577858,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1873262592383752,
+            "gripper_z": 1.0547688301896394,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18420742518785774,
+              0.15158319951052263,
+              1.0547688301896394
+            ],
+            "object_minus_gripper": [
+              0.00402444192959267,
+              0.00422097124367507,
+              -0.006336003331853579
+            ],
+            "object_to_gripper_xy": 0.005832043474168848,
+            "object_to_gripper_z": -0.006336003331853579,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1882318671174504,
+              0.13185772878571034,
+              1.0484328268577858
+            ],
+            "finger_b": [
+              0.17762850280618525,
+              0.1558041707541977,
+              1.0484328268577858
+            ],
+            "finger_midpoint": [
+              0.18293018496181784,
+              0.14383094976995403,
+              1.0484328268577858
+            ],
+            "object_minus_finger_midpoint": [
+              0.005301682155632564,
+              0.011973220984243665,
+              0.0
+            ],
+            "finger_gap": 0.02618899420878061,
+            "fingertip_max_gap": 0.0934983307897358,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013094497104390286,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484328268577858,
+            "object_top_z": 1.099734464215176,
+            "finger_top_clearance": 0.05130163735739024,
+            "fingertip_min_top_clearance": 0.015390491207217055,
+            "object_projection_between_fingers": 0.8360732883235508,
+            "object_to_finger_line_xy": 0.009695402814106914,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0492491653948679,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2152802839365495,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18850603116392428,
+              0.15698775499906592,
+              1.2465383335897013
+            ],
+            "held_position": [
+              0.19272096852914708,
+              0.16086260568987829,
+              1.2400922657633027
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008621598186610905,
+            "max_held_gripper_dist": 0.008636314450471316,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0064460678263986715,
+            "max_held_gripper_z_dist": 0.006471276455370711,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0855768332973554,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19272096852914708,
+              0.13626056886388732,
+              1.2400922657633027
+            ],
+            "held_grasp_finger_b": [
+              0.18367388780279104,
+              0.16086260568987829,
+              1.2400922657633027
+            ],
+            "held_grasp_midpoint": [
+              0.18819742816596907,
+              0.1485615872768828,
+              1.2400922657633027
+            ],
+            "held_grasp_object_position": [
+              0.19272096852914708,
+              0.16086260568987829,
+              1.2400922657633027
+            ],
+            "held_grasp_finger_gap": 0.0262127809599939,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024165454823184298,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044237151877870154,
+              -0.9985218736594572,
+              0.03157755876158586
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003994191799419014,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03723730557435975,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31105774576017675,
+              -0.323344102471421,
+              0.85153958335169
+            ],
+            "target_position": [
+              0.30494610063367666,
+              -0.3246692070837365,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006253647606465532,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18178887516303396,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153958335169,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753623322593932,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08536440843550129,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1505132302608336,
+            "release_required_pad_clearance": 0.05268220421775065,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4205785714591178,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007642805576324463,
+            "max_z_decrease": 0.007642805576324463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522614496960994,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007642805576324463,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02117506292515647,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007642805576324463,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076428288275770025,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16064602136611938,
+              -0.38093066215515126,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16064602136611938,
+              -0.38093066215515126,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16288829812995,
+              -0.38194029965944193,
+              0.8080941116131413
+            ],
+            "closest_button": [
+              0.16063629090785977,
+              -0.38093912601470936,
+              0.7729542851448059
+            ],
+            "closest_ee_minus_button": [
+              0.0022520072220902354,
+              -0.001001173644732567,
+              0.035139826468335356
+            ],
+            "button_min_z_position": [
+              0.16062732040882108,
+              -0.38093304634094227,
+              0.7691660523414612
+            ],
+            "min_active_finger_to_button": 0.1438818650493835,
+            "closest_active_finger": [
+              0.021560750901699066,
+              -0.3672471344470978,
+              0.8104227781295776
+            ],
+            "closest_active_finger_button": [
+              0.1606465727090835,
+              -0.3809332251548766,
+              0.7762202024459839
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13908582180738444,
+              0.01368609070777882,
+              0.03420257568359375
+            ],
+            "min_contact_pad_to_button": 0.02117506292515647,
+            "closest_contact_pad": [
+              0.16062732040882108,
+              -0.3830051345924832,
+              0.7902394891793897
+            ],
+            "closest_contact_pad_button": [
+              0.16062732040882108,
+              -0.38093304634094227,
+              0.7691660523414612
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020720882515409267,
+              0.021073436837928505
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d263481f007e3aa111982cdf66d0f22eb103a5b8804e2f508ad3a1de30bb8e93",
+    "visual_seed": 6822879066585217904,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..23f0a40ee52a22ffa2d809b09aede9825ecd1d02
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19505581730419724,
+              0.15422834630228405,
+              1.0464138464849455
+            ],
+            "current_z": 1.0464138464849455,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1853072192608901,
+            "gripper_z": 1.052692007156308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19038763748958562,
+              0.1495797225816476,
+              1.052692007156308
+            ],
+            "object_minus_gripper": [
+              0.004668179814611623,
+              0.004648623720636458,
+              -0.006278160671362443
+            ],
+            "object_to_gripper_xy": 0.006587989471577148,
+            "object_to_gripper_z": -0.006278160671362443,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19505581730419724,
+              0.13010559257497023,
+              1.0464138464849455
+            ],
+            "finger_b": [
+              0.18346538491758352,
+              0.15422834630228405,
+              1.0464138464849455
+            ],
+            "finger_midpoint": [
+              0.18926060111089038,
+              0.14216696943862714,
+              1.0464138464849455
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057952161933068624,
+              0.012061376863656909,
+              0.0
+            ],
+            "finger_gap": 0.026762760887047828,
+            "fingertip_max_gap": 0.09075469205187131,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013381380443523914,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464138464849455,
+            "object_top_z": 1.0964789926157965,
+            "finger_top_clearance": 0.050065146130851,
+            "fingertip_min_top_clearance": 0.015019543839255316,
+            "object_projection_between_fingers": 0.8124411989526668,
+            "object_to_finger_line_xy": 0.010447096517260961,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04787734602593566,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.30208850298324774,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1948897794254951,
+              0.1542935934372291,
+              1.242335470563135
+            ],
+            "held_position": [
+              0.19982949516848703,
+              0.1584715113626229,
+              1.2359132421011791
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009115964470666083,
+            "max_held_gripper_dist": 0.009127474203573875,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006422228461955948,
+            "max_held_gripper_z_dist": 0.006450288070023458,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08599301919844059,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19982949516848703,
+              0.13343304984295534,
+              1.2359132421011791
+            ],
+            "held_grasp_finger_b": [
+              0.19028751102371788,
+              0.1584715113626229,
+              1.2359132421011791
+            ],
+            "held_grasp_midpoint": [
+              0.19505850309610245,
+              0.14595228060278914,
+              1.2359132421011791
+            ],
+            "held_grasp_object_position": [
+              0.19982949516848703,
+              0.1584715113626229,
+              1.2359132421011791
+            ],
+            "held_grasp_finger_gap": 0.026795037165320362,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02426945266977033,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07309384129267454,
+              -0.9971424532155833,
+              0.01908450576487819
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038507779719995634,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036888063460514924,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31524217878363336,
+              -0.3136651195741178,
+              0.8515396288197611
+            ],
+            "target_position": [
+              0.3069240068636886,
+              -0.31631187041311265,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00872910499956769,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18422064314266456,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396288197611,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574312679677069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513551604837492,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522307697255963,
+            "release_required_pad_clearance": 0.052567758024187464,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20174111082311788,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007683813571929932,
+            "max_z_decrease": 0.007683813571929932,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515322356450414,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007683813571929932,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021141104101669413,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007683813571929932,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007683836385553277,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1626239269971847,
+              -0.3725733160972596,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1626239269971847,
+              -0.3725733160972596,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16202167561291664,
+              -0.37352631734651376,
+              0.8078677442821177
+            ],
+            "closest_button": [
+              0.1626125574111938,
+              -0.3725811243057251,
+              0.7727321982383728
+            ],
+            "closest_ee_minus_button": [
+              -0.0005908817982771541,
+              -0.0009451930407886611,
+              0.035135546043744914
+            ],
+            "button_min_z_position": [
+              0.1626052856445312,
+              -0.3725750744342804,
+              0.7691250443458557
+            ],
+            "min_active_finger_to_button": 0.1466158027049275,
+            "closest_active_finger": [
+              0.02063915878534317,
+              -0.3595789074897766,
+              0.8106776475906372
+            ],
+            "closest_active_finger_button": [
+              0.16262397170066828,
+              -0.372575968503952,
+              0.7765077352523804
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1419848129153251,
+              0.012997061014175415,
+              0.034169912338256836
+            ],
+            "min_contact_pad_to_button": 0.021141104101669413,
+            "closest_contact_pad": [
+              0.1626052856445312,
+              -0.37457637509020175,
+              0.790171209752462
+            ],
+            "closest_contact_pad_button": [
+              0.1626052856445312,
+              -0.3725750744342804,
+              0.7691250443458557
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020013006559213564,
+              0.02104616540660631
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c93d7e2cd34370a0f5ce10807976e9dfff309aabf57b0fa677723e41a2a2d60a",
+    "visual_seed": 5102794401923838720,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd4800fc1f17f36ed72d951b6b5e53bded1861f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1943201923720661,
+              0.15299810548232784,
+              1.0474899742510382
+            ],
+            "current_z": 1.0474899742510382,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.18638316821304846,
+            "gripper_z": 1.0539418697744143,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1897945294695256,
+              0.1484902531175058,
+              1.0539418697744143
+            ],
+            "object_minus_gripper": [
+              0.0045256629025405,
+              0.00450785236482204,
+              -0.0064518955233761055
+            ],
+            "object_to_gripper_xy": 0.0063876723186512135,
+            "object_to_gripper_z": -0.0064518955233761055,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1943201923720661,
+              0.12877169894445384,
+              1.0474899742510382
+            ],
+            "finger_b": [
+              0.18320347544197693,
+              0.15299810548232784,
+              1.0474899742510382
+            ],
+            "finger_midpoint": [
+              0.1887618339070215,
+              0.14088490221339084,
+              1.0474899742510382
+            ],
+            "object_minus_finger_midpoint": [
+              0.005558358465044599,
+              0.012113203268937,
+              0.0
+            ],
+            "finger_gap": 0.026655209041425192,
+            "fingertip_max_gap": 0.09209043321429553,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013327604520712603,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474899742510382,
+            "object_top_z": 1.0981687578790984,
+            "finger_top_clearance": 0.05067878362806022,
+            "fingertip_min_top_clearance": 0.0152036350884181,
+            "object_projection_between_fingers": 0.826064228147407,
+            "object_to_finger_line_xy": 0.010103770084723641,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048545216607147765,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7271854603197283,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19412361400710124,
+              0.1537345607971866,
+              1.2450967002804556
+            ],
+            "held_position": [
+              0.19886135407828318,
+              0.15786010644490356,
+              1.238525151918752
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009091290103373126,
+            "max_held_gripper_dist": 0.009103297880950222,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006571548361703705,
+            "max_held_gripper_z_dist": 0.006599921036454015,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08589035865958822,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19886135407828318,
+              0.13297214626502057,
+              1.238525151918752
+            ],
+            "held_grasp_finger_b": [
+              0.18934399633636376,
+              0.15786010644490356,
+              1.238525151918752
+            ],
+            "held_grasp_midpoint": [
+              0.19410267520732347,
+              0.14541612635496207,
+              1.238525151918752
+            ],
+            "held_grasp_object_position": [
+              0.19886135407828318,
+              0.15786010644490356,
+              1.238525151918752
+            ],
+            "held_grasp_finger_gap": 0.026645649932082995,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02435181279568069,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05199590296121587,
+              -0.9983412150169042,
+              0.02472335887009458
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004116946987080326,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0370494800626587,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31772284589474575,
+              -0.3205154034609123,
+              0.8515395744678586
+            ],
+            "target_position": [
+              0.3102735707889514,
+              -0.3227821916729765,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007786528648901302,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18458697950390793,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395744678586,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536245257821712,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515121619274767,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15343333840434814,
+            "release_required_pad_clearance": 0.052575608096373835,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2167047191573883,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076454877853393555,
+            "max_z_decrease": 0.0076454877853393555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035184716972683855,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076454877853393555,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111018942498455,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076454877853393555,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007645507213631487,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16597349941730494,
+              -0.3790436387062073,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16597349941730494,
+              -0.3790436387062073,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1664200984205704,
+              -0.376964556820878,
+              0.8080006229430872
+            ],
+            "closest_button": [
+              0.1659682840108871,
+              -0.37905406951904297,
+              0.7728809118270874
+            ],
+            "closest_ee_minus_button": [
+              0.0004518144096833099,
+              0.002089512698164986,
+              0.03511971111599976
+            ],
+            "button_min_z_position": [
+              0.16595669090747828,
+              -0.3790474534034729,
+              0.7691633701324463
+            ],
+            "min_active_finger_to_button": 0.14488609126276467,
+            "closest_active_finger": [
+              0.03906874358654022,
+              -0.4399835467338562,
+              0.8104029893875122
+            ],
+            "closest_active_finger_button": [
+              0.16597513854503626,
+              -0.379048615694046,
+              0.7761439681053162
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12690639495849604,
+              -0.06093493103981018,
+              0.034259021282196045
+            ],
+            "min_contact_pad_to_button": 0.02111018942498455,
+            "closest_contact_pad": [
+              0.16595669090747828,
+              -0.3790474534034729,
+              0.7902735595574308
+            ],
+            "closest_contact_pad_button": [
+              0.16595669090747828,
+              -0.3790474534034729,
+              0.7691633701324463
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02111018942498455
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3071cf5b79f6fef7a33c710e6f94b49942741d01768e35bc3172d42df34876a4",
+    "visual_seed": 2757724347624971261,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..831cd13f4324268e5366c442e9ffbdcd7c293f4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19083852678715055,
+              0.15860898199663923,
+              1.0492229770404546
+            ],
+            "current_z": 1.0492229770404546,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18811629021175424,
+            "gripper_z": 1.0555415604138225,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18671807977691957,
+              0.15428815394888806,
+              1.0555415604138225
+            ],
+            "object_minus_gripper": [
+              0.004120447010230982,
+              0.004320828047751163,
+              -0.006318583373367881
+            ],
+            "object_to_gripper_xy": 0.005970564343707767,
+            "object_to_gripper_z": -0.006318583373367881,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19083852678715055,
+              0.13479380782724049,
+              1.0492229770404546
+            ],
+            "finger_b": [
+              0.17982472392003057,
+              0.15860898199663923,
+              1.0492229770404546
+            ],
+            "finger_midpoint": [
+              0.18533162535359055,
+              0.14670139491193984,
+              1.0492229770404546
+            ],
+            "object_minus_finger_midpoint": [
+              0.005506901433560002,
+              0.011907587084699384,
+              0.0
+            ],
+            "finger_gap": 0.026238642768149748,
+            "fingertip_max_gap": 0.09345895199333584,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013119321384074893,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492229770404546,
+            "object_top_z": 1.1006885902878178,
+            "finger_top_clearance": 0.05146561324736321,
+            "fingertip_min_top_clearance": 0.015439683974208961,
+            "object_projection_between_fingers": 0.8238056960784064,
+            "object_to_finger_line_xy": 0.009996539678732085,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049229475996667924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.164158329970867,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19115468261817684,
+              0.1593874551490235,
+              1.246046322942158
+            ],
+            "held_position": [
+              0.19551515875219874,
+              0.16329630739755469,
+              1.2396045901758121
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008705676254561406,
+            "max_held_gripper_dist": 0.00871971322851449,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006441732766345742,
+            "max_held_gripper_z_dist": 0.006467738327126993,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08623575842952544,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19551515875219874,
+              0.13860463073110474,
+              1.2396045901758121
+            ],
+            "held_grasp_finger_b": [
+              0.18642600353140404,
+              0.16329630739755469,
+              1.2396045901758121
+            ],
+            "held_grasp_midpoint": [
+              0.19097058114180138,
+              0.1509504690643297,
+              1.2396045901758121
+            ],
+            "held_grasp_object_position": [
+              0.19551515875219874,
+              0.16329630739755469,
+              1.2396045901758121
+            ],
+            "held_grasp_finger_gap": 0.026311435521997054,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02405976086139748,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06262442642784555,
+              -0.9974601695347101,
+              0.03393215888167178
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037862914806847526,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0371211665069804,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3115513236531876,
+              -0.31845539366605813,
+              0.8515395971140898
+            ],
+            "target_position": [
+              0.3050286998081421,
+              -0.31992234107154954,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006685548333116283,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18348459966688788,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395971140898,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534861515557849,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543788922074401,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15226945092378538,
+            "release_required_pad_clearance": 0.05271894461037201,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4909851592306221,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007603168487548828,
+            "max_z_decrease": 0.007603168487548828,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519280725122531,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007603168487548828,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021050739753472936,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007603168487548828,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007603194700349957,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16072861850261688,
+              -0.37618380784988403,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16072861850261688,
+              -0.37618380784988403,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1595363991336484,
+              -0.37463071545861965,
+              0.8079138610165231
+            ],
+            "closest_button": [
+              0.16071778535842896,
+              -0.37619140744209284,
+              0.7727755308151245
+            ],
+            "closest_ee_minus_button": [
+              -0.0011813862247805618,
+              0.0015606919834731947,
+              0.03513833020139856
+            ],
+            "button_min_z_position": [
+              0.16070881485939026,
+              -0.376186341047287,
+              0.7692056894302368
+            ],
+            "min_active_finger_to_button": 0.1464594343996168,
+            "closest_active_finger": [
+              0.032681480050086975,
+              -0.4385623335838318,
+              0.8106685876846313
+            ],
+            "closest_active_finger_button": [
+              0.1607287973165512,
+              -0.3761864602565765,
+              0.7765584588050842
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12804731726646423,
+              -0.062375873327255305,
+              0.03411012887954712
+            ],
+            "min_contact_pad_to_button": 0.021050739753472936,
+            "closest_contact_pad": [
+              0.16070881485939026,
+              -0.376186341047287,
+              0.7902564291837098
+            ],
+            "closest_contact_pad_button": [
+              0.16070881485939026,
+              -0.376186341047287,
+              0.7692056894302368
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021050739753472936
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d6ebdc971e5b93b19c9a2f06d1937699432bd9fdce1bf64028052a2eec89bf88",
+    "visual_seed": 3045946374393922159,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..555fcb0929ee9070b54cef236598920b7cfb5012
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19559857251248633,
+              0.15639244100608807,
+              1.0489350071830759
+            ],
+            "current_z": 1.0489350071830759,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1878283203543757,
+            "gripper_z": 1.055279317941569,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19083612910539627,
+              0.15161160000635937,
+              1.055279317941569
+            ],
+            "object_minus_gripper": [
+              0.004762443407090061,
+              0.004780840999728697,
+              -0.006344310758493066
+            ],
+            "object_to_gripper_xy": 0.006748133658310457,
+            "object_to_gripper_z": -0.006344310758493066,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19559857251248633,
+              0.1322395772317081,
+              1.0489350071830759
+            ],
+            "finger_b": [
+              0.18378174542813017,
+              0.15639244100608807,
+              1.0489350071830759
+            ],
+            "finger_midpoint": [
+              0.18969015897030825,
+              0.14431600911889808,
+              1.0489350071830759
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059084135421780815,
+              0.012076431887189987,
+              0.0
+            ],
+            "finger_gap": 0.026888626421692312,
+            "fingertip_max_gap": 0.09176162993173573,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013444313210846156,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489350071830759,
+            "object_top_z": 1.09962928853095,
+            "finger_top_clearance": 0.050694281347874126,
+            "fingertip_min_top_clearance": 0.015208284404362254,
+            "object_projection_between_fingers": 0.8068634245780805,
+            "object_to_finger_line_xy": 0.010614533086881825,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048380814965867866,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6693274611662128,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19531258852783467,
+              0.15645623672592496,
+              1.2457942290853543
+            ],
+            "held_position": [
+              0.2003650405199392,
+              0.16074547105482684,
+              1.2393035376588188
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009276522918381236,
+            "max_held_gripper_dist": 0.009288946517763162,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0064906914265354665,
+            "max_held_gripper_z_dist": 0.006519265651008466,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865416471358067,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2003650405199392,
+              0.13563413361400414,
+              1.2393035376588188
+            ],
+            "held_grasp_finger_b": [
+              0.19065068936618795,
+              0.16074547105482684,
+              1.2393035376588188
+            ],
+            "held_grasp_midpoint": [
+              0.19550786494306358,
+              0.14818980233441548,
+              1.2393035376588188
+            ],
+            "held_grasp_object_position": [
+              0.2003650405199392,
+              0.16074547105482684,
+              1.2393035376588188
+            ],
+            "held_grasp_finger_gap": 0.026924856293121635,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024301753183394448,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07512677189181706,
+              -0.996823091784284,
+              0.026451688617854408
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003914708174281147,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03683956563519296,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31022011676190275,
+              -0.3179309353946263,
+              0.8515395708740088
+            ],
+            "target_position": [
+              0.3030005502584094,
+              -0.31992969826912093,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007491141002999577,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840411544608104,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395708740088,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533038486530631,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613352197469974,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15270951980896755,
+            "release_required_pad_clearance": 0.05306676098734987,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1629643797068276,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007602274417877197,
+            "max_z_decrease": 0.007602274417877197,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351422494684416,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007602274417877197,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021084093159241268,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007602274417877197,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076022960280059245,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15870048105716708,
+              -0.37619116902351374,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15870048105716708,
+              -0.37619116902351374,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15811696486247898,
+              -0.37627338485659845,
+              0.807940401364605
+            ],
+            "closest_button": [
+              0.15868918597698212,
+              -0.37619915604591364,
+              0.7728028893470764
+            ],
+            "closest_ee_minus_button": [
+              -0.0005722211145031408,
+              -7.422881068480658e-05,
+              0.03513751201752857
+            ],
+            "button_min_z_position": [
+              0.1586824208498001,
+              -0.3761927187442779,
+              0.7692065834999084
+            ],
+            "min_active_finger_to_button": 0.14664246346259577,
+            "closest_active_finger": [
+              0.03148946911096573,
+              -0.4406743049621582,
+              0.810694694519043
+            ],
+            "closest_active_finger_button": [
+              0.15870127081871035,
+              -0.37619286775588984,
+              0.7765873074531555
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12721180170774463,
+              -0.06448143720626837,
+              0.03410738706588745
+            ],
+            "min_contact_pad_to_button": 0.021084093159241268,
+            "closest_contact_pad": [
+              0.1586824208498001,
+              -0.37735294775183675,
+              0.7902587295424758
+            ],
+            "closest_contact_pad_button": [
+              0.1586824208498001,
+              -0.3761927187442779,
+              0.7692065834999084
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001160229007558855,
+              0.021052146042567332
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "295b386042d3c6ac401d56e1f77badc53c9cb0d83280d35791dc8924a6e045ad",
+    "visual_seed": 5806290741233105981,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2962b0b285f81938ab7dc5bb4375ff65dab28d0a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19324512891380122,
+              0.15108773615377816,
+              1.0458466987439305
+            ],
+            "current_z": 1.0458466987439305,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1847398927059407,
+            "gripper_z": 1.0521648905221883,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18864276229339585,
+              0.14646568875845545,
+              1.0521648905221883
+            ],
+            "object_minus_gripper": [
+              0.004602366620405363,
+              0.004622047395322709,
+              -0.006318191778257765
+            ],
+            "object_to_gripper_xy": 0.006522660548674208,
+            "object_to_gripper_z": -0.006318191778257765,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19324512891380122,
+              0.1270320894280748,
+              1.0458466987439305
+            ],
+            "finger_b": [
+              0.181672031693403,
+              0.15108773615377816,
+              1.0458466987439305
+            ],
+            "finger_midpoint": [
+              0.18745858030360213,
+              0.1390599127909265,
+              1.0458466987439305
+            ],
+            "object_minus_finger_midpoint": [
+              0.005786548610199088,
+              0.012027823362851658,
+              0.0
+            ],
+            "finger_gap": 0.026694769500121753,
+            "fingertip_max_gap": 0.09145447821071936,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334738475006086,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458466987439305,
+            "object_top_z": 1.0961586376909855,
+            "finger_top_clearance": 0.05031193894705499,
+            "fingertip_min_top_clearance": 0.01509358168411648,
+            "object_projection_between_fingers": 0.8120480428307705,
+            "object_to_finger_line_xy": 0.010428947073502504,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048227239105359684,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5826270712455246,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19306741546502126,
+              0.15124971776871976,
+              1.2411334998836137
+            ],
+            "held_position": [
+              0.1979292819413165,
+              0.15541054840089147,
+              1.2346618155976576
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009101261158764315,
+            "max_held_gripper_dist": 0.009112639358137527,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006471684285956014,
+            "max_held_gripper_z_dist": 0.006498047606505519,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08601386193647062,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1979292819413165,
+              0.13039465478470103,
+              1.2346618155976576
+            ],
+            "held_grasp_finger_b": [
+              0.18845854416479801,
+              0.15541054840089147,
+              1.2346618155976576
+            ],
+            "held_grasp_midpoint": [
+              0.19319391305305728,
+              0.14290260159279625,
+              1.2346618155976576
+            ],
+            "held_grasp_object_position": [
+              0.1979292819413165,
+              0.15541054840089147,
+              1.2346618155976576
+            ],
+            "held_grasp_finger_gap": 0.026748641226203105,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02429498966638827,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06924564028309471,
+              -0.9973977884015414,
+              0.02006721190147487
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038662522311911115,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036916947935612614,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.317040070025074,
+              -0.3156436354610098,
+              0.8515395683444178
+            ],
+            "target_position": [
+              0.3086288056326573,
+              -0.3184098779434062,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008854460240497512,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853675983017761,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395683444178,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515282317105379,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626024441055345,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15467623769739547,
+            "release_required_pad_clearance": 0.05313012220527673,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2863153485124594,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007408499717712402,
+            "max_z_decrease": 0.007408499717712402,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518434474922365,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007408499717712402,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021287689835656085,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007408499717712402,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007408520784182004,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16432873904705048,
+              -0.37467133998870844,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16432873904705048,
+              -0.37467133998870844,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16269521758229416,
+              -0.376541875349199,
+              0.8061697948636753
+            ],
+            "closest_button": [
+              0.16431395709514618,
+              -0.3746704161167144,
+              0.7710725665092468
+            ],
+            "closest_ee_minus_button": [
+              -0.0016187395128520188,
+              -0.0018714592324845514,
+              0.03509722835442852
+            ],
+            "button_min_z_position": [
+              0.16431130468845367,
+              -0.37467420101165766,
+              0.7694003582000732
+            ],
+            "min_active_finger_to_button": 0.1473206054011762,
+            "closest_active_finger": [
+              0.02184474468231201,
+              -0.3597559928894043,
+              0.8106604218482971
+            ],
+            "closest_active_finger_button": [
+              0.16433171927928925,
+              -0.37467497587203974,
+              0.776334822177887
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14248697459697723,
+              0.014918982982635443,
+              0.034325599670410156
+            ],
+            "min_contact_pad_to_button": 0.021287689835656085,
+            "closest_contact_pad": [
+              0.16431130468845367,
+              -0.37785502388782394,
+              0.790449066102687
+            ],
+            "closest_contact_pad_button": [
+              0.16431130468845367,
+              -0.37467420101165766,
+              0.7694003582000732
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031808228761662782,
+              0.021048707902613706
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93710c7ba856284a851d6cb7e8bb359dca35164b334beedcd91fc6f6f3f69a64",
+    "visual_seed": 5688942897472309089,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0cd115a69f0d92c3d922c8a06ed62d80d0cb86f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19084826363351642,
+              0.15858749778304826,
+              1.0461729311746306
+            ],
+            "current_z": 1.0461729311746306,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18506624434593044,
+            "gripper_z": 1.0524194246648444,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18682956615421173,
+              0.15435952190363206,
+              1.0524194246648444
+            ],
+            "object_minus_gripper": [
+              0.004018697479304695,
+              0.0042279758794162015,
+              -0.006246493490213778
+            ],
+            "object_to_gripper_xy": 0.0058331560468664915,
+            "object_to_gripper_z": -0.006246493490213778,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19084826363351642,
+              0.1346673991374346,
+              1.0461729311746306
+            ],
+            "finger_b": [
+              0.18020077582452748,
+              0.15858749778304826,
+              1.0461729311746306
+            ],
+            "finger_midpoint": [
+              0.18552451972902195,
+              0.14662744846024145,
+              1.0461729311746306
+            ],
+            "object_minus_finger_midpoint": [
+              0.005323743904494471,
+              0.01196004932280681,
+              0.0
+            ],
+            "finger_gap": 0.026182821006500732,
+            "fingertip_max_gap": 0.09348876672248843,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013091410503250352,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461729311746306,
+            "object_top_z": 1.097573613203298,
+            "finger_top_clearance": 0.05140068202866743,
+            "fingertip_min_top_clearance": 0.015420204608600212,
+            "object_projection_between_fingers": 0.834628209174012,
+            "object_to_finger_line_xy": 0.009727330704959148,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04924438336124422,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2131286589062262,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19120524900310457,
+              0.15933812374821713,
+              1.2402581538703583
+            ],
+            "held_position": [
+              0.1953863495812307,
+              0.16321401635030405,
+              1.2338608048259867
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008569143498789199,
+            "max_held_gripper_dist": 0.00858291977875079,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006397349044371614,
+            "max_held_gripper_z_dist": 0.006421554425739329,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611126797956487,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1953863495812307,
+              0.1385124951897929,
+              1.2338608048259867
+            ],
+            "held_grasp_finger_b": [
+              0.18657114470406422,
+              0.16321401635030405,
+              1.2338608048259867
+            ],
+            "held_grasp_midpoint": [
+              0.19097874714264745,
+              0.15086325577004847,
+              1.2338608048259867
+            ],
+            "held_grasp_object_position": [
+              0.1953863495812307,
+              0.16321401635030405,
+              1.2338608048259867
+            ],
+            "held_grasp_finger_gap": 0.026227332778412684,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024205544018316,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05119707003040099,
+              -0.99819183278324,
+              0.03149484061142027
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003789881825485072,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03716616539950844,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3132218463763081,
+              -0.3247758763826054,
+              0.8515395976569748
+            ],
+            "target_position": [
+              0.3072506504034944,
+              -0.3259883865960155,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006093058539302762,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18163806076738118,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395976569748,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574045423937248,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617646552239804,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14931065060116713,
+            "release_required_pad_clearance": 0.05308823276119902,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.204618542233659,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007804393768310547,
+            "max_z_decrease": 0.007804393768310547,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035158559233660465,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007804393768310547,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021195225136217334,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007804393768310547,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007804420797117518,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16295057535171512,
+              -0.3822498321533203,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16295057535171512,
+              -0.3822498321533203,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1630624175047282,
+              -0.38357793804959384,
+              0.8079404668299268
+            ],
+            "closest_button": [
+              0.1629403680562973,
+              -0.3822585940361023,
+              0.7728068828582764
+            ],
+            "closest_ee_minus_button": [
+              0.00012204944843088872,
+              -0.0013193440134915413,
+              0.03513358397165045
+            ],
+            "button_min_z_position": [
+              0.16293011605739594,
+              -0.38225165009498596,
+              0.7690044641494751
+            ],
+            "min_active_finger_to_button": 0.1459057402549597,
+            "closest_active_finger": [
+              0.021761909127235413,
+              -0.36869487166404724,
+              0.8108515739440918
+            ],
+            "closest_active_finger_button": [
+              0.1629522442817688,
+              -0.38225242495536804,
+              0.7766467928886414
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1411903351545334,
+              0.0135575532913208,
+              0.03420478105545044
+            ],
+            "min_contact_pad_to_button": 0.021195225136217334,
+            "closest_contact_pad": [
+              0.16293011605739594,
+              -0.38469157534285775,
+              0.7900587827886459
+            ],
+            "closest_contact_pad_button": [
+              0.16293011605739594,
+              -0.38225165009498596,
+              0.7690044641494751
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002439925247871788,
+              0.021054318639170844
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69a99631422323fa9ced21c4f339693484e91d2970eb5938ae83db69f62270a2",
+    "visual_seed": 4808152451034451078,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bb14df8ffd6b904aaab77d30bb42b6b51a92f21
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18678891415290202,
+              0.1545341375939723,
+              1.0479716782018451
+            ],
+            "current_z": 1.0479716782018451,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18686499137314483,
+            "gripper_z": 1.0541706191338212,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18282415222870232,
+              0.15044521479108003,
+              1.0541706191338212
+            ],
+            "object_minus_gripper": [
+              0.0039647619241997,
+              0.004088922802892275,
+              -0.006198940931976038
+            ],
+            "object_to_gripper_xy": 0.005695491796464651,
+            "object_to_gripper_z": -0.006198940931976038,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18678891415290202,
+              0.13043451444786763,
+              1.0479716782018451
+            ],
+            "finger_b": [
+              0.17663177363679372,
+              0.1545341375939723,
+              1.0479716782018451
+            ],
+            "finger_midpoint": [
+              0.18171034389484786,
+              0.14248432602091998,
+              1.0479716782018451
+            ],
+            "object_minus_finger_midpoint": [
+              0.005078570258054166,
+              0.012049811573052321,
+              0.0
+            ],
+            "finger_gap": 0.026152616298340647,
+            "fingertip_max_gap": 0.09290987985838631,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013076308149170317,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479716782018451,
+            "object_top_z": 1.098655174386411,
+            "finger_top_clearance": 0.05068349618456591,
+            "fingertip_min_top_clearance": 0.015205048855369756,
+            "object_projection_between_fingers": 0.8491613498876053,
+            "object_to_finger_line_xy": 0.0093598000248936,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048954939929193156,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.417614438407552,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1871133788407971,
+              0.15566691505226388,
+              1.2451524115410249
+            ],
+            "held_position": [
+              0.1912083135471738,
+              0.15947655207281553,
+              1.2388367446866764
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00843620010982208,
+            "max_held_gripper_dist": 0.008448293511873137,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006315666854348478,
+            "max_held_gripper_z_dist": 0.006340929393713779,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08613211191552447,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1912083135471738,
+              0.13490244532553228,
+              1.2388367446866764
+            ],
+            "held_grasp_finger_b": [
+              0.1823494248541146,
+              0.15947655207281553,
+              1.2388367446866764
+            ],
+            "held_grasp_midpoint": [
+              0.18677886920064418,
+              0.14718949869917392,
+              1.2388367446866764
+            ],
+            "held_grasp_object_position": [
+              0.1912083135471738,
+              0.15947655207281553,
+              1.2388367446866764
+            ],
+            "held_grasp_finger_gap": 0.026122148290347105,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02435157210399003,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.023550282901790405,
+              -0.9994341479623572,
+              0.024015995961085612
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004149447354785648,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03733583468318303,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3133933669643232,
+              -0.32211695328394363,
+              0.8515395645709409
+            ],
+            "target_position": [
+              0.30661036919548207,
+              -0.3238175384282897,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006992928468479717,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1828319069675337,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395645709409,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535368190488848,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655834891298152,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15162104862186893,
+            "release_required_pad_clearance": 0.05327917445649076,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5776463972959096,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007521212100982666,
+            "max_z_decrease": 0.007521212100982666,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518484099297749,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007521212100982666,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021232722508256665,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007521212100982666,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007521229415717033,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16231030225753784,
+              -0.3800790011882782,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16231030225753784,
+              -0.3800790011882782,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16141130106431623,
+              -0.381918607977682,
+              0.8081571719999681
+            ],
+            "closest_button": [
+              0.16229984164237976,
+              -0.38008660078048706,
+              0.7730312943458557
+            ],
+            "closest_ee_minus_button": [
+              -0.0008885405780635347,
+              -0.0018320071971949514,
+              0.03512587765411235
+            ],
+            "button_min_z_position": [
+              0.1622941642999649,
+              -0.38007915019989014,
+              0.769287645816803
+            ],
+            "min_active_finger_to_button": 0.14683373389312138,
+            "closest_active_finger": [
+              0.020070970058441162,
+              -0.3674149513244629,
+              0.810468852519989
+            ],
+            "closest_active_finger_button": [
+              0.16231051087379456,
+              -0.38008204102516174,
+              0.7762986421585083
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422395408153534,
+              0.012667089700698853,
+              0.03417021036148071
+            ],
+            "min_contact_pad_to_button": 0.021232722508256665,
+            "closest_contact_pad": [
+              0.1622941642999649,
+              -0.3830403004539238,
+              0.7903128710066949
+            ],
+            "closest_contact_pad_button": [
+              0.1622941642999649,
+              -0.38007915019989014,
+              0.769287645816803
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002961150254033651,
+              0.021025225189891916
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4e62d9449961be244988362140875d5a062a3abd1732a5662f826a3f79f262e7",
+    "visual_seed": 6548726521496537697,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3adc0126ba1ef4b3c19b116a68aee359252949c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19181785161851678,
+              0.15345878179370875,
+              1.046208607752205
+            ],
+            "current_z": 1.046208607752205,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18510198052814952,
+            "gripper_z": 1.0525750300452188,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18770905710770022,
+              0.14919786073682384,
+              1.0525750300452188
+            ],
+            "object_minus_gripper": [
+              0.004108794510816555,
+              0.004260921056884914,
+              -0.006366422293013763
+            ],
+            "object_to_gripper_xy": 0.00591926013832147,
+            "object_to_gripper_z": -0.006366422293013763,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19181785161851678,
+              0.12942610217124756,
+              1.046208607752205
+            ],
+            "finger_b": [
+              0.18119601516504447,
+              0.15345878179370875,
+              1.046208607752205
+            ],
+            "finger_midpoint": [
+              0.18650693339178062,
+              0.14144244198247816,
+              1.046208607752205
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053109182267361554,
+              0.012016339811230597,
+              0.0
+            ],
+            "finger_gap": 0.026275332528441477,
+            "fingertip_max_gap": 0.09353287297137663,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013137666264220738,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046208607752205,
+            "object_top_z": 1.097573361825341,
+            "finger_top_clearance": 0.0513647540731359,
+            "fingertip_min_top_clearance": 0.015409426221940735,
+            "object_projection_between_fingers": 0.836580913498031,
+            "object_to_finger_line_xy": 0.00971524117581249,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926643648568832,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1388371932402894,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1919140712854061,
+              0.15442927151128805,
+              1.2421005204562885
+            ],
+            "held_position": [
+              0.19617942938496852,
+              0.15836750196251184,
+              1.2356048386483123
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008711878153126466,
+            "max_held_gripper_dist": 0.008723874400605904,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006495681807976217,
+            "max_held_gripper_z_dist": 0.006519939627059879,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08565041553624195,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19617942938496852,
+              0.133678090099207,
+              1.2356048386483123
+            ],
+            "held_grasp_finger_b": [
+              0.18713120900546668,
+              0.15836750196251184,
+              1.2356048386483123
+            ],
+            "held_grasp_midpoint": [
+              0.1916553191952176,
+              0.14602279603085944,
+              1.2356048386483123
+            ],
+            "held_grasp_object_position": [
+              0.19617942938496852,
+              0.15836750196251184,
+              1.2356048386483123
+            ],
+            "held_grasp_finger_gap": 0.02629519633301737,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024260401558098645,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.043647557733125716,
+              -0.9986197490649629,
+              0.029214508063021727
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003997545289799242,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719511656964939,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31286751883259817,
+              -0.319297495141755,
+              0.8515395782622386
+            ],
+            "target_position": [
+              0.3064267485186209,
+              -0.3210899918701369,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006685549099264089,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18304126000574528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395782622386,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536702396721444,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08541399177627816,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517264335667433,
+            "release_required_pad_clearance": 0.05270699588813908,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4681359535111209,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007511794567108154,
+            "max_z_decrease": 0.007511794567108154,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513509085723117,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007511794567108154,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021136019040102247,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007511794567108154,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007511816837070241,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16212667524814606,
+              -0.37735146284103394,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16212667524814606,
+              -0.37735146284103394,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16314455550260168,
+              -0.3767197070683213,
+              0.8077081801956427
+            ],
+            "closest_button": [
+              0.1621154248714447,
+              -0.3773552477359772,
+              0.7725939154624939
+            ],
+            "closest_ee_minus_button": [
+              0.001029130631156977,
+              0.000635540667655865,
+              0.035114264733148826
+            ],
+            "button_min_z_position": [
+              0.16210883855819702,
+              -0.37735551595687866,
+              0.7692970633506775
+            ],
+            "min_active_finger_to_button": 0.14497698098157338,
+            "closest_active_finger": [
+              0.03510446846485138,
+              -0.4382282793521881,
+              0.8105844855308533
+            ],
+            "closest_active_finger_button": [
+              0.16212914884090424,
+              -0.37735411524772644,
+              0.7762713432312012
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12702468037605286,
+              -0.06087416410446167,
+              0.0343131422996521
+            ],
+            "min_contact_pad_to_button": 0.021136019040102247,
+            "closest_contact_pad": [
+              0.16210883855819702,
+              -0.37813372434158765,
+              0.7904187510809119
+            ],
+            "closest_contact_pad_button": [
+              0.16210883855819702,
+              -0.37735551595687866,
+              0.7692970633506775
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007782083847089893,
+              0.021121687730234373
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de018747bb80b24ac713973e8ca93d49474a5d16fda80d94ec6534d10b09a6f2",
+    "visual_seed": 6706035472292947090,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f8a97c04b7f50800abb1b7d6b019ec3cbbc988
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18625431335482825,
+              0.15923755237650772,
+              1.0471831715235087
+            ],
+            "current_z": 1.0471831715235087,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1860765442994532,
+            "gripper_z": 1.0535972913521463,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1822565946174545,
+              0.15505097673820856,
+              1.0535972913521463
+            ],
+            "object_minus_gripper": [
+              0.003997718737373757,
+              0.0041865756382991615,
+              -0.006414119828637599
+            ],
+            "object_to_gripper_xy": 0.0057887106231309625,
+            "object_to_gripper_z": -0.006414119828637599,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18625431335482825,
+              0.13527055554239692,
+              1.0471831715235087
+            ],
+            "finger_b": [
+              0.17574413415119838,
+              0.15923755237650772,
+              1.0471831715235087
+            ],
+            "finger_midpoint": [
+              0.1809992237530133,
+              0.14725405395945232,
+              1.0471831715235087
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052550896018149496,
+              0.0119834984170554,
+              0.0
+            ],
+            "finger_gap": 0.026170227437656915,
+            "fingertip_max_gap": 0.09438751949292987,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013085113718828463,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471831715235087,
+            "object_top_z": 1.0989864361697408,
+            "finger_top_clearance": 0.05180326464623208,
+            "fingertip_min_top_clearance": 0.015540979393869591,
+            "object_projection_between_fingers": 0.8387108147507015,
+            "object_to_finger_line_xy": 0.009625343619936359,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049693759746464936,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5608474132876198,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18666226271981934,
+              0.16005721141823553,
+              1.241842971740922
+            ],
+            "held_position": [
+              0.19080519534934692,
+              0.16390818424387785,
+              1.2352778682163903
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008665706362695388,
+            "max_held_gripper_dist": 0.00868046694231267,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006565103524531768,
+            "max_held_gripper_z_dist": 0.00658833518613422,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0857464567382959,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19080519534934692,
+              0.13923351113720717,
+              1.2352778682163903
+            ],
+            "held_grasp_finger_b": [
+              0.1820276947356772,
+              0.16390818424387785,
+              1.2352778682163903
+            ],
+            "held_grasp_midpoint": [
+              0.18641644504251206,
+              0.15157084769054252,
+              1.2352778682163903
+            ],
+            "held_grasp_object_position": [
+              0.19080519534934692,
+              0.16390818424387785,
+              1.2352778682163903
+            ],
+            "held_grasp_finger_gap": 0.026189387353354215,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024259672870134318,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04287726368486688,
+              -0.9984338180261639,
+              0.035936767809522374
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003881516851080369,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03721405842672151,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3116334697048671,
+              -0.32009561272643827,
+              0.8515395165439664
+            ],
+            "target_position": [
+              0.3059213304457835,
+              -0.3212520050659599,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0058280166573259195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18262771186018045,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395165439664,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525740961718107,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543446375814899,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1515658388751089,
+            "release_required_pad_clearance": 0.0527172318790745,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4877865256912373,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007829904556274414,
+            "max_z_decrease": 0.007829904556274414,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035168259405898274,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007829904556274414,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021093464268607802,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007829904556274414,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007829926162270417,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1616212576627731,
+              -0.37751346826553345,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1616212576627731,
+              -0.37751346826553345,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16301903414685553,
+              -0.37754628947430213,
+              0.8077718532414905
+            ],
+            "closest_button": [
+              0.16161042451858515,
+              -0.3775210976600647,
+              0.772631824016571
+            ],
+            "closest_ee_minus_button": [
+              0.0014086096282703853,
+              -2.5191814237435217e-05,
+              0.035140029224919433
+            ],
+            "button_min_z_position": [
+              0.1616030186414718,
+              -0.37751585245132446,
+              0.7689789533615112
+            ],
+            "min_active_finger_to_button": 0.14477524914636156,
+            "closest_active_finger": [
+              0.02160441130399704,
+              -0.36385977268218994,
+              0.8105899691581726
+            ],
+            "closest_active_finger_button": [
+              0.16162155568599695,
+              -0.3775162398815155,
+              0.7764055728912354
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14001714438199991,
+              0.013656467199325562,
+              0.034184396266937256
+            ],
+            "min_contact_pad_to_button": 0.021093464268607802,
+            "closest_contact_pad": [
+              0.1616030186414718,
+              -0.37851401429282533,
+              0.7900487874327422
+            ],
+            "closest_contact_pad_button": [
+              0.1616030186414718,
+              -0.37751585245132446,
+              0.7689789533615112
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009981618415008664,
+              0.021069834071230975
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "898412fe9b82d9077aa67e2091f2400f421e88d28bf805cd538182ca30b9e7f3",
+    "visual_seed": 5660951964358788382,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4c5c8f66af928f906cb8fd4d2eda5168632c8bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18678625345631628,
+              0.1512685265176822,
+              1.048950725505538
+            ],
+            "current_z": 1.048950725505538,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18784403867683752,
+            "gripper_z": 1.0555387118019506,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18282945953594434,
+              0.14716963343711476,
+              1.0555387118019506
+            ],
+            "object_minus_gripper": [
+              0.0039567939203719316,
+              0.004098893080567434,
+              -0.006587986296412662
+            ],
+            "object_to_gripper_xy": 0.005697117044103611,
+            "object_to_gripper_z": -0.006587986296412662,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18678625345631628,
+              0.12719034226763476,
+              1.048950725505538
+            ],
+            "finger_b": [
+              0.17660104757131517,
+              0.1512685265176822,
+              1.048950725505538
+            ],
+            "finger_midpoint": [
+              0.18169365051381572,
+              0.13922943439265847,
+              1.048950725505538
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050926029425005515,
+              0.012039092125023715,
+              0.0
+            ],
+            "finger_gap": 0.0261437827350805,
+            "fingertip_max_gap": 0.09620423825418684,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01307189136754025,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048950725505538,
+            "object_top_z": 1.1015288941898265,
+            "finger_top_clearance": 0.05257816868428855,
+            "fingertip_min_top_clearance": 0.015773450605286583,
+            "object_projection_between_fingers": 0.8482241152517146,
+            "object_to_finger_line_xy": 0.00938048125662596,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05060211912709342,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0489895939137392,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18702376002196283,
+              0.15265892096124958,
+              1.2449190037296551
+            ],
+            "held_position": [
+              0.19108946822538603,
+              0.15649145098198786,
+              1.2382115706738461
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008729715216053853,
+            "max_held_gripper_dist": 0.008741577972951059,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006707433055809009,
+            "max_held_gripper_z_dist": 0.006730365098658098,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08569627652263169,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19108946822538603,
+              0.13194050221454617,
+              1.2382115706738461
+            ],
+            "held_grasp_finger_b": [
+              0.18218235369425384,
+              0.15649145098198786,
+              1.2382115706738461
+            ],
+            "held_grasp_midpoint": [
+              0.18663591095981993,
+              0.14421597659826701,
+              1.2382115706738461
+            ],
+            "held_grasp_object_position": [
+              0.19108946822538603,
+              0.15649145098198786,
+              1.2382115706738461
+            ],
+            "held_grasp_finger_gap": 0.02611677190336226,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02433001072369913,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021820891179890795,
+              -0.9989174810683025,
+              0.041081805270375756
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004215151530329275,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037360883531334835,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31125270678730566,
+              -0.31949091905916566,
+              0.851539568419824
+            ],
+            "target_position": [
+              0.30652945735271264,
+              -0.3201151237867092,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004764317030096856,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18414789496259135,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539568419824,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547072920496678,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08759424759522132,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15231403724474668,
+            "release_required_pad_clearance": 0.05379712379761066,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.603520292786643,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007437229156494141,
+            "max_z_decrease": 0.007437229156494141,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511219401728678,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007437229156494141,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021178715807303145,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007437229156494141,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007437246752794393,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16222938895225522,
+              -0.37637656927108765,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16222938895225522,
+              -0.37637656927108765,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16165937254427576,
+              -0.37657635332060024,
+              0.8077374661804623
+            ],
+            "closest_button": [
+              0.16221888363361353,
+              -0.3763809204101562,
+              0.7726302742958069
+            ],
+            "closest_ee_minus_button": [
+              -0.0005595110893377719,
+              -0.00019543291044404887,
+              0.03510719188465539
+            ],
+            "button_min_z_position": [
+              0.16221363842487335,
+              -0.3763802647590637,
+              0.7693716287612915
+            ],
+            "min_active_finger_to_button": 0.1466877821855036,
+            "closest_active_finger": [
+              0.020784661173820496,
+              -0.35826367139816284,
+              0.8100873827934265
+            ],
+            "closest_active_finger_button": [
+              0.16223223507404327,
+              -0.3763802647590637,
+              0.7757118344306946
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14144757390022278,
+              0.01811659336090088,
+              0.034375548362731934
+            ],
+            "min_contact_pad_to_button": 0.021178715807303145,
+            "closest_contact_pad": [
+              0.16221363842487335,
+              -0.37806912424889694,
+              0.7904828996105349
+            ],
+            "closest_contact_pad_button": [
+              0.16221363842487335,
+              -0.3763802647590637,
+              0.7693716287612915
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016888594898332165,
+              0.021111270849243358
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9acca9653d7d37dbec6820f7a6ec7efa11c6466875bb172ad87d42810747e901",
+    "visual_seed": 3211234552133145698,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..057c859989abd8034163da15998cce4b680f0a22
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1913341795972855,
+              0.1558439861813334,
+              1.0463687375785775
+            ],
+            "current_z": 1.0463687375785775,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1852621699591669,
+            "gripper_z": 1.0527294963450702,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1870387488339658,
+              0.15141890751496975,
+              1.0527294963450702
+            ],
+            "object_minus_gripper": [
+              0.004295430763319702,
+              0.004425078666363658,
+              -0.006360758766492669
+            ],
+            "object_to_gripper_xy": 0.006167012781402358,
+            "object_to_gripper_z": -0.006360758766492669,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1913341795972855,
+              0.13184575621931768,
+              1.0463687375785775
+            ],
+            "finger_b": [
+              0.18025423498457943,
+              0.1558439861813334,
+              1.0463687375785775
+            ],
+            "finger_midpoint": [
+              0.18579420729093246,
+              0.14384487120032555,
+              1.0463687375785775
+            ],
+            "object_minus_finger_midpoint": [
+              0.00553997230635303,
+              0.011999114981007863,
+              0.0
+            ],
+            "finger_gap": 0.02643255973095348,
+            "fingertip_max_gap": 0.09205543659386162,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01321627986547674,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463687375785775,
+            "object_top_z": 1.0968620727944671,
+            "finger_top_clearance": 0.05049333521588961,
+            "fingertip_min_top_clearance": 0.015148000564766916,
+            "object_projection_between_fingers": 0.8242898966180551,
+            "object_to_finger_line_xy": 0.010059527396839298,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852771829693081,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8576508267440526,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19139324350260628,
+              0.15643859712566405,
+              1.2436434040458832
+            ],
+            "held_position": [
+              0.19592657518539316,
+              0.16045602240982726,
+              1.2371602669445103
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008872534515863634,
+            "max_held_gripper_dist": 0.008884674525663867,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006483137101372938,
+            "max_held_gripper_z_dist": 0.006511329142230293,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08601640757524207,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19592657518539316,
+              0.13565302223196493,
+              1.2371602669445103
+            ],
+            "held_grasp_finger_b": [
+              0.1866620374612713,
+              0.16045602240982726,
+              1.2371602669445103
+            ],
+            "held_grasp_midpoint": [
+              0.19129430632333222,
+              0.1480545223208961,
+              1.2371602669445103
+            ],
+            "held_grasp_object_position": [
+              0.19592657518539316,
+              0.16045602240982726,
+              1.2371602669445103
+            ],
+            "held_grasp_finger_gap": 0.026476791290953587,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024241104769788257,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05576929685798388,
+              -0.9981768877490116,
+              0.02307999765301327
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003944053618092558,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708302093061239,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31658354677272027,
+              -0.32041165611545375,
+              0.8515395792298136
+            ],
+            "target_position": [
+              0.30873115371360116,
+              -0.3227957853102621,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008206348077704205,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1861967780617014,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395792298136,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545605863920309,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085186343689013,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15468826499175636,
+            "release_required_pad_clearance": 0.0525931718445065,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.25022906728835503,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007507026195526123,
+            "max_z_decrease": 0.007507026195526123,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513585446880451,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007507026195526123,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021116578381329625,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007507026195526123,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007507045665198346,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16443108022212982,
+              -0.3790572583675384,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16443108022212982,
+              -0.3790572583675384,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1636271976797444,
+              -0.3777905153145973,
+              0.8078450696360522
+            ],
+            "closest_button": [
+              0.16442173719406128,
+              -0.379063069820404,
+              0.7727412581443787
+            ],
+            "closest_ee_minus_button": [
+              -0.0007945395143168776,
+              0.0012725545058067111,
+              0.03510381149167352
+            ],
+            "button_min_z_position": [
+              0.1644144207239151,
+              -0.3790611028671264,
+              0.7693018317222595
+            ],
+            "min_active_finger_to_button": 0.14634757319296274,
+            "closest_active_finger": [
+              0.03543829917907715,
+              -0.4390386641025543,
+              0.8111703395843506
+            ],
+            "closest_active_finger_button": [
+              0.16443194448947906,
+              -0.3790591657161712,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12899364531040192,
+              -0.05997949838638311,
+              0.03436148166656494
+            ],
+            "min_contact_pad_to_button": 0.021116578381329625,
+            "closest_contact_pad": [
+              0.1644144207239151,
+              -0.37923775749593,
+              0.7904176711722307
+            ],
+            "closest_contact_pad_button": [
+              0.1644144207239151,
+              -0.3790611028671264,
+              0.7693018317222595
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00017665462880356309,
+              0.021115839449971197
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "510a73765bd6e365a04d02cbdcf112f86605bfbc65abb927945b290bf696f3f3",
+    "visual_seed": 8482297953774726619,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c1e23d23e9b7306d8c0b3c869f2c4f2e7bed401
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18917961196859678,
+              0.158195877565073,
+              1.0498665311925817
+            ],
+            "current_z": 1.0498665311925817,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1887597847592365,
+            "gripper_z": 1.0560787882361544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18481522887193666,
+              0.1537204889223928,
+              1.0560787882361544
+            ],
+            "object_minus_gripper": [
+              0.004364383096660124,
+              0.004475388642680211,
+              -0.006212257043572755
+            ],
+            "object_to_gripper_xy": 0.00625115535860721,
+            "object_to_gripper_z": -0.006212257043572755,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18917961196859678,
+              0.13417865364023507,
+              1.0498665311925817
+            ],
+            "finger_b": [
+              0.17799022483357854,
+              0.158195877565073,
+              1.0498665311925817
+            ],
+            "finger_midpoint": [
+              0.18358491840108765,
+              0.14618726560265405,
+              1.0498665311925817
+            ],
+            "object_minus_finger_midpoint": [
+              0.005594693567509135,
+              0.012008611962418952,
+              0.0
+            ],
+            "finger_gap": 0.026495837965860213,
+            "fingertip_max_gap": 0.09061035215719443,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013247918982930098,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498665311925817,
+            "object_top_z": 1.0996496049323947,
+            "finger_top_clearance": 0.049783073739813055,
+            "fingertip_min_top_clearance": 0.01493492212194395,
+            "object_projection_between_fingers": 0.8216565015740954,
+            "object_to_finger_line_xy": 0.010142650206032416,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04780517607859722,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6630398900774515,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18911862372906,
+              0.1588108390409749,
+              1.2476417565841018
+            ],
+            "held_position": [
+              0.19372829194960567,
+              0.16287863167168223,
+              1.2413138085214928
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008822635925449001,
+            "max_held_gripper_dist": 0.008835559282290108,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006327948062609057,
+            "max_held_gripper_z_dist": 0.006356717536774248,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08565716098717252,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19372829194960567,
+              0.13807621994333924,
+              1.2413138085214928
+            ],
+            "held_grasp_finger_b": [
+              0.18430017269321328,
+              0.16287863167168223,
+              1.2413138085214928
+            ],
+            "held_grasp_midpoint": [
+              0.18901423232140946,
+              0.15047742580751072,
+              1.2413138085214928
+            ],
+            "held_grasp_object_position": [
+              0.19372829194960567,
+              0.16287863167168223,
+              1.2413138085214928
+            ],
+            "held_grasp_finger_gap": 0.02653392282070262,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02422772374358648,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05648741573530585,
+              -0.998301863013164,
+              0.01423243366374094
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040099904797818876,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037073818106263944,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3164606261943401,
+              -0.3133917788003028,
+              0.8515395331489319
+            ],
+            "target_position": [
+              0.3078558760825013,
+              -0.316293698977141,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009080906628742018,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18406904695656837,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395331489319,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567550548576105,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543952757928545,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15212428365431543,
+            "release_required_pad_clearance": 0.05271976378964273,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4925766918073724,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007324874401092529,
+            "max_z_decrease": 0.007324874401092529,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510949306753101,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007324874401092529,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021296553228970984,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007324874401092529,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007324895830839776,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16355580091476438,
+              -0.3725551664829254,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16355580091476438,
+              -0.3725551664829254,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16340309174887116,
+              -0.37368817824895517,
+              0.8078067546708494
+            ],
+            "closest_button": [
+              0.16354565322399137,
+              -0.3725598156452179,
+              0.77271568775177
+            ],
+            "closest_ee_minus_button": [
+              -0.00014256147512020645,
+              -0.0011283626037372763,
+              0.03509106691907937
+            ],
+            "button_min_z_position": [
+              0.16353854537010193,
+              -0.37255918979644775,
+              0.7694839835166931
+            ],
+            "min_active_finger_to_button": 0.14619842413790451,
+            "closest_active_finger": [
+              0.022539690136909485,
+              -0.3552270829677582,
+              0.8096846342086792
+            ],
+            "closest_active_finger_button": [
+              0.1635593920946121,
+              -0.3725598156452179,
+              0.7752317786216736
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410197019577026,
+              0.017332732677459717,
+              0.034452855587005615
+            ],
+            "min_contact_pad_to_button": 0.021296553228970984,
+            "closest_contact_pad": [
+              0.16353854537010193,
+              -0.3752241374405091,
+              0.7906131395218157
+            ],
+            "closest_contact_pad_button": [
+              0.16353854537010193,
+              -0.37255918979644775,
+              0.7694839835166931
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002664947644061333,
+              0.02112915600512255
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b659d1c44b3b4fb2f38731daca7c4dd27eed1efde872a8440acac8dec071db00",
+    "visual_seed": 3315316990185700458,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..558f8e0b3f1e811d5fe5a377c29ad83ebf7cf35b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1936201639909409,
+              0.15503694768907395,
+              1.0460002818604934
+            ],
+            "current_z": 1.0460002818604934,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18489371424108247,
+            "gripper_z": 1.0522202029128414,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18928664419962318,
+              0.15066811131517788,
+              1.0522202029128414
+            ],
+            "object_minus_gripper": [
+              0.004333519791317714,
+              0.004368836373896068,
+              -0.006219921052347921
+            ],
+            "object_to_gripper_xy": 0.006153545729383967,
+            "object_to_gripper_z": -0.006219921052347921,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1936201639909409,
+              0.130853676765829,
+              1.0460002818604934
+            ],
+            "finger_b": [
+              0.18282976008951823,
+              0.15503694768907395,
+              1.0460002818604934
+            ],
+            "finger_midpoint": [
+              0.18822496204022957,
+              0.1429453122274515,
+              1.0460002818604934
+            ],
+            "object_minus_finger_midpoint": [
+              0.005395201950711331,
+              0.012091635461622452,
+              0.0
+            ],
+            "finger_gap": 0.026481378531014982,
+            "fingertip_max_gap": 0.09136757450405039,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013240689265507479,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460002818604934,
+            "object_top_z": 1.0962551352433216,
+            "finger_top_clearance": 0.0502548533828282,
+            "fingertip_min_top_clearance": 0.015076456014848477,
+            "object_projection_between_fingers": 0.8339670730318128,
+            "object_to_finger_line_xy": 0.00985399081900973,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481837872520252,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.49369075036599713,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19356642177574926,
+              0.15579375800389703,
+              1.2410442941561897
+            ],
+            "held_position": [
+              0.1980546987122446,
+              0.1598257363679749,
+              1.2346831198775834
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008767326707147973,
+            "max_held_gripper_dist": 0.00877993112257241,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006361174278606274,
+            "max_held_gripper_z_dist": 0.006386766181891934,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08598028253777329,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1980546987122446,
+              0.13500436167654134,
+              1.2346831198775834
+            ],
+            "held_grasp_finger_b": [
+              0.18885575278345795,
+              0.1598257363679749,
+              1.2346831198775834
+            ],
+            "held_grasp_midpoint": [
+              0.1934552257478513,
+              0.1474150490222581,
+              1.2346831198775834
+            ],
+            "held_grasp_object_position": [
+              0.1980546987122446,
+              0.1598257363679749,
+              1.2346831198775834
+            ],
+            "held_grasp_finger_gap": 0.026471139903171504,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024342194153928545,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04846376773959536,
+              -0.9986557973126801,
+              0.018381014940910267
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003999228297629002,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037103337414188975,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31573149840342785,
+              -0.3208974189930951,
+              0.85153964946872
+            ],
+            "target_position": [
+              0.308510250881674,
+              -0.32310002641496616,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0075496950418753725,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851459277178025,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153964946872,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583092564369412,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08648427729770934,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527557602329334,
+            "release_required_pad_clearance": 0.05324213864885467,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5050296804261505,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007754087448120117,
+            "max_z_decrease": 0.007754087448120117,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523229134507065,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007754087448120117,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021280919554021976,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007754087448120117,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007754113102115844,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16421017050743103,
+              -0.379361480474472,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16421017050743103,
+              -0.379361480474472,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16621605824482313,
+              -0.3808815700262218,
+              0.8045315589041446
+            ],
+            "closest_button": [
+              0.1641911119222641,
+              -0.3793647885322571,
+              0.7693902254104614
+            ],
+            "closest_ee_minus_button": [
+              0.0020249463225590347,
+              -0.001516781493964725,
+              0.0351413334936832
+            ],
+            "button_min_z_position": [
+              0.16419051587581632,
+              -0.3793648779392242,
+              0.7690547704696655
+            ],
+            "min_active_finger_to_button": 0.14368061935144472,
+            "closest_active_finger": [
+              0.025464609265327454,
+              -0.3647153079509735,
+              0.8103609681129456
+            ],
+            "closest_active_finger_button": [
+              0.16421250998973846,
+              -0.37936562299728394,
+              0.7760315537452698
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.138747900724411,
+              0.014650315046310425,
+              0.03432941436767578
+            ],
+            "min_contact_pad_to_button": 0.021280919554021976,
+            "closest_contact_pad": [
+              0.16419051587581632,
+              -0.38206896938021845,
+              0.7901631912192976
+            ],
+            "closest_contact_pad_button": [
+              0.16419051587581632,
+              -0.3793648779392242,
+              0.7690547704696655
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027040914409942607,
+              0.02110842074963204
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b62a1644875ad77f658afb90f540440b0cc1d1d555cc86b52619b018fb0ed0c3",
+    "visual_seed": 7789216827290783528,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f35a03bcd0fb0a887050c2a99648efeb1762e06
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19363904441441482,
+              0.1516567811385725,
+              1.0478274539210792
+            ],
+            "current_z": 1.0478274539210792,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.18672082669702383,
+            "gripper_z": 1.0542809525131271,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18921302823145988,
+              0.14714726089811042,
+              1.0542809525131271
+            ],
+            "object_minus_gripper": [
+              0.004426016182954934,
+              0.004509520240462084,
+              -0.006453498592047913
+            ],
+            "object_to_gripper_xy": 0.006318654291137962,
+            "object_to_gripper_z": -0.006453498592047913,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19363904441441482,
+              0.1275882334490143,
+              1.0478274539210792
+            ],
+            "finger_b": [
+              0.1824056559616471,
+              0.1516567811385725,
+              1.0478274539210792
+            ],
+            "finger_midpoint": [
+              0.18802235018803096,
+              0.13962250729379339,
+              1.0478274539210792
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056166942263838615,
+              0.01203427384477912,
+              0.0
+            ],
+            "finger_gap": 0.02656094885382134,
+            "fingertip_max_gap": 0.0925066070591043,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013280474426910683,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478274539210792,
+            "object_top_z": 1.098877472497978,
+            "finger_top_clearance": 0.051050018576898726,
+            "fingertip_min_top_clearance": 0.01531500557306965,
+            "object_projection_between_fingers": 0.8211312865882694,
+            "object_to_finger_line_xy": 0.010179280385605437,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875330352955215,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9273540290442192,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19369084798724737,
+              0.15181045424099834,
+              1.243573494166146
+            ],
+            "held_position": [
+              0.19835100415936158,
+              0.15588851741157939,
+              1.2369738526914222
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009050023335143301,
+            "max_held_gripper_dist": 0.009063397229384988,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006599641474723805,
+            "max_held_gripper_z_dist": 0.006625871048898002,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08632513046283995,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19835100415936158,
+              0.13093639178318786,
+              1.2369738526914222
+            ],
+            "held_grasp_finger_b": [
+              0.1891120804663209,
+              0.15588851741157939,
+              1.2369738526914222
+            ],
+            "held_grasp_midpoint": [
+              0.19373154231284123,
+              0.1434124545973836,
+              1.2369738526914222
+            ],
+            "held_grasp_object_position": [
+              0.19835100415936158,
+              0.15588851741157939,
+              1.2369738526914222
+            ],
+            "held_grasp_finger_gap": 0.026607635828477166,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02427667625780298,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06603291476864959,
+              -0.9973799302397891,
+              0.029545370568494933
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038038905391855823,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697183888041696,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3156270705672837,
+              -0.3217218716726711,
+              0.8515395706297079
+            ],
+            "target_position": [
+              0.30880077664191596,
+              -0.32347242317673724,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007047178110697956,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857546487039639,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395706297079,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591252677793402,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588239151607484,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15305203013336555,
+            "release_required_pad_clearance": 0.05294119575803742,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9194025896712282,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007759034633636475,
+            "max_z_decrease": 0.007759034633636475,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035193395941372274,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007759034633636475,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021167782004053348,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007759034633636475,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007759060798809444,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16450069844722748,
+              -0.3797338902950287,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16450069844722748,
+              -0.3797338902950287,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16614577175607378,
+              -0.38083944477164755,
+              0.8080166269398061
+            ],
+            "closest_button": [
+              0.1644902974367142,
+              -0.37974265217781067,
+              0.7728793025016785
+            ],
+            "closest_ee_minus_button": [
+              0.0016554743193595844,
+              -0.0010967925938368817,
+              0.03513732443812767
+            ],
+            "button_min_z_position": [
+              0.16448068618774414,
+              -0.3797362446784973,
+              0.7690498232841492
+            ],
+            "min_active_finger_to_button": 0.1444561309628849,
+            "closest_active_finger": [
+              0.024719029664993286,
+              -0.36717045307159424,
+              0.8109444379806519
+            ],
+            "closest_active_finger_button": [
+              0.1645057201385498,
+              -0.3797346353530884,
+              0.77674800157547
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13978669047355652,
+              0.01256418228149414,
+              0.034196436405181885
+            ],
+            "min_contact_pad_to_button": 0.021167782004053348,
+            "closest_contact_pad": [
+              0.16448068618774414,
+              -0.3817994880532129,
+              0.7901168121944756
+            ],
+            "closest_contact_pad_button": [
+              0.16448068618774414,
+              -0.3797362446784973,
+              0.7690498232841492
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020632433747155843,
+              0.021066988910326434
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2cf881e0f321acd5f72263962efbf6c40bf637080a4b407e6cf0b1d7efaf733f",
+    "visual_seed": 6092741307500597432,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7634dc090ed93e45be285dafddc005ac6f05b9e8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18818984184488932,
+              0.15610354471478746,
+              1.0462044763394769
+            ],
+            "current_z": 1.0462044763394769,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18509772990613182,
+            "gripper_z": 1.0524561198510247,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18417745465711277,
+              0.15198485726685323,
+              1.0524561198510247
+            ],
+            "object_minus_gripper": [
+              0.0040123871877765505,
+              0.004118687447934227,
+              -0.006251643511547833
+            ],
+            "object_to_gripper_xy": 0.005750029325003863,
+            "object_to_gripper_z": -0.006251643511547833,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18818984184488932,
+              0.13197266866297133,
+              1.0462044763394769
+            ],
+            "finger_b": [
+              0.1779844748126232,
+              0.15610354471478746,
+              1.0462044763394769
+            ],
+            "finger_midpoint": [
+              0.18308715832875627,
+              0.1440381066888794,
+              1.0462044763394769
+            ],
+            "object_minus_finger_midpoint": [
+              0.00510268351613305,
+              0.012065438025908065,
+              0.0
+            ],
+            "finger_gap": 0.026200165940149643,
+            "fingertip_max_gap": 0.09325506439337405,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013100082970074816,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462044763394769,
+            "object_top_z": 1.0974249888554444,
+            "finger_top_clearance": 0.05122051251596749,
+            "fingertip_min_top_clearance": 0.015366153754790245,
+            "object_projection_between_fingers": 0.8482777853936252,
+            "object_to_finger_line_xy": 0.009399346839308514,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04912753219668703,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1347504159130037,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18845543726711866,
+              0.15731421446969146,
+              1.2441134755722796
+            ],
+            "held_position": [
+              0.19260750442040864,
+              0.16114573588468784,
+              1.2377546766209733
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008506147312511085,
+            "max_held_gripper_dist": 0.008518713242455005,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00635879895130631,
+            "max_held_gripper_z_dist": 0.006385395589386222,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08562150976634991,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19260750442040864,
+              0.13656655112835392,
+              1.2377546766209733
+            ],
+            "held_grasp_finger_b": [
+              0.18365762485389164,
+              0.16114573588468784,
+              1.2377546766209733
+            ],
+            "held_grasp_midpoint": [
+              0.18813256463715014,
+              0.14885614350652088,
+              1.2377546766209733
+            ],
+            "held_grasp_object_position": [
+              0.19260750442040864,
+              0.16114573588468784,
+              1.2377546766209733
+            ],
+            "held_grasp_finger_gap": 0.026157917874730704,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024259972526689252,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.032937539741335495,
+              -0.9990062642034517,
+              0.03002669742165187
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004084626775398115,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037295476792848115,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31400118031037405,
+              -0.31711638423947663,
+              0.8515395771646568
+            ],
+            "target_position": [
+              0.30797609806635434,
+              -0.31845423086593366,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006171827091155747,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18478183124731729,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395771646568,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558129067236251,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08664934848635074,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15284475614246887,
+            "release_required_pad_clearance": 0.05332467424317537,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.66690437187794,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007394313812255859,
+            "max_z_decrease": 0.007394313812255859,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511683028366992,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007394313812255859,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021148129838998615,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007394313812255859,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007394336188482556,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16367602348327637,
+              -0.37471568584442133,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16367602348327637,
+              -0.37471568584442133,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16274872999559348,
+              -0.3745867171657965,
+              0.8075124164200742
+            ],
+            "closest_button": [
+              0.16366417706012726,
+              -0.3747191429138183,
+              0.7724077701568604
+            ],
+            "closest_ee_minus_button": [
+              -0.0009154470645337809,
+              0.00013242574802180274,
+              0.03510464626321386
+            ],
+            "button_min_z_position": [
+              0.1636582762002945,
+              -0.3747196793556213,
+              0.7694145441055298
+            ],
+            "min_active_finger_to_button": 0.14685441182392683,
+            "closest_active_finger": [
+              0.03469514101743698,
+              -0.435973197221756,
+              0.810644268989563
+            ],
+            "closest_active_finger_button": [
+              0.16367875039577484,
+              -0.37471830844879145,
+              0.776332676410675
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12898360937833786,
+              -0.06125488877296453,
+              0.03431159257888794
+            ],
+            "min_contact_pad_to_button": 0.021148129838998615,
+            "closest_contact_pad": [
+              0.1636582762002945,
+              -0.3760424559781511,
+              0.7905212647815143
+            ],
+            "closest_contact_pad_button": [
+              0.1636582762002945,
+              -0.3747196793556213,
+              0.7694145441055298
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001322776622529831,
+              0.021106720675984514
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "60cac063a2022989e7e7d23cfa57169e13fb445d43254ac8174ee36083c608ae",
+    "visual_seed": 3184413737223443059,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69c82009a10d1a1f1d8f7856b79b60f71f43d6a7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1921064254377154,
+              0.1537612226155585,
+              1.0483613101194704
+            ],
+            "current_z": 1.0483613101194704,
+            "required_z": 0.8611068656426348,
+            "initial_z": 0.7611068656426349,
+            "lift_margin": 0.1872544444768356,
+            "gripper_z": 1.054540159978496,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18757265746658067,
+              0.14909646909186924,
+              1.054540159978496
+            ],
+            "object_minus_gripper": [
+              0.004533767971134722,
+              0.004664753523689252,
+              -0.006178849859025615
+            ],
+            "object_to_gripper_xy": 0.006504996345337817,
+            "object_to_gripper_z": -0.006178849859025615,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1921064254377154,
+              0.12978485025116138,
+              1.0483613101194704
+            ],
+            "finger_b": [
+              0.18044363689246884,
+              0.1537612226155585,
+              1.0483613101194704
+            ],
+            "finger_midpoint": [
+              0.18627503116509211,
+              0.14177303643335992,
+              1.0483613101194704
+            ],
+            "object_minus_finger_midpoint": [
+              0.005831394272623275,
+              0.011988186182198574,
+              0.0
+            ],
+            "finger_gap": 0.02666246553504308,
+            "fingertip_max_gap": 0.0919586232510497,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013331232767521552,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483613101194704,
+            "object_top_z": 1.098948228630121,
+            "finger_top_clearance": 0.05058691851065067,
+            "fingertip_min_top_clearance": 0.015176075553195216,
+            "object_projection_between_fingers": 0.8086606963383526,
+            "object_to_finger_line_xy": 0.010487828314321901,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847931162552485,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.786220386452665,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19198145378952963,
+              0.15422306182641732,
+              1.2423460216502253
+            ],
+            "held_position": [
+              0.1967739008027996,
+              0.15842969309406132,
+              1.23600423163691
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008993419570436319,
+            "max_held_gripper_dist": 0.009006429777082206,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006341790013315363,
+            "max_held_gripper_z_dist": 0.006369734603943078,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0861786592383498,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1967739008027996,
+              0.13341435061198262,
+              1.23600423163691
+            ],
+            "held_grasp_finger_b": [
+              0.18731322569228936,
+              0.15842969309406132,
+              1.23600423163691
+            ],
+            "held_grasp_midpoint": [
+              0.19204356324754449,
+              0.14592202185302197,
+              1.23600423163691
+            ],
+            "held_grasp_object_position": [
+              0.1967739008027996,
+              0.15842969309406132,
+              1.23600423163691
+            ],
+            "held_grasp_finger_gap": 0.026744564551368557,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02428581666909623,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06994517695734115,
+              -0.9972897745337489,
+              0.022820557198078406
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038547641133637248,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036915613140806394,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3195934789547654,
+              -0.31515457893318266,
+              0.8515395656565131
+            ],
+            "target_position": [
+              0.312689377590363,
+              -0.31708249661718235,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007168227273616659,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842749657559587,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395656565131,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758584574157618,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528535302672395,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15187173392367923,
+            "release_required_pad_clearance": 0.05264267651336198,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3449170299131682,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007547438144683838,
+            "max_z_decrease": 0.007547438144683838,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035119117441459145,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007547438144683838,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021170585220840032,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007547438144683838,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007547462228525835,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16838930547237396,
+              -0.37334394454956044,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16838930547237396,
+              -0.37334394454956044,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1688399117865501,
+              -0.3715435238776867,
+              0.8072315257889471
+            ],
+            "closest_button": [
+              0.16837713122367853,
+              -0.3733478188514709,
+              0.7721618413925171
+            ],
+            "closest_ee_minus_button": [
+              0.00046278056287157865,
+              0.001804294973784204,
+              0.03506968439642999
+            ],
+            "button_min_z_position": [
+              0.16837093234062195,
+              -0.37334904074668873,
+              0.7692614197731018
+            ],
+            "min_active_finger_to_button": 0.14500623876066107,
+            "closest_active_finger": [
+              0.0408153235912323,
+              -0.4329986572265625,
+              0.810754120349884
+            ],
+            "closest_active_finger_button": [
+              0.16839317977428434,
+              -0.373345911502838,
+              0.7762251496315002
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12757785618305204,
+              -0.059652745723724476,
+              0.03452897071838379
+            ],
+            "min_contact_pad_to_button": 0.021170585220840032,
+            "closest_contact_pad": [
+              0.16837093234062195,
+              -0.37334904074668873,
+              0.7904320049939418
+            ],
+            "closest_contact_pad_button": [
+              0.16837093234062195,
+              -0.37334904074668873,
+              0.7692614197731018
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021170585220840032
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6dc6f1ad5b6fae1ec8b813d1b29acfaf36f7dc78f85090e952c543887445895a",
+    "visual_seed": 8089386567823100278,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ff68c4c2095634887ac2f9e38b6c7d973ab00ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1928982053857155,
+              0.15825764048362853,
+              1.0480043862800699
+            ],
+            "current_z": 1.0480043862800699,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1868978782653039,
+            "gripper_z": 1.0541851892078653,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18868255262775926,
+              0.15398681033128903,
+              1.0541851892078653
+            ],
+            "object_minus_gripper": [
+              0.00421565275795624,
+              0.004270830152339505,
+              -0.006180802927795437
+            ],
+            "object_to_gripper_xy": 0.00600097645102831,
+            "object_to_gripper_z": -0.006180802927795437,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1928982053857155,
+              0.13406999954487034,
+              1.0480043862800699
+            ],
+            "finger_b": [
+              0.18236416516238946,
+              0.15825764048362853,
+              1.0480043862800699
+            ],
+            "finger_midpoint": [
+              0.18763118527405248,
+              0.14616382001424943,
+              1.0480043862800699
+            ],
+            "object_minus_finger_midpoint": [
+              0.005267020111663023,
+              0.012093820469379096,
+              0.0
+            ],
+            "finger_gap": 0.02638196311135588,
+            "fingertip_max_gap": 0.09172554839260283,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01319098155567794,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480043862800699,
+            "object_top_z": 1.0984735687745537,
+            "finger_top_clearance": 0.050469182494483844,
+            "fingertip_min_top_clearance": 0.015140754748345135,
+            "object_projection_between_fingers": 0.8405679144542819,
+            "object_to_finger_line_xy": 0.009657870473125382,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836277419630142,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5317491199849944,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19291973270378615,
+              0.15909344894175131,
+              1.2433254543223677
+            ],
+            "held_position": [
+              0.19726080812727365,
+              0.16306027849689514,
+              1.2370071451162552
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008631436947346376,
+            "max_held_gripper_dist": 0.008644716665376707,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006318309206112538,
+            "max_held_gripper_z_dist": 0.006342713858814575,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08584216312534163,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19726080812727365,
+              0.13832484017895696,
+              1.2370071451162552
+            ],
+            "held_grasp_finger_b": [
+              0.1881782132687515,
+              0.16306027849689514,
+              1.2370071451162552
+            ],
+            "held_grasp_midpoint": [
+              0.19271951069801257,
+              0.15069255933792605,
+              1.2370071451162552
+            ],
+            "held_grasp_object_position": [
+              0.19726080812727365,
+              0.16306027849689514,
+              1.2370071451162552
+            ],
+            "held_grasp_finger_gap": 0.026350245504446007,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02431745075753127,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.042947371280840106,
+              -0.9988714981935752,
+              0.020279383535708795
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004013913849311306,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03717145111774703,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.317823884435268,
+              -0.31930032920416895,
+              0.8515395656999043
+            ],
+            "target_position": [
+              0.31097666889719594,
+              -0.3213673946075157,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071524205697461795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18512102095785074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395656999043,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580532651302553,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665362795715252,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15266378737084402,
+            "release_required_pad_clearance": 0.05332681397857626,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6711250581375388,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007673919200897217,
+            "max_z_decrease": 0.007673919200897217,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511461862274877,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007673919200897217,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02118071929661164,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007673919200897217,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007673939369990012,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16667659580707547,
+              -0.37762886285781855,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16667659580707547,
+              -0.37762886285781855,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16554656790907474,
+              -0.3783043755690006,
+              0.8059996153295858
+            ],
+            "closest_button": [
+              0.16666091978549957,
+              -0.37763166427612305,
+              0.7709091305732727
+            ],
+            "closest_ee_minus_button": [
+              -0.001114351876424835,
+              -0.000672711292877548,
+              0.035090484756313045
+            ],
+            "button_min_z_position": [
+              0.16665925085544586,
+              -0.377631813287735,
+              0.7691349387168884
+            ],
+            "min_active_finger_to_button": 0.1469820869320624,
+            "closest_active_finger": [
+              0.02471822500228882,
+              -0.3612101376056671,
+              0.8104552626609802
+            ],
+            "closest_active_finger_button": [
+              0.16667701303958893,
+              -0.37763345241546625,
+              0.7760792374610901
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1419587880373001,
+              0.01642331480979914,
+              0.03437602519989014
+            ],
+            "min_contact_pad_to_button": 0.02118071929661164,
+            "closest_contact_pad": [
+              0.16665925085544586,
+              -0.3796275947169163,
+              0.7902214207944848
+            ],
+            "closest_contact_pad_button": [
+              0.16665925085544586,
+              -0.377631813287735,
+              0.7691349387168884
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019957814291813314,
+              0.021086482077596336
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fdf0f93a8d449ddad3d3a8e9a5e25e7fe0cc9909cef06f7600a15b6a05b3bd0",
+    "visual_seed": 7003987893662424661,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee3e45f44435a862983a3d3faf3f029bf6caaee8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19241074073585546,
+              0.15845721432460952,
+              1.0498998058212141
+            ],
+            "current_z": 1.0498998058212141,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1887931785971586,
+            "gripper_z": 1.0560273746326996,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18803721716830454,
+              0.15402493053963573,
+              1.0560273746326996
+            ],
+            "object_minus_gripper": [
+              0.004373523567550913,
+              0.0044322837849737895,
+              -0.006127568811485462
+            ],
+            "object_to_gripper_xy": 0.006226784719778326,
+            "object_to_gripper_z": -0.006127568811485462,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19241074073585546,
+              0.13433698612419598,
+              1.0498998058212141
+            ],
+            "finger_b": [
+              0.1814064079122143,
+              0.15845721432460952,
+              1.0498998058212141
+            ],
+            "finger_midpoint": [
+              0.18690857432403488,
+              0.14639710022440275,
+              1.0498998058212141
+            ],
+            "object_minus_finger_midpoint": [
+              0.00550216641182058,
+              0.01206011410020677,
+              0.0
+            ],
+            "finger_gap": 0.02651189825971522,
+            "fingertip_max_gap": 0.09038493243116535,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01325594912985761,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498998058212141,
+            "object_top_z": 1.0996853073823223,
+            "finger_top_clearance": 0.04978550156110817,
+            "fingertip_min_top_clearance": 0.014935650468332484,
+            "object_projection_between_fingers": 0.8277156672617719,
+            "object_to_finger_line_xy": 0.010011618794676887,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04769246621558268,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3698444677827209,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1923016333526589,
+              0.15917612109112056,
+              1.2471297373763208
+            ],
+            "held_position": [
+              0.19685960893343793,
+              0.16324062146002294,
+              1.240870905150663
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008744614655473291,
+            "max_held_gripper_dist": 0.008761687525246455,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006258832225657818,
+            "max_held_gripper_z_dist": 0.006284391947026791,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08566772107203305,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19685960893343793,
+              0.13843597656503712,
+              1.240870905150663
+            ],
+            "held_grasp_finger_b": [
+              0.18749979587333676,
+              0.16324062146002294,
+              1.240870905150663
+            ],
+            "held_grasp_midpoint": [
+              0.19217970240338733,
+              0.15083829901253004,
+              1.240870905150663
+            ],
+            "held_grasp_object_position": [
+              0.19685960893343793,
+              0.16324062146002294,
+              1.240870905150663
+            ],
+            "held_grasp_finger_gap": 0.026511818287065614,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024259788908887477,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05405761613149723,
+              -0.9984322773094533,
+              0.014517636337875728
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004006753972519732,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0370843864341858,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31806972650119936,
+              -0.32175101732748795,
+              0.8515395679417543
+            ],
+            "target_position": [
+              0.3103261679431351,
+              -0.3242712026803043,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008143342885739249,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18514424968187557,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395679417543,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562916416581471,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549738866173177,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15320410273106402,
+            "release_required_pad_clearance": 0.05274869433086589,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5482248361835905,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007677435874938965,
+            "max_z_decrease": 0.007677435874938965,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351619156626354,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007677435874938965,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02103166028591998,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007677435874938965,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007677461968715766,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16602610051631925,
+              -0.3805326521396637,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16602610051631925,
+              -0.3805326521396637,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16453279129317058,
+              -0.3803467635965505,
+              0.8068604998657535
+            ],
+            "closest_button": [
+              0.16601184010505676,
+              -0.3805302679538727,
+              0.7717301845550537
+            ],
+            "closest_ee_minus_button": [
+              -0.00147904881188618,
+              0.00018350435732217285,
+              0.03513031531069977
+            ],
+            "button_min_z_position": [
+              0.16600623726844785,
+              -0.3805351257324219,
+              0.7691314220428467
+            ],
+            "min_active_finger_to_button": 0.1471889307443428,
+            "closest_active_finger": [
+              0.03829825669527054,
+              -0.4452129602432251,
+              0.8108647465705872
+            ],
+            "closest_active_finger_button": [
+              0.16603133082389832,
+              -0.3805363178253174,
+              0.7767212986946106
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12773307412862778,
+              -0.06467664241790771,
+              0.03414344787597656
+            ],
+            "min_contact_pad_to_button": 0.02103166028591998,
+            "closest_contact_pad": [
+              0.16600623726844785,
+              -0.38136825347965286,
+              0.7901465744938554
+            ],
+            "closest_contact_pad_button": [
+              0.16600623726844785,
+              -0.3805351257324219,
+              0.7691314220428467
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008331277472309884,
+              0.021015152451008712
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9fe99d2894cb9191cbf993f28e238ba573b7bb48a865a7d94d604a738bd164a3",
+    "visual_seed": 7290689738644427777,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aea521dcccd6f1c938510b5feb00458b48e6d6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19036515026176368,
+              0.15781047936354375,
+              1.0459575734665831
+            ],
+            "current_z": 1.0459575734665831,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.1848509462425273,
+            "gripper_z": 1.052053865668428,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1864134613454767,
+              0.15360185713241686,
+              1.052053865668428
+            ],
+            "object_minus_gripper": [
+              0.003951688916286972,
+              0.004208622231126891,
+              -0.006096292201844822
+            ],
+            "object_to_gripper_xy": 0.005773070792519419,
+            "object_to_gripper_z": -0.006096292201844822,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19036515026176368,
+              0.13395804399658362,
+              1.0459575734665831
+            ],
+            "finger_b": [
+              0.17972262173276404,
+              0.15781047936354375,
+              1.0459575734665831
+            ],
+            "finger_midpoint": [
+              0.18504388599726385,
+              0.1458842616800637,
+              1.0459575734665831
+            ],
+            "object_minus_finger_midpoint": [
+              0.005321264264499831,
+              0.011926217683480067,
+              0.0
+            ],
+            "finger_gap": 0.026118998572410502,
+            "fingertip_max_gap": 0.09304342899661425,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013059499286205256,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459575734665831,
+            "object_top_z": 1.0970502158689865,
+            "finger_top_clearance": 0.05109264240240341,
+            "fingertip_min_top_clearance": 0.015327792720721056,
+            "object_projection_between_fingers": 0.8339738096023449,
+            "object_to_finger_line_xy": 0.009718987624094262,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049021714498307126,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0539283593796536,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19076014579575148,
+              0.15878586277509565,
+              1.240337624796759
+            ],
+            "held_position": [
+              0.19488252852795668,
+              0.1626444253305217,
+              1.2340971462758294
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008415825363866748,
+            "max_held_gripper_dist": 0.008430287401456795,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006240478520929571,
+            "max_held_gripper_z_dist": 0.00626434270358156,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08596592083348323,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19488252852795668,
+              0.13799010329560563,
+              1.2340971462758294
+            ],
+            "held_grasp_finger_b": [
+              0.18607357617120368,
+              0.1626444253305217,
+              1.2340971462758294
+            ],
+            "held_grasp_midpoint": [
+              0.19047805234958018,
+              0.15031726431306366,
+              1.2340971462758294
+            ],
+            "held_grasp_object_position": [
+              0.19488252852795668,
+              0.1626444253305217,
+              1.2340971462758294
+            ],
+            "held_grasp_finger_gap": 0.026180779908644675,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024156913475014415,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05165216838483091,
+              -0.9982799336596381,
+              0.02773495184156416
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00377766250542616,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0371867918421629,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30871737719449877,
+              -0.3235440549156855,
+              0.8515395156436498
+            ],
+            "target_position": [
+              0.30279362193111176,
+              -0.3249249747884653,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006082583013452719,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18521482977723083,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395156436498,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579275108886172,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621514584492111,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527102730658705,
+            "release_required_pad_clearance": 0.05310757292246056,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2423622950822946,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007726728916168213,
+            "max_z_decrease": 0.007726728916168213,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520234317262444,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007726728916168213,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021099223478680873,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007726728916168213,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007726750657098829,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15849354863166804,
+              -0.38118642568588246,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15849354863166804,
+              -0.38118642568588246,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1592350302507167,
+              -0.37909172556567755,
+              0.807772541398433
+            ],
+            "closest_button": [
+              0.15848541259765617,
+              -0.38119563460350026,
+              0.772641122341156
+            ],
+            "closest_ee_minus_button": [
+              0.0007496176530605303,
+              0.0021039090378227043,
+              0.035131419057277014
+            ],
+            "button_min_z_position": [
+              0.15847554802894584,
+              -0.38118988275527943,
+              0.7690821290016174
+            ],
+            "min_active_finger_to_button": 0.14460714276935513,
+            "closest_active_finger": [
+              0.03126905858516693,
+              -0.4408195912837982,
+              0.8106122016906738
+            ],
+            "closest_active_finger_button": [
+              0.1584952771663665,
+              -0.3811894059181212,
+              0.7764222025871277
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12722621858119956,
+              -0.05963018536567699,
+              0.03418999910354614
+            ],
+            "min_contact_pad_to_button": 0.021099223478680873,
+            "closest_contact_pad": [
+              0.15847554802894584,
+              -0.38118988275527943,
+              0.7901813524802983
+            ],
+            "closest_contact_pad_button": [
+              0.15847554802894584,
+              -0.38118988275527943,
+              0.7690821290016174
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021099223478680873
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8276d4bd8d52e612e493d1ca50308e71cf8d2c3e0f412e44672decb591742d78",
+    "visual_seed": 4265361616721451335,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2eba6ec2b3826eb92b37e24de226cfc18d42ef6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18931950556473193,
+              0.15821991502024488,
+              1.048775960344369
+            ],
+            "current_z": 1.048775960344369,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18766945232960308,
+            "gripper_z": 1.0552341840697168,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18554347434218302,
+              0.1540814729758041,
+              1.0552341840697168
+            ],
+            "object_minus_gripper": [
+              0.003776031222548909,
+              0.004138442044440777,
+              -0.006458223725347878
+            ],
+            "object_to_gripper_xy": 0.00560224190381488,
+            "object_to_gripper_z": -0.006458223725347878,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18931950556473193,
+              0.13453541018941198,
+              1.048775960344369
+            ],
+            "finger_b": [
+              0.17871625425493598,
+              0.15821991502024488,
+              1.048775960344369
+            ],
+            "finger_midpoint": [
+              0.18401787990983395,
+              0.14637766260482843,
+              1.048775960344369
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053016256548979734,
+              0.011842252415416449,
+              0.0
+            ],
+            "finger_gap": 0.025949657173466402,
+            "fingertip_max_gap": 0.09510635581309454,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012974828586733201,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048775960344369,
+            "object_top_z": 1.1011476787200956,
+            "finger_top_clearance": 0.05237171837572663,
+            "fingertip_min_top_clearance": 0.01571151551271799,
+            "object_projection_between_fingers": 0.8330390680100596,
+            "object_to_finger_line_xy": 0.009677690737516995,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05005317790654727,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7671483246651105,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19004132177108354,
+              0.15900482394774773,
+              1.244479234367153
+            ],
+            "held_position": [
+              0.19403094525974854,
+              0.16275730084784276,
+              1.2378869929098562
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00857063742660698,
+            "max_held_gripper_dist": 0.008585540199638319,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006592241457296755,
+            "max_held_gripper_z_dist": 0.006616185405282415,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08609389646587473,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19403094525974854,
+              0.1381633751235798,
+              1.2378869929098562
+            ],
+            "held_grasp_finger_b": [
+              0.18542305308053023,
+              0.16275730084784276,
+              1.2378869929098562
+            ],
+            "held_grasp_midpoint": [
+              0.18972699917013938,
+              0.1504603379857113,
+              1.2378869929098562
+            ],
+            "held_grasp_object_position": [
+              0.19403094525974854,
+              0.16275730084784276,
+              1.2378869929098562
+            ],
+            "held_grasp_finger_gap": 0.026056803148114923,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02401172392238196,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05979860458809655,
+              -0.997256970608299,
+              0.04361950782017975
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036019127679211226,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719964816814203,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3095825163127933,
+              -0.3153810150935302,
+              0.8515395571420167
+            ],
+            "target_position": [
+              0.30407257266949855,
+              -0.3162527308162304,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00557847355945039,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18194079867446664,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395571420167,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524978233657909,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533213431088003,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15078590470454006,
+            "release_required_pad_clearance": 0.05266606715544002,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.38966711196687265,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075528621673583984,
+            "max_z_decrease": 0.0075528621673583984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515090322413718,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075528621673583984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021115428387425764,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075528621673583984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007552883095481476,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15977250039577484,
+              -0.3725141882896422,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15977250039577484,
+              -0.3725141882896422,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16060335513520593,
+              -0.3727761358707324,
+              0.8080300760027198
+            ],
+            "closest_button": [
+              0.15976250171661377,
+              -0.3725219666957854,
+              0.7728901505470276
+            ],
+            "closest_ee_minus_button": [
+              0.0008408534185921634,
+              -0.0002541691749469721,
+              0.03513992545569222
+            ],
+            "button_min_z_position": [
+              0.15975496172904968,
+              -0.3725171089172362,
+              0.7692559957504272
+            ],
+            "min_active_finger_to_button": 0.14530916205378536,
+            "closest_active_finger": [
+              0.019294627010822296,
+              -0.3579910397529602,
+              0.8108927607536316
+            ],
+            "closest_active_finger_button": [
+              0.159775972366333,
+              -0.3725156188011168,
+              0.7767053246498108
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1404813453555107,
+              0.014524579048156572,
+              0.0341874361038208
+            ],
+            "min_contact_pad_to_button": 0.021115428387425764,
+            "closest_contact_pad": [
+              0.15975496172904968,
+              -0.3738745722422987,
+              0.7903277448307864
+            ],
+            "closest_contact_pad_button": [
+              0.15975496172904968,
+              -0.3725171089172362,
+              0.7692559957504272
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013574633250624801,
+              0.021071749080359137
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5143f0001ac2a773a5f9b54ad4172e33a196d69fdedbc5a2589416940f23c98c",
+    "visual_seed": 5274003867367532392,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df0977adcc9e1e2011a8e9ed1be9b1024f7ce0f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18936850940910094,
+              0.15394653406645475,
+              1.0493267424074246
+            ],
+            "current_z": 1.0493267424074246,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18822017478801367,
+            "gripper_z": 1.055911281476995,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18541553511298425,
+              0.14982470225539557,
+              1.055911281476995
+            ],
+            "object_minus_gripper": [
+              0.003952974296116685,
+              0.0041218318110591845,
+              -0.006584539069570461
+            ],
+            "object_to_gripper_xy": 0.005710998447243584,
+            "object_to_gripper_z": -0.006584539069570461,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18936850940910094,
+              0.12992513332635608,
+              1.0493267424074246
+            ],
+            "finger_b": [
+              0.17906554977216516,
+              0.15394653406645475,
+              1.0493267424074246
+            ],
+            "finger_midpoint": [
+              0.18421702959063305,
+              0.14193583369640542,
+              1.0493267424074246
+            ],
+            "object_minus_finger_midpoint": [
+              0.005151479818467891,
+              0.012010700370049338,
+              0.0
+            ],
+            "finger_gap": 0.026137686791235775,
+            "fingertip_max_gap": 0.09436812265121006,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013068843395617888,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493267424074246,
+            "object_top_z": 1.1011403092988492,
+            "finger_top_clearance": 0.05181356689142458,
+            "fingertip_min_top_clearance": 0.015544070067427373,
+            "object_projection_between_fingers": 0.8446219388603983,
+            "object_to_finger_line_xy": 0.009468761494643154,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04968406132560503,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.495794850665534,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1898366519585824,
+              0.15479855532986275,
+              1.2460655826180695
+            ],
+            "held_position": [
+              0.19393917240810007,
+              0.15860438631689222,
+              1.2393565965835975
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008736447627685112,
+            "max_held_gripper_dist": 0.00875073127365915,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006708986034472009,
+            "max_held_gripper_z_dist": 0.006733083923041061,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618203307750266,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19393917240810007,
+              0.13398208935185826,
+              1.2393565965835975
+            ],
+            "held_grasp_finger_b": [
+              0.18516155286913544,
+              0.15860438631689222,
+              1.2393565965835975
+            ],
+            "held_grasp_midpoint": [
+              0.18955036263861774,
+              0.14629323783437526,
+              1.2393565965835975
+            ],
+            "held_grasp_object_position": [
+              0.19393917240810007,
+              0.15860438631689222,
+              1.2393565965835975
+            ],
+            "held_grasp_finger_gap": 0.026140086315946515,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024243892123788493,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03914738065527209,
+              -0.9985872955737697,
+              0.03592903709391526
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003928825604474078,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03725468319486181,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3117389969851221,
+              -0.3210506547854902,
+              0.8515395822668634
+            ],
+            "target_position": [
+              0.3064792408806315,
+              -0.3218621786548774,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005321992603274745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18157681283974433,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395822668634,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570986437470854,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868176605535712,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1492181151371845,
+            "release_required_pad_clearance": 0.0534088302767856,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.832423924347298,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007481396198272705,
+            "max_z_decrease": 0.007481396198272705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035203844149260664,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007481396198272705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021093944606009996,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007481396198272705,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007481420302628336,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16217917203903204,
+              -0.3781236410140991,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16217917203903204,
+              -0.3781236410140991,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1634469660405133,
+              -0.3763711021435686,
+              0.8081316542811863
+            ],
+            "closest_button": [
+              0.1621726602315903,
+              -0.37813234329223633,
+              0.7729949951171875
+            ],
+            "closest_ee_minus_button": [
+              0.0012743058089229875,
+              0.0017612411486677138,
+              0.035136659163998774
+            ],
+            "button_min_z_position": [
+              0.16216047108173376,
+              -0.37812694907188416,
+              0.7693274617195129
+            ],
+            "min_active_finger_to_button": 0.14428046616922025,
+            "closest_active_finger": [
+              0.03625224530696869,
+              -0.4396904706954956,
+              0.8104498982429504
+            ],
+            "closest_active_finger_button": [
+              0.16218101978302002,
+              -0.378126174211502,
+              0.7762646079063416
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12592877447605133,
+              -0.061564296483993586,
+              0.03418529033660889
+            ],
+            "min_contact_pad_to_button": 0.021093944606009996,
+            "closest_contact_pad": [
+              0.16216047108173376,
+              -0.37812694907188416,
+              0.7904214063255229
+            ],
+            "closest_contact_pad_button": [
+              0.16216047108173376,
+              -0.37812694907188416,
+              0.7693274617195129
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021093944606009996
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "acf2b2c64b426d6f3d2aacce6d7b6ce6d7daa682152ea420c45d3bec4df1791a",
+    "visual_seed": 1967255794076801985,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88c880bce149486fc3bc9c460ea30af0ed819925
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19211393075855288,
+              0.16210389730821972,
+              1.049509898706291
+            ],
+            "current_z": 1.049509898706291,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18840309266830113,
+            "gripper_z": 1.0557057242063481,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18794009332150585,
+              0.1576789102053141,
+              1.0557057242063481
+            ],
+            "object_minus_gripper": [
+              0.004173837437047023,
+              0.00442498710290562,
+              -0.0061958255000571505
+            ],
+            "object_to_gripper_xy": 0.006082880058966832,
+            "object_to_gripper_z": -0.0061958255000571505,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19211393075855288,
+              0.13828634694824662,
+              1.049509898706291
+            ],
+            "finger_b": [
+              0.18091341178351714,
+              0.16210389730821972,
+              1.049509898706291
+            ],
+            "finger_midpoint": [
+              0.18651367127103502,
+              0.15019512212823316,
+              1.049509898706291
+            ],
+            "object_minus_finger_midpoint": [
+              0.005600259487517856,
+              0.011908775179986564,
+              0.0
+            ],
+            "finger_gap": 0.026319713722987005,
+            "fingertip_max_gap": 0.09276405457611064,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013159856861493508,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049509898706291,
+            "object_top_z": 1.1006710324972702,
+            "finger_top_clearance": 0.051161133790979196,
+            "fingertip_min_top_clearance": 0.01534834013729374,
+            "object_projection_between_fingers": 0.8189018683197727,
+            "object_to_finger_line_xy": 0.010135707688672876,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048882027288055324,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9935309416436919,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1923577494753232,
+              0.1627058120094633,
+              1.2438202883392186
+            ],
+            "held_position": [
+              0.19675432147721628,
+              0.16671343486792115,
+              1.2374639690460574
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008705956656225566,
+            "max_held_gripper_dist": 0.00872095305440202,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006356319293161272,
+            "max_held_gripper_z_dist": 0.006381715099947671,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612763940711535,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19675432147721628,
+              0.14190250266538335,
+              1.2374639690460574
+            ],
+            "held_grasp_finger_b": [
+              0.1876991277165797,
+              0.16671343486792115,
+              1.2374639690460574
+            ],
+            "held_grasp_midpoint": [
+              0.192226724596898,
+              0.15430796876665226,
+              1.2374639690460574
+            ],
+            "held_grasp_object_position": [
+              0.19675432147721628,
+              0.16671343486792115,
+              1.2374639690460574
+            ],
+            "held_grasp_finger_gap": 0.026411718815737808,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024122176642074576,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06844102113351824,
+              -0.9972186110396797,
+              0.029510479872302375
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003686617104936621,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703941504151795,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3102162688936839,
+              -0.31723769973502725,
+              0.8515396050360252
+            ],
+            "target_position": [
+              0.3035650777168839,
+              -0.3188505325120584,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006843944304055119,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18178137270755573,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396050360252,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544211850006524,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537976989966416,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1502296364396177,
+            "release_required_pad_clearance": 0.05268988494983208,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.43521175089046316,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007681369781494141,
+            "max_z_decrease": 0.007681369781494141,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522548792833018,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007681369781494141,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021206595102787905,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007681369781494141,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007681392734985526,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15926499664783475,
+              -0.37511199712753285,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15926499664783475,
+              -0.37511199712753285,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16123623072849946,
+              -0.376554491702144,
+              0.8078693251651848
+            ],
+            "closest_button": [
+              0.1592543125152588,
+              -0.3751195967197417,
+              0.7727289199829102
+            ],
+            "closest_ee_minus_button": [
+              0.0019819182132406743,
+              -0.0014348949824022905,
+              0.03514040518227468
+            ],
+            "button_min_z_position": [
+              0.15924637019634247,
+              -0.37511438131332386,
+              0.7691274881362915
+            ],
+            "min_active_finger_to_button": 0.14409426658221225,
+            "closest_active_finger": [
+              0.019832700490951538,
+              -0.36272698640823364,
+              0.8106945753097534
+            ],
+            "closest_active_finger_button": [
+              0.15926523506641388,
+              -0.3751148283481597,
+              0.7765146493911743
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13943253457546234,
+              0.012387841939926036,
+              0.0341799259185791
+            ],
+            "min_contact_pad_to_button": 0.021206595102787905,
+            "closest_contact_pad": [
+              0.15924637019634247,
+              -0.3775275969350954,
+              0.7901963292581099
+            ],
+            "closest_contact_pad_button": [
+              0.15924637019634247,
+              -0.37511438131332386,
+              0.7691274881362915
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024132156217715472,
+              0.021068841121818394
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c75dddce1f348a2dadc67e0dc954ae9217f4da9c26ab3fc32c5af61ad0eca93b",
+    "visual_seed": 2218992213806440158,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a91deb8e327219dd51b97be9efd58f9671580c6f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1889300155511819,
+              0.15231026478038454,
+              1.046861080101701
+            ],
+            "current_z": 1.046861080101701,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.18575427406371103,
+            "gripper_z": 1.053312648117237,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18476846119144144,
+              0.14794463469082225,
+              1.053312648117237
+            ],
+            "object_minus_gripper": [
+              0.004161554359740471,
+              0.0043656300895622835,
+              -0.0064515680155359245
+            ],
+            "object_to_gripper_xy": 0.006031356461689735,
+            "object_to_gripper_z": -0.0064515680155359245,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1889300155511819,
+              0.1284269267826543,
+              1.046861080101701
+            ],
+            "finger_b": [
+              0.17790587526570179,
+              0.15231026478038454,
+              1.046861080101701
+            ],
+            "finger_midpoint": [
+              0.18341794540844186,
+              0.14036859578151942,
+              1.046861080101701
+            ],
+            "object_minus_finger_midpoint": [
+              0.00551207014274005,
+              0.011941668998865118,
+              0.0
+            ],
+            "finger_gap": 0.02630485702199825,
+            "fingertip_max_gap": 0.0939180554894897,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01315242851099912,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046861080101701,
+            "object_top_z": 1.0985245466541587,
+            "finger_top_clearance": 0.05166346655245757,
+            "fingertip_min_top_clearance": 0.01549903996573727,
+            "object_projection_between_fingers": 0.8243623688336633,
+            "object_to_finger_line_xy": 0.010009302401922533,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04945902774474485,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3927310840883633,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18923156085784326,
+              0.15281510640448792,
+              1.2419014493082599
+            ],
+            "held_position": [
+              0.19360082399490663,
+              0.15677189488333504,
+              1.2352973730574894
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008852144291256669,
+            "max_held_gripper_dist": 0.008867305231918154,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006604076250770419,
+            "max_held_gripper_z_dist": 0.006626776620026975,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08580447602898762,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19360082399490663,
+              0.1319589712588397,
+              1.2352973730574894
+            ],
+            "held_grasp_finger_b": [
+              0.18463330670491135,
+              0.15677189488333504,
+              1.2352973730574894
+            ],
+            "held_grasp_midpoint": [
+              0.189117065349909,
+              0.14436543307108737,
+              1.2352973730574894
+            ],
+            "held_grasp_object_position": [
+              0.19360082399490663,
+              0.15677189488333504,
+              1.2352973730574894
+            ],
+            "held_grasp_finger_gap": 0.02638366057129683,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024211371911675866,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.060337301205904914,
+              -0.9975627248953381,
+              0.03504311605117405
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037528394028980027,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037073488322461524,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3089863219783397,
+              -0.3209838851913017,
+              0.8515395955200877
+            ],
+            "target_position": [
+              0.303035418786565,
+              -0.3223351147230013,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006102382325388304,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18354089729677553,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395955200877,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564635107479506,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853039752573591,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15131998267482236,
+            "release_required_pad_clearance": 0.05265198762867955,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3626164387483768,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007599174976348877,
+            "max_z_decrease": 0.007599174976348877,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515419687445815,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007599174976348877,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021097179867479162,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007599174976348877,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007599199259406831,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1587353497743606,
+              -0.37859657406806935,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1587353497743606,
+              -0.37859657406806935,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1574235252726166,
+              -0.37905806400673886,
+              0.8079346895249646
+            ],
+            "closest_button": [
+              0.15872514247894282,
+              -0.37860351800918574,
+              0.7728075385093689
+            ],
+            "closest_ee_minus_button": [
+              -0.001301617206326211,
+              -0.0004545459975531241,
+              0.035127151015595715
+            ],
+            "button_min_z_position": [
+              0.1587162166833877,
+              -0.37859830260276783,
+              0.7692096829414368
+            ],
+            "min_active_finger_to_button": 0.14734608852897135,
+            "closest_active_finger": [
+              0.0162375345826149,
+              -0.3631778359413147,
+              0.8107709884643555
+            ],
+            "closest_active_finger_button": [
+              0.15873569250106806,
+              -0.378599464893341,
+              0.776604950428009
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14249815791845316,
+              0.015421628952026312,
+              0.034166038036346436
+            ],
+            "min_contact_pad_to_button": 0.021097179867479162,
+            "closest_contact_pad": [
+              0.1587162166833877,
+              -0.38029497284309377,
+              0.7902385276186025
+            ],
+            "closest_contact_pad_button": [
+              0.1587162166833877,
+              -0.37859830260276783,
+              0.7692096829414368
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001696670240325937,
+              0.021028844677165703
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ff1b37e49ee19e1578f3c5c4414dc5112ad57e8b77f914533d8ec421885c84f",
+    "visual_seed": 1985777199299645273,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdf38d77fe2c264b0a165ee919fb41dbd95855a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18617591683618234,
+              0.15739991347270862,
+              1.0473928397960186
+            ],
+            "current_z": 1.0473928397960186,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18628627217660776,
+            "gripper_z": 1.0537176961636199,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18304489902851878,
+              0.1537756870359285,
+              1.0537176961636199
+            ],
+            "object_minus_gripper": [
+              0.003131017807663561,
+              0.0036242264367801202,
+              -0.006324856367601273
+            ],
+            "object_to_gripper_xy": 0.004789393466500979,
+            "object_to_gripper_z": -0.006324856367601273,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18617591683618234,
+              0.13374220941679665,
+              1.0473928397960186
+            ],
+            "finger_b": [
+              0.17688211093618397,
+              0.15739991347270862,
+              1.0473928397960186
+            ],
+            "finger_midpoint": [
+              0.18152901388618314,
+              0.14557106144475263,
+              1.0473928397960186
+            ],
+            "object_minus_finger_midpoint": [
+              0.004646902949999199,
+              0.011828852027956,
+              0.0
+            ],
+            "finger_gap": 0.025417745559037256,
+            "fingertip_max_gap": 0.10083762596108509,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012708872779518647,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473928397960186,
+            "object_top_z": 1.1025368206873998,
+            "finger_top_clearance": 0.05514398089138117,
+            "fingertip_min_top_clearance": 0.01654319426741435,
+            "object_projection_between_fingers": 0.8663056234916767,
+            "object_to_finger_line_xy": 0.008650260072222462,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052918812980542546,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5832590484397047,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18732640924705427,
+              0.15882568794686264,
+              1.2426054451419575
+            ],
+            "held_position": [
+              0.19054235146097748,
+              0.16222210550564217,
+              1.2361616479235749
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007962440527157163,
+            "max_held_gripper_dist": 0.007976609765348466,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006443797218382619,
+            "max_held_gripper_z_dist": 0.006464029513740144,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08557720113451839,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19054235146097748,
+              0.1380336019164154,
+              1.2361616479235749
+            ],
+            "held_grasp_finger_b": [
+              0.18262745853401757,
+              0.16222210550564217,
+              1.2361616479235749
+            ],
+            "held_grasp_midpoint": [
+              0.18658490499749752,
+              0.15012785371102877,
+              1.2361616479235749
+            ],
+            "held_grasp_object_position": [
+              0.19054235146097748,
+              0.16222210550564217,
+              1.2361616479235749
+            ],
+            "held_grasp_finger_gap": 0.025450525258455408,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02397304134904198,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.019184125684590683,
+              -0.9973697447111917,
+              0.06989679289102092
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038200133269758125,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0375818890948832,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3062660862885636,
+              -0.32355928024916414,
+              0.8515395858602012
+            ],
+            "target_position": [
+              0.30537186435573144,
+              -0.3219804059212533,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0018145183957441553,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17871629565839003,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395858602012,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754986239339047,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08702620494670064,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1465764163963535,
+            "release_required_pad_clearance": 0.053513102473350324,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.038280090375417,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007569313049316406,
+            "max_z_decrease": 0.007569313049316406,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035172544809761966,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007569313049316406,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114512814799315,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007569313049316406,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007569333824575259,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16107179224491114,
+              -0.37824186682701105,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16107179224491114,
+              -0.37824186682701105,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1627610056588465,
+              -0.37846070461279335,
+              0.8080612262546856
+            ],
+            "closest_button": [
+              0.16106520593166349,
+              -0.3782521188259124,
+              0.7729302048683167
+            ],
+            "closest_ee_minus_button": [
+              0.001695799727183006,
+              -0.00020858578688093266,
+              0.03513102138636892
+            ],
+            "button_min_z_position": [
+              0.16105435788631434,
+              -0.3782451152801513,
+              0.7692395448684692
+            ],
+            "min_active_finger_to_button": 0.14451608170930602,
+            "closest_active_finger": [
+              0.021593227982521057,
+              -0.3622376322746277,
+              0.8110597729682922
+            ],
+            "closest_active_finger_button": [
+              0.16107398271560663,
+              -0.37824380397796625,
+              0.7767987251281738
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13948075473308558,
+              0.016006171703338568,
+              0.03426104784011841
+            ],
+            "min_contact_pad_to_button": 0.02114512814799315,
+            "closest_contact_pad": [
+              0.16105435788631434,
+              -0.3797064784642934,
+              0.7903341143601438
+            ],
+            "closest_contact_pad_button": [
+              0.16105435788631434,
+              -0.3782451152801513,
+              0.7692395448684692
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014613631841420838,
+              0.021094569491674542
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27b7acd8b48520bc3d12ede91fd11921fbaf4fa6430c7354ee300efe98f93f0a",
+    "visual_seed": 1994176854657663182,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..188e890e49bef4a50d8f24e783451db3617a1748
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19393736001601186,
+              0.15346084073451532,
+              1.0480352789756668
+            ],
+            "current_z": 1.0480352789756668,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18692865175161122,
+            "gripper_z": 1.0545999873324274,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1897230108711155,
+              0.14911766745406246,
+              1.0545999873324274
+            ],
+            "object_minus_gripper": [
+              0.004214349144896351,
+              0.004343173280452861,
+              -0.006564708356760596
+            ],
+            "object_to_gripper_xy": 0.00605176774662811,
+            "object_to_gripper_z": -0.006564708356760596,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19393736001601186,
+              0.12952300588276622,
+              1.0480352789756668
+            ],
+            "finger_b": [
+              0.1829672050288067,
+              0.15346084073451532,
+              1.0480352789756668
+            ],
+            "finger_midpoint": [
+              0.18845228252240928,
+              0.14149192330864077,
+              1.0480352789756668
+            ],
+            "object_minus_finger_midpoint": [
+              0.00548507749360258,
+              0.011968917425874553,
+              0.0
+            ],
+            "finger_gap": 0.026331810378948814,
+            "fingertip_max_gap": 0.09451762552495838,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013165905189474407,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480352789756668,
+            "object_top_z": 1.1001004807783161,
+            "finger_top_clearance": 0.052065201802649286,
+            "fingertip_min_top_clearance": 0.015619560540794802,
+            "object_projection_between_fingers": 0.8264342262308858,
+            "object_to_finger_line_xy": 0.009972795436494116,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04975881276247919,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5047097060024344,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19404609442488774,
+              0.15418131207283653,
+              1.243939412265983
+            ],
+            "held_position": [
+              0.19846138976197963,
+              0.15814155891755005,
+              1.2372396630111457
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00894790635078965,
+            "max_held_gripper_dist": 0.008960663261558623,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006699749254837295,
+            "max_held_gripper_z_dist": 0.006724092831801309,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08600608461364062,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19846138976197963,
+              0.13339158816819496,
+              1.2372396630111457
+            ],
+            "held_grasp_finger_b": [
+              0.18932538290626744,
+              0.15814155891755005,
+              1.2372396630111457
+            ],
+            "held_grasp_midpoint": [
+              0.19389338633412354,
+              0.1457665735428725,
+              1.2372396630111457
+            ],
+            "held_grasp_object_position": [
+              0.19846138976197963,
+              0.15814155891755005,
+              1.2372396630111457
+            ],
+            "held_grasp_finger_gap": 0.026382336389363863,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024178942013992465,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05621990868851899,
+              -0.9976806734546022,
+              0.03837441442193301
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038947243164977855,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03711715359189301,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31024560788312655,
+              -0.32336953755664066,
+              0.8515395589605422
+            ],
+            "target_position": [
+              0.30473357161964526,
+              -0.32452801665373326,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005632461059637543,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18206451835779852,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395589605422,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548088797681758,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851863450679846,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15026911995523842,
+            "release_required_pad_clearance": 0.0525931725339923,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2502290670713323,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007660984992980957,
+            "max_z_decrease": 0.007660984992980957,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516637305682174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007660984992980957,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021301001335148187,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007660984992980957,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007661009943661197,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16043350100517273,
+              -0.38078948855400085,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16043350100517273,
+              -0.38078948855400085,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16175383116166495,
+              -0.3821831823389599,
+              0.8077540133639735
+            ],
+            "closest_button": [
+              0.16042369604110715,
+              -0.3807951509952545,
+              0.7726402282714844
+            ],
+            "closest_ee_minus_button": [
+              0.001330135120557796,
+              -0.0013880313437054093,
+              0.03511378509248908
+            ],
+            "button_min_z_position": [
+              0.16041427850723267,
+              -0.3807930648326874,
+              0.7691478729248047
+            ],
+            "min_active_finger_to_button": 0.14474280218950142,
+            "closest_active_finger": [
+              0.020838364958763123,
+              -0.3640017509460449,
+              0.8104715347290039
+            ],
+            "closest_active_finger_button": [
+              0.16043627262115479,
+              -0.38079360127449036,
+              0.7761067748069763
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13959790766239166,
+              0.016791850328445435,
+              0.03436475992202759
+            ],
+            "min_contact_pad_to_button": 0.021301001335148187,
+            "closest_contact_pad": [
+              0.16041427850723267,
+              -0.38361739746368784,
+              0.7902608026852489
+            ],
+            "closest_contact_pad_button": [
+              0.16041427850723267,
+              -0.3807930648326874,
+              0.7691478729248047
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002824332631000459,
+              0.02111292976044421
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "788dadea0e160a26f0b50a29e5e57262b61870d7b55e60f7a71db5194436261a",
+    "visual_seed": 3802227700352181986,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aec078bb6b5a138d733952eed43cf08bd015bab3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19569144048889991,
+              0.15312151534696816,
+              1.0492135354286178
+            ],
+            "current_z": 1.0492135354286178,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1881069678092071,
+            "gripper_z": 1.055831773766251,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19133548400606323,
+              0.14873936939588167,
+              1.055831773766251
+            ],
+            "object_minus_gripper": [
+              0.0043559564828366815,
+              0.004382145951086491,
+              -0.006618238337633198
+            ],
+            "object_to_gripper_xy": 0.006178799237472492,
+            "object_to_gripper_z": -0.006618238337633198,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19569144048889991,
+              0.1290351446125187,
+              1.0492135354286178
+            ],
+            "finger_b": [
+              0.18472738527027455,
+              0.15312151534696816,
+              1.0492135354286178
+            ],
+            "finger_midpoint": [
+              0.19020941287958723,
+              0.14107832997974343,
+              1.0492135354286178
+            ],
+            "object_minus_finger_midpoint": [
+              0.005482027609312684,
+              0.012043185367224735,
+              0.0
+            ],
+            "finger_gap": 0.026464386673308905,
+            "fingertip_max_gap": 0.10222369534028239,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013232193336654452,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492135354286178,
+            "object_top_z": 1.104774225840829,
+            "finger_top_clearance": 0.05556069041221123,
+            "fingertip_min_top_clearance": 0.016668207123663337,
+            "object_projection_between_fingers": 0.8283598990119857,
+            "object_to_finger_line_xy": 0.009978855811350908,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0536118476701412,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.147833892919646,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1955913250816562,
+              0.15386895781314774,
+              1.2443039621003116
+            ],
+            "held_position": [
+              0.20011273815610384,
+              0.15790153066882745,
+              1.237544271742772
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009077347286292614,
+            "max_held_gripper_dist": 0.009088656294516998,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006759690357539538,
+            "max_held_gripper_z_dist": 0.006783108167973451,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08571218928827212,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20011273815610384,
+              0.13310171019688138,
+              1.237544271742772
+            ],
+            "held_grasp_finger_b": [
+              0.19083595212807167,
+              0.15790153066882745,
+              1.237544271742772
+            ],
+            "held_grasp_midpoint": [
+              0.19547434514208775,
+              0.14550162043285442,
+              1.237544271742772
+            ],
+            "held_grasp_object_position": [
+              0.20011273815610384,
+              0.15790153066882745,
+              1.237544271742772
+            ],
+            "held_grasp_finger_gap": 0.026478101413255597,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024533726214224727,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.020743616360769122,
+              -0.9970298104626111,
+              0.07417047545463873
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044764245728107265,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037260952872556256,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31200752988888575,
+              -0.3250448380693721,
+              0.8515395971292317
+            ],
+            "target_position": [
+              0.30957220673948155,
+              -0.32399355906403404,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0026525433811888195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1799695364047043,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395971292317,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554037865159444,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08889241994584605,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14761094197233685,
+            "release_required_pad_clearance": 0.05444620997292303,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.920490204095161,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007829248905181885,
+            "max_z_decrease": 0.007829248905181885,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515988145330364,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007829248905181885,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021160554872640357,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007829248905181885,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007829269508290626,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16527213156223292,
+              -0.3802550137042999,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16527213156223292,
+              -0.3802550137042999,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16645804744743972,
+              -0.3810359276381884,
+              0.8078638251228519
+            ],
+            "closest_button": [
+              0.165264680981636,
+              -0.3802642822265625,
+              0.772732675075531
+            ],
+            "closest_ee_minus_button": [
+              0.0011933664658037302,
+              -0.0007716454116258875,
+              0.035131150047320925
+            ],
+            "button_min_z_position": [
+              0.16525441408157343,
+              -0.3802579641342163,
+              0.7689796090126038
+            ],
+            "min_active_finger_to_button": 0.14494214310272957,
+            "closest_active_finger": [
+              0.025106243789196014,
+              -0.366535484790802,
+              0.8108124136924744
+            ],
+            "closest_active_finger_button": [
+              0.165274366736412,
+              -0.3802581429481506,
+              0.7765660881996155
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14016812294721598,
+              0.013722658157348577,
+              0.03424632549285889
+            ],
+            "min_contact_pad_to_button": 0.021160554872640357,
+            "closest_contact_pad": [
+              0.16525441408157343,
+              -0.38208195062672706,
+              0.7900614058001919
+            ],
+            "closest_contact_pad_button": [
+              0.16525441408157343,
+              -0.3802579641342163,
+              0.7689796090126038
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001823986492510754,
+              0.021081796787588147
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e0a8c03e61735c28c04eb3ee57b7d7c7beaeb8bc118ebffe46dd901523987f91",
+    "visual_seed": 3672647538090139543,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8242c1de77d29f33920699829b4d33057ae8267c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19567496668551543,
+              0.1581746076174511,
+              1.0472315278117654
+            ],
+            "current_z": 1.0472315278117654,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18612484098306525,
+            "gripper_z": 1.0532527999304162,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19160716739720404,
+              0.15400540043406424,
+              1.0532527999304162
+            ],
+            "object_minus_gripper": [
+              0.004067799288311386,
+              0.004169207183386869,
+              -0.006021272118650778
+            ],
+            "object_to_gripper_xy": 0.005824884512845838,
+            "object_to_gripper_z": -0.006021272118650778,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19567496668551543,
+              0.13403073768533635,
+              1.0472315278117654
+            ],
+            "finger_b": [
+              0.18536739669274416,
+              0.1581746076174511,
+              1.0472315278117654
+            ],
+            "finger_midpoint": [
+              0.1905211816891298,
+              0.14610267265139373,
+              1.0472315278117654
+            ],
+            "object_minus_finger_midpoint": [
+              0.005153784996385635,
+              0.01207193496605738,
+              0.0
+            ],
+            "finger_gap": 0.026252094287023155,
+            "fingertip_max_gap": 0.09313567761960392,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013126047143511578,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472315278117654,
+            "object_top_z": 1.09847745765599,
+            "finger_top_clearance": 0.05124592984422449,
+            "fingertip_min_top_clearance": 0.01537377895326733,
+            "object_projection_between_fingers": 0.8458353950899904,
+            "object_to_finger_line_xy": 0.009479800982760321,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049067838809801964,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9494196565496401,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19581004541088542,
+              0.15917830618343518,
+              1.241565760414506
+            ],
+            "held_position": [
+              0.19998397284833555,
+              0.1630769181800793,
+              1.235407323326041
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008399237651481161,
+            "max_held_gripper_dist": 0.008412927806954412,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006158437088465085,
+            "max_held_gripper_z_dist": 0.006182714524812116,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08564304687655386,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19998397284833555,
+              0.1384156626146566,
+              1.235407323326041
+            ],
+            "held_grasp_finger_b": [
+              0.19106248971385692,
+              0.1630769181800793,
+              1.235407323326041
+            ],
+            "held_grasp_midpoint": [
+              0.19552323128109622,
+              0.15074629039736795,
+              1.235407323326041
+            ],
+            "held_grasp_object_position": [
+              0.19998397284833555,
+              0.1630769181800793,
+              1.235407323326041
+            ],
+            "held_grasp_finger_gap": 0.026225376782457843,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024298789268963058,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03764967033971882,
+              -0.9989223826242479,
+              0.027139930280053685
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004007523174486104,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03723496453665905,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31606163282655975,
+              -0.32222130920877373,
+              0.8515395745568085
+            ],
+            "target_position": [
+              0.3096715874891533,
+              -0.32377644486393165,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006576558850953385,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831460539256761,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395745568085,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522357475996244,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530159289519922,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15227949081939254,
+            "release_required_pad_clearance": 0.05265079644759961,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3604515544856107,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007612884044647217,
+            "max_z_decrease": 0.007612884044647217,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513211895425823,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007612884044647217,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021085519304305623,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007612884044647217,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007612902725720069,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16537150740623469,
+              -0.38003790378570557,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16537150740623469,
+              -0.38003790378570557,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1644777241009095,
+              -0.37978106441861226,
+              0.8080284880792754
+            ],
+            "closest_button": [
+              0.1653643548488616,
+              -0.38004735112190247,
+              0.7729085683822632
+            ],
+            "closest_ee_minus_button": [
+              -0.0008866307479521163,
+              0.0002662867032902083,
+              0.035119919697012225
+            ],
+            "button_min_z_position": [
+              0.16535495221614832,
+              -0.3800411224365234,
+              0.7691959738731384
+            ],
+            "min_active_finger_to_button": 0.1468134990915803,
+            "closest_active_finger": [
+              0.037064023315906525,
+              -0.44265031814575195,
+              0.8110007047653198
+            ],
+            "closest_active_finger_button": [
+              0.1653743684291839,
+              -0.38004019856452936,
+              0.776786208152771
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12831034511327738,
+              -0.06261011958122259,
+              0.03421449661254883
+            ],
+            "min_contact_pad_to_button": 0.021085519304305623,
+            "closest_contact_pad": [
+              0.16535495221614832,
+              -0.38101988506139556,
+              0.7902587644778137
+            ],
+            "closest_contact_pad_button": [
+              0.16535495221614832,
+              -0.3800411224365234,
+              0.7691959738731384
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000978762624872176,
+              0.021062790604675308
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9496dc85891401837ac730c97be5fe1b7b2e53928118c2e0fcca701e025a15b8",
+    "visual_seed": 1113154016507112636,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..189abdf6c12ed665684dcfbab7c7d4d524c22997
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19331864848016794,
+              0.15809646420819795,
+              1.0485782964063666
+            ],
+            "current_z": 1.0485782964063666,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18747166918231095,
+            "gripper_z": 1.054700360732111,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18921449535354165,
+              0.15385024876284992,
+              1.054700360732111
+            ],
+            "object_minus_gripper": [
+              0.004104153126626292,
+              0.004246215445348034,
+              -0.00612206432574447
+            ],
+            "object_to_gripper_xy": 0.005905456671173583,
+            "object_to_gripper_z": -0.00612206432574447,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19331864848016794,
+              0.13405400578733478,
+              1.0485782964063666
+            ],
+            "finger_b": [
+              0.1827315741647943,
+              0.15809646420819795,
+              1.0485782964063666
+            ],
+            "finger_midpoint": [
+              0.18802511132248112,
+              0.14607523499776637,
+              1.0485782964063666
+            ],
+            "object_minus_finger_midpoint": [
+              0.005293537157686823,
+              0.012021229210431583,
+              0.0
+            ],
+            "finger_gap": 0.026270248371078993,
+            "fingertip_max_gap": 0.0926819554065845,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013135124185539497,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485782964063666,
+            "object_top_z": 1.0996423925622376,
+            "finger_top_clearance": 0.05106409615587104,
+            "fingertip_min_top_clearance": 0.015319228846761346,
+            "object_projection_between_fingers": 0.8375859614553032,
+            "object_to_finger_line_xy": 0.009689261038969933,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884097770329225,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7995696093453467,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19348138385968458,
+              0.15894398006956434,
+              1.2449666370503207
+            ],
+            "held_position": [
+              0.1977479606630514,
+              0.16286985674871027,
+              1.238718140640373
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008524077234752039,
+            "max_held_gripper_dist": 0.008536367460533314,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006248496409947624,
+            "max_held_gripper_z_dist": 0.006273757385674594,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08580454653859573,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1977479606630514,
+              0.13818470799345833,
+              1.238718140640373
+            ],
+            "held_grasp_finger_b": [
+              0.18871856895931316,
+              0.16286985674871027,
+              1.238718140640373
+            ],
+            "held_grasp_midpoint": [
+              0.19323326481118228,
+              0.15052728237108431,
+              1.238718140640373
+            ],
+            "held_grasp_object_position": [
+              0.1977479606630514,
+              0.16286985674871027,
+              1.238718140640373
+            ],
+            "held_grasp_finger_gap": 0.02628471958397983,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02420202675592185,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.049239970585341304,
+              -0.9984397494292476,
+              0.02633423734259222
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003915230604762227,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03717462971023854,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31634519976930947,
+              -0.315168613749358,
+              0.8515396440959697
+            ],
+            "target_position": [
+              0.3101656936340277,
+              -0.3167097726301991,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006368788485417039,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18484218543754755,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396440959697,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075721673177169,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605477623404333,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15265024770745264,
+            "release_required_pad_clearance": 0.053027388117021665,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0864130583586058,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007476210594177246,
+            "max_z_decrease": 0.007476210594177246,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03524587123316687,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007476210594177246,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02110743279125793,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007476210594177246,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007476231146714867,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16586561501026148,
+              -0.37297123670578,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16586561501026148,
+              -0.37297123670578,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16796847178080163,
+              -0.37175204426913694,
+              0.8046904249859603
+            ],
+            "closest_button": [
+              0.1658471673727035,
+              -0.3729747235774994,
+              0.7695297002792358
+            ],
+            "closest_ee_minus_button": [
+              0.002121304408098129,
+              0.001222679308362451,
+              0.03516072470672449
+            ],
+            "button_min_z_position": [
+              0.16584847867488856,
+              -0.37297493219375605,
+              0.7693326473236084
+            ],
+            "min_active_finger_to_button": 0.14335392148362402,
+            "closest_active_finger": [
+              0.041819728910923004,
+              -0.4361565113067627,
+              0.8105106353759766
+            ],
+            "closest_active_finger_button": [
+              0.16586709022521964,
+              -0.3729743659496307,
+              0.7762963771820068
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12404736131429664,
+              -0.06318214535713201,
+              0.03421425819396973
+            ],
+            "min_contact_pad_to_button": 0.02110743279125793,
+            "closest_contact_pad": [
+              0.16584847867488856,
+              -0.37297493219375605,
+              0.7904400801148663
+            ],
+            "closest_contact_pad_button": [
+              0.16584847867488856,
+              -0.37297493219375605,
+              0.7693326473236084
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02110743279125793
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dc51c740a43e1b5ab9ddc6393056aac4c0d1d1571afa0df992ffac5f89556bf4",
+    "visual_seed": 5249224636160131852,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..159adbcc1259666b141941c97124ce9e1762c0b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1900693073638475,
+              0.1515633411443028,
+              1.049615508792191
+            ],
+            "current_z": 1.049615508792191,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.18850870275420128,
+            "gripper_z": 1.0559814459831167,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18625950294879967,
+              0.14746417693374847,
+              1.0559814459831167
+            ],
+            "object_minus_gripper": [
+              0.0038098044150478294,
+              0.00409916421055434,
+              -0.006365937190925708
+            ],
+            "object_to_gripper_xy": 0.00559622702416615,
+            "object_to_gripper_z": -0.006365937190925708,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1900693073638475,
+              0.1277401936974849,
+              1.049615508792191
+            ],
+            "finger_b": [
+              0.17966981035892113,
+              0.1515633411443028,
+              1.049615508792191
+            ],
+            "finger_midpoint": [
+              0.18486955886138431,
+              0.13965176742089386,
+              1.049615508792191
+            ],
+            "object_minus_finger_midpoint": [
+              0.005199748502463186,
+              0.011911573723408952,
+              0.0
+            ],
+            "finger_gap": 0.02599407417524808,
+            "fingertip_max_gap": 0.09532343209646008,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01299703708762404,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049615508792191,
+            "object_top_z": 1.1021468160965961,
+            "finger_top_clearance": 0.05253130730440514,
+            "fingertip_min_top_clearance": 0.015759392191321556,
+            "object_projection_between_fingers": 0.8399425252849836,
+            "object_to_finger_line_xy": 0.009530970360814461,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05016171604823004,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.811258999571182,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19081072718056144,
+              0.1521916996532014,
+              1.2449909512808748
+            ],
+            "held_position": [
+              0.1947961548398474,
+              0.15594375935162738,
+              1.23848891475855
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008499297885449055,
+            "max_held_gripper_dist": 0.008512950766915484,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006502036522324728,
+            "max_held_gripper_z_dist": 0.006525284568352996,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08586660439758942,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1947961548398474,
+              0.131310833362054,
+              1.23848891475855
+            ],
+            "held_grasp_finger_b": [
+              0.1862475591257216,
+              0.15594375935162738,
+              1.23848891475855
+            ],
+            "held_grasp_midpoint": [
+              0.1905218569827845,
+              0.14362729635684068,
+              1.23848891475855
+            ],
+            "held_grasp_object_position": [
+              0.1947961548398474,
+              0.15594375935162738,
+              1.23848891475855
+            ],
+            "held_grasp_finger_gap": 0.02607411612099956,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024111760837486562,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.053992509428979034,
+              -0.9975802705122173,
+              0.04379968961457592
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003643976518018364,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037202809516652315,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31598962850786216,
+              -0.31566762280410854,
+              0.8515395532952628
+            ],
+            "target_position": [
+              0.3114430016291417,
+              -0.3161855616394452,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004576032846413309,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825132216814336,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395532952628,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589930089638053,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08648968343298323,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1498025564680139,
+            "release_required_pad_clearance": 0.05324484171649162,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5102213148666068,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007460474967956543,
+            "max_z_decrease": 0.007460474967956543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513028488869131,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007460474967956543,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021111816615326223,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007460474967956543,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007460496343641414,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16714292764663696,
+              -0.3724470138549804,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16714292764663696,
+              -0.3724470138549804,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16676758640462758,
+              -0.37243973941550645,
+              0.8081334208876765
+            ],
+            "closest_button": [
+              0.16713564097881317,
+              -0.3724569678306579,
+              0.7730050683021545
+            ],
+            "closest_ee_minus_button": [
+              -0.0003680545741855945,
+              1.7228415151449017e-05,
+              0.03512835258552194
+            ],
+            "button_min_z_position": [
+              0.1671253889799118,
+              -0.3724503815174102,
+              0.7693483829498291
+            ],
+            "min_active_finger_to_button": 0.14645779571247178,
+            "closest_active_finger": [
+              0.040044113993644714,
+              -0.43668732047080994,
+              0.8104605674743652
+            ],
+            "closest_active_finger_button": [
+              0.16714458167552948,
+              -0.3724499344825744,
+              0.7762711644172668
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12710046768188477,
+              -0.06423738598823553,
+              0.03418940305709839
+            ],
+            "min_contact_pad_to_button": 0.021111816615326223,
+            "closest_contact_pad": [
+              0.1671253889799118,
+              -0.3735682387158821,
+              0.7904305838805429
+            ],
+            "closest_contact_pad_button": [
+              0.1671253889799118,
+              -0.3724503815174102,
+              0.7693483829498291
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00111785719847185,
+              0.02108220093071378
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e199588155f42475147349e764fb8136e7808a52ebd739e11b809dd97c85567",
+    "visual_seed": 6651423600838451662,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66b0ac09698140250fd5e7d18e588a93597ee34a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18714413317388873,
+              0.1592022443135093,
+              1.0458158083282985
+            ],
+            "current_z": 1.0458158083282985,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1847090618949534,
+            "gripper_z": 1.0521998836814663,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18347946211911534,
+              0.1551194846625018,
+              1.0521998836814663
+            ],
+            "object_minus_gripper": [
+              0.0036646710547733885,
+              0.004082759651007489,
+              -0.006384075353167873
+            ],
+            "object_to_gripper_xy": 0.005486231886057014,
+            "object_to_gripper_z": -0.006384075353167873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18714413317388873,
+              0.13560095443452444,
+              1.0458158083282985
+            ],
+            "finger_b": [
+              0.1766155062379824,
+              0.1592022443135093,
+              1.0458158083282985
+            ],
+            "finger_midpoint": [
+              0.18187981970593556,
+              0.14740159937401687,
+              1.0458158083282985
+            ],
+            "object_minus_finger_midpoint": [
+              0.005264313467953169,
+              0.011800644939492427,
+              0.0
+            ],
+            "finger_gap": 0.02584323642865509,
+            "fingertip_max_gap": 0.09567261929137058,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012921618214327545,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458158083282985,
+            "object_top_z": 1.098432965357577,
+            "finger_top_clearance": 0.052617157029278605,
+            "fingertip_min_top_clearance": 0.015785147108783596,
+            "object_projection_between_fingers": 0.834022326279476,
+            "object_to_finger_line_xy": 0.00961524989441679,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05033630964568529,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.007358924105667,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18798168299263315,
+              0.15994869349138346,
+              1.2435837738927276
+            ],
+            "held_position": [
+              0.191894664210209,
+              0.1636263166957233,
+              1.2370830885784483
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00843179957052387,
+            "max_held_gripper_dist": 0.008446209344942893,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006500685314279275,
+            "max_held_gripper_z_dist": 0.006525871632626412,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08603588462695583,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.191894664210209,
+              0.13909870123718282,
+              1.2370830885784483
+            ],
+            "held_grasp_finger_b": [
+              0.1833640173582141,
+              0.1636263166957233,
+              1.2370830885784483
+            ],
+            "held_grasp_midpoint": [
+              0.18762934078421156,
+              0.15136250896645306,
+              1.2370830885784483
+            ],
+            "held_grasp_object_position": [
+              0.191894664210209,
+              0.1636263166957233,
+              1.2370830885784483
+            ],
+            "held_grasp_finger_gap": 0.025968747674762545,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02394242613959675,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05998295942200572,
+              -0.9970035458562495,
+              0.048846434148703266
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003573654840282346,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037237343556330016,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.310565619654423,
+              -0.3218140241498375,
+              0.8515396245726815
+            ],
+            "target_position": [
+              0.3054280495007298,
+              -0.32233852090297327,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0051642738045313405,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18412884063300122,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396245726815,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522356218052609,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852805820763811,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15291168276507278,
+            "release_required_pad_clearance": 0.052640291038190554,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34034838735864936,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007551968097686768,
+            "max_z_decrease": 0.007551968097686768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0352135678769837,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007551968097686768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021226549584556435,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007551968097686768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007551988980950059,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.161127969622612,
+              -0.3785999715328216,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.161127969622612,
+              -0.3785999715328216,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16301222758840328,
+              -0.37962919254382343,
+              0.8049964917699892
+            ],
+            "closest_button": [
+              0.16111020743846893,
+              -0.37860321998596186,
+              0.7698493003845215
+            ],
+            "closest_ee_minus_button": [
+              0.001902020149934347,
+              -0.0010259725578615764,
+              0.035147191385467735
+            ],
+            "button_min_z_position": [
+              0.161110520362854,
+              -0.37860327959060663,
+              0.7692568898200989
+            ],
+            "min_active_finger_to_button": 0.14386373146107004,
+            "closest_active_finger": [
+              0.022303558886051178,
+              -0.3628879189491272,
+              0.810554027557373
+            ],
+            "closest_active_finger_button": [
+              0.16113020479679108,
+              -0.3786026537418365,
+              0.7762468457221985
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1388266459107399,
+              0.015714734792709295,
+              0.03430718183517456
+            ],
+            "min_contact_pad_to_button": 0.021226549584556435,
+            "closest_contact_pad": [
+              0.161110520362854,
+              -0.38087253159921775,
+              0.7903617921555054
+            ],
+            "closest_contact_pad_button": [
+              0.161110520362854,
+              -0.37860327959060663,
+              0.7692568898200989
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002269252008611111,
+              0.021104902335406517
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4abff979e473e685dfa2e50c6d0a35d40126a448f0342f6811a11216e0f79e82",
+    "visual_seed": 2671170065135193562,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbb1980b90e3ae1cd0e390d34bb3ac445e485282
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18759422665611383,
+              0.15832236362665342,
+              1.0458878538610703
+            ],
+            "current_z": 1.0458878538610703,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.184781345846304,
+            "gripper_z": 1.0522368171444254,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18397108076992744,
+              0.15438623077369884,
+              1.0522368171444254
+            ],
+            "object_minus_gripper": [
+              0.0036231458861863963,
+              0.003936132852954577,
+              -0.006348963283355102
+            ],
+            "object_to_gripper_xy": 0.005349797000699909,
+            "object_to_gripper_z": -0.006348963283355102,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18759422665611383,
+              0.13447488064896984,
+              1.0458878538610703
+            ],
+            "finger_b": [
+              0.1776336559616296,
+              0.15832236362665342,
+              1.0458878538610703
+            ],
+            "finger_midpoint": [
+              0.1826139413088717,
+              0.14639862213781163,
+              1.0458878538610703
+            ],
+            "object_minus_finger_midpoint": [
+              0.004980285347242125,
+              0.011923741488841788,
+              0.0
+            ],
+            "finger_gap": 0.02584405952884968,
+            "fingertip_max_gap": 0.09547998351336218,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012922029764424844,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0458878538610703,
+            "object_top_z": 1.098393691280833,
+            "finger_top_clearance": 0.05250583741976267,
+            "fingertip_min_top_clearance": 0.015751751225928784,
+            "object_projection_between_fingers": 0.8514587825957118,
+            "object_to_finger_line_xy": 0.009191069221132497,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05023999175668109,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8635605750230135,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18843040014006815,
+              0.15920830676643621,
+              1.243235506736151
+            ],
+            "held_position": [
+              0.19220911201403298,
+              0.16282814451941569,
+              1.2367706328667563
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008317240103034182,
+            "max_held_gripper_dist": 0.008331546836387049,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0064648738693946495,
+            "max_held_gripper_z_dist": 0.006488094926007548,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08583232307466773,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19220911201403298,
+              0.13836820806649683,
+              1.2367706328667563
+            ],
+            "held_grasp_finger_b": [
+              0.1837955811767749,
+              0.16282814451941569,
+              1.2367706328667563
+            ],
+            "held_grasp_midpoint": [
+              0.18800234659540394,
+              0.15059817629295624,
+              1.2367706328667563
+            ],
+            "held_grasp_object_position": [
+              0.19220911201403298,
+              0.16282814451941569,
+              1.2367706328667563
+            ],
+            "held_grasp_finger_gap": 0.02586650328958905,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024064596776423794,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04142948760453189,
+              -0.998087836202986,
+              0.04587230951747867
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003739403543509205,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03733938341035063,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3150692063901577,
+              -0.31976912683455655,
+              0.8515395659228464
+            ],
+            "target_position": [
+              0.31062808745966514,
+              -0.32007192188486167,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004451429230850296,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18280997176217592,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395659228464,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560122759459992,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644489397937404,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1505292388649398,
+            "release_required_pad_clearance": 0.05322244698968702,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4665740907243416,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007645606994628906,
+            "max_z_decrease": 0.007645606994628906,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035121616880991254,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007645606994628906,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02118538019854957,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007645606994628906,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007645625200833825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16632801294326788,
+              -0.3763333857059478,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16632801294326788,
+              -0.3763333857059478,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16689892273161724,
+              -0.37677896075181694,
+              0.807717978728771
+            ],
+            "closest_button": [
+              0.16631816327571874,
+              -0.3763382732868194,
+              0.7726039290428162
+            ],
+            "closest_ee_minus_button": [
+              0.0005807594558984996,
+              -0.00044068746499753564,
+              0.035114049685954885
+            ],
+            "button_min_z_position": [
+              0.16631169617176061,
+              -0.3763368725776671,
+              0.7691632509231567
+            ],
+            "min_active_finger_to_button": 0.14557490513145052,
+            "closest_active_finger": [
+              0.02575966715812683,
+              -0.36049261689186096,
+              0.8099182844161987
+            ],
+            "closest_active_finger_button": [
+              0.16633094847202304,
+              -0.37633892893791193,
+              0.7755575180053711
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1405712813138962,
+              0.01584631204605097,
+              0.03436076641082764
+            ],
+            "min_contact_pad_to_button": 0.02118538019854957,
+            "closest_contact_pad": [
+              0.16631169617176061,
+              -0.37806316726325895,
+              0.790278180258004
+            ],
+            "closest_contact_pad_button": [
+              0.16631169617176061,
+              -0.3763368725776671,
+              0.7691632509231567
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017262946855918226,
+              0.021114929334847266
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b0e25d778fc3734b1ac542fdc8637256ea26bec48877d0f7eb286733597253ef",
+    "visual_seed": 558426763587788929,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e20f658bfe166578f66ae95570d549a178729086
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19401064441941565,
+              0.15771469689233664,
+              1.0496801637329023
+            ],
+            "current_z": 1.0496801637329023,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.18857335769491268,
+            "gripper_z": 1.055926214003349,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18951766608521767,
+              0.15317986109235798,
+              1.055926214003349
+            ],
+            "object_minus_gripper": [
+              0.004492978334197983,
+              0.004534835799978654,
+              -0.006246050270446668
+            ],
+            "object_to_gripper_xy": 0.006383697208071552,
+            "object_to_gripper_z": -0.006246050270446668,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19401064441941565,
+              0.13368105066446145,
+              1.0496801637329023
+            ],
+            "finger_b": [
+              0.182628687966145,
+              0.15771469689233664,
+              1.0496801637329023
+            ],
+            "finger_midpoint": [
+              0.18831966619278034,
+              0.14569787377839905,
+              1.0496801637329023
+            ],
+            "object_minus_finger_midpoint": [
+              0.005690978226635307,
+              0.012016823113937591,
+              0.0
+            ],
+            "finger_gap": 0.026592575725393888,
+            "fingertip_max_gap": 0.09133681550739545,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013296287862696937,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496801637329023,
+            "object_top_z": 1.0999913736470144,
+            "finger_top_clearance": 0.05031120991411209,
+            "fingertip_min_top_clearance": 0.015093362974233592,
+            "object_projection_between_fingers": 0.8168052471929912,
+            "object_to_finger_line_xy": 0.01028670248432415,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048168407753697726,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.514214767184355,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19402290426520022,
+              0.15811922897540237,
+              1.2464995182574146
+            ],
+            "held_position": [
+              0.19876651309655485,
+              0.16220986177888957,
+              1.2401136235533636
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008945096570138134,
+            "max_held_gripper_dist": 0.00895840539636449,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006385894704050932,
+            "max_held_gripper_z_dist": 0.006412617580847657,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08590729474280351,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19876651309655485,
+              0.1372961661590701,
+              1.2401136235533636
+            ],
+            "held_grasp_finger_b": [
+              0.18936529118072382,
+              0.16220986177888957,
+              1.2401136235533636
+            ],
+            "held_grasp_midpoint": [
+              0.19406590213863933,
+              0.14975301396897983,
+              1.2401136235533636
+            ],
+            "held_grasp_object_position": [
+              0.19876651309655485,
+              0.16220986177888957,
+              1.2401136235533636
+            ],
+            "held_grasp_finger_gap": 0.02662846602693656,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02421966901878579,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06720729901194285,
+              -0.9975035470607047,
+              0.021676082691114432
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003862482052211426,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697858482832728,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31622033228864377,
+              -0.31989976654125823,
+              0.8515396235412248
+            ],
+            "target_position": [
+              0.3082014434604207,
+              -0.3222614644221027,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00835943747627707,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18326236692261838,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396235412248,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554088374523636,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509506432902357,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1516134230913744,
+            "release_required_pad_clearance": 0.05254753216451179,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16312937526357887,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007652938365936279,
+            "max_z_decrease": 0.007652938365936279,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035146942050245635,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007652938365936279,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021132986554619194,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007652938365936279,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00765295812035099,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16390137374401093,
+              -0.3785229325294494,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16390137374401093,
+              -0.3785229325294494,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1647291601310501,
+              -0.3789891973678778,
+              0.8080467356057061
+            ],
+            "closest_button": [
+              0.16389207541942596,
+              -0.37853178381919855,
+              0.7729127407073975
+            ],
+            "closest_ee_minus_button": [
+              0.0008370847116241364,
+              -0.0004574135486792308,
+              0.035133994898308596
+            ],
+            "button_min_z_position": [
+              0.163884237408638,
+              -0.37852588295936584,
+              0.7691559195518494
+            ],
+            "min_active_finger_to_button": 0.14530573296049984,
+            "closest_active_finger": [
+              0.02340076118707657,
+              -0.36433130502700806,
+              0.810996949672699
+            ],
+            "closest_active_finger_button": [
+              0.16390568017959595,
+              -0.37852451205253596,
+              0.7767817974090576
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14050491899251938,
+              0.014193207025527899,
+              0.03421515226364136
+            ],
+            "min_contact_pad_to_button": 0.021132986554619194,
+            "closest_contact_pad": [
+              0.163884237408638,
+              -0.3800584322072295,
+              0.7902332631586844
+            ],
+            "closest_contact_pad_button": [
+              0.163884237408638,
+              -0.37852588295936584,
+              0.7691559195518494
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015325492478636682,
+              0.021077343606834997
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4b5a2a32cc26ccd0fda92748c9aba6e96e2eb1d61abff78f4f831a74aec5e96",
+    "visual_seed": 4688391960332118124,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaf1a6847fd6d2531387472d5f9069a057f80099
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1916356355852619,
+              0.15484304484623634,
+              1.04804999151985
+            ],
+            "current_z": 1.04804999151985,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1869434239004394,
+            "gripper_z": 1.0542959683724376,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18781809656111387,
+              0.15077113712985118,
+              1.0542959683724376
+            ],
+            "object_minus_gripper": [
+              0.0038175390241480256,
+              0.004071907716385159,
+              -0.0062459768525875425
+            ],
+            "object_to_gripper_xy": 0.0055815801214038,
+            "object_to_gripper_z": -0.0062459768525875425,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1916356355852619,
+              0.13093332611067654,
+              1.04804999151985
+            ],
+            "finger_b": [
+              0.18138924058220135,
+              0.15484304484623634,
+              1.04804999151985
+            ],
+            "finger_midpoint": [
+              0.18651243808373164,
+              0.14288818547845644,
+              1.04804999151985
+            ],
+            "object_minus_finger_midpoint": [
+              0.005123197501530258,
+              0.011954859367779902,
+              0.0
+            ],
+            "finger_gap": 0.026012751883880407,
+            "fingertip_max_gap": 0.09462109779333766,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013006375941940198,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04804999151985,
+            "object_top_z": 1.100056622330761,
+            "finger_top_clearance": 0.05200663081091106,
+            "fingertip_min_top_clearance": 0.015601989243273334,
+            "object_projection_between_fingers": 0.8448436368926777,
+            "object_to_finger_line_xy": 0.009418012506721283,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04981054889666883,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4982945201959887,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19218997407838032,
+              0.1559773711616242,
+              1.244220253066583
+            ],
+            "held_position": [
+              0.19615822522065787,
+              0.1597378301909372,
+              1.2378520657312548
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008392966053616668,
+            "max_held_gripper_dist": 0.008407153514730915,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006368187335328068,
+            "max_held_gripper_z_dist": 0.006391501659734677,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08603209545811363,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19615822522065787,
+              0.13519071924730713,
+              1.2378520657312548
+            ],
+            "held_grasp_finger_b": [
+              0.1874683751318485,
+              0.1597378301909372,
+              1.2378520657312548
+            ],
+            "held_grasp_midpoint": [
+              0.1918133001762532,
+              0.14746427471912216,
+              1.2378520657312548
+            ],
+            "held_grasp_object_position": [
+              0.19615822522065787,
+              0.1597378301909372,
+              1.2378520657312548
+            ],
+            "held_grasp_finger_gap": 0.026039856955153644,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02413853567935009,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.042457277238173226,
+              -0.9983856393531506,
+              0.03772922929138333
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003848290510096246,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03728203485604127,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3092185049679501,
+              -0.32212797152445316,
+              0.8515396454107632
+            ],
+            "target_position": [
+              0.30394489164417826,
+              -0.3229281473342786,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005333974017118363,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18411285316816364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396454107632,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539363324161108,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08538527988590726,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15250333443033315,
+            "release_required_pad_clearance": 0.05269263994295363,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4405739203357197,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076628923416137695,
+            "max_z_decrease": 0.0076628923416137695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351421133560361,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076628923416137695,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112942645427343,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076628923416137695,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007662911290493494,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15964481234550482,
+              -0.37918961048126215,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15964481234550482,
+              -0.37918961048126215,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15912647250432696,
+              -0.3797851664695072,
+              0.8078559528406866
+            ],
+            "closest_button": [
+              0.15963476896286016,
+              -0.3791979253292084,
+              0.7727224230766296
+            ],
+            "closest_ee_minus_button": [
+              -0.0005082964585332028,
+              -0.0005872411402988442,
+              0.035133529764056926
+            ],
+            "button_min_z_position": [
+              0.15962797403335574,
+              -0.37919223308563227,
+              0.7691459655761719
+            ],
+            "min_active_finger_to_button": 0.1465756858551826,
+            "closest_active_finger": [
+              0.017956934869289398,
+              -0.3637235462665558,
+              0.8107098340988159
+            ],
+            "closest_active_finger_button": [
+              0.1596455276012421,
+              -0.37919223308563227,
+              0.7765119671821594
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1416885927319527,
+              0.015468686819076483,
+              0.034197866916656494
+            ],
+            "min_contact_pad_to_button": 0.02112942645427343,
+            "closest_contact_pad": [
+              0.15962797403335574,
+              -0.38098389923873505,
+              0.790199292977853
+            ],
+            "closest_contact_pad_button": [
+              0.15962797403335574,
+              -0.37919223308563227,
+              0.7691459655761719
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017916661531027778,
+              0.021053327401681088
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e474fc9d5c738dbf06009c217c96fd840680a73ea47fd94cbda96e21ecd13510",
+    "visual_seed": 3282900867671007430,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b65813a0a550f47d2059b135147408a0f66ee05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19096075420311484,
+              0.15847623936434743,
+              1.048210950772924
+            ],
+            "current_z": 1.048210950772924,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.18710432354886863,
+            "gripper_z": 1.0545713965099102,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18700697507090905,
+              0.15421216072179394,
+              1.0545713965099102
+            ],
+            "object_minus_gripper": [
+              0.0039537791322057925,
+              0.004264078642553487,
+              -0.006360445736986131
+            ],
+            "object_to_gripper_xy": 0.005815043946192219,
+            "object_to_gripper_z": -0.006360445736986131,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19096075420311484,
+              0.13483498722405257,
+              1.048210950772924
+            ],
+            "finger_b": [
+              0.17995373567217227,
+              0.15847623936434743,
+              1.048210950772924
+            ],
+            "finger_midpoint": [
+              0.18545724493764354,
+              0.14665561329420002,
+              1.048210950772924
+            ],
+            "object_minus_finger_midpoint": [
+              0.005503509265471301,
+              0.011820626070147416,
+              0.0
+            ],
+            "finger_gap": 0.026078022542008618,
+            "fingertip_max_gap": 0.09638906166755942,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013039011271004302,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048210950772924,
+            "object_top_z": 1.1013905296182755,
+            "finger_top_clearance": 0.053179578845351516,
+            "fingertip_min_top_clearance": 0.015953873653605455,
+            "object_projection_between_fingers": 0.8218482542437452,
+            "object_to_finger_line_xy": 0.009978505846588947,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050694530833779713,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.279248727802513,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1915310510336423,
+              0.15899542772848435,
+              1.2434581259664628
+            ],
+            "held_position": [
+              0.19574099675018536,
+              0.1628231435262878,
+              1.236955926506059
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008640234313250323,
+            "max_held_gripper_dist": 0.008653881119930562,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006502199460403757,
+            "max_held_gripper_z_dist": 0.006526689792476281,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08615173854923877,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19574099675018536,
+              0.1381336021598218,
+              1.236955926506059
+            ],
+            "held_grasp_finger_b": [
+              0.1869472212809276,
+              0.1628231435262878,
+              1.236955926506059
+            ],
+            "held_grasp_midpoint": [
+              0.19134410901555648,
+              0.1504783728430548,
+              1.236955926506059
+            ],
+            "held_grasp_object_position": [
+              0.19574099675018536,
+              0.1628231435262878,
+              1.236955926506059
+            ],
+            "held_grasp_finger_gap": 0.026208852319209924,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023988871459135655,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06898746687925246,
+              -0.9961923305092644,
+              0.053306379056402675
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035969937418838076,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037119154046598234,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30928380599248584,
+              -0.3249188795900271,
+              0.8515395241463106
+            ],
+            "target_position": [
+              0.30452275412283647,
+              -0.32518163491064156,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004768296893441407,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18115166886299028,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395241463106,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546176501561117,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544114201187962,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14924689715933379,
+            "release_required_pad_clearance": 0.05272057100593981,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4941630993535069,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007584512233734131,
+            "max_z_decrease": 0.007584512233734131,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514818214843958,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007584512233734131,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021171024088605467,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007584512233734131,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007584534571405159,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16022267937660212,
+              -0.38144308328628534,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16022267937660212,
+              -0.38144308328628534,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1609886122287843,
+              -0.3821101284422249,
+              0.8080841740708529
+            ],
+            "closest_button": [
+              0.16021643579006192,
+              -0.38145142793655384,
+              0.7729506492614746
+            ],
+            "closest_ee_minus_button": [
+              0.0007721764387223773,
+              -0.0006587005056710726,
+              0.03513352480937826
+            ],
+            "button_min_z_position": [
+              0.16020445525646204,
+              -0.381445676088333,
+              0.7692243456840515
+            ],
+            "min_active_finger_to_button": 0.14535333812433957,
+            "closest_active_finger": [
+              0.01985403150320053,
+              -0.36560094356536865,
+              0.8104593753814697
+            ],
+            "closest_active_finger_button": [
+              0.16022457182407374,
+              -0.3814455866813659,
+              0.7762153744697571
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1403705403208732,
+              0.01584464311599726,
+              0.034244000911712646
+            ],
+            "min_contact_pad_to_button": 0.021171024088605467,
+            "closest_contact_pad": [
+              0.16020445525646204,
+              -0.3833664202865938,
+              0.7903080598417885
+            ],
+            "closest_contact_pad_button": [
+              0.16020445525646204,
+              -0.381445676088333,
+              0.7692243456840515
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001920744198260771,
+              0.02108371415773702
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8823b848f21a69b51c1dbd2830a61e91ccefc16a27466e6f3bba15b0bf37dabf",
+    "visual_seed": 6148264768846791699,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e44e4737073c4ca1e4cd5829d7cc511503c677dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1864949531921873,
+              0.1586991015737349,
+              1.0469252671432394
+            ],
+            "current_z": 1.0469252671432394,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.18581863991918401,
+            "gripper_z": 1.0532097622164318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1822806855352588,
+              0.15429861670438533,
+              1.0532097622164318
+            ],
+            "object_minus_gripper": [
+              0.004214267656928505,
+              0.004400484869349575,
+              -0.006284495073192398
+            ],
+            "object_to_gripper_xy": 0.006092972917189786,
+            "object_to_gripper_z": -0.006284495073192398,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1864949531921873,
+              0.13479254325344814,
+              1.0469252671432394
+            ],
+            "finger_b": [
+              0.17540423021168491,
+              0.1586991015737349,
+              1.0469252671432394
+            ],
+            "finger_midpoint": [
+              0.1809495917019361,
+              0.14674582241359152,
+              1.0469252671432394
+            ],
+            "object_minus_finger_midpoint": [
+              0.005545361490251199,
+              0.011953279160143382,
+              0.0
+            ],
+            "finger_gap": 0.026353892823480867,
+            "fingertip_max_gap": 0.09286124173661045,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013176946411740434,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469252671432394,
+            "object_top_z": 1.0978323265399004,
+            "finger_top_clearance": 0.05090705939666096,
+            "fingertip_min_top_clearance": 0.01527211781899832,
+            "object_projection_between_fingers": 0.8228952681321611,
+            "object_to_finger_line_xy": 0.010060791304094886,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04893062086830523,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1536868368186084,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1866550190227005,
+              0.15936358885292054,
+              1.2423560129385847
+            ],
+            "held_position": [
+              0.1910894705742955,
+              0.16335958437884548,
+              1.235927491644346
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0087725838176182,
+            "max_held_gripper_dist": 0.008785412685401305,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006428521294238765,
+            "max_held_gripper_z_dist": 0.006455490334904779,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08605654219003497,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1910894705742955,
+              0.1385669847154064,
+              1.235927491644346
+            ],
+            "held_grasp_finger_b": [
+              0.18196635059802466,
+              0.16335958437884548,
+              1.235927491644346
+            ],
+            "held_grasp_midpoint": [
+              0.18652791058616008,
+              0.15096328454712593,
+              1.235927491644346
+            ],
+            "held_grasp_object_position": [
+              0.1910894705742955,
+              0.16335958437884548,
+              1.235927491644346
+            ],
+            "held_grasp_finger_gap": 0.026417878722050942,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024238544035213718,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05555163819196908,
+              -0.9980941341866897,
+              0.026872193738343597
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003880499564834671,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03709417379238448,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3178203227669446,
+              -0.31951862692659183,
+              0.8515395885289745
+            ],
+            "target_position": [
+              0.3106055273844043,
+              -0.3214502549824892,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00746889947437071,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18436847846162024,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395885289745,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524664739554866,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549299022708044,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1534263413247868,
+            "release_required_pad_clearance": 0.05274649511354022,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5439249563915375,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007716476917266846,
+            "max_z_decrease": 0.007716476917266846,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513052664174743,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007716476917266846,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021157608437598983,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007716476917266846,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007716497535264061,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16630545258522034,
+              -0.37771171331405634,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16630545258522034,
+              -0.37771171331405634,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16684308231980352,
+              -0.3782398461000966,
+              0.8079752851074542
+            ],
+            "closest_button": [
+              0.1662992238998413,
+              -0.3777225017547607,
+              0.7728527784347534
+            ],
+            "closest_ee_minus_button": [
+              0.0005438584199622121,
+              -0.0005173443453359017,
+              0.03512250667270078
+            ],
+            "button_min_z_position": [
+              0.16628795862197873,
+              -0.3777152001857757,
+              0.7690923810005188
+            ],
+            "min_active_finger_to_button": 0.14560646022916726,
+            "closest_active_finger": [
+              0.025562375783920288,
+              -0.36299929022789,
+              0.8103939294815063
+            ],
+            "closest_active_finger_button": [
+              0.16630697250366208,
+              -0.3777168691158294,
+              0.7761070132255554
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1407445967197418,
+              0.014717578887939398,
+              0.03428691625595093
+            ],
+            "min_contact_pad_to_button": 0.021157608437598983,
+            "closest_contact_pad": [
+              0.16628795862197873,
+              -0.37938118042179436,
+              0.7901842966236184
+            ],
+            "closest_contact_pad_button": [
+              0.16628795862197873,
+              -0.3777152001857757,
+              0.7690923810005188
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016659802360186604,
+              0.021091915623099644
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "efd87cc54163737abf2b73a61f1ff866540e75e8b480e9abb2bb6fbb4851cac8",
+    "visual_seed": 3043815171507570499,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb43d82f73807edc6d21f436e25150d9e1e204e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18797657667031992,
+              0.1545543931814447,
+              1.0485233166023735
+            ],
+            "current_z": 1.0485233166023735,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18741680858760768,
+            "gripper_z": 1.0552559039248148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1847608465148117,
+              0.1508639976570485,
+              1.0552559039248148
+            ],
+            "object_minus_gripper": [
+              0.0032157301555082174,
+              0.003690395524396206,
+              -0.006732587322441308
+            ],
+            "object_to_gripper_xy": 0.0048948891263774766,
+            "object_to_gripper_z": -0.006732587322441308,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18797657667031992,
+              0.13090175063622148,
+              1.0485233166023735
+            ],
+            "finger_b": [
+              0.17849886288012792,
+              0.1545543931814447,
+              1.0485233166023735
+            ],
+            "finger_midpoint": [
+              0.1832377197752239,
+              0.14272807190883308,
+              1.0485233166023735
+            ],
+            "object_minus_finger_midpoint": [
+              0.004738856895096011,
+              0.011826321272611628,
+              0.0
+            ],
+            "finger_gap": 0.025480866509224123,
+            "fingertip_max_gap": 0.09985468072843678,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012740433254612079,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485233166023735,
+            "object_top_z": 1.1031501036683922,
+            "finger_top_clearance": 0.054626787066018645,
+            "fingertip_min_top_clearance": 0.016388036119805594,
+            "object_projection_between_fingers": 0.8616501176989442,
+            "object_to_finger_line_xy": 0.00879769831784147,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052427340364218394,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.267037473587383,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18913215792072613,
+              0.15597961262406157,
+              1.2424383672269832
+            ],
+            "held_position": [
+              0.19243446819433552,
+              0.15942208068499036,
+              1.2355788004670858
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008355207695036095,
+            "max_held_gripper_dist": 0.008368657764866385,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006859566759897406,
+            "max_held_gripper_z_dist": 0.006878828323789499,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08577160558820807,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19243446819433552,
+              0.1351640912333368,
+              1.2355788004670858
+            ],
+            "held_grasp_finger_b": [
+              0.18447391552040387,
+              0.15942208068499036,
+              1.2355788004670858
+            ],
+            "held_grasp_midpoint": [
+              0.1884541918573697,
+              0.14729308595916357,
+              1.2355788004670858
+            ],
+            "held_grasp_object_position": [
+              0.19243446819433552,
+              0.15942208068499036,
+              1.2355788004670858
+            ],
+            "held_grasp_finger_gap": 0.02553077458893434,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02400803976366806,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02429001194179204,
+              -0.9976672523258694,
+              0.06379693532151452
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037654999628084613,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03752286826874796,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30862602262802497,
+              -0.31825724565809155,
+              0.85153957351066
+            ],
+            "target_position": [
+              0.30697576456738185,
+              -0.31722848567402767,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0019446590373452847,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18008693056703964,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153957351066,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755503137736189,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695257749531447,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.147829722080884,
+            "release_required_pad_clearance": 0.05347628874765724,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9655567148754927,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007686972618103027,
+            "max_z_decrease": 0.007686972618103027,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515053776587207,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007686972618103027,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021078649083882937,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007686972618103027,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007686992506911893,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16267569363117212,
+              -0.3734899461269378,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16267569363117212,
+              -0.3734899461269378,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16327278768491363,
+              -0.3727858127198721,
+              0.80788308537861
+            ],
+            "closest_button": [
+              0.16266551613807673,
+              -0.37349814176559437,
+              0.7727450132369995
+            ],
+            "closest_ee_minus_button": [
+              0.0006072715468369017,
+              0.0007123290457222708,
+              0.035138072141610466
+            ],
+            "button_min_z_position": [
+              0.16265845298767084,
+              -0.3734928667545318,
+              0.7691218852996826
+            ],
+            "min_active_finger_to_button": 0.14528086795716633,
+            "closest_active_finger": [
+              0.03679734468460083,
+              -0.4374921917915344,
+              0.8106650114059448
+            ],
+            "closest_active_finger_button": [
+              0.16267663240432734,
+              -0.3734923601150512,
+              0.7765335440635681
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258792877197265,
+              -0.06399983167648321,
+              0.03413146734237671
+            ],
+            "min_contact_pad_to_button": 0.021078649083882937,
+            "closest_contact_pad": [
+              0.16265845298767084,
+              -0.3738289428477409,
+              0.7901978550297105
+            ],
+            "closest_contact_pad_button": [
+              0.16265845298767084,
+              -0.3734928667545318,
+              0.7691218852996826
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00033607609320907006,
+              0.0210759697300279
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96815af838b60b2e8069ef54616b60e9dc6115486419f69ceb56694cd595857e",
+    "visual_seed": 6127382557263763044,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..94b5455fde345c7dba7fe1fbac7cae151f699838
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19322572591564147,
+              0.15000785515363071,
+              1.0465103120589998
+            ],
+            "current_z": 1.0465103120589998,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18540374443958907,
+            "gripper_z": 1.052813069073506,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1890110719506897,
+              0.1457640776944692,
+              1.052813069073506
+            ],
+            "object_minus_gripper": [
+              0.00421465396495177,
+              0.0042437774591615185,
+              -0.006302757014506222
+            ],
+            "object_to_gripper_xy": 0.005981049671016875,
+            "object_to_gripper_z": -0.006302757014506222,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19322572591564147,
+              0.12578327440966056,
+              1.0465103120589998
+            ],
+            "finger_b": [
+              0.18278585997801053,
+              0.15000785515363071,
+              1.0465103120589998
+            ],
+            "finger_midpoint": [
+              0.188005792946826,
+              0.13789556478164564,
+              1.0465103120589998
+            ],
+            "object_minus_finger_midpoint": [
+              0.005219932968815455,
+              0.01211229037198508,
+              0.0
+            ],
+            "finger_gap": 0.026378421351870858,
+            "fingertip_max_gap": 0.09388135776715406,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013189210675935424,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465103120589998,
+            "object_top_z": 1.097860192594528,
+            "finger_top_clearance": 0.051349880535528136,
+            "fingertip_min_top_clearance": 0.015404964160658457,
+            "object_projection_between_fingers": 0.843363762960338,
+            "object_to_finger_line_xy": 0.009587434061683442,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944067888357703,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.353824542442573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19319944087804528,
+              0.15128515608284124,
+              1.2428842586964666
+            ],
+            "held_position": [
+              0.19753476385297106,
+              0.15525245471621757,
+              1.2364584388438185
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008707792172646044,
+            "max_held_gripper_dist": 0.008719097943284418,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006425819852648118,
+            "max_held_gripper_z_dist": 0.006449327466861776,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08577199317045968,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19753476385297106,
+              0.13055482923739542,
+              1.2364584388438185
+            ],
+            "held_grasp_finger_b": [
+              0.18837545558101937,
+              0.15525245471621757,
+              1.2364584388438185
+            ],
+            "held_grasp_midpoint": [
+              0.1929551097169952,
+              0.1429036419768065,
+              1.2364584388438185
+            ],
+            "held_grasp_object_position": [
+              0.19753476385297106,
+              0.15525245471621757,
+              1.2364584388438185
+            ],
+            "held_grasp_finger_gap": 0.026341329357357945,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024436117172483774,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.026534027494475854,
+              -0.9992519536408118,
+              0.028133228217597894
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004264691799626251,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03725915814633483,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3111068376162003,
+              -0.32391455567701943,
+              0.8515395877480081
+            ],
+            "target_position": [
+              0.30515885182273944,
+              -0.32530051506545277,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006107324981167982,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18165144517132906,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395877480081,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545817836626277,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621594529833913,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15014570636492547,
+            "release_required_pad_clearance": 0.05310797264916957,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2429921377826094,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007823467254638672,
+            "max_z_decrease": 0.007823467254638672,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514640743462029,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007823467254638672,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021070360046942873,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007823467254638672,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007823487279226247,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16085878014564509,
+              -0.38156196475028986,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16085878014564509,
+              -0.38156196475028986,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1597973611953589,
+              -0.38190298661111377,
+              0.8077816209293729
+            ],
+            "closest_button": [
+              0.16084587574005121,
+              -0.38156872987747187,
+              0.7726524472236633
+            ],
+            "closest_ee_minus_button": [
+              -0.0010485145446923194,
+              -0.0003342567336419022,
+              0.03512917370570956
+            ],
+            "button_min_z_position": [
+              0.160841092467308,
+              -0.3815626502037048,
+              0.768985390663147
+            ],
+            "min_active_finger_to_button": 0.14711106953063982,
+            "closest_active_finger": [
+              0.01838824898004532,
+              -0.3682577311992645,
+              0.8105833530426025
+            ],
+            "closest_active_finger_button": [
+              0.1608578562736511,
+              -0.3815646171569824,
+              0.7764219045639038
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14246960729360578,
+              0.013306885957717896,
+              0.03416144847869873
+            ],
+            "min_contact_pad_to_button": 0.021070360046942873,
+            "closest_contact_pad": [
+              0.160841092467308,
+              -0.38289014645435654,
+              0.7900138909951324
+            ],
+            "closest_contact_pad_button": [
+              0.160841092467308,
+              -0.3815626502037048,
+              0.768985390663147
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013274962506517607,
+              0.021028500331985445
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f759ba4b882f2790053b7b2178d0584bd90317651dd121654c0ed2e42185b70f",
+    "visual_seed": 1045988429199453205,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0918667d3f48fcacec64b8b03b75508e2b5319e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18897588459762213,
+              0.15773292286203316,
+              1.0469605785648088
+            ],
+            "current_z": 1.0469605785648088,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18585407055004266,
+            "gripper_z": 1.0533465671133382,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1847790148872118,
+              0.15330065495216094,
+              1.0533465671133382
+            ],
+            "object_minus_gripper": [
+              0.004196869710410334,
+              0.004432267909872223,
+              -0.006385988548529342
+            ],
+            "object_to_gripper_xy": 0.006103991660466354,
+            "object_to_gripper_z": -0.006385988548529342,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18897588459762213,
+              0.1339146178913603,
+              1.0469605785648088
+            ],
+            "finger_b": [
+              0.17774840387412438,
+              0.15773292286203316,
+              1.0469605785648088
+            ],
+            "finger_midpoint": [
+              0.18336214423587327,
+              0.14582377037669675,
+              1.0469605785648088
+            ],
+            "object_minus_finger_midpoint": [
+              0.005613740361748859,
+              0.011909152485336416,
+              0.0
+            ],
+            "finger_gap": 0.026331881343202444,
+            "fingertip_max_gap": 0.09186334066665316,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013165940671601204,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469605785648088,
+            "object_top_z": 1.0972776085868616,
+            "finger_top_clearance": 0.05031703002205279,
+            "fingertip_min_top_clearance": 0.01509510900661582,
+            "object_projection_between_fingers": 0.8181970787108619,
+            "object_to_finger_line_xy": 0.010155733137300275,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048431670333326585,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9178629090302964,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18901956219032764,
+              0.15870658932593568,
+              1.241662732778786
+            ],
+            "held_position": [
+              0.19342817726593808,
+              0.16274110119660729,
+              1.2351288772942222
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008854628191666413,
+            "max_held_gripper_dist": 0.008866111800107521,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006533855484563755,
+            "max_held_gripper_z_dist": 0.006556849089988548,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08571844748713739,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19342817726593808,
+              0.13798744574070868,
+              1.2351288772942222
+            ],
+            "held_grasp_finger_b": [
+              0.1842038231232947,
+              0.16274110119660729,
+              1.2351288772942222
+            ],
+            "held_grasp_midpoint": [
+              0.1888160001946164,
+              0.150364273468658,
+              1.2351288772942222
+            ],
+            "held_grasp_object_position": [
+              0.19342817726593808,
+              0.16274110119660729,
+              1.2351288772942222
+            ],
+            "held_grasp_finger_gap": 0.02641651316465217,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024180971564704962,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05720757036209384,
+              -0.9981828541399211,
+              0.01892838065834168
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003903761853301118,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03710206139908244,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3116548358133126,
+              -0.3157794858321848,
+              0.851539550155206
+            ],
+            "target_position": [
+              0.30532342507060856,
+              -0.3176395260476287,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006598978072087887,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18365884874488947,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539550155206,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583900675958688,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576613237348961,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15132518772432932,
+            "release_required_pad_clearance": 0.052883066186744807,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8069660051982246,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007696390151977539,
+            "max_z_decrease": 0.007696390151977539,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516961265370988,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007696390151977539,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021273779929803453,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007696390151977539,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007696417493477914,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16102334856986994,
+              -0.3739009797573089,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16102334856986994,
+              -0.3739009797573089,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1618720624304039,
+              -0.3754081732266068,
+              0.8078462142315874
+            ],
+            "closest_button": [
+              0.16101488471031183,
+              -0.37391039729118336,
+              0.7727189660072327
+            ],
+            "closest_ee_minus_button": [
+              0.0008571777200920561,
+              -0.00149777593542344,
+              0.03512724822435476
+            ],
+            "button_min_z_position": [
+              0.1610030829906463,
+              -0.3739041686058044,
+              0.7691124677658081
+            ],
+            "min_active_finger_to_button": 0.14517895388504817,
+            "closest_active_finger": [
+              0.02073875069618225,
+              -0.3589610755443573,
+              0.8107680678367615
+            ],
+            "closest_active_finger_button": [
+              0.16102503240108484,
+              -0.3739036619663238,
+              0.7765130400657654
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1402862817049026,
+              0.014942586421966497,
+              0.034255027770996094
+            ],
+            "min_contact_pad_to_button": 0.021273779929803453,
+            "closest_contact_pad": [
+              0.1610030829906463,
+              -0.376718464099456,
+              0.790199275333008
+            ],
+            "closest_contact_pad_button": [
+              0.1610030829906463,
+              -0.3739041686058044,
+              0.7691124677658081
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028142954936515863,
+              0.02108680756719994
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c19530fad9b16e34941554b6b9a5887c2ae02bf685829a81af52a79e6dea42e",
+    "visual_seed": 8650156365519890372,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57355965df6ed42583e47344b3b73994bb4d0864
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19497264397868694,
+              0.1570136067105886,
+              1.0472754499958818
+            ],
+            "current_z": 1.0472754499958818,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1861689419811159,
+            "gripper_z": 1.0535130407503426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19073409644073525,
+              0.15267116183115687,
+              1.0535130407503426
+            ],
+            "object_minus_gripper": [
+              0.004238547537951692,
+              0.004342444879431723,
+              -0.006237590754460731
+            ],
+            "object_to_gripper_xy": 0.006068122671994951,
+            "object_to_gripper_z": -0.006237590754460731,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19497264397868694,
+              0.13303892188418198,
+              1.0472754499958818
+            ],
+            "finger_b": [
+              0.18402417467663224,
+              0.1570136067105886,
+              1.0472754499958818
+            ],
+            "finger_midpoint": [
+              0.1894984093276596,
+              0.1450262642973853,
+              1.0472754499958818
+            ],
+            "object_minus_finger_midpoint": [
+              0.005474234651027338,
+              0.011987342413203289,
+              0.0
+            ],
+            "finger_gap": 0.026356298916645437,
+            "fingertip_max_gap": 0.09271531992760842,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0131781494583227,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472754499958818,
+            "object_top_z": 1.0984125013035961,
+            "finger_top_clearance": 0.05113705130771429,
+            "fingertip_min_top_clearance": 0.015341115392314319,
+            "object_projection_between_fingers": 0.8274408625614491,
+            "object_to_finger_line_xy": 0.009959141140358499,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048857659963804215,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8988160252774099,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19516723395478663,
+              0.15761968005940125,
+              1.2448702653151196
+            ],
+            "held_position": [
+              0.1996276444113914,
+              0.1615659570014778,
+              1.2385071722600356
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008715349469333519,
+            "max_held_gripper_dist": 0.008728750530457926,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006363093055083979,
+            "max_held_gripper_z_dist": 0.0063898526193655325,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08642183109647397,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1996276444113914,
+              0.13680365060772612,
+              1.2385071722600356
+            ],
+            "held_grasp_finger_b": [
+              0.19048838459375947,
+              0.1615659570014778,
+              1.2385071722600356
+            ],
+            "held_grasp_midpoint": [
+              0.19505801450257543,
+              0.14918480380460197,
+              1.2385071722600356
+            ],
+            "held_grasp_object_position": [
+              0.1996276444113914,
+              0.1615659570014778,
+              1.2385071722600356
+            ],
+            "held_grasp_finger_gap": 0.02639503528984602,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024145915997111262,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.061125771956601696,
+              -0.9976679843849162,
+              0.030368288329247095
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038232309725601487,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708864776007473,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31453366128104027,
+              -0.3201810937384727,
+              0.8515395940665738
+            ],
+            "target_position": [
+              0.30829275272604817,
+              -0.32180775475910983,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006449415916796946,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18393057804170213,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395940665738,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587824914740614,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600546832018773,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1512445063546982,
+            "release_required_pad_clearance": 0.053002734160093865,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.038529348960294,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007395803928375244,
+            "max_z_decrease": 0.007395803928375244,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035158185580432516,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007395803928375244,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021076012963348,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007395803928375244,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007395824971622451,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16399267315864563,
+              -0.3780692219734192,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16399267315864563,
+              -0.3780692219734192,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16277475886751075,
+              -0.37715031408849514,
+              0.8081809794167087
+            ],
+            "closest_button": [
+              0.1639861911535263,
+              -0.3780776858329773,
+              0.773055911064148
+            ],
+            "closest_ee_minus_button": [
+              -0.0012114322860155569,
+              0.0009273717444821528,
+              0.035125068352560795
+            ],
+            "button_min_z_position": [
+              0.16397520899772644,
+              -0.3780717253684998,
+              0.7694130539894104
+            ],
+            "min_active_finger_to_button": 0.1468174945169721,
+            "closest_active_finger": [
+              0.03525681048631668,
+              -0.4398166239261627,
+              0.8105372190475464
+            ],
+            "closest_active_finger_button": [
+              0.16399411857128143,
+              -0.3780720829963684,
+              0.7763364315032959
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12873730808496475,
+              -0.06174454092979431,
+              0.03420078754425049
+            ],
+            "min_contact_pad_to_button": 0.021076012963348,
+            "closest_contact_pad": [
+              0.16397520899772644,
+              -0.37849511990418283,
+              0.7904848137521442
+            ],
+            "closest_contact_pad_button": [
+              0.16397520899772644,
+              -0.3780717253684998,
+              0.7694130539894104
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004233945356830193,
+              0.021071759762733788
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d3dc9125678a4e29ec81857a983186782605b0f5ef791ccb773c614be5b5bd2",
+    "visual_seed": 4903703775766836493,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d1735c15fb7676e76ddee9cf9448e5ded7846d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19217939659977223,
+              0.15269137847611805,
+              1.0484616099332584
+            ],
+            "current_z": 1.0484616099332584,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1873549827092028,
+            "gripper_z": 1.054702305759281,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18789500047594604,
+              0.1483697785052212,
+              1.054702305759281
+            ],
+            "object_minus_gripper": [
+              0.004284396123826195,
+              0.0043215999708968444,
+              -0.006240695826022602
+            ],
+            "object_to_gripper_xy": 0.006085415060150995,
+            "object_to_gripper_z": -0.006240695826022602,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19217939659977223,
+              0.12849966971577642,
+              1.0484616099332584
+            ],
+            "finger_b": [
+              0.18151359889966623,
+              0.15269137847611805,
+              1.0484616099332584
+            ],
+            "finger_midpoint": [
+              0.18684649774971923,
+              0.14059552409594722,
+              1.0484616099332584
+            ],
+            "object_minus_finger_midpoint": [
+              0.005332898850053003,
+              0.012095854380170828,
+              0.0
+            ],
+            "finger_gap": 0.026438570561298818,
+            "fingertip_max_gap": 0.09195948518384656,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013219285280649421,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484616099332584,
+            "object_top_z": 1.0990245410547268,
+            "finger_top_clearance": 0.05056293112146837,
+            "fingertip_min_top_clearance": 0.015168879336440526,
+            "object_projection_between_fingers": 0.8372538427706083,
+            "object_to_finger_line_xy": 0.009759372998606262,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847974259192328,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.64646913002472,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1922032992874331,
+              0.15365511728451892,
+              1.2448511164054994
+            ],
+            "held_position": [
+              0.19664429818856966,
+              0.15765748501745067,
+              1.23848475817668
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008733380548628659,
+            "max_held_gripper_dist": 0.008744412024774299,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006366358228819369,
+            "max_held_gripper_z_dist": 0.0063919169487027805,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08563030016780158,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19664429818856966,
+              0.13289238257004052,
+              1.23848475817668
+            ],
+            "held_grasp_finger_b": [
+              0.18743622842688956,
+              0.15765748501745067,
+              1.23848475817668
+            ],
+            "held_grasp_midpoint": [
+              0.1920402633077296,
+              0.1452749337937456,
+              1.23848475817668
+            ],
+            "held_grasp_object_position": [
+              0.19664429818856966,
+              0.15765748501745067,
+              1.23848475817668
+            ],
+            "held_grasp_finger_gap": 0.026421560286377627,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02433227164387855,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04380759793760397,
+              -0.9988109322102325,
+              0.02139196251547637
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004065943687627108,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0371507308302547,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31119240029150247,
+              -0.32235495587435026,
+              0.8515395675645929
+            ],
+            "target_position": [
+              0.3046619052304018,
+              -0.3240003100465162,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00673457913272417,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18267480209722112,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395675645929,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583046010425569,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671725977690024,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15025260210931163,
+            "release_required_pad_clearance": 0.053358629888450124,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7336540325662104,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074579715728759766,
+            "max_z_decrease": 0.0074579715728759766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035200153799846264,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074579715728759766,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021088866215653423,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074579715728759766,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074579909821478945,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16036182641983035,
+              -0.3802617788314819,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16036182641983035,
+              -0.3802617788314819,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16096623047824793,
+              -0.37824310143402357,
+              0.8082112401181412
+            ],
+            "closest_button": [
+              0.16035287082195282,
+              -0.38027036190032953,
+              0.7730748653411865
+            ],
+            "closest_ee_minus_button": [
+              0.0006133596562951094,
+              0.002027260466305969,
+              0.03513637477695464
+            ],
+            "button_min_z_position": [
+              0.16034510731697083,
+              -0.380264937877655,
+              0.7693508863449097
+            ],
+            "min_active_finger_to_button": 0.14474449299297212,
+            "closest_active_finger": [
+              0.033462390303611755,
+              -0.4409269094467163,
+              0.8105204701423645
+            ],
+            "closest_active_finger_button": [
+              0.160362645983696,
+              -0.3802645802497863,
+              0.7763535976409912
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12690025568008426,
+              -0.06066232919692999,
+              0.03416687250137329
+            ],
+            "min_contact_pad_to_button": 0.021088866215653423,
+            "closest_contact_pad": [
+              0.16034510731697083,
+              -0.380264937877655,
+              0.7904397525605631
+            ],
+            "closest_contact_pad_button": [
+              0.16034510731697083,
+              -0.380264937877655,
+              0.7693508863449097
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021088866215653423
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f9a8fe5321a782789bb0429caa436e665d175dfac61b0b3af54493d5310a313",
+    "visual_seed": 62077412326158585,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dc2b830b662a8e7034fae6511a52708d7d8297b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19461084570939174,
+              0.15458701612928735,
+              1.0468911936012621
+            ],
+            "current_z": 1.0468911936012621,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18578450677256197,
+            "gripper_z": 1.0532215941982832,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19015079349443756,
+              0.15008852238666925,
+              1.0532215941982832
+            ],
+            "object_minus_gripper": [
+              0.0044600522149541855,
+              0.004498493742618098,
+              -0.0063304005970210575
+            ],
+            "object_to_gripper_xy": 0.00633470691606896,
+            "object_to_gripper_z": -0.0063304005970210575,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19461084570939174,
+              0.13045089954220654,
+              1.0468911936012621
+            ],
+            "finger_b": [
+              0.18344826278922505,
+              0.15458701612928735,
+              1.0468911936012621
+            ],
+            "finger_midpoint": [
+              0.1890295542493084,
+              0.14251895783574695,
+              1.0468911936012621
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055812914600833485,
+              0.012068058293540407,
+              0.0
+            ],
+            "finger_gap": 0.026592393298737797,
+            "fingertip_max_gap": 0.09226986140634585,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013296196649368899,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468911936012621,
+            "object_top_z": 1.0977455218915557,
+            "finger_top_clearance": 0.05085432829029357,
+            "fingertip_min_top_clearance": 0.015256298487088071,
+            "object_projection_between_fingers": 0.8237964940450786,
+            "object_to_finger_line_xy": 0.01013152143725583,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863493070317293,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7899207101400679,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19457823016280723,
+              0.1550650053896224,
+              1.2437543299890608
+            ],
+            "held_position": [
+              0.19927166306940813,
+              0.15915132971443094,
+              1.2372959255160225
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00896868704290916,
+            "max_held_gripper_dist": 0.008980464023061472,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006458404473038248,
+            "max_held_gripper_z_dist": 0.006485609267905534,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647439646480726,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19927166306940813,
+              0.13424676902809435,
+              1.2372959255160225
+            ],
+            "held_grasp_finger_b": [
+              0.18989971505264838,
+              0.15915132971443094,
+              1.2372959255160225
+            ],
+            "held_grasp_midpoint": [
+              0.19458568906102824,
+              0.14669904937126266,
+              1.2372959255160225
+            ],
+            "held_grasp_object_position": [
+              0.19927166306940813,
+              0.15915132971443094,
+              1.2372959255160225
+            ],
+            "held_grasp_finger_gap": 0.02660959512296775,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024287443011501406,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0600452177394066,
+              -0.9978165840300777,
+              0.027507025669352925
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003945054803165635,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03701378790503562,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31766324865913165,
+              -0.3163335333852315,
+              0.8515395740560636
+            ],
+            "target_position": [
+              0.310386641466826,
+              -0.3183959811201323,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007563246848431685,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843031917031163,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395740560636,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565705634771633,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539075596407196,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15235561457310887,
+            "release_required_pad_clearance": 0.05269537798203598,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.445871601545882,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00742793083190918,
+            "max_z_decrease": 0.00742793083190918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509890538580385,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00742793083190918,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02121346806901453,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00742793083190918,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007427953961510697,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16608656942844388,
+              -0.3746574521064758,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16608656942844388,
+              -0.3746574521064758,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1648631828973782,
+              -0.3754764644373985,
+              0.8054091680394005
+            ],
+            "closest_button": [
+              0.16606895625591278,
+              -0.37466174364089955,
+              0.7703404426574707
+            ],
+            "closest_ee_minus_button": [
+              -0.0012057733585345842,
+              -0.0008147207964989689,
+              0.035068725381929844
+            ],
+            "button_min_z_position": [
+              0.16606837511062622,
+              -0.37466099858283985,
+              0.7693809270858765
+            ],
+            "min_active_finger_to_button": 0.1469783873361267,
+            "closest_active_finger": [
+              0.024259105324745178,
+              -0.35736334323883057,
+              0.8107216954231262
+            ],
+            "closest_active_finger_button": [
+              0.16608911752700803,
+              -0.3746599256992339,
+              0.7762583494186401
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14183001220226285,
+              0.01729658246040333,
+              0.034463346004486084
+            ],
+            "min_contact_pad_to_button": 0.02121346806901453,
+            "closest_contact_pad": [
+              0.16606837511062622,
+              -0.37687037129490114,
+              0.7904790288899322
+            ],
+            "closest_contact_pad_button": [
+              0.16606837511062622,
+              -0.37466099858283985,
+              0.7693809270858765
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002209372712061286,
+              0.02109810180405569
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05dbcc9840752fedf9f3cd67476ffb3daa54612155667125bc166522965ecdfa",
+    "visual_seed": 8990727145785163930,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04f45610885a68f75996bc0a02562d5d414a10a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19070627807235022,
+              0.15746800772750114,
+              1.0495521901902798
+            ],
+            "current_z": 1.0495521901902798,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.18844532454764518,
+            "gripper_z": 1.0558281138180914,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18660567573516199,
+              0.15325482969559562,
+              1.0558281138180914
+            ],
+            "object_minus_gripper": [
+              0.0041006023371882305,
+              0.004213178031905518,
+              -0.006275923627811597
+            ],
+            "object_to_gripper_xy": 0.005879269398172262,
+            "object_to_gripper_z": -0.006275923627811597,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19070627807235022,
+              0.13336012870549555,
+              1.0495521901902798
+            ],
+            "finger_b": [
+              0.1802569887030379,
+              0.15746800772750114,
+              1.0495521901902798
+            ],
+            "finger_midpoint": [
+              0.18548163338769408,
+              0.14541406821649833,
+              1.0495521901902798
+            ],
+            "object_minus_finger_midpoint": [
+              0.005224644684656138,
+              0.01205393951100281,
+              0.0
+            ],
+            "finger_gap": 0.02627503528567146,
+            "fingertip_max_gap": 0.09237872234347863,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013137517642835737,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495521901902798,
+            "object_top_z": 1.1002988096643147,
+            "finger_top_clearance": 0.050746619474034915,
+            "fingertip_min_top_clearance": 0.015223985842210457,
+            "object_projection_between_fingers": 0.8418435542825932,
+            "object_to_finger_line_xy": 0.009587435420826414,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868936117173932,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7688421232743986,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19085692441760851,
+              0.15845752294092308,
+              1.244437621255186
+            ],
+            "held_position": [
+              0.19508170043268375,
+              0.16237829215630628,
+              1.2380264308448394
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008621167327895397,
+            "max_held_gripper_dist": 0.008632708391477003,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006411190410346546,
+            "max_held_gripper_z_dist": 0.006435474159299348,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08569840611650237,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19508170043268375,
+              0.1377029090902221,
+              1.2380264308448394
+            ],
+            "held_grasp_finger_b": [
+              0.1860946583401304,
+              0.16237829215630628,
+              1.2380264308448394
+            ],
+            "held_grasp_midpoint": [
+              0.19058817938640707,
+              0.1500406006232642,
+              1.2380264308448394
+            ],
+            "held_grasp_object_position": [
+              0.19508170043268375,
+              0.16237829215630628,
+              1.2380264308448394
+            ],
+            "held_grasp_finger_gap": 0.02626102539946451,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024290364799069195,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03998225397362798,
+              -0.9989586355141874,
+              0.021978714676282984
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040059616189686105,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03721574547114431,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3129142376238233,
+              -0.3160759314162612,
+              0.8515396091185397
+            ],
+            "target_position": [
+              0.30626055789201767,
+              -0.31781891030982007,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006878185036536366,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18121875490216124,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396091185397,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520229080590772,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522021003367662,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15040884046231145,
+            "release_required_pad_clearance": 0.05261010501683831,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2825484100762551,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007375180721282959,
+            "max_z_decrease": 0.007375180721282959,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522477731835694,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007375180721282959,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021107873363431257,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007375180721282959,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007375200897961715,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16196048259735107,
+              -0.37408035993576055,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16196048259735107,
+              -0.37408035993576055,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1638360707771586,
+              -0.37302590086282833,
+              0.8048495778509632
+            ],
+            "closest_button": [
+              0.16194255650043488,
+              -0.37408390641212463,
+              0.7696916460990906
+            ],
+            "closest_ee_minus_button": [
+              0.0018935142767237123,
+              0.0010580055492963036,
+              0.03515793175187265
+            ],
+            "button_min_z_position": [
+              0.16194359958171844,
+              -0.37408390641212463,
+              0.7694336771965027
+            ],
+            "min_active_finger_to_button": 0.14361536451259582,
+            "closest_active_finger": [
+              0.037028007209300995,
+              -0.4360944330692291,
+              0.8106323480606079
+            ],
+            "closest_active_finger_button": [
+              0.1619625389575958,
+              -0.3740831911563874,
+              0.7764074802398682
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1249345317482948,
+              -0.06201124191284174,
+              0.034224867820739746
+            ],
+            "min_contact_pad_to_button": 0.021107873363431257,
+            "closest_contact_pad": [
+              0.16194359958171844,
+              -0.3741952356584237,
+              0.7905412569659971
+            ],
+            "closest_contact_pad_button": [
+              0.16194359958171844,
+              -0.37408390641212463,
+              0.7694336771965027
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00011132924629908558,
+              0.0211075797694944
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a7d7021bcfa4ea014ce2bf732b414ad4a9d3ee9d2924754e07b2e36b01416e4",
+    "visual_seed": 5536139763196296825,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dab41eaabd187932ade49b16fdcfe048a1c75ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19338103825396108,
+              0.15821619273315393,
+              1.0460003706052259
+            ],
+            "current_z": 1.0460003706052259,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18489356456723605,
+            "gripper_z": 1.0522913076881801,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18894604948058952,
+              0.15367065443522143,
+              1.0522913076881801
+            ],
+            "object_minus_gripper": [
+              0.004434988773371562,
+              0.0045455382979325,
+              -0.006290937082954251
+            ],
+            "object_to_gripper_xy": 0.006350672707509251,
+            "object_to_gripper_z": -0.006290937082954251,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19338103825396108,
+              0.13420330739187894,
+              1.0460003706052259
+            ],
+            "finger_b": [
+              0.1820223911709489,
+              0.15821619273315393,
+              1.0460003706052259
+            ],
+            "finger_midpoint": [
+              0.187701714712455,
+              0.14620975006251644,
+              1.0460003706052259
+            ],
+            "object_minus_finger_midpoint": [
+              0.005679323541506076,
+              0.012006442670637496,
+              0.0
+            ],
+            "finger_gap": 0.026563838690400913,
+            "fingertip_max_gap": 0.09148258939661089,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013281919345200451,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460003706052259,
+            "object_top_z": 1.0964713307899785,
+            "finger_top_clearance": 0.05047096018475261,
+            "fingertip_min_top_clearance": 0.015141288055425766,
+            "object_projection_between_fingers": 0.8171598606818254,
+            "object_to_finger_line_xy": 0.010267864265225383,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048241294698305445,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5504212155759166,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19328203813371495,
+              0.15853202648403847,
+              1.2425810660671703
+            ],
+            "held_position": [
+              0.19799484554032676,
+              0.162631388268605,
+              1.2361589204832433
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008958754075971359,
+            "max_held_gripper_dist": 0.008971302779213276,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006422145583927064,
+            "max_held_gripper_z_dist": 0.006451152519843628,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0863615404782058,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19799484554032676,
+              0.13771774717797372,
+              1.2361589204832433
+            ],
+            "held_grasp_finger_b": [
+              0.18860279976224026,
+              0.162631388268605,
+              1.2361589204832433
+            ],
+            "held_grasp_midpoint": [
+              0.1932988226512835,
+              0.15017456772328935,
+              1.2361589204832433
+            ],
+            "held_grasp_object_position": [
+              0.19799484554032676,
+              0.162631388268605,
+              1.2361589204832433
+            ],
+            "held_grasp_finger_gap": 0.02662517673726248,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024186268494426587,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0701659389801585,
+              -0.9972556847474889,
+              0.023618641913746075
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038220462551852527,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036968114111917694,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3182509602989635,
+              -0.3141278568936877,
+              0.8515395691376602
+            ],
+            "target_position": [
+              0.31087704889941453,
+              -0.3163081086177611,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007689477674635842,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18422789527120653,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376602,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566826401255752,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15226895806423574,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007496237754821777,
+            "max_z_decrease": 0.007496237754821777,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512745277681661,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007496237754821777,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021155247276877787,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007496237754821777,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007496257230121032,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16657698154449457,
+              -0.37256956100463867,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16657698154449457,
+              -0.37256956100463867,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16685336684694596,
+              -0.3708794035258349,
+              0.8074580512996297
+            ],
+            "closest_button": [
+              0.16656523942947382,
+              -0.3725736439228058,
+              0.7723726630210876
+            ],
+            "closest_ee_minus_button": [
+              0.0002881274174721393,
+              0.0016942403969708586,
+              0.03508538827854202
+            ],
+            "button_min_z_position": [
+              0.16656059026718134,
+              -0.3725743889808655,
+              0.7693126201629639
+            ],
+            "min_active_finger_to_button": 0.14520422034382624,
+            "closest_active_finger": [
+              0.03883776068687439,
+              -0.4323997497558594,
+              0.810676097869873
+            ],
+            "closest_active_finger_button": [
+              0.1665802896022796,
+              -0.37257200479507446,
+              0.776226818561554
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12774252891540522,
+              -0.05982774496078491,
+              0.03444927930831909
+            ],
+            "min_contact_pad_to_button": 0.021155247276877787,
+            "closest_contact_pad": [
+              0.16656059026718134,
+              -0.3725743889808655,
+              0.7904678674398417
+            ],
+            "closest_contact_pad_button": [
+              0.16656059026718134,
+              -0.3725743889808655,
+              0.7693126201629639
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021155247276877787
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3ea3a58c6988f912cd16cc5b63fd05e27381d3f7a55e54e15bfafca6dd495f2",
+    "visual_seed": 6544846732230170304,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ee7dbced2e4ca2e41a22b9dc472da61b058026
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1866031794288805,
+              0.1592952575122921,
+              1.0484351172051816
+            ],
+            "current_z": 1.0484351172051816,
+            "required_z": 0.8611068656426348,
+            "initial_z": 0.7611068656426349,
+            "lift_margin": 0.18732825156254673,
+            "gripper_z": 1.0549566158320405,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1828648839313773,
+              0.15527821656233268,
+              1.0549566158320405
+            ],
+            "object_minus_gripper": [
+              0.003738295497503208,
+              0.004017040949959416,
+              -0.006521498626858913
+            ],
+            "object_to_gripper_xy": 0.005487392023566715,
+            "object_to_gripper_z": -0.006521498626858913,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1866031794288805,
+              0.1354247084225811,
+              1.0484351172051816
+            ],
+            "finger_b": [
+              0.17644858924241713,
+              0.1592952575122921,
+              1.0484351172051816
+            ],
+            "finger_midpoint": [
+              0.1815258843356488,
+              0.1473599829674366,
+              1.0484351172051816
+            ],
+            "object_minus_finger_midpoint": [
+              0.005077295093231682,
+              0.01193527454485549,
+              0.0
+            ],
+            "finger_gap": 0.025940678782547688,
+            "fingertip_max_gap": 0.09488463654654139,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012970339391273844,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484351172051816,
+            "object_top_z": 1.1006335988272464,
+            "finger_top_clearance": 0.05219848162206486,
+            "fingertip_min_top_clearance": 0.01565954448661944,
+            "object_projection_between_fingers": 0.8467635330602893,
+            "object_to_finger_line_xy": 0.009344229022062046,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0499423182732707,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6603551931810605,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18733816248822488,
+              0.16021433132264554,
+              1.2428618616607474
+            ],
+            "held_position": [
+              0.19119562069287935,
+              0.1639153396024608,
+              1.2361934935204855
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00854661217921919,
+            "max_held_gripper_dist": 0.00856040923072869,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006668368140261949,
+            "max_held_gripper_z_dist": 0.006690046968564456,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08601150802487155,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19119562069287935,
+              0.13936180086617989,
+              1.2361934935204855
+            ],
+            "held_grasp_finger_b": [
+              0.18275404915467636,
+              0.1639153396024608,
+              1.2361934935204855
+            ],
+            "held_grasp_midpoint": [
+              0.18697483492377787,
+              0.15163857023432034,
+              1.2361934935204855
+            ],
+            "held_grasp_object_position": [
+              0.19119562069287935,
+              0.1639153396024608,
+              1.2361934935204855
+            ],
+            "held_grasp_finger_gap": 0.025964136698697418,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024138322932540587,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0440085207280936,
+              -0.9982196159912771,
+              0.040259760972370384
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037099884280276485,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03727958752780808,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31184170552083323,
+              -0.31578552249981734,
+              0.8515395040941904
+            ],
+            "target_position": [
+              0.3068639936918354,
+              -0.31634711921284675,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005009291958014642,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850259870988318,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395040941904,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534710649675065,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547465646787976,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15349571267585962,
+            "release_required_pad_clearance": 0.05273732823393988,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5263743192148542,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007280707359313965,
+            "max_z_decrease": 0.007280707359313965,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035127922419759976,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007280707359313965,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021135122715047035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007280707359313965,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00728072693885229,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16256392002105713,
+              -0.37260857224464417,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16256392002105713,
+              -0.37260857224464417,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1630217028882913,
+              -0.3717964811811974,
+              0.8077956633815673
+            ],
+            "closest_button": [
+              0.1625528335571289,
+              -0.3726121485233307,
+              0.7726803421974182
+            ],
+            "closest_ee_minus_button": [
+              0.00046886933116238594,
+              0.0008156673421332861,
+              0.03511532118414906
+            ],
+            "button_min_z_position": [
+              0.16254755854606628,
+              -0.37261274456977844,
+              0.7695281505584717
+            ],
+            "min_active_finger_to_button": 0.14538385102074894,
+            "closest_active_finger": [
+              0.03505193442106247,
+              -0.43343010544776917,
+              0.8107373714447021
+            ],
+            "closest_active_finger_button": [
+              0.16256727278232574,
+              -0.3726114332675934,
+              0.77642422914505
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12751533836126328,
+              -0.06081867218017578,
+              0.0343131422996521
+            ],
+            "min_contact_pad_to_button": 0.021135122715047035,
+            "closest_contact_pad": [
+              0.16254755854606628,
+              -0.37322582548162847,
+              0.7906543793742263
+            ],
+            "closest_contact_pad_button": [
+              0.16254755854606628,
+              -0.37261274456977844,
+              0.7695281505584717
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000613080911850028,
+              0.021126228815754655
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3a557756f0aba6ca14c1a2dc77823b72465667e1624c41ab8c75ec7ffb50af8",
+    "visual_seed": 7831326607238280766,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5668f23ea15c52aadbe8aa2a5906a71fc587b683
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18619489062678393,
+              0.15964213411359207,
+              1.0491888902998179
+            ],
+            "current_z": 1.0491888902998179,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18808220347111748,
+            "gripper_z": 1.055824284894298,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18282109147217954,
+              0.1557841529206544,
+              1.055824284894298
+            ],
+            "object_minus_gripper": [
+              0.0033737991546043955,
+              0.003857981192937676,
+              -0.0066353945944801485
+            ],
+            "object_to_gripper_xy": 0.005125089230508104,
+            "object_to_gripper_z": -0.0066353945944801485,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18619489062678393,
+              0.13608766158719393,
+              1.0491888902998179
+            ],
+            "finger_b": [
+              0.17619206499810097,
+              0.15964213411359207,
+              1.0491888902998179
+            ],
+            "finger_midpoint": [
+              0.18119347781244244,
+              0.147864897850393,
+              1.0491888902998179
+            ],
+            "object_minus_finger_midpoint": [
+              0.005001412814341494,
+              0.01177723626319907,
+              0.0
+            ],
+            "finger_gap": 0.025590421969062593,
+            "fingertip_max_gap": 0.10176191275396354,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012795210984531302,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491888902998179,
+            "object_top_z": 1.1051248625648062,
+            "finger_top_clearance": 0.055935972264988365,
+            "fingertip_min_top_clearance": 0.016780791679496476,
+            "object_projection_between_fingers": 0.8472115581401286,
+            "object_to_finger_line_xy": 0.009207010409676124,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05338095637698177,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.086253894405204,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18733719304771732,
+              0.1607222302606223,
+              1.2455598845089073
+            ],
+            "held_position": [
+              0.1908850625204591,
+              0.1642549880250047,
+              1.2388049693928345
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008408129009641007,
+            "max_held_gripper_dist": 0.008423277407836573,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006754915116072846,
+            "max_held_gripper_z_dist": 0.006777117142686695,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0859166741133986,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1908850625204591,
+              0.1398936443492621,
+              1.2388049693928345
+            ],
+            "held_grasp_finger_b": [
+              0.18269760413504899,
+              0.1642549880250047,
+              1.2388049693928345
+            ],
+            "held_grasp_midpoint": [
+              0.18679133332775405,
+              0.1520743161871334,
+              1.2388049693928345
+            ],
+            "held_grasp_object_position": [
+              0.1908850625204591,
+              0.1642549880250047,
+              1.2388049693928345
+            ],
+            "held_grasp_finger_gap": 0.025700380162566983,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02389085325201177,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04418316805643021,
+              -0.9955362653480598,
+              0.0833989930235065
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003696057568172852,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03741307559429158,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30368282019426085,
+              -0.32361327287090286,
+              0.8515396136629673
+            ],
+            "target_position": [
+              0.3032703609848059,
+              -0.32169376571325353,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00196332124924353,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17849137813327798,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396136629673,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566627360553936,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632427950431786,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14586123918365207,
+            "release_required_pad_clearance": 0.05316213975215893,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3486934501935028,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007434666156768799,
+            "max_z_decrease": 0.007434666156768799,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523318201227273,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007434666156768799,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109984573177337,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007434666156768799,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007434686197697353,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15897028148174291,
+              -0.3779552280902862,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15897028148174291,
+              -0.3779552280902862,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16065583618823365,
+              -0.37658832003535075,
+              0.804797751328427
+            ],
+            "closest_button": [
+              0.15895234048366552,
+              -0.37795850634574885,
+              0.7696324586868286
+            ],
+            "closest_ee_minus_button": [
+              0.0017034957045681254,
+              0.0013701863103980916,
+              0.0351652926415984
+            ],
+            "button_min_z_position": [
+              0.1589533388614655,
+              -0.37795853614807123,
+              0.7693741917610168
+            ],
+            "min_active_finger_to_button": 0.14364287358218783,
+            "closest_active_finger": [
+              0.03351488709449768,
+              -0.4389899969100952,
+              0.810530960559845
+            ],
+            "closest_active_finger_button": [
+              0.1589717864990235,
+              -0.3779583573341369,
+              0.7763406038284302
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1254568994045258,
+              -0.06103163957595831,
+              0.034190356731414795
+            ],
+            "min_contact_pad_to_button": 0.02109984573177337,
+            "closest_contact_pad": [
+              0.1589533388614655,
+              -0.37795853614807123,
+              0.7904740374927902
+            ],
+            "closest_contact_pad_button": [
+              0.1589533388614655,
+              -0.37795853614807123,
+              0.7693741917610168
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109984573177337
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b4171b454aab221d8e3ebf6517139e80a576a1bfa7a2d58d0cdaf764b433d1e7",
+    "visual_seed": 7084744170898196925,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b787d41d807ba03ef718e7be8239816b776cec43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19162882558095545,
+              0.1520202310857545,
+              1.0483594913324101
+            ],
+            "current_z": 1.0483594913324101,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18725280450370985,
+            "gripper_z": 1.0546319732264728,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18764907637276484,
+              0.14776222230604694,
+              1.0546319732264728
+            ],
+            "object_minus_gripper": [
+              0.003979749208190608,
+              0.004258008779707556,
+              -0.006272481894062709
+            ],
+            "object_to_gripper_xy": 0.005828296709001731,
+            "object_to_gripper_z": -0.006272481894062709,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19162882558095545,
+              0.12822600401806125,
+              1.0483594913324101
+            ],
+            "finger_b": [
+              0.180813534182863,
+              0.1520202310857545,
+              1.0483594913324101
+            ],
+            "finger_midpoint": [
+              0.18622117988190923,
+              0.14012311755190787,
+              1.0483594913324101
+            ],
+            "object_minus_finger_midpoint": [
+              0.005407645699046226,
+              0.01189711353384662,
+              0.0
+            ],
+            "finger_gap": 0.026136866104692014,
+            "fingertip_max_gap": 0.09431600004583313,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013068433052346007,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483594913324101,
+            "object_top_z": 1.100245934530308,
+            "finger_top_clearance": 0.051886443197897814,
+            "fingertip_min_top_clearance": 0.015565932959369326,
+            "object_projection_between_fingers": 0.8287741131396952,
+            "object_to_finger_line_xy": 0.009845920252974948,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049658000022916565,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4552913082127916,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19209662890758009,
+              0.15264702021296717,
+              1.2450805170666128
+            ],
+            "held_position": [
+              0.19630349322461027,
+              0.15650708694020038,
+              1.238681705492167
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008575698926959596,
+            "max_held_gripper_dist": 0.008590712005751752,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006398811574445773,
+            "max_held_gripper_z_dist": 0.006422558788766075,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0862702163750577,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19630349322461027,
+              0.13182114161443717,
+              1.238681705492167
+            ],
+            "held_grasp_finger_b": [
+              0.18743055335704228,
+              0.15650708694020038,
+              1.238681705492167
+            ],
+            "held_grasp_midpoint": [
+              0.19186702329082628,
+              0.1441641142773188,
+              1.238681705492167
+            ],
+            "held_grasp_object_position": [
+              0.19630349322461027,
+              0.15650708694020038,
+              1.238681705492167
+            ],
+            "held_grasp_finger_gap": 0.02623213598851698,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02409333313530008,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05978838088556597,
+              -0.9974838523999555,
+              0.0380961115132008
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037210419575052713,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037143084794068144,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3171250249473494,
+              -0.32019099411687146,
+              0.8515395625463364
+            ],
+            "target_position": [
+              0.31076297268028996,
+              -0.3215943102858828,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006514983140346935,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842362466961337,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395625463364,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518380702853678,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587090280927794,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15339222208203557,
+            "release_required_pad_clearance": 0.05293545140463897,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9082682276448584,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007614433765411377,
+            "max_z_decrease": 0.007614433765411377,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035161402354982677,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007614433765411377,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021286045174424846,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007614433765411377,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007614451807090274,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16646289825439448,
+              -0.3778557777404784,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16646289825439448,
+              -0.3778557777404784,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16536136315923738,
+              -0.37963514915152635,
+              0.8080141818034606
+            ],
+            "closest_button": [
+              0.1664577722549438,
+              -0.377866506576538,
+              0.7729144096374512
+            ],
+            "closest_ee_minus_button": [
+              -0.0010964090957064077,
+              -0.0017686425749883772,
+              0.03509977216600946
+            ],
+            "button_min_z_position": [
+              0.16644652187824246,
+              -0.37785834074020375,
+              0.7691944241523743
+            ],
+            "min_active_finger_to_button": 0.14706509824654468,
+            "closest_active_finger": [
+              0.024217285215854645,
+              -0.36315488815307617,
+              0.8111066818237305
+            ],
+            "closest_active_finger_button": [
+              0.1664658039808273,
+              -0.37785780429840077,
+              0.7767944931983948
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14224851876497266,
+              0.014702916145324596,
+              0.03431218862533569
+            ],
+            "min_contact_pad_to_button": 0.021286045174424846,
+            "closest_contact_pad": [
+              0.16644652187824246,
+              -0.3809528493450699,
+              0.7902543324062595
+            ],
+            "closest_contact_pad_button": [
+              0.16644652187824246,
+              -0.37785834074020375,
+              0.7691944241523743
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003094508604866153,
+              0.021059908253885262
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "781d70a42dc58c7103014e6fdd7edd84ffcee4eccf4f05a5fd63784fccd510e3",
+    "visual_seed": 8623404000190628474,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..678db4850e2096783fc9092de7f80f157cfd4474
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.192148672294879,
+              0.15690366094409516,
+              1.0482383424032484
+            ],
+            "current_z": 1.0482383424032484,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18713165557454803,
+            "gripper_z": 1.0547907319516099,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18800570524449245,
+              0.1525511239944471,
+              1.0547907319516099
+            ],
+            "object_minus_gripper": [
+              0.0041429670503865534,
+              0.004352536949648073,
+              -0.006552389548361459
+            ],
+            "object_to_gripper_xy": 0.006009055988975341,
+            "object_to_gripper_z": -0.006552389548361459,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.192148672294879,
+              0.13302331482242025,
+              1.0482383424032484
+            ],
+            "finger_b": [
+              0.18115766238775827,
+              0.15690366094409516,
+              1.0482383424032484
+            ],
+            "finger_midpoint": [
+              0.18665316734131865,
+              0.1449634878832577,
+              1.0482383424032484
+            ],
+            "object_minus_finger_midpoint": [
+              0.005495504953560354,
+              0.011940173060837472,
+              0.0
+            ],
+            "finger_gap": 0.02628827171324544,
+            "fingertip_max_gap": 0.0945297527469334,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013144135856622727,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482383424032484,
+            "object_top_z": 1.1002247925667263,
+            "finger_top_clearance": 0.051986450163477915,
+            "fingertip_min_top_clearance": 0.015595935049043391,
+            "object_projection_between_fingers": 0.825196095591472,
+            "object_to_finger_line_xy": 0.009984266887980885,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0497648763734667,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5667525908759805,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19233833355017768,
+              0.15758503725605333,
+              1.2441279969166728
+            ],
+            "held_position": [
+              0.19669675090348376,
+              0.1615455534982154,
+              1.2374411678633583
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008910396933822807,
+            "max_held_gripper_dist": 0.00892227599320058,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006686829053314414,
+            "max_held_gripper_z_dist": 0.006711818397118874,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08594837764659458,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19669675090348376,
+              0.13680434790587148,
+              1.2374411678633583
+            ],
+            "held_grasp_finger_b": [
+              0.18760885141285666,
+              0.1615455534982154,
+              1.2374411678633583
+            ],
+            "held_grasp_midpoint": [
+              0.1921528011581702,
+              0.14917495070204345,
+              1.2374411678633583
+            ],
+            "held_grasp_object_position": [
+              0.19669675090348376,
+              0.1615455534982154,
+              1.2374411678633583
+            ],
+            "held_grasp_finger_gap": 0.026357487955311107,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024175844538823075,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05595148844431711,
+              -0.9977010194602036,
+              0.038237503957971535
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038742618422844474,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037123846297350584,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31242651365097984,
+              -0.3178678403254298,
+              0.8515395707125893
+            ],
+            "target_position": [
+              0.3062652188249063,
+              -0.31926384467171215,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00631746642797883,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18390973054734175,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395707125893,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752042373366693,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559453599385496,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15285276365546369,
+            "release_required_pad_clearance": 0.05279726799692748,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6416321539369663,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074825286865234375,
+            "max_z_decrease": 0.0074825286865234375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351903330073596,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074825286865234375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021164102315434384,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074825286865234375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074825492467675,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16196514666080472,
+              -0.37552529573440546,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16196514666080472,
+              -0.37552529573440546,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16356710027458826,
+              -0.37648756512854004,
+              0.8081689983135323
+            ],
+            "closest_button": [
+              0.161957249045372,
+              -0.3755343556404113,
+              0.7730284333229065
+            ],
+            "closest_ee_minus_button": [
+              0.0016098512292162526,
+              -0.0009532094881287145,
+              0.03514056499062579
+            ],
+            "button_min_z_position": [
+              0.16194781661033628,
+              -0.37552800774574274,
+              0.7693263292312622
+            ],
+            "min_active_finger_to_button": 0.14451604285869837,
+            "closest_active_finger": [
+              0.022162601351737976,
+              -0.3624931573867798,
+              0.8104965686798096
+            ],
+            "closest_active_finger_button": [
+              0.16196671128273005,
+              -0.37552794814109797,
+              0.7762943506240845
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13980410993099207,
+              0.013034790754318182,
+              0.0342022180557251
+            ],
+            "min_contact_pad_to_button": 0.021164102315434384,
+            "closest_contact_pad": [
+              0.16194781661033628,
+              -0.37748396059687117,
+              0.7903998546900538
+            ],
+            "closest_contact_pad_button": [
+              0.16194781661033628,
+              -0.37552800774574274,
+              0.7693263292312622
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019559528511284285,
+              0.021073525458791598
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f37ea062fc26be3dea7dc8353dba241b0be8c147012e70dff20489f3de7ddfc",
+    "visual_seed": 9009998634306220074,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f1759cf3431634fcb77c482ed71babc5a2cff93
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19652231939823475,
+              0.15823891082735245,
+              1.0461543571435898
+            ],
+            "current_z": 1.0461543571435898,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.18504790873346877,
+            "gripper_z": 1.0524688798647692,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19192845515692242,
+              0.15363870268993388,
+              1.0524688798647692
+            ],
+            "object_minus_gripper": [
+              0.004593864241312334,
+              0.004600208137418571,
+              -0.006314522721179383
+            ],
+            "object_to_gripper_xy": 0.0065011924733221205,
+            "object_to_gripper_z": -0.006314522721179383,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19652231939823475,
+              0.13406118716300144,
+              1.0461543571435898
+            ],
+            "finger_b": [
+              0.18515015701717774,
+              0.15823891082735245,
+              1.0461543571435898
+            ],
+            "finger_midpoint": [
+              0.19083623820770623,
+              0.14615004899517695,
+              1.0461543571435898
+            ],
+            "object_minus_finger_midpoint": [
+              0.005686081190528519,
+              0.012088861832175501,
+              0.0
+            ],
+            "finger_gap": 0.026718690065398915,
+            "fingertip_max_gap": 0.09126763488475337,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013359345032699465,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461543571435898,
+            "object_top_z": 1.0964062833090262,
+            "finger_top_clearance": 0.05025192616543639,
+            "fingertip_min_top_clearance": 0.015075577849630916,
+            "object_projection_between_fingers": 0.8188427246659954,
+            "object_to_finger_line_xy": 0.010290661662017333,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048133817442376686,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.46495444917970896,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19615541687465352,
+              0.15880804658153103,
+              1.2417002509494945
+            ],
+            "held_position": [
+              0.20094571740676648,
+              0.16301241972624486,
+              1.235234216936894
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009079280179621093,
+            "max_held_gripper_dist": 0.009093974027662129,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006466034012600597,
+            "max_held_gripper_z_dist": 0.006495510480436284,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0858220589807424,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20094571740676648,
+              0.13805580614661472,
+              1.235234216936894
+            ],
+            "held_grasp_finger_b": [
+              0.191384450189549,
+              0.16301241972624486,
+              1.235234216936894
+            ],
+            "held_grasp_midpoint": [
+              0.19616508379815772,
+              0.1505341129364298,
+              1.235234216936894
+            ],
+            "held_grasp_object_position": [
+              0.20094571740676648,
+              0.16301241972624486,
+              1.235234216936894
+            ],
+            "held_grasp_finger_gap": 0.02672546336664749,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024350098716141893,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05849910891475188,
+              -0.9981091484614039,
+              0.018867485625578273
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040494804795697574,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036985875099721066,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3117376856573989,
+              -0.31472499270619014,
+              0.8515395808655442
+            ],
+            "target_position": [
+              0.30361101821495595,
+              -0.3173180052034112,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008530324585313663,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18347225812556553,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395808655442,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524458546917694,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575903896119906,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15265294907565552,
+            "release_required_pad_clearance": 0.05287951948059953,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8001477970216405,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007442772388458252,
+            "max_z_decrease": 0.007442772388458252,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522730935465114,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007442772388458252,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021071422069405932,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007442772388458252,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007442795090889079,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15931093692779535,
+              -0.37357947230339056,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15931093692779535,
+              -0.37357947230339056,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15810507056089096,
+              -0.3715341154941548,
+              0.8074292727204668
+            ],
+            "closest_button": [
+              0.15929834544658655,
+              -0.3735805749893189,
+              0.7722817063331604
+            ],
+            "closest_ee_minus_button": [
+              -0.0011932748856955944,
+              0.002046459495164077,
+              0.03514756638730643
+            ],
+            "button_min_z_position": [
+              0.15929278731346122,
+              -0.37358239293098455,
+              0.7693660855293274
+            ],
+            "min_active_finger_to_button": 0.1461942386291299,
+            "closest_active_finger": [
+              0.030970267951488495,
+              -0.4346984624862671,
+              0.8108536601066589
+            ],
+            "closest_active_finger_button": [
+              0.15931573510169977,
+              -0.3735835552215576,
+              0.7767191529273987
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12834546715021128,
+              -0.06111490726470947,
+              0.034134507179260254
+            ],
+            "min_contact_pad_to_button": 0.021071422069405932,
+            "closest_contact_pad": [
+              0.15929278731346122,
+              -0.37358239293098455,
+              0.7904375075987333
+            ],
+            "closest_contact_pad_button": [
+              0.15929278731346122,
+              -0.37358239293098455,
+              0.7693660855293274
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021071422069405932
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d52e3dad91b0c6ed4be68694a9f4b4b99d3218b2617fda408159900d8cca6fa",
+    "visual_seed": 8177042896504038032,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b389a08add0d1f707113a18a3dd73a5b11cbd3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18602135995811217,
+              0.1590400274358906,
+              1.0483517345813333
+            ],
+            "current_z": 1.0483517345813333,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.1872450477526333,
+            "gripper_z": 1.0545863085375518,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18226820973206673,
+              0.15492948924648944,
+              1.0545863085375518
+            ],
+            "object_minus_gripper": [
+              0.003753150226045443,
+              0.004110538189401158,
+              -0.006234573956218403
+            ],
+            "object_to_gripper_xy": 0.0055662070412256775,
+            "object_to_gripper_z": -0.006234573956218403,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18602135995811217,
+              0.13534629126744996,
+              1.0483517345813333
+            ],
+            "finger_b": [
+              0.17548703422343884,
+              0.1590400274358906,
+              1.0483517345813333
+            ],
+            "finger_midpoint": [
+              0.1807541970907755,
+              0.14719315935167027,
+              1.0483517345813333
+            ],
+            "object_minus_finger_midpoint": [
+              0.005267162867336667,
+              0.011846868084220336,
+              0.0
+            ],
+            "finger_gap": 0.02593000486509544,
+            "fingertip_max_gap": 0.09428477501931704,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012965002432547732,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483517345813333,
+            "object_top_z": 1.1002480865050785,
+            "finger_top_clearance": 0.0518963519237452,
+            "fingertip_min_top_clearance": 0.015568905577123543,
+            "object_projection_between_fingers": 0.8349527510401856,
+            "object_to_finger_line_xy": 0.009625819045092032,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04964238750965852,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5104543378919382,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1867904003453853,
+              0.15965275759769204,
+              1.2461890535270381
+            ],
+            "held_position": [
+              0.190776889814418,
+              0.1633735353987537,
+              1.239840844671006
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008368753874465762,
+            "max_held_gripper_dist": 0.008383290990798249,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006348208856032045,
+            "max_held_gripper_z_dist": 0.006373546382915762,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08581978329007452,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.190776889814418,
+              0.1388191606590676,
+              1.239840844671006
+            ],
+            "held_grasp_finger_b": [
+              0.18214285333912658,
+              0.1633735353987537,
+              1.239840844671006
+            ],
+            "held_grasp_midpoint": [
+              0.1864598715767723,
+              0.15109634802891064,
+              1.239840844671006
+            ],
+            "held_grasp_object_position": [
+              0.190776889814418,
+              0.1633735353987537,
+              1.239840844671006
+            ],
+            "held_grasp_finger_gap": 0.026028136789128763,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023979055153670496,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05928263926581985,
+              -0.9974150791084737,
+              0.04060453975500644
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036168457417614947,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03721887402348718,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3107630568799665,
+              -0.3156599758705121,
+              0.851539584400806
+            ],
+            "target_position": [
+              0.3049180423377452,
+              -0.3166405835078086,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005926701134451001,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18413851868756215,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539584400806,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549402871983124,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521136349203427,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15236131270926515,
+            "release_required_pad_clearance": 0.05260568174601714,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2741122188540681,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007562100887298584,
+            "max_z_decrease": 0.007562100887298584,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517997519733911,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007562100887298584,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109039634641141,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007562100887298584,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007562121129485545,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16061796247959137,
+              -0.3729020357131958,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16061796247959137,
+              -0.3729020357131958,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1609879612974484,
+              -0.3711518686919171,
+              0.8079679836173091
+            ],
+            "closest_button": [
+              0.1606087684631348,
+              -0.37291097640991205,
+              0.772834062576294
+            ],
+            "closest_ee_minus_button": [
+              0.0003791928343136186,
+              0.0017591077179949788,
+              0.035133921041015204
+            ],
+            "button_min_z_position": [
+              0.16060084104537967,
+              -0.3729056417942047,
+              0.7692467570304871
+            ],
+            "min_active_finger_to_button": 0.1450522496094511,
+            "closest_active_finger": [
+              0.03362166881561279,
+              -0.43409499526023865,
+              0.8108052611351013
+            ],
+            "closest_active_finger_button": [
+              0.16061984002590182,
+              -0.37290489673614496,
+              0.7766381502151489
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12699817121028903,
+              -0.06119009852409368,
+              0.03416711091995239
+            ],
+            "min_contact_pad_to_button": 0.02109039634641141,
+            "closest_contact_pad": [
+              0.16060084104537967,
+              -0.3729056417942047,
+              0.7903371533768985
+            ],
+            "closest_contact_pad_button": [
+              0.16060084104537967,
+              -0.3729056417942047,
+              0.7692467570304871
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109039634641141
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01f4a3b93842c4a314534f1be132a7443c26d25648843df588c2e4ee0c96dd58",
+    "visual_seed": 1223571796084211320,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f3d476f4eb95d214e6c3e2fd09966d15d59d075
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19358739575606695,
+              0.15539441108846028,
+              1.0468155105410362
+            ],
+            "current_z": 1.0468155105410362,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.18570882371233566,
+            "gripper_z": 1.0530014670311916,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18935699700152006,
+              0.15100347022342858,
+              1.0530014670311916
+            ],
+            "object_minus_gripper": [
+              0.0042303987545468935,
+              0.004390940865031695,
+              -0.006185956490155409
+            ],
+            "object_to_gripper_xy": 0.006097264575420456,
+            "object_to_gripper_z": -0.006185956490155409,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19358739575606695,
+              0.13152917625739743,
+              1.0468155105410362
+            ],
+            "finger_b": [
+              0.18243896978579677,
+              0.15539441108846028,
+              1.0468155105410362
+            ],
+            "finger_midpoint": [
+              0.18801318277093187,
+              0.14346179367292886,
+              1.0468155105410362
+            ],
+            "object_minus_finger_midpoint": [
+              0.00557421298513508,
+              0.011932617415531421,
+              0.0
+            ],
+            "finger_gap": 0.02634078273621287,
+            "fingertip_max_gap": 0.09355334091602674,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013170391368106429,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468155105410362,
+            "object_top_z": 1.0982948941678765,
+            "finger_top_clearance": 0.05147938362684035,
+            "fingertip_min_top_clearance": 0.01544381508805212,
+            "object_projection_between_fingers": 0.8208694100442445,
+            "object_to_finger_line_xy": 0.010100679484039893,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04927667045801337,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1931397613170405,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19374111604568706,
+              0.15585782672821036,
+              1.243442367476071
+            ],
+            "held_position": [
+              0.19822308388606735,
+              0.1598238146556335,
+              1.2371304089464976
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008698155921902316,
+            "max_held_gripper_dist": 0.00871183803068363,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006311958529573447,
+            "max_held_gripper_z_dist": 0.00633871340814407,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08626937162843576,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19822308388606735,
+              0.13504868636716486,
+              1.2371304089464976
+            ],
+            "held_grasp_finger_b": [
+              0.1890485968203906,
+              0.1598238146556335,
+              1.2371304089464976
+            ],
+            "held_grasp_midpoint": [
+              0.19363584035322898,
+              0.1474362505113992,
+              1.2371304089464976
+            ],
+            "held_grasp_object_position": [
+              0.19822308388606735,
+              0.1598238146556335,
+              1.2371304089464976
+            ],
+            "held_grasp_finger_gap": 0.026419276951278384,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024126349549857092,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06368984247131027,
+              -0.9973983140715551,
+              0.03376695208631386
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003812529762958667,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03707275365919849,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31326462852767745,
+              -0.3215299519891395,
+              0.8515395939470686
+            ],
+            "target_position": [
+              0.3069532099655059,
+              -0.3229690183333422,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064734006681141315,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18228694277067342,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395939470686,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562406908415584,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499586090027321,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15027237453172895,
+            "release_required_pad_clearance": 0.05249793045013661,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852800648887886,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007521629333496094,
+            "max_z_decrease": 0.007521629333496094,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035172891192469,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007521629333496094,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021253400766396355,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007521629333496094,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007521645964912729,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16265313327312467,
+              -0.3792304694652557,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16265313327312467,
+              -0.3792304694652557,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1617593636476295,
+              -0.38095061315994005,
+              0.8081074518928006
+            ],
+            "closest_button": [
+              0.1626449823379516,
+              -0.3792396187782287,
+              0.7729873657226562
+            ],
+            "closest_ee_minus_button": [
+              -0.0008856186903221097,
+              -0.0017109943817113504,
+              0.03512008617014439
+            ],
+            "button_min_z_position": [
+              0.16263736784458158,
+              -0.37923175096511835,
+              0.7692872285842896
+            ],
+            "min_active_finger_to_button": 0.1468413233936182,
+            "closest_active_finger": [
+              0.020586326718330383,
+              -0.3648175299167633,
+              0.810476541519165
+            ],
+            "closest_active_finger_button": [
+              0.1626542955636978,
+              -0.37923344969749445,
+              0.7762530446052551
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1420679688453674,
+              0.014415919780731146,
+              0.03422349691390991
+            ],
+            "min_contact_pad_to_button": 0.021253400766396355,
+            "closest_contact_pad": [
+              0.16263736784458158,
+              -0.3822238177186402,
+              0.7903289628445526
+            ],
+            "closest_contact_pad_button": [
+              0.16263736784458158,
+              -0.37923175096511835,
+              0.7692872285842896
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029920667535218715,
+              0.021041734260263012
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7680072051721a975d84dc40367bef0df1a4313a416d764e91600deafedfbf61",
+    "visual_seed": 3366600632855249582,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..de4e7d5176edb4811fcec7ea1fbe332419ca58ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18761248385858098,
+              0.1554532002758821,
+              1.047275888786502
+            ],
+            "current_z": 1.047275888786502,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18616920195780162,
+            "gripper_z": 1.0536233962123942,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18331446699918227,
+              0.15103385208545558,
+              1.0536233962123942
+            ],
+            "object_minus_gripper": [
+              0.004298016859398707,
+              0.004419348190426525,
+              -0.006347507425892296
+            ],
+            "object_to_gripper_xy": 0.006164704968763852,
+            "object_to_gripper_z": -0.006347507425892296,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18761248385858098,
+              0.13144065966868468,
+              1.047275888786502
+            ],
+            "finger_b": [
+              0.17656007816771815,
+              0.1554532002758821,
+              1.047275888786502
+            ],
+            "finger_midpoint": [
+              0.18208628101314955,
+              0.1434469299722834,
+              1.047275888786502
+            ],
+            "object_minus_finger_midpoint": [
+              0.005526202845431427,
+              0.012006270303598715,
+              0.0
+            ],
+            "finger_gap": 0.026434026896553664,
+            "fingertip_max_gap": 0.09242664993199184,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013217013448276837,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047275888786502,
+            "object_top_z": 1.0978984113082793,
+            "finger_top_clearance": 0.05062252252177735,
+            "fingertip_min_top_clearance": 0.01518675675653322,
+            "object_projection_between_fingers": 0.8251816646525262,
+            "object_to_finger_line_xy": 0.010039951215063056,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048713324965995924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9849121280506781,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18753608828023216,
+              0.15637042513549365,
+              1.2449168996949458
+            ],
+            "held_position": [
+              0.19205289501954312,
+              0.1604100735531156,
+              1.2384518219509006
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008861011945304453,
+            "max_held_gripper_dist": 0.008873206149865026,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006465077744045145,
+            "max_held_gripper_z_dist": 0.006492372878040165,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08557733963024651,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19205289501954312,
+              0.13565143593449172,
+              1.2384518219509006
+            ],
+            "held_grasp_finger_b": [
+              0.18269341321235144,
+              0.1604100735531156,
+              1.2384518219509006
+            ],
+            "held_grasp_midpoint": [
+              0.1873731541159473,
+              0.14803075474380367,
+              1.2384518219509006
+            ],
+            "held_grasp_object_position": [
+              0.19205289501954312,
+              0.1604100735531156,
+              1.2384518219509006
+            ],
+            "held_grasp_finger_gap": 0.0264686614022978,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024263729490021646,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04898902068120686,
+              -0.9985299562381026,
+              0.023194877620486554
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004077980671622064,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037129873477266345,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31824768801104475,
+              -0.32240671846645347,
+              0.8515395759707627
+            ],
+            "target_position": [
+              0.31140655753450996,
+              -0.3241988695245268,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0070719779137046555,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18484861210956466,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395759707627,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569438161749735,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586285318867586,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525773017025439,
+            "release_required_pad_clearance": 0.05293142659433793,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9004791782586806,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075958967208862305,
+            "max_z_decrease": 0.0075958967208862305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0352122832067064,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075958967208862305,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114289479336173,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075958967208862305,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00759591781859675,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1671064794063568,
+              -0.3804603219032287,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1671064794063568,
+              -0.3804603219032287,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1693750612526289,
+              -0.3809402470905482,
+              0.8082253851856237
+            ],
+            "closest_button": [
+              0.16710282862186432,
+              -0.3804693222045898,
+              0.7730896472930908
+            ],
+            "closest_ee_minus_button": [
+              0.0022722326307645924,
+              -0.00047092488595840143,
+              0.03513573789253288
+            ],
+            "button_min_z_position": [
+              0.1670888066291809,
+              -0.3804631829261779,
+              0.7692129611968994
+            ],
+            "min_active_finger_to_button": 0.1439441176569524,
+            "closest_active_finger": [
+              0.027968019247055054,
+              -0.36685094237327576,
+              0.8106873035430908
+            ],
+            "closest_active_finger_button": [
+              0.16710831224918365,
+              -0.38046285510063166,
+              0.7764148116111755
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1391402930021286,
+              0.013611912727355902,
+              0.03427249193191528
+            ],
+            "min_contact_pad_to_button": 0.02114289479336173,
+            "closest_contact_pad": [
+              0.1670888066291809,
+              -0.3819661322264644,
+              0.7903023695253455
+            ],
+            "closest_contact_pad_button": [
+              0.1670888066291809,
+              -0.3804631829261779,
+              0.7692129611968994
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015029493002864935,
+              0.02108940832844608
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c36fb4ff6249c61e9b8f26691adc5a660bae8ad7ec8a46ecd9b67cab1436c073",
+    "visual_seed": 6581857166044391988,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f85b29e97e871030e0b95746e802350e4ea9ead
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19404568794992375,
+              0.1567671669705987,
+              1.0468457491606507
+            ],
+            "current_z": 1.0468457491606507,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18573906233195026,
+            "gripper_z": 1.0531670237225912,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1893083687196279,
+              0.1520082751574092,
+              1.0531670237225912
+            ],
+            "object_minus_gripper": [
+              0.0047373192302958556,
+              0.004758891813189503,
+              -0.0063212745619405375
+            ],
+            "object_to_gripper_xy": 0.006714852550828871,
+            "object_to_gripper_z": -0.0063212745619405375,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19404568794992375,
+              0.13267656012410045,
+              1.0468457491606507
+            ],
+            "finger_b": [
+              0.18219880622049317,
+              0.1567671669705987,
+              1.0468457491606507
+            ],
+            "finger_midpoint": [
+              0.18812224708520847,
+              0.14472186354734956,
+              1.0468457491606507
+            ],
+            "object_minus_finger_midpoint": [
+              0.005923440864715274,
+              0.012045303423249137,
+              0.0
+            ],
+            "finger_gap": 0.026845967014500784,
+            "fingertip_max_gap": 0.0921635057546106,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013422983507250399,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468457491606507,
+            "object_top_z": 1.09770110615261,
+            "finger_top_clearance": 0.05085535699195942,
+            "fingertip_min_top_clearance": 0.01525660709758786,
+            "object_projection_between_fingers": 0.8052623157949853,
+            "object_to_finger_line_xy": 0.010630966280578297,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048581752877305304,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7560929518766528,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19380816105120616,
+              0.1567514783172538,
+              1.243560036218562
+            ],
+            "held_position": [
+              0.1988470181528366,
+              0.16100295797302253,
+              1.2370892259140747
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00923777820423966,
+            "max_held_gripper_dist": 0.009250862806665743,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006470810304487262,
+            "max_held_gripper_z_dist": 0.006501093913468647,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08599228826030636,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1988470181528366,
+              0.13590230936384143,
+              1.2370892259140747
+            ],
+            "held_grasp_finger_b": [
+              0.18919380217210607,
+              0.16100295797302253,
+              1.2370892259140747
+            ],
+            "held_grasp_midpoint": [
+              0.19402041016247135,
+              0.14845263366843198,
+              1.2370892259140747
+            ],
+            "held_grasp_object_position": [
+              0.1988470181528366,
+              0.16100295797302253,
+              1.2370892259140747
+            ],
+            "held_grasp_finger_gap": 0.02689288268989057,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024270854849012244,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07720986421824011,
+              -0.9966347377574774,
+              0.0275288278443806
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038591502418343004,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03683949915044739,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31055317223047385,
+              -0.3227824694110011,
+              0.851539564250452
+            ],
+            "target_position": [
+              0.3031684471006243,
+              -0.3248154157149878,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007659440966436438,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18224098021738105,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539564250452,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553213461799398,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569466337512953,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1505705245288281,
+            "release_required_pad_clearance": 0.052847331687564766,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7380708453251322,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00759202241897583,
+            "max_z_decrease": 0.00759202241897583,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523596467047809,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00759202241897583,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02112840042346649,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00759202241897583,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007592042019842125,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15886837244033813,
+              -0.3810768723487854,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15886837244033813,
+              -0.3810768723487854,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16139772360662855,
+              -0.38140263400099217,
+              0.808108284357509
+            ],
+            "closest_button": [
+              0.1588592380285263,
+              -0.3810851573944091,
+              0.7729653120040894
+            ],
+            "closest_ee_minus_button": [
+              0.0025384855781022397,
+              -0.0003174766065830448,
+              0.03514297235341968
+            ],
+            "button_min_z_position": [
+              0.1588512510061264,
+              -0.3810789883136749,
+              0.7692168354988098
+            ],
+            "min_active_finger_to_button": 0.14367194974986539,
+            "closest_active_finger": [
+              0.02011553943157196,
+              -0.36626872420310974,
+              0.8104308247566223
+            ],
+            "closest_active_finger_button": [
+              0.15886902809143066,
+              -0.38107952475547785,
+              0.7762293815612793
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1387534886598587,
+              0.014810800552368109,
+              0.03420144319534302
+            ],
+            "min_contact_pad_to_button": 0.02112840042346649,
+            "closest_contact_pad": [
+              0.1588512510061264,
+              -0.382515542542971,
+              0.790296342523421
+            ],
+            "closest_contact_pad_button": [
+              0.1588512510061264,
+              -0.3810789883136749,
+              0.7692168354988098
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001436554229296061,
+              0.021079507024611144
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a8abb9d3d4dbb9f04f2d8554fa1685e6e6c50c3756eaf6fbb4c881c12fafe493",
+    "visual_seed": 2997761460163215704,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4951c7f0b04de11f2e26ccc76a8fc8bb07c00f69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18853715261011017,
+              0.1583638632231687,
+              1.0479231311599655
+            ],
+            "current_z": 1.0479231311599655,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1868164443312652,
+            "gripper_z": 1.054267754828138,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18479795443018018,
+              0.15439464163498268,
+              1.054267754828138
+            ],
+            "object_minus_gripper": [
+              0.0037391981799299867,
+              0.003969221588186023,
+              -0.0063446236681725665
+            ],
+            "object_to_gripper_xy": 0.005453102148769423,
+            "object_to_gripper_z": -0.0063446236681725665,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18853715261011017,
+              0.1343860188069649,
+              1.0479231311599655
+            ],
+            "finger_b": [
+              0.1785990097364234,
+              0.1583638632231687,
+              1.0479231311599655
+            ],
+            "finger_midpoint": [
+              0.18356808117326678,
+              0.14637494101506682,
+              1.0479231311599655
+            ],
+            "object_minus_finger_midpoint": [
+              0.004969071436843386,
+              0.011988922208101882,
+              0.0
+            ],
+            "finger_gap": 0.025955802947038385,
+            "fingertip_max_gap": 0.09448998603128916,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01297790147351918,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479231311599655,
+            "object_top_z": 1.0998421892847339,
+            "finger_top_clearance": 0.05191905812476838,
+            "fingertip_min_top_clearance": 0.01557571743743048,
+            "object_projection_between_fingers": 0.8533974463751677,
+            "object_to_finger_line_xy": 0.009180808010351144,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049744993015644584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4931479427573509,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18915153720084632,
+              0.159611703274473,
+              1.244198456995468
+            ],
+            "held_position": [
+              0.19300571422568452,
+              0.1633068082412466,
+              1.237735309014202
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008383362277869698,
+            "max_held_gripper_dist": 0.008396419192556119,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006463147981266015,
+            "max_held_gripper_z_dist": 0.006487310995684892,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08595108124126517,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19300571422568452,
+              0.1388335179914637,
+              1.237735309014202
+            ],
+            "held_grasp_finger_b": [
+              0.18442256908775206,
+              0.1633068082412466,
+              1.237735309014202
+            ],
+            "held_grasp_midpoint": [
+              0.1887141416567183,
+              0.15107016311635516,
+              1.237735309014202
+            ],
+            "held_grasp_object_position": [
+              0.19300571422568452,
+              0.1633068082412466,
+              1.237735309014202
+            ],
+            "held_grasp_finger_gap": 0.025934770407870053,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02415887107773747,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.033155477672247864,
+              -0.998780674982298,
+              0.036577008929523425
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003909506540316137,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03735623625424794,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3115339055572621,
+              -0.31689450960553045,
+              0.8515396093470902
+            ],
+            "target_position": [
+              0.3061944556573894,
+              -0.3177969854831552,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0054151812474695134,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18356560323496549,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396093470902,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516312817942032,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540886789290379,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525570197395465,
+            "release_required_pad_clearance": 0.0527044339464519,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4630930300996465,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00769418478012085,
+            "max_z_decrease": 0.00769418478012085,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511916464511572,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00769418478012085,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0212113465158837,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00769418478012085,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007694209731087093,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1618943810462952,
+              -0.37405845522880543,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1618943810462952,
+              -0.37405845522880543,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16211621894471637,
+              -0.3746940837913301,
+              0.8073421379211001
+            ],
+            "closest_button": [
+              0.16188229620456698,
+              -0.3740624487400054,
+              0.7722294330596924
+            ],
+            "closest_ee_minus_button": [
+              0.00023392274014938375,
+              -0.0006316350513247415,
+              0.03511270486140772
+            ],
+            "button_min_z_position": [
+              0.1618751436471939,
+              -0.3740621805191039,
+              0.7691146731376648
+            ],
+            "min_active_finger_to_button": 0.14585295149551428,
+            "closest_active_finger": [
+              0.0211811363697052,
+              -0.35697898268699646,
+              0.8102417588233948
+            ],
+            "closest_active_finger_button": [
+              0.16189698874950414,
+              -0.3740622699260711,
+              0.7758863568305969
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14071585237979894,
+              0.01708328723907465,
+              0.03435540199279785
+            ],
+            "min_contact_pad_to_button": 0.0212113465158837,
+            "closest_contact_pad": [
+              0.1618751436471939,
+              -0.3761387009806797,
+              0.7902241327183729
+            ],
+            "closest_contact_pad_button": [
+              0.1618751436471939,
+              -0.3740621805191039,
+              0.7691146731376648
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020765204615758037,
+              0.02110945958070809
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f060ecefb1fa9e79df2b3459a19d7aa0c6b41040148062e05e2f9f0daa89303",
+    "visual_seed": 243388244787364582,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce97cd996b25df1eaeadf5e7a0ea46ee1412b86a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19440826640579092,
+              0.15357124984110548,
+              1.0481597407742627
+            ],
+            "current_z": 1.0481597407742627,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18705317315485193,
+            "gripper_z": 1.05436837133431,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1901129535331647,
+              0.14916352519138174,
+              1.05436837133431
+            ],
+            "object_minus_gripper": [
+              0.004295312872626217,
+              0.004407724649723749,
+              -0.006208630560047279
+            ],
+            "object_to_gripper_xy": 0.006154490170723391,
+            "object_to_gripper_z": -0.006208630560047279,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19440826640579092,
+              0.12953348965662986,
+              1.0481597407742627
+            ],
+            "finger_b": [
+              0.1834012538483326,
+              0.15357124984110548,
+              1.0481597407742627
+            ],
+            "finger_midpoint": [
+              0.18890476012706175,
+              0.14155236974886767,
+              1.0481597407742627
+            ],
+            "object_minus_finger_midpoint": [
+              0.00550350627872917,
+              0.01201888009223781,
+              0.0
+            ],
+            "finger_gap": 0.02643800749160962,
+            "fingertip_max_gap": 0.0920245079625604,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013219003745804815,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481597407742627,
+            "object_top_z": 1.0989119592111396,
+            "finger_top_clearance": 0.05075221843687694,
+            "fingertip_min_top_clearance": 0.015225665531063064,
+            "object_projection_between_fingers": 0.8266669091887,
+            "object_to_finger_line_xy": 0.010007710614639282,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485122539812802,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7121687616554869,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19457565772088853,
+              0.15405386516238503,
+              1.2453064110101764
+            ],
+            "held_position": [
+              0.19910175253837262,
+              0.1580526428122494,
+              1.2389733428732146
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008751200432929847,
+            "max_held_gripper_dist": 0.008767015789841815,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0063330681369617725,
+            "max_held_gripper_z_dist": 0.006359008950189704,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08654317641828765,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19910175253837262,
+              0.13322646990912695,
+              1.2389733428732146
+            ],
+            "held_grasp_finger_b": [
+              0.18990831275742698,
+              0.1580526428122494,
+              1.2389733428732146
+            ],
+            "held_grasp_midpoint": [
+              0.1945050326478998,
+              0.14563955636068818,
+              1.2389733428732146
+            ],
+            "held_grasp_object_position": [
+              0.19910175253837262,
+              0.1580526428122494,
+              1.2389733428732146
+            ],
+            "held_grasp_finger_gap": 0.02647372652313242,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02419781778151568,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06211717863779316,
+              -0.9976925730493575,
+              0.02740412013243354
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038322539320819176,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03705027063816843,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3154558892826519,
+              -0.3214062618844141,
+              0.8515395983884761
+            ],
+            "target_position": [
+              0.3084396114203291,
+              -0.3233161715159373,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007271582347873514,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18380244660112433,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395983884761,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574308831377219,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855857208869376,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15161290724087542,
+            "release_required_pad_clearance": 0.0527928604434688,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6330357096894044,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076361894607543945,
+            "max_z_decrease": 0.0076361894607543945,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521119127292972,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076361894607543945,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111418325035841,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076361894607543945,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007636212201539605,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1641395390033722,
+              -0.37957763671874994,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1641395390033722,
+              -0.37957763671874994,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16538022386457482,
+              -0.3778037203662729,
+              0.8047770547445204
+            ],
+            "closest_button": [
+              0.16412156820297238,
+              -0.3795813024044037,
+              0.7696332931518555
+            ],
+            "closest_ee_minus_button": [
+              0.001258655661602437,
+              0.001777582038130776,
+              0.03514376159266497
+            ],
+            "button_min_z_position": [
+              0.16412128508090973,
+              -0.3795813918113708,
+              0.7691726684570312
+            ],
+            "min_active_finger_to_button": 0.14391460306805356,
+            "closest_active_finger": [
+              0.03832516819238663,
+              -0.440467894077301,
+              0.8110363483428955
+            ],
+            "closest_active_finger_button": [
+              0.16414304077625275,
+              -0.3795795440673828,
+              0.7767743468284607
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12581787258386612,
+              -0.06088835000991821,
+              0.034262001514434814
+            ],
+            "min_contact_pad_to_button": 0.02111418325035841,
+            "closest_contact_pad": [
+              0.16412128508090973,
+              -0.3795813918113708,
+              0.7902868517073897
+            ],
+            "closest_contact_pad_button": [
+              0.16412128508090973,
+              -0.3795813918113708,
+              0.7691726684570312
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02111418325035841
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f85d6b196dd084344de8a9994495890c3a59ff1177c8657d19ea24530907476",
+    "visual_seed": 8656572718248033739,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75ebe2160b389bb44afd0cf277cf0faca0962a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1939764737876628,
+              0.16020784748205713,
+              1.0480888268312043
+            ],
+            "current_z": 1.0480888268312043,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18698214000250413,
+            "gripper_z": 1.0542081820455178,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18972026953635615,
+              0.15585308283793142,
+              1.0542081820455178
+            ],
+            "object_minus_gripper": [
+              0.004256204251306656,
+              0.004354764644125708,
+              -0.006119355214313504
+            ],
+            "object_to_gripper_xy": 0.006089273333869006,
+            "object_to_gripper_z": -0.006119355214313504,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1939764737876628,
+              0.13613486288897222,
+              1.0480888268312043
+            ],
+            "finger_b": [
+              0.18313097695932182,
+              0.16020784748205713,
+              1.0480888268312043
+            ],
+            "finger_midpoint": [
+              0.1885537253734923,
+              0.14817135518551466,
+              1.0480888268312043
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054227484141705085,
+              0.012036492296542467,
+              0.0
+            ],
+            "finger_gap": 0.026403283672158235,
+            "fingertip_max_gap": 0.09163053405984017,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013201641836079137,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480888268312043,
+            "object_top_z": 1.0985474567939977,
+            "finger_top_clearance": 0.05045862996279338,
+            "fingertip_min_top_clearance": 0.015137588988837979,
+            "object_projection_between_fingers": 0.8312736079424543,
+            "object_to_finger_line_xy": 0.009888295762557417,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831526702992009,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5122427333805534,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1939471003874534,
+              0.1612400007091021,
+              1.244202274303055
+            ],
+            "held_position": [
+              0.19838276174600075,
+              0.16525230708498007,
+              1.237957272168173
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008647181379287718,
+            "max_held_gripper_dist": 0.008659339759775762,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006245002134881883,
+            "max_held_gripper_z_dist": 0.0062768451357042565,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08566380312920435,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19838276174600075,
+              0.14051776693947954,
+              1.237957272168173
+            ],
+            "held_grasp_finger_b": [
+              0.18912108913823633,
+              0.16525230708498007,
+              1.237957272168173
+            ],
+            "held_grasp_midpoint": [
+              0.19375192544211856,
+              0.1528850370122298,
+              1.237957272168173
+            ],
+            "held_grasp_object_position": [
+              0.19838276174600075,
+              0.16525230708498007,
+              1.237957272168173
+            ],
+            "held_grasp_finger_gap": 0.02641166514445447,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02421854966878451,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05156331985607117,
+              -0.9984463875449635,
+              0.021119546487389007
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039956898842646495,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037133412648626435,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31565881958323677,
+              -0.31788828742049113,
+              0.8515395707708604
+            ],
+            "target_position": [
+              0.3091672363627266,
+              -0.3195350379484408,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006697196429112103,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18400581828031412,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395707708604,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554234566942525,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855673569840426,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15221619795836228,
+            "release_required_pad_clearance": 0.0527836784920213,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6154827462988166,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007515013217926025,
+            "max_z_decrease": 0.007515013217926025,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518247706030888,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007515013217926025,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021133497618492925,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007515013217926025,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075150377975155575,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16486716270446772,
+              -0.37579649686813354,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16486716270446772,
+              -0.37579649686813354,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16632718736212163,
+              -0.3745541845414225,
+              0.8044231240392329
+            ],
+            "closest_button": [
+              0.16484838724136347,
+              -0.37580060958862305,
+              0.7692938446998596
+            ],
+            "closest_ee_minus_button": [
+              0.0014788001207581558,
+              0.0012464250472005722,
+              0.035129279339373265
+            ],
+            "button_min_z_position": [
+              0.16484838724136347,
+              -0.37580060958862305,
+              0.7692938446998596
+            ],
+            "min_active_finger_to_button": 0.14391962578804193,
+            "closest_active_finger": [
+              0.03913329541683197,
+              -0.43682241439819336,
+              0.8105772733688354
+            ],
+            "closest_active_finger_button": [
+              0.1648698896169662,
+              -0.3757992386817932,
+              0.7762357592582703
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12573659420013422,
+              -0.061023175716400146,
+              0.034341514110565186
+            ],
+            "min_contact_pad_to_button": 0.021133497618492925,
+            "closest_contact_pad": [
+              0.16484838724136347,
+              -0.37580060958862305,
+              0.7904273423183525
+            ],
+            "closest_contact_pad_button": [
+              0.16484838724136347,
+              -0.37580060958862305,
+              0.7692938446998596
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021133497618492925
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a99054974d8d0ba2c08d033878ce159e616a376fbf99b8c35d9788c82a081c46",
+    "visual_seed": 3488748792612340733,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e70aeced74e8ea4075db115ef642fc05fa8e8e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19345695392643686,
+              0.1563184872267596,
+              1.048685652253011
+            ],
+            "current_z": 1.048685652253011,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1875790846336003,
+            "gripper_z": 1.0548292656538567,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18896835300769282,
+              0.15177268476288236,
+              1.0548292656538567
+            ],
+            "object_minus_gripper": [
+              0.0044886009187440346,
+              0.00454580246387723,
+              -0.006143613400845682
+            ],
+            "object_to_gripper_xy": 0.006388415942026794,
+            "object_to_gripper_z": -0.006143613400845682,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19345695392643686,
+              0.13221140495572328,
+              1.048685652253011
+            ],
+            "finger_b": [
+              0.1821676933700512,
+              0.1563184872267596,
+              1.048685652253011
+            ],
+            "finger_midpoint": [
+              0.18781232364824402,
+              0.14426494609124144,
+              1.048685652253011
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056446302781928415,
+              0.012053541135518153,
+              0.0
+            ],
+            "finger_gap": 0.026619519521067204,
+            "fingertip_max_gap": 0.09121885627611409,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013309759760533607,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048685652253011,
+            "object_top_z": 1.0989211332595052,
+            "finger_top_clearance": 0.05023548100649422,
+            "fingertip_min_top_clearance": 0.015070644301948282,
+            "object_projection_between_fingers": 0.8201416649352412,
+            "object_to_finger_line_xy": 0.010223743249631856,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810942813805705,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4614109324024213,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19331274080927666,
+              0.1567645061571127,
+              1.2448190206189558
+            ],
+            "held_position": [
+              0.19802543896764674,
+              0.1609084929396826,
+              1.238534405763565
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008881358807447042,
+            "max_held_gripper_dist": 0.008894389166808247,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00628461485539078,
+            "max_held_gripper_z_dist": 0.0063114048201526884,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860887957026478,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19802543896764674,
+              0.13597498853902473,
+              1.238534405763565
+            ],
+            "held_grasp_finger_b": [
+              0.1886019221995901,
+              0.1609084929396826,
+              1.238534405763565
+            ],
+            "held_grasp_midpoint": [
+              0.19331368058361842,
+              0.14844174073935368,
+              1.238534405763565
+            ],
+            "held_grasp_object_position": [
+              0.19802543896764674,
+              0.1609084929396826,
+              1.238534405763565
+            ],
+            "held_grasp_finger_gap": 0.026654874037884135,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024297653401476625,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06192658215108615,
+              -0.9979030298729022,
+              0.018831924850274406
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003937860953576634,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03698785718406755,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3195094927708299,
+              -0.3194106372162796,
+              0.8515396634607342
+            ],
+            "target_position": [
+              0.3112116378589,
+              -0.3222343220673861,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008765135040477575,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18374160747623053,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396634607342,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548372942544122,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525576049414262,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15225139039668506,
+            "release_required_pad_clearance": 0.05262788024707131,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3165175481799683,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00782078504562378,
+            "max_z_decrease": 0.00782078504562378,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512838225309969,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00782078504562378,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021191837490168702,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00782078504562378,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00782080684694981,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16691155731678003,
+              -0.3784957826137542,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16691155731678003,
+              -0.3784957826137542,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16759769715304315,
+              -0.3791629490767959,
+              0.8078076936497911
+            ],
+            "closest_button": [
+              0.1669090092182159,
+              -0.3785062134265899,
+              0.7726922035217285
+            ],
+            "closest_ee_minus_button": [
+              0.0006886879348272645,
+              -0.000656735650205964,
+              0.03511549012806259
+            ],
+            "button_min_z_position": [
+              0.1668934524059295,
+              -0.3784994184970855,
+              0.7689880728721619
+            ],
+            "min_active_finger_to_button": 0.14546932834138027,
+            "closest_active_finger": [
+              0.026389040052890778,
+              -0.36321383714675903,
+              0.8108828067779541
+            ],
+            "closest_active_finger_button": [
+              0.16691464185714722,
+              -0.37849846482276917,
+              0.7765278816223145
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14052560180425644,
+              0.015284627676010132,
+              0.03435492515563965
+            ],
+            "min_contact_pad_to_button": 0.021191837490168702,
+            "closest_contact_pad": [
+              0.1668934524059295,
+              -0.38038648134071096,
+              0.7900957248030122
+            ],
+            "closest_contact_pad_button": [
+              0.1668934524059295,
+              -0.3784994184970855,
+              0.7689880728721619
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018870628436254422,
+              0.02110765193085029
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "232c282230011f73ca4ff6e6503e512d4844ed723a6d9b4839c40c919145fdb5",
+    "visual_seed": 5300672469943480509,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac07d9ddff56874dd6014edf48c05282d430a1df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.191936760412218,
+              0.16051120929366364,
+              1.047794505924879
+            ],
+            "current_z": 1.047794505924879,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18668787870082326,
+            "gripper_z": 1.0539059167264941,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18777514585633825,
+              0.15620974600376925,
+              1.0539059167264941
+            ],
+            "object_minus_gripper": [
+              0.004161614555879739,
+              0.004301463289894392,
+              -0.006111410801615147
+            ],
+            "object_to_gripper_xy": 0.005985116719498393,
+            "object_to_gripper_z": -0.006111410801615147,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.191936760412218,
+              0.13659535120321775,
+              1.047794505924879
+            ],
+            "finger_b": [
+              0.1810432545794511,
+              0.16051120929366364,
+              1.047794505924879
+            ],
+            "finger_midpoint": [
+              0.18649000749583455,
+              0.1485532802484407,
+              1.047794505924879
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054467529163834405,
+              0.011957929045222943,
+              0.0
+            ],
+            "finger_gap": 0.026279968370050828,
+            "fingertip_max_gap": 0.09216947660853328,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013139984185025414,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047794505924879,
+            "object_top_z": 1.0984130159464067,
+            "finger_top_clearance": 0.05061851002152773,
+            "fingertip_min_top_clearance": 0.015185553006458352,
+            "object_projection_between_fingers": 0.828175272354055,
+            "object_to_finger_line_xy": 0.009913540835947107,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858473830426664,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8016001435494519,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19211458727921998,
+              0.16115271535718922,
+              1.244655956972812
+            ],
+            "held_position": [
+              0.19648853362735397,
+              0.16507727389137983,
+              1.238416833724778
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008570894075229245,
+            "max_held_gripper_dist": 0.008584638726270436,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006239123248033884,
+            "max_held_gripper_z_dist": 0.006265349834511547,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608372578865645,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19648853362735397,
+              0.14036773768368419,
+              1.238416833724778
+            ],
+            "held_grasp_finger_b": [
+              0.18739400397869477,
+              0.16507727389137983,
+              1.238416833724778
+            ],
+            "held_grasp_midpoint": [
+              0.19194126880302437,
+              0.152722505787532,
+              1.238416833724778
+            ],
+            "held_grasp_object_position": [
+              0.19648853362735397,
+              0.16507727389137983,
+              1.238416833724778
+            ],
+            "held_grasp_finger_gap": 0.026330052205222897,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024162392003294543,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05526669848704258,
+              -0.9981982836078762,
+              0.023361905757711687
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038685101323327267,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03713642944047387,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3174633755797832,
+              -0.3158678177918526,
+              0.8515395780201497
+            ],
+            "target_position": [
+              0.3104333692220581,
+              -0.31780927231122336,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007293163582454504,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.183817526727203,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395780201497,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553185276083235,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518304285373533,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520242262030498,
+            "release_required_pad_clearance": 0.05259152142686767,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24708140541136686,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007653534412384033,
+            "max_z_decrease": 0.007653534412384033,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520058364221095,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007653534412384033,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021228100690462357,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007653534412384033,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007653559742459377,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16613329946994781,
+              -0.3740707337856292,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16613329946994781,
+              -0.3740707337856292,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1680279650077836,
+              -0.37507726301626987,
+              0.8042895290952691
+            ],
+            "closest_button": [
+              0.1661139875650406,
+              -0.37407457828521723,
+              0.7691553235054016
+            ],
+            "closest_ee_minus_button": [
+              0.00191397744274302,
+              -0.0010026847310526388,
+              0.03513420558986746
+            ],
+            "button_min_z_position": [
+              0.1661139875650406,
+              -0.37407457828521723,
+              0.7691553235054016
+            ],
+            "min_active_finger_to_button": 0.14380846302626696,
+            "closest_active_finger": [
+              0.027288727462291718,
+              -0.3592205345630646,
+              0.8105106353759766
+            ],
+            "closest_active_finger_button": [
+              0.16613580286502838,
+              -0.37407463788986195,
+              0.7761344909667969
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13884707540273666,
+              0.014854103326797374,
+              0.03437614440917969
+            ],
+            "min_contact_pad_to_button": 0.021228100690462357,
+            "closest_contact_pad": [
+              0.1661139875650406,
+              -0.3762298049907848,
+              0.7902737338805226
+            ],
+            "closest_contact_pad_button": [
+              0.1661139875650406,
+              -0.37407457828521723,
+              0.7691553235054016
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002155226705567559,
+              0.021118410375120966
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098476093969262866,
+    "physical_seed": 1610928277203926360,
+    "layout_id": "layout_00029",
+    "step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "workflow_spec_digest": "4eee225456e16c4f311da827bc40a8637dba6bf7a7322d7e3e16e8c71654f016",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d1286dbc0a5c2f8f083767188bc08dde2461301659765e6fae5c786ad1f8a8c",
+    "visual_seed": 8114633938677591948,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4958422072777399816,
+      1462235376509235589,
+      5298651874515874446,
+      83620680969400301
+    ],
+    "runtime_workflow_digest": "3482631dc00dff3ec925c3d5a6c93d81de6edfcd14858cb8b0d603f506e40e12"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dfc04e5a939241b7dc0710f0ee9ab5840fc6d86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00029/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s04_pslr_htb_00029",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7b51fe3227c56677386e757718851415b7a1fc4b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c258869df60acc508ed73a6a5e1db4274ec8e3f6d170bb725c1ad4adaceea3d
+size 5776582
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f419baea02f6daa08a7a471c5c022e51f327fa33
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b88cb1441b6f0f22979b05f50f18c7c4d6c8611e20288dcbcf0f3a2b766ab218
+size 7159899
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..148f7e51b4aca2a1ad1dcef2d6d6aa1868b8a0e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0effe84a70610d77026e626c079265e40910bc0578fbb89ea610ef74ae64d8f4
+size 6141795
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e7e62a58ef29a8b28974aa5b901f61aef0706ad9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5137e68d3cce79fb97051df31bb46d8f4f252c1732cbc43a9aa82214bd01888
+size 5508817
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..719fd328b20c12d8583a2c5cf0557e40d76a8e5a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a704651e186474f52518cc98277c3337a4a6723ba3cdd2ef8f496ce170f3853b
+size 8203208
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7e987e79eeb07e78991fc8426f012bbf71f4641c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cafa69b6342b661c8a64e9b407f97920d629431f8f481244c9b0d7b240eb8ba9
+size 6128080
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8cb382d474df3355beac1a3b7e9e26b3ca890fb5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:153617ebe943da765685dc9dcb1b0ea6b395f30efe812d0d6737e79e4283094c
+size 6626887
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..68a932df374268d42a28190a404ae9fb4cee6b74
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83db12279532201e1e47bbffb051998b5a9424d3008d33b803d20eaeeed23f9d
+size 6290371
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a8b381d2a2708632346e2152d4b83cfcdd7382fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7aedc45cd5c690f8367c2e0d7648c7b0cf8414d3780236db8ece2192072561db
+size 7482566
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..91800a9a4c474c3eef5ed682c1eed070fe606f3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37315dd566d48322721ca7e44be34d99fa0ea7b335a9d002fdd5a5ab1e7e8a0e
+size 5275983
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6590f32a07f9e3c3f96645eba3970cbc421967ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d706b7534a5411b5bb806ff3d5adeb416b168604ef7e55a9052e2a750a5286b
+size 5471035
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..42d039d6bc962a89d1bcd4b8c679800e22d3dda3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68a31009ce7b13c027e1ff08c7eb9f1a38fd652d5f1db14310315f900add7c81
+size 7410075
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bae1f1fdaa79cf89d3192932d40e5197ecc5bfa9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5845ea8d01867b62c5d5a2281408852670e533002441fa043795a832f2e53a16
+size 8327497
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a0973a3649a10ef9405a76f43585ee8c18e8651d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d35a25b49661c1d564082368b92e74c44d2c7a0026e2f6ca92ba2b662d77d8f4
+size 5599936
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b900dcbe5c9cbb17395dcf2c5a755941ccf9dc8e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:814c3d3fa2574670855e430e1c530845280d43b93b52604527145cbde5cba8d9
+size 6393985
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0504e4cba82322a7f081d6cd13378afd5e39801f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2745469f85e4aecfeab4209bcff7a49f08e9a290079ce437c74dbed190f37ab9
+size 4721977
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..759581c1aa0c7c5ab3e71de34d636bb629db21ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:300e43a9b6fee49d150bfb2defd3f4e8b0b4482da7e754bbfbe6080f0332eed6
+size 6125217
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6d167debdd5b9ad8538967fdbe50c1488a0af394
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:746a75db095dddb02985fb73f5fc0de732560cd7b39598e7a78770f3399d79bd
+size 5937019
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ea68558c3f1a2740faff931dfb3a595b35ec7a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:710c9be33901e5f26e5b4b83b29f8b2e2e3771efec7d546c3f360f1cbeb429a4
+size 6875524
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..922ea6beddb0f83ebd774822edca855545527e99
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:100ca8a8eab4e07ef1f687e6ed0ffc7107ff3cad229593113c0b8b57c3613b0b
+size 6250820
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..258b09bf00a584fdf7209292b0fb8f0f43853de8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cec1ecb76fb0c1ea95dd2852f0b9bffa0a7fb8a8b05c50dfd0bda6c85c0edb7
+size 5236859
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d469a8fd5e7d0148ad4f8f590caa5dae847aa80e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8085fe1e79f5b9b09b8841fa445c94e46598ca4b66a8571417f6f664eb297143
+size 5289188
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9afea3ba0f0b789985669ea0fd5adca3e069414f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06935f76972efc13708c666195f4b1dc130f0b87b5b9194972407255690962a3
+size 8764866
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9e9c1499fcddb6645636a8e5c4c3ec4a9154e492
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:984cc3521b7452720f34a82420126a9eb8f778f705f3b4b9478ad78bee92384f
+size 5300459
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eeb22439ff62f5b74c1572066af9ac98312b8fec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:930a45ba3357ec7c816e7724d9d1dbdb5f05c1bb2a20de8c7b5b7c476d12cc9a
+size 4930374
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..37842e0dd88c1f0d19a906d8d0c9e18a5190c098
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c67e65a4fb8659990d7e174dedf62236d5572a9e22146f57bb5f3d943397a6a
+size 5842919
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af7cc39f41628a406a0bbcb2977cbda426a09c5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2dcdcbc752f3ad955754b263221b49737c67ec9e1bff6a5adb2e68a0eb7a4e7
+size 5420783
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..40f338247448ddf9c5d195a20bd4ac2bc4326734
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25c6e2e27fe8c1bac254a9e5c3b1b2a4a4e605cda0e91aaf92ab8bc6436e02df
+size 5436438
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2b6923d7d779b73fd8f4a643c039f26e47432ba1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9896c36d9cedc712b263010660987134c608348853b309a21087208c2c1bef
+size 8838777
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..362b6e56da374521922de5de520a39d8534bec3a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af132a51c3a883bbce9cf06c3251950ea968003ee6c95ff73254b584fb730192
+size 5583644
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af1ea038d57ee8faa5b3eda0208b432c3eab6c66
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:172867406c0cb7fb0120af59d9c9b8567e47c7e8bc615776fe67a6d6379c756d
+size 5867723
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..816c05970e70306fc76b12631ec02fcf0b24a6cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2472fa8b443a0638ef1551ff79acedd563a67f8c0b159362ecdb071deab839a
+size 5151005
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9f3a03d7a6c843792f92f4ac87e400bcf0ad9d39
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fbc0234802c37a1ad40a2427e3da84205233605f9defe1ac700636b17e0a99c
+size 5901187
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..26d0c698318b6361d56f4a42fd016037aa2be38e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c9c6789a52552be1144eae5fb7d4320c98639dff0c3284f9c5b71c51f55838f
+size 7047186
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..646500ae4ac969de90031aa452fa0b4911c29dca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a602f6886f08de348fecb2d4979b488b6efd60d647cffa43933dfd2e687472fb
+size 6276017
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f1e6f4e52ceebef0db9666ed60e99db2d3540ecb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37918876de9aca1805492d3eb97ab96eeca6e75c5e89d30ffbb403012ebb06e2
+size 5899466
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a568a9e188d0d9e742143307d7ae74f56dcf18c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e81f465322d4fb9af5988b3c9e28f2aff0701717869f8f643b6d2f6608ee27a
+size 7132151
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c9a96aeb9e7b56c20fcf03b4000be2ff1409c8ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51fac1d400c782c6e78f96f05159f32fe1ea183a56ee8bcafac59e8899dd798b
+size 6030591
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ec97cc56bae0528adadde01e1871df56e507abd6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09a73fd9312ee8ca1c5db8462be3374355f1b4ae4a4405d1a0b4f0a5e2fb613b
+size 6671835
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5effa8bdbbe92200ee7bd5f4a098385e6a21c820
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21aa69cf3de0a6ae6f5a04c648ca939008e3f2ac7cb169ff7e00da65c31c33e5
+size 6355198
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b6347696674158a59e380ebde451b904c40d176e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b353cef74e6484bc6d0073f7e4248127056ed22adbbd7272ecbc8d1cb6ab8e4b
+size 5748842
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c1af56909d3b6a31a45c1da27377f41e42886fce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03a68ea64494421041e9a224665ef99e3e5499606b890e53a7963f78405f6ead
+size 7645174
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..69200383288f19cfbc17fec0ab67ff5974dbba57
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d23d95c1e4274e56b82b20916d66ba31dc73b499258f5e54b5c43969a6d240f
+size 6062163
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..001db5530025e3cf32c9fe392808c83d7973bc96
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc2645666c6d99591541a355935d934dff8d3333ca26f1db6ca473fcf5d1fa7
+size 6893642
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c906ba41f43704f144782caf5c2f4f654c1eb455
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8dc8df2f64c9f839c17b03b7db0f4476e81e08a40658d0bead2f7203910471d
+size 6976684
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9369c4942df0ba88916915d4b1a30a5a7014858d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34d2ef8e83985195b876719b5062d93e970c69d5808e104f96fbd1d8f5f6f09c
+size 6734100
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..312f706746648f79eeda487fb725ab45aa0c2df1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24a6497c0a37dd67636400ffd659f2607684c134d184604eb4118b3db04311ec
+size 6102171
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..27a768b586e38b6ab3ef08c47a3082d2b2be239f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33d5ba4a2c9a9169956de999555c950ed28d4874199325bb4cbd7230fe9beb46
+size 5766587
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60dcecb8df7cb982b1c1a39f2fb532147fd42bc4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a90b6f057bf1b8a4789f98626a2c43f6b1fb5306f33825be42f26a3b2dca533
+size 6414501
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0dc07f1669b3208d9ff78001c3b2020cc41751ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e71cfd426a104ec13b151b83733ecd7db29e85ec252be3ad06db66c149904ca
+size 6922216
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8ce19bf939df9acca36a87620deec0de260f5a5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f8a3a9d8f01b6cf2d253d4245a5281e91adcac78c5130ac3ed7ef89e475e205
+size 5134229
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a45fa5df3e0e4e2bc66b3ba5aba1e8606241d646
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24fefe9ce6bcde2c26b24fd2523bb361d7d5438b02aaddecccdd5fc2cadeab31
+size 7880059
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af53af4be225d05fd0ba215ac91555a098ed4328
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd66c7672d8bd932b155cd30820058d14191c78e9bd8bfce694f984d5af7c9c9
+size 6615996
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9b4944a80adbda89b9e97de18b79dbf3f6449309
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb64e8417bdc933cb11fed3af9faab49bb88100dad2d75c181c3faea7531e36
+size 6347158
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..67afb15f94197c50997f39f7bf46f0c43aff5ada
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07a72a7709180f927cf44e661061736da2bdc4ebfc220a108ae2b1e16434110e
+size 6493899
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..14bc99074bdb26375bb9bc01b7755f3bb120822e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:356f7bd4644ab1720e58ea193935f82d3c24e1f87c00edf936998659c3cd7b27
+size 5816392
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a570d7948d4dcb8829619b924e02e09721f36993
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ec3a225ef1ed956030cfb1f92551fc755f8e2ce9a443dc5a7e57be1c89d87be
+size 7104013
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2b7d76e4a22852fe29e6bfe098b7d23733146a20
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:009d2bd444c8f0d2ae3353e3cf45312e9ccf088e5bb78421bd0ce6273008054e
+size 5148035
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f31894e9d0f4bd223bef8187dd6f16e2ec7ef3ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c26f989a7b50211045f7982989aba7c71e8fa93de897a12facbc72bd39070ee0
+size 5786214
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8fce3b1a0ccbe50cc3e9acb6410b9b6f2344379d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e2680c3f369955d451f1eb1c3c84edac8775d29cbae44f44344e97dd4699376
+size 5879044
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..285ba8c47a2c4fd58c32ee531f39b31ed034fec6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc3ee1832e46013cd8dd2558784515006f55b8cb4a4a7064e72b88711caae651
+size 7018798
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8748e0e05c7cab5d13da5c07bab8ef84304a3daa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8dc78f18e7c4406ac015e89ff7347710dc8e8f16a70603b7d6d3f944f884b65
+size 7250870
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..198411e62ebca7d440734200a19eb5ac0994dc22
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a59cd74c16eca4662a2e43aaa0c7c1d817d17ffe98c549775f3d0c5742eb601
+size 6625587
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d73a2ee5ad091698e52945f231c08189aa282a8f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c51effa714bc42dda766c1995090bf17a95c0cf83052c80b2f93d044b755425
+size 6202880
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c4dfd13d55c03fbd3d5a6be705cdcba2c9b122d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7a27b603b7ce0360188569da08a6d2b5d40989552868420cd133f00752b9624
+size 5028250
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1072aaf79e247ce60645f3220bb31d093ab4c0c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:985e35cb2d813186f70d12210af47c42a02519425bd74bc9e29ed9755ec4de43
+size 6481783
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a2adc88d03034cae90901d28c40aaca6ea39f43d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:529257521edffde755140b893eda64cfd0dde01856546950946ba40cac80e10c
+size 5784836
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..83d171c9127594f527d76cae6d61cd99f211ddea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb2cdf61b28cb86465c0539a5a8d563ab52e082616fedec7532d4b43b1b8dd5e
+size 5754475
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cfc89b97e6b9adfd3ded85af82e1dee79a3c1c9e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5952c880a5182227cd3a10b5e3b58ab3fa8ef9661e3624399dea32a74bcdaa55
+size 6091632
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6226508f20045e63c2d8379ac2a221f4bb49f6dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:494e6cdac31f5f632c7a632376e06906f635647bf8cf5e218f57e793f5ac376f
+size 5758841
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..47422272e66738bc86a650fa227a83dc58a4efa2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ac7504ae2c610b77ac8460596dd58c4aab9aca3d5acd29e29097c65b4ba4f9f
+size 5819406
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a0ceb7e4acad107966b2e19487c86f25d95424ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cd10f321f6cd9cc65bcb51362cea652637baf4eb7783956cdd0b7e23df7358b
+size 5952225
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2bd5d6768df7fd7271580498cba5e5f15c622ad3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ecbfe8b3ed7e98c775b91d901ad9b240a28f20a81cfac6f75a019b4bbb7dc4d
+size 6906577
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..afc2327333fbb89604df657e1470b650ccdbc8da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4dec5b86295e4ac2cce97542cbfc2d929cb2c1e2cce261d492218ef5532c972
+size 6226579
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e1b664aa71a1edd271c80e74a5cdb8e73a07decb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9d02e91854a402346730e96f46d2f116e33400f3143ad5c37fcc53a8de76c58
+size 5246479
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e39fcd4993ffa0a467bd08fbc22c570182525bf4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de4b9d16bbb524075fe43ef567dbb0ebe80a3cbbd9a7529b097c28e4df4e466
+size 6386832
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ecfe2e3b22d6b938e44f658411159a1b25927763
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dec830196180a1328ea4684ff1c7bbdb1ecbe1e5a1ba14ff35f52ec63f7380b
+size 5481803
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..717c37dfe853b88bea718ebebbacb57e30c4516e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9866cb80eea63f7a5036c1f06afc6f81a90f3758fe0db1649a505c13ec77f01
+size 6899522
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5dc9709e93d9c24893cf672575feab56e129d459
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8404572a0a7cf632054aec15e390c7c4891b48ac3a0fe8ce87e426807a5818a
+size 7470682
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f6dbf2d9d2dce1ef061b55a03d8dff288f47be08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:226bfaa371c7eb5889da21d99dbb57f733f1d02b503890e4f8989051de445c67
+size 7324612
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6e952c85b1604e18be5a8c1a47a7709040094735
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c494c833b095554eb6e46f20482282071d67534aa609d17ff40fbc2617e6fe0
+size 6196189
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..65a6c7b937fb9dfc26ac253052bc26e4d27ade2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d517ff1f40bb47d113e8fb621feeae133e305a77c1f1405fca45089f6af1cdec
+size 5991956
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..50435712f93a776e2725d59cfd5299745bf5b0f9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:808ce0fda9b2830b311a9364125e303537c3effcd74ae05acce4f569a54cbf41
+size 6377720
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0101.h5
new file mode 100644
index 0000000000000000000000000000000000000000..980b28949192ac1617b72bc7ac4450ece0333389
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0101.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:018d4a9b6332b2fc2aebcdbcb5f5c58914019fd353dc084f9096a2e70c6c45d2
+size 6437726
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0102.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0102.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dd64fb29de8c0efbcc46ceeb1f6509aec21080bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0102.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d9e6a6a0c64954732ba09f3fabca0eb6460ad7fdd275ad7c49f359ef3acd852
+size 7316496
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0103.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0103.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f7c568c90d37e8be67123ab1ca1570ec45d320bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0103.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c21711d6552fdd4db23b2cc708ef4f230ef889c37d0de6e5fcdea764209c1c8d
+size 5850641
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0104.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0104.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7af8832560525fa8162464ea3a91251f3d47322a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0104.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc306aac6f771b3b704155bec3c1c39481948c9c13d0f1221376babed79e1a81
+size 5926694
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0105.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0105.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a1df302efbc3dc905ae0772ac2fb9849ec22667c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0105.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5144afbec610f50e586983857112955af42617fd09d99ea1151143aa94d3521
+size 6214185
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0107.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0107.h5
new file mode 100644
index 0000000000000000000000000000000000000000..57a5a09b2dc7c872cb37a0419773213e72c4a992
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0107.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0975d3d742c8df9ffaf7b5726010b80968fd197fc8afb5a653b6c56d1e90ade1
+size 7198710
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0108.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0108.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f3112d905062b1c66a359d86e7945364f049603c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0108.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f590bdc8507162c1652d976047aa12cae784634f7412b70183c3fdd834139135
+size 5340957
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0109.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0109.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7936b0eb767b732a230aa99384a954a13fd4dfc1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0109.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bda13c091c2b1911cf4addf6306951aa9b9c64eb35ecf974a58bc9a2ba7ab2a
+size 6388601
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0111.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0111.h5
new file mode 100644
index 0000000000000000000000000000000000000000..51dfda15a24238c29e16477a42104fe3c27218a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0111.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35d3489649ecbc5161add12cbc2a81d3d55ce792d965bc13c6bec9313ecada03
+size 6437380
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0112.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0112.h5
new file mode 100644
index 0000000000000000000000000000000000000000..793854045b427d425f022d5dc4a1d31e12cd2d12
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0112.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5567a79e771f708691ee47beed1964cba8636d833e3d734096764f0fff98005e
+size 5420970
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0113.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0113.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fe42f84a304e6702629ab88dcdfc5b703204b4fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0113.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97be4e0fe7bdb7796849a659b13c470f9d8a454acb6de06b23da4ffaba982bdd
+size 5889202
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0115.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0115.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9ce22cf9763d9151fa0e13ca90f36a9b807f72b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0115.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bf3092f8b375c94ecbf272fccd3b415a5e55a03cdbe1a13ef3e2c3d6c6213ec
+size 6129108
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0116.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0116.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b015e01505035468e2e5ad7c11dc6a018e545fb9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0116.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c88780073a0f51ef4514f73fad0e783a935e61653dabc1c2236be4ea0da6ff8
+size 7240409
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0117.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0117.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4234b7537a123dfdf9d599f03d1891e1db3b9223
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0117.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5f2ee76d1f505e7aa49cd537949d4319f584a641aaca119c932be8690f64080
+size 5521848
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0118.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0118.h5
new file mode 100644
index 0000000000000000000000000000000000000000..142243345442dd4d2778a8658f7b18444d324b85
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0118.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c1176fbe62e5712075eacf6707e03e240bfce4079b68ca55795ec286fd23f2f
+size 7737520
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0120.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0120.h5
new file mode 100644
index 0000000000000000000000000000000000000000..04d0e349be7c1fdcac16fbedd5b041008eca62c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0120.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94bba70c9ccd6ef02e588bb75d5627667b5a27318bc62d9bbbfa0aac398d82b
+size 8334357
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0121.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0121.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c97e7c552ffe4fa98ebf6b0764c82de285e72237
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0121.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0bdfd44965cfb0492e4c854cf80e5135236fb30aaafa95ad3df07e728f85047e
+size 5393793
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..75d2f41be90ca42945b69a56ae2281fbc4133549
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":102,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":105,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":107,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":109,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":111,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":112,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":113,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":115,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":116,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":117,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":118,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
+{"episode_index":120,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":121,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1131,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8fda4615bb20bffc79aeb6dd36adbad63b7b930e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-05T00:09:42","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.5798808859283379,-0.8197193793989535,0.71338606911949],"aabb_xy":[[-0.639880886179739,-0.874000704435418],[-0.5198808856769367,-0.7654380543624887]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.022205586486273576,-2.0981889383551247,0.71338606911949],"aabb_xy":[[-0.0862055867602518,-2.1482550385524126],[0.041794413787704654,-2.0481228381578367]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[-0.3797092244145543,1.0425531708204643,0.71338606911949],"aabb_xy":[[-0.404255440037305,1.0123042742714272],[-0.35516300879180357,1.0728020673695013]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.27365954778763874,0.2182955405764333,0.71338606911949],"aabb_xy":[[-0.29615954760154106,0.21382092420595258],[-0.2511595479737363,0.22277015694691396]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.5711049643798112,-0.7602667339545282,0.71338606911949],"aabb_xy":[[0.5361049644033153,-0.7697313500021449],[0.606104964356307,-0.7508021179069116]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[-0.164425167075547,0.2885732438308999,0.71338606911949],"aabb_xy":[[-0.18692430280177397,0.26607324305263685],[-0.14192603134932003,0.3110732446091628]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[0.11321928492003197,-0.8518326881543767,0.71338606911949],"aabb_xy":[[0.05821928574344247,-0.9068223629293342],[0.16821928409662146,-0.7968430133794189]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.34709849708527285,-0.4935810819466888,0.71338606911949],"aabb_xy":[[0.3120984971892539,-0.5019553174586288],[0.38209849698129167,-0.48520684643474893]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[0.029794525445122066,0.8019429132860285,0.71338606911949],"aabb_xy":[[-0.02020547320079913,0.752023369626566],[0.07979452409104326,0.8518624569454908]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[-0.26407474286751464,1.1997372591354316,0.71338606911949],"aabb_xy":[[-0.277225988838804,1.1747372593787453],[-0.2509234968962253,1.2247372588921184]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[-0.6509441518934972,-2.002194300687641,0.71338606911949],"aabb_xy":[[-0.6610258589720706,-2.082194298579755],[-0.6408624448149236,-1.9221943027955257]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.5547056043126337,1.7371973255367377,0.71338606911949],"aabb_xy":[[-0.5729114279738814,1.726171924954746],[-0.536499780651386,1.7482227261187293]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[-0.29674150760034274,-1.8528139944103819,0.71338606911949],"aabb_xy":[[-0.3310577847749607,-1.9028139943835596],[-0.2624252304257248,-1.8028139944372041]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[0.2695071596033386,0.7214211582864567,0.71338606911949],"aabb_xy":[[0.20550715738293163,0.6770480741611684],[0.3335071618237457,0.765794242411745]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.4493792225035124,-0.05110504646482905,0.71338606911949],"aabb_xy":[[-0.49935663936876595,-0.10110504795407758],[-0.3994018056382588,-0.0011050449755805045]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.24601271285755488,-1.9314093928287615,0.71338606911949],"aabb_xy":[[0.2301282195922297,-1.9457623331275857],[0.26189720612288003,-1.9170564525299376]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.20262095009525677,-0.6266976926749477,0.71338606911949],"aabb_xy":[[-0.282614773673815,-0.7066976952677892],[-0.12262712651669855,-0.5466976900821061]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[0.6297089006604633,0.3661847657958548,0.71338606911949],"aabb_xy":[[0.5922089022370628,0.3530205518280241],[0.6672088990838635,0.37934897976368537]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[-0.4124307804878597,1.5024009590071326,0.71338606911949],"aabb_xy":[[-0.44743078183934143,1.482041223050312],[-0.37743077913637796,1.5227606949639536]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.26704549348063344,0.6066100614451169,0.71338606911949],"aabb_xy":[[0.24793318612265458,0.5874752825678748],[0.2861578008386123,0.6257448403223589]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.09919851152750325,-2.089154766111351,0.71338606911949],"aabb_xy":[[0.08783677687421708,-2.100523232517639],[0.1105602461807894,-2.077786299705063]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[-0.6376574887695086,-1.6559948294037823,0.71338606911949],"aabb_xy":[[-0.6452817568596868,-1.6636280529403262],[-0.6300332206793303,-1.6483616058672388]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[0.08900752831278391,-1.5307131252668542,0.71338606911949],"aabb_xy":[[-0.000992468188087833,-1.5766247676853122],[0.17900752481365567,-1.4848014828483957]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6946315727395366,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3260.png","name":"3260"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3260.png","name":"3260"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5991.png","name":"5991"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4178.png","name":"4178"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1794.png","name":"1794"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":633.023676692789,"rotation_z_degrees":14.12522016695072,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010995319904006911,0.01675685647485046,0.019142020125560735]},{"name":"camera_2","offset_m":[-0.006082568565482531,0.009219326221620371,0.019053234557929805]},{"name":"camera_3","offset_m":[-0.0046458119360492,0.010843643224385881,0.015237895468597103]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013949090572391606,-0.0003691161716531312,0.0015311162018207397],"end_effector_yaw_offset_degrees":0.3509602131775704},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-6.076946085369159e-06,0.0009244869079838456,0.0015886718592372905],"end_effector_yaw_offset_degrees":0.8858366754964755},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008949815538062812,-0.001977535244359884,0.0017911719569808993],"end_effector_yaw_offset_degrees":0.711016154249619},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006356263178062612,-0.0012661229724834234,-0.0009521486123323154],"end_effector_yaw_offset_degrees":-0.04979497391391319}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004742636064229607,-0.0009917010790645563],"position_m":[0.28364263606422957,-0.11869170107906456,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003341094658219117,0.0025654969693283073],"position_m":[0.2231589053417809,-0.4066345030306717,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002891672753709838,0.00286228829441127],"position_m":[0.35549167275370985,0.06886228829441127,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00029329695056296446,0.0037659425307291104],"position_m":[0.34249329695056296,0.3276659425307291,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"11d0b7b8b954667b6c8f7ab8cf725b805a2e2c97185f50205b14b5b6b43df8b9","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3260/tex_ceiling_textures_1794/tex_floor_textures_9846/tex_table_textures_5991/tex_wall_textures_4178","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7123886026872123847,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7123886026872123847,"visual_seed":7123886026872123847,"scene_id":"lab_003","finished_at":"2026-09-05T00:12:41"}
+{"episode_id":"ep_000001","started_at":"2026-09-05T00:12:47","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[0.07157542838822817,-1.8214102235122849,0.71338606911949],"aabb_xy":[[0.0075754281277573545,-1.8664190228652129],[0.13557542864869895,-1.7764014241593569]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[-0.25276148175351715,-2.0484077997336674,0.71338606911949],"aabb_xy":[[-0.2703943173470447,-2.06603074574929],[-0.2351286461599896,-2.030784853718044]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.2688134672678864,-1.276056326295631,0.71338606911949],"aabb_xy":[[-0.30381346639784207,-1.281801547371295],[-0.23381346813793075,-1.2703111052199667]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[0.20742424099216017,-2.5059071043380894,0.71338606911949],"aabb_xy":[[0.16992424241653936,-2.5186434000016478],[0.24492423956778098,-2.493170808674532]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[0.27302571983749935,-2.2261031239153164,0.71338606911949],"aabb_xy":[[0.1830257233366275,-2.2720147663337746],[0.363025716338371,-2.180191481496858]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.4937214584056721,0.5760617391121561,0.71338606911949],"aabb_xy":[[-0.5637214600079516,0.5626289459104985],[-0.4237214568033927,0.5894945323138137]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[0.01563360025185323,1.0971184323903356,0.71338606911949],"aabb_xy":[[0.010301085597240245,1.0917941041451],[0.020966114906466216,1.1024427606355711]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.5703938671600814,-1.0406554357248652,0.71338606911949],"aabb_xy":[[0.5127633982728105,-1.1006554346515756],[0.6280243360473522,-0.9806554367981544]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.11887436570465548,-2.0711004963363866,0.71338606911949],"aabb_xy":[[-0.14387436525639397,-2.0812429802015213],[-0.093874366152917,-2.060958012471252]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[0.38682225580008667,1.431856132678154,0.71338606911949],"aabb_xy":[[0.3228222584977402,1.3874897057102973],[0.450822253102433,1.4762225596460108]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.26115093126183947,-0.48062691823033266,0.71338606911949],"aabb_xy":[[-0.27402283476277955,-0.5606269186441688],[-0.2482790277608993,-0.4006269178164965]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[0.4010513769824451,-0.3056569189063576,0.71338606911949],"aabb_xy":[[0.3950143639817804,-0.3116836199753058],[0.40708838998310987,-0.2996302178374094]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[0.5915103124276935,-0.6916928962807145,0.71338606911949],"aabb_xy":[[0.5415370184244329,-0.7416928968352619],[0.6414836064309538,-0.6416928957261672]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.30982811462008897,-1.7195344019997028,0.71338606911949],"aabb_xy":[[0.2458281153259207,-1.7835205423685567],[0.37382811391425713,-1.6555482616308483]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.38162846070016543,1.0220225510572454,0.71338606911949],"aabb_xy":[[0.3735851007742102,0.937022549961879],[0.38967182062612055,1.1070225521526118]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.46998248598727255,1.6835445654557302,0.71338606911949],"aabb_xy":[[0.44992407437403226,1.6634794785465727],[0.49004089760051284,1.7036096523648876]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[0.041585502749806325,-1.193217061560799,0.71338606911949],"aabb_xy":[[0.0343242551793989,-1.2060040718243086],[0.04884675032021373,-1.1804300512972896]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.2891838176244373,1.3252268216265843,0.71338606911949],"aabb_xy":[[-0.2971070978631856,1.3027268213885812],[-0.28126053738568896,1.347726821864588]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.36358816275693034,1.1532948231293,0.71338606911949],"aabb_xy":[[-0.4485881611743536,1.0684205276670153],[-0.2785881643395071,1.2381691185915853]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.39558370975509777,-0.03327875012913273,0.71338606911949],"aabb_xy":[[-0.4028274758013431,-0.1132787483327351],[-0.38833994370885244,0.046721248074469646]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.22588796854583393,-1.9186366456934145,0.71338606911949],"aabb_xy":[[0.20205175090522887,-2.0086366465019014],[0.249724186186439,-1.8286366448849285]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[-0.06555972318694359,1.1745454654783045,0.71338606911949],"aabb_xy":[[-0.06926298451608244,1.1708434471695865],[-0.06185646185780471,1.178247483787022]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_22","position":[-0.24545393562145978,-0.19972762470291716,0.71338606911949],"aabb_xy":[[-0.3094539363249291,-0.2457460071758382],[-0.18145393491799042,-0.15370924222999616]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.691567506595502,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/605.png","name":"605"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/605.png","name":"605"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9569.png","name":"9569"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2765.png","name":"2765"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1115.png","name":"1115"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4214.png","name":"4214"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":583.65385475634,"rotation_z_degrees":98.36317991370652,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006970811477241455,0.01780267108873731,0.019428259996264307]},{"name":"camera_2","offset_m":[-0.008072537074164159,0.019178451558326582,0.019476026242627006]},{"name":"camera_3","offset_m":[0.014179693724885655,0.010251875893366645,0.014536142257334694]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001268988339842542,-0.0017369736485387413,0.001972061342008843],"end_effector_yaw_offset_degrees":0.9373916016979436},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010810303980797289,0.0010482728051876508,0.001352377773212495],"end_effector_yaw_offset_degrees":0.47931514392582386},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003505740867145795,0.001315014314974747,0.0017912962410929429],"end_effector_yaw_offset_degrees":0.9446789770032702},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000782972177810954,-0.0019307691462603352,-0.0003905074964618675],"end_effector_yaw_offset_degrees":0.036875199841634565}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021075724841002697,0.0001463442232666947],"position_m":[0.28100757248410024,-0.11755365577673331,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010570262325720467,-0.00397567627911373],"position_m":[0.22755702623257204,-0.4131756762791137,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028133300783186976,0.004880606048382321],"position_m":[0.34978666992168134,0.07088060604838232,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004445867732349937,-0.003069494389568549],"position_m":[0.342644586773235,0.32083050561043147,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f6696b88fc0f5e8559995faa43f1108e574c59b2a184ad7c08433cc3fc3a7dbd","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_605/tex_ceiling_textures_4214/tex_floor_textures_1115/tex_table_textures_9569/tex_wall_textures_2765","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1507249241192465013,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1507249241192465013,"visual_seed":1507249241192465013,"scene_id":"lab_003","finished_at":"2026-09-05T00:16:10"}
+{"episode_id":"ep_000002","started_at":"2026-09-05T00:16:14","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[-0.4097699879981947,-2.4652487416031534,0.71338606911949],"aabb_xy":[[-0.4737699853005411,-2.50961516857101],[-0.3457699906958483,-2.4208823146352967]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[-0.009550522471347245,1.6533580954778837,0.71338606911949],"aabb_xy":[[-0.020323496392715024,1.6183580972588445],[0.0012224514500205341,1.6883580936969225]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.11531473576869478,-2.5109064772108995,0.71338606911949],"aabb_xy":[[-0.17531473741161663,-2.5629066265028437],[-0.05531473412577291,-2.4589063279189554]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[0.3435756168390951,0.8867709383428832,0.71338606911949],"aabb_xy":[[0.3092787058213544,0.8524740521329419],[0.37787252785683567,0.9210678245528245]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[0.23731909890714808,-1.083171104667751,0.71338606911949],"aabb_xy":[[0.1773190986557469,-1.1374524297042157],[0.29731909915854926,-1.0288897796312864]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[-0.5941878337880808,-1.1061425699204905,0.71338606911949],"aabb_xy":[[-0.6491615558244137,-1.1611425694847237],[-0.5392141117517479,-1.0511425703562574]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[0.5271044648852328,-0.5648550838479776,0.71338606911949],"aabb_xy":[[0.477624043671274,-0.6288550817608295],[0.5765848860991916,-0.5008550859351258]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[-0.3998643441346017,1.8050408770250441,0.71338606911949],"aabb_xy":[[-0.41807016779584943,1.7940154764430523],[-0.3816585204733541,1.8160662776070355]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.4300777325645389,-1.8238684894873787,0.71338606911949],"aabb_xy":[[-0.4778839001783075,-1.8888684921944374],[-0.3822715649507702,-1.7588684867803195]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.27880124867712525,1.3628701645581223,0.71338606911949],"aabb_xy":[[-0.2868446086030804,1.2778701634627558],[-0.2707578887511701,1.4478701656534887]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[-0.25148116914969343,-2.2052754862890067,0.71338606911949],"aabb_xy":[[-0.30647438048683023,-2.2602754866278003],[-0.19648795781255673,-2.150275485950213]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[0.21754905484779286,0.6367080781092374,0.71338606911949],"aabb_xy":[[0.20630399927717502,0.625466280385142],[0.2287941104184107,0.6479498758333325]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.16282209012350157,0.7372380797013167,0.71338606911949],"aabb_xy":[[-0.2428220933875147,0.7236780473924034],[-0.08282208685948844,0.7507981120102301]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.6429976079659295,-0.20564225582618256,0.71338606911949],"aabb_xy":[[-0.6804976063893298,-0.2188064697940132],[-0.6054976095425291,-0.19247804185835193]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.05733585832607724,-1.5256110205759423,0.71338606911949],"aabb_xy":[[0.022744775472032016,-1.5906110208609734],[0.09192694118012244,-1.4606110202909113]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.01033404263013149,-0.9543488092957857,0.71338606911949],"aabb_xy":[[-0.06533404180672098,-1.0093384840707433],[0.044665956546458,-0.899359134520828]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.29362656171645485,1.6704845625355245,0.71338606911949],"aabb_xy":[[-0.31612656153035723,1.6660099461650437],[-0.27112656190255247,1.6749591789060052]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[-0.12013524618372029,-1.9872298377239637,0.71338606911949],"aabb_xy":[[-0.14141325432719254,-2.0522298400500367],[-0.09885723804024803,-1.9222298353978906]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[0.032962541493319786,-2.0221514208738647,0.71338606911949],"aabb_xy":[[-0.0020374576366358824,-2.027896641949529],[0.06796254062327545,-2.0164061997982006]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.33144358207986885,-0.44678967535875014,0.71338606911949],"aabb_xy":[[-0.35394358232338424,-0.4589943100185221],[-0.30894358183635345,-0.4345850406989782]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.41981986838729657,-0.6074441012096217,0.71338606911949],"aabb_xy":[[-0.4838198716770047,-0.6507790202135392],[-0.35581986509758845,-0.5641091822057039]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.24877668596409486,-1.5664881692641328,0.71338606911949],"aabb_xy":[[-0.32877668462098086,-1.5809930281883955],[-0.16877668730720885,-1.5519833103398701]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_22","position":[0.4218390086663639,0.40895354732973965,0.71338606911949],"aabb_xy":[[0.40839248203232054,0.39548369567664843],[0.4352855353004072,0.4224233989828309]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.4012177449180556,0.8488511561847956,0.71338606911949],"aabb_xy":[[-0.43465792011407517,0.8154075303538654],[-0.36777756972203596,0.8822947820157255]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_24","position":[-0.08538911820627504,1.135782209298846,0.71338606911949],"aabb_xy":[[-0.08981974756111523,1.1303338375641638],[-0.08095848885143488,1.1412305810335288]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[-0.38844282430549243,-1.2541370909394074,0.71338606911949],"aabb_xy":[[-0.45244282621783477,-1.3100482401974178],[-0.3244428223931501,-1.198225941681397]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909379587468666,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6367.png","name":"6367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6367.png","name":"6367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5059.png","name":"5059"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4279.png","name":"4279"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1397.png","name":"1397"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3280.png","name":"3280"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":811.9525954780433,"rotation_z_degrees":286.62406045009266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015170265288298939,0.0004839263479279529,-0.018628706488060923]},{"name":"camera_2","offset_m":[0.0041003388739064665,-0.003500554367906302,0.011356949124007466]},{"name":"camera_3","offset_m":[-0.002737846313570748,-0.019877085878493964,0.0037317535570646453]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012810431940424004,0.0017195075338582444,-0.0006394321836290543],"end_effector_yaw_offset_degrees":-0.40750053165699773},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012492966143488838,-0.0006246600736948271,0.0014370633085957884],"end_effector_yaw_offset_degrees":0.049910658651456385},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001433105446768623,0.00011988005089653671,0.0008555820246816562],"end_effector_yaw_offset_degrees":-0.9331157364779938},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010823949179839883,0.000781065673361453,0.0015829339876389614],"end_effector_yaw_offset_degrees":-0.21020539638420144}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000751000125147787,-0.004776706669445961],"position_m":[0.2781489998748522,-0.12247670666944596,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033166959586992373,-0.0007446051111551603],"position_m":[0.22318330404130077,-0.40994460511115516,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036335072626540333,0.0006035615461654383],"position_m":[0.348966492737346,0.06660356154616544,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004030122115293548,0.004009514075267334],"position_m":[0.3381698778847065,0.32790951407526736,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"097689c1d28737ce55b13f394ce6fabf07c4631c9ab2047163386bc2c7307a96","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0002.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6367/tex_ceiling_textures_3280/tex_floor_textures_1397/tex_table_textures_5059/tex_wall_textures_4279","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8940276842285359918,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8940276842285359918,"visual_seed":8940276842285359918,"scene_id":"lab_003","finished_at":"2026-09-05T00:19:37"}
+{"episode_id":"ep_000003","started_at":"2026-09-05T00:19:41","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_0","position":[0.5669771321594288,-2.406519397834236,0.71338606911949],"aabb_xy":[[0.5119848815239179,-2.4615193995775493],[0.6219693827949397,-2.3515193960909238]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.42294952326308377,-0.8864715530580798,0.71338606911949],"aabb_xy":[[0.40045038753685674,-0.9089715538363428],[0.4454486589893107,-0.8639715522798168]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[-0.6246174779598617,-0.7640241630108495,0.71338606911949],"aabb_xy":[[-0.6389519030860251,-0.7760843785653885],[-0.6102830528336982,-0.7519639474563108]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.4702709102376589,0.8726550261020667,0.71338606911949],"aabb_xy":[[-0.5402709118399383,0.8592222329004092],[-0.40027090863537934,0.8860878193037244]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_4","position":[0.5117703473464639,0.6555504471565481,0.71338606911949],"aabb_xy":[[0.43177034627334354,0.6457724008191638],[0.5917703484195842,0.6653284934939326]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[0.12230940240875576,-1.6449474729198963,0.71338606911949],"aabb_xy":[[0.11621477452063747,-1.653516867471565],[0.1284040302968741,-1.6363780783682276]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.4150266039242133,-2.347225257249732,0.71338606911949],"aabb_xy":[[-0.43252660418355005,-2.361316799438505],[-0.3975266036648768,-2.33313371506096]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[0.18786354627560886,1.4039420975600412,0.71338606911949],"aabb_xy":[[0.10414132077552643,1.3139420940253455],[0.2715857717756913,1.4939421010947374]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[-0.20123066834408193,1.4371203196313398,0.71338606911949],"aabb_xy":[[-0.20536652467678213,1.3996203201869828],[-0.19709481201138174,1.4746203190756968]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[-0.06065727559701595,-1.6621136285359834,0.71338606911949],"aabb_xy":[[-0.0781572747313831,-1.6719932555735713],[-0.04315727646264877,-1.6522340014983956]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[0.578872316670771,1.0659858728276577,0.71338606911949],"aabb_xy":[[0.5288792045615791,1.015985872153462],[0.6288654287799629,1.1159858735018533]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.3534150278702628,0.7736324191310304,0.71338606911949],"aabb_xy":[[0.3034376110050092,0.7236324176417818],[0.4033924447355164,0.8236324206202789]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[0.191110517311885,-1.1050440595812394,0.71338606911949],"aabb_xy":[[0.17361051706683558,-1.122543847420806],[0.20861051755693436,-1.0875442717416723]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[0.5458664504759305,0.8711777237104883,0.71338606911949],"aabb_xy":[[0.5233664506620281,0.8667031073400076],[0.5683664502898329,0.875652340080969]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.4244794159007979,-2.123943797761157,0.71338606911949],"aabb_xy":[[-0.474479416261364,-2.1739237849707598],[-0.37447941554023184,-2.073963810551554]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.10993119493050563,0.7861038351939178,0.71338606911949],"aabb_xy":[[-0.17393119520448386,0.7360377349966298],[-0.04593119465652738,0.8361699353912058]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.15431600482878938,1.5950419713892843,0.71338606911949],"aabb_xy":[[0.13730590753873873,1.5789074828910101],[0.17132610211884003,1.611176459887558]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.07455727292484671,1.673928889351989,0.71338606911949],"aabb_xy":[[0.0613263273901654,1.6607014703299894],[0.08778821845952799,1.6871563083739882]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[0.4323809516102368,-2.3584310298513187,0.71338606911949],"aabb_xy":[[0.4073809523382745,-2.374776393447481],[0.45738095088219904,-2.3420856662551564]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.5208064042413861,-2.553252913414548,0.71338606911949],"aabb_xy":[[-0.539918711599365,-2.57238769229179],[-0.5016940968834073,-2.534118134537306]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[0.41448717707939986,-1.718881432698641,0.71338606911949],"aabb_xy":[[0.4095311568945188,-1.7413814329007629],[0.41944319726428114,-1.6963814324965196]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_21","position":[-0.07084428553689659,-1.3458030815542048,0.71338606911949],"aabb_xy":[[-0.0817500616244593,-1.4258030779530337],[-0.05993850944933388,-1.2658030851553754]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[-0.24683838842749228,0.8500624572240381,0.71338606911949],"aabb_xy":[[-0.25412070480415583,0.760062453614529],[-0.23955607205082857,0.9400624608335469]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[-0.02447124089897401,1.5558879261134764,0.71338606911949],"aabb_xy":[[-0.08847124257697137,1.5073705346341622],[0.03952876077902334,1.6044053175927906]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[-0.4825635256769536,-0.17886097136019208,0.71338606911949],"aabb_xy":[[-0.48802147131397366,-0.2588609746678512],[-0.47710558003993353,-0.09886096805253294]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[0.22879089033278588,-1.4689094971174161,0.71338606911949],"aabb_xy":[[0.1983066402057557,-1.5189094968989119],[0.25927514045981603,-1.41890949733592]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[0.10716757483894868,-1.2758837770754845,0.71338606911949],"aabb_xy":[[0.06966757466707672,-1.3085845124583917],[0.14466757501082061,-1.2431830416925773]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[-0.051655161318768794,1.7750258347821064,0.71338606911949],"aabb_xy":[[-0.061808176872918154,1.7389562932093658],[-0.0415021457646194,1.8110953763548465]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_28","position":[-0.44384083142945596,-1.060167047349222,0.71338606911949],"aabb_xy":[[-0.46511883957292816,-1.1251670496752948],[-0.42256282328598366,-0.9951670450231487]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[-0.25037243101925705,-2.4342375829055247,0.71338606911949],"aabb_xy":[[-0.29750181002109266,-2.4982375839499262],[-0.20324305201742132,-2.3702375818611223]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[0.22866161596846812,0.9860979980580291,0.71338606911949],"aabb_xy":[[0.21988038882123198,0.9773182507694993],[0.23744284311570443,0.9948777453465596]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_31","position":[0.5724430513181105,1.7618411453961609,0.71338606911949],"aabb_xy":[[0.5174430531163655,1.7213191787697233],[0.6274430495198552,1.8023631120225985]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_32","position":[-0.6357476842686309,0.7211117085420362,0.71338606911949],"aabb_xy":[[-0.663592721049238,0.6903272098037245],[-0.6079026474880238,0.7518962072803479]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_33","position":[-0.3546241935964513,1.051810114621853,0.71338606911949],"aabb_xy":[[-0.4246241957278808,1.029048148996157],[-0.2846241914650217,1.0745720802475482]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_34","position":[0.10364099715044528,-2.5041726829423454,0.71338606911949],"aabb_xy":[[0.03964099856387282,-2.5511796463418537],[0.16764099573701774,-2.4571657195428362]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6910525269018941,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8541.png","name":"8541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8541.png","name":"8541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1821.png","name":"1821"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/437.png","name":"437"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2918.png","name":"2918"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9263.png","name":"9263"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":647.543181590542,"rotation_z_degrees":138.8132341416533,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00860107943370685,-0.0010485291277210831,-0.0011916783131782696]},{"name":"camera_2","offset_m":[-0.005902354587045942,0.019702756777382115,0.01924323680029898]},{"name":"camera_3","offset_m":[-0.004767867025447719,0.011531952412281419,-0.00977161379272936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015289113958498186,-0.0010853584367493871,-0.0013672772452248232],"end_effector_yaw_offset_degrees":-0.03130124065728057},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009211512892278429,0.0010009750042987826,-0.0005554453286317864],"end_effector_yaw_offset_degrees":-0.015062569808174553},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000706012483199714,-0.0011259377714060714,0.0008513211939087041],"end_effector_yaw_offset_degrees":-0.4984965451882095},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006784425480590381,0.001347362968166749,0.000741749278195624],"end_effector_yaw_offset_degrees":0.6785590072142287}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0049855458358311604,0.002056219000730708],"position_m":[0.2739144541641688,-0.1156437809992693,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010352992873333975,0.00391523608844901],"position_m":[0.2275352992873334,-0.405284763911551,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004073580790419973,-0.0002755448629525826],"position_m":[0.34852641920958005,0.06572445513704742,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003958814657850382,0.004118661572218772],"position_m":[0.33824118534214964,0.3280186615722188,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5eac2d0ad3467eaaf806ce6102abb4b4f7a4a58898ed87c2ebe8d8d9b6392a02","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0003.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8541/tex_ceiling_textures_9263/tex_floor_textures_2918/tex_table_textures_1821/tex_wall_textures_437","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1640058993323417119,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1640058993323417119,"visual_seed":1640058993323417119,"scene_id":"lab_003","finished_at":"2026-09-05T00:23:24"}
+{"episode_id":"ep_000004","started_at":"2026-09-05T00:29:37","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[-0.5878193259261622,-0.8331803692642981,0.71338606911949],"aabb_xy":[[-0.6678193261997691,-0.9061299170900148],[-0.5078193256525552,-0.7602308214385813]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.3509023153873265,-1.2873190296077508,0.71338606911949],"aabb_xy":[[0.3427886607139494,-1.2954248460617797],[0.3590159700607036,-1.2792132131537215]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[0.19505465458112214,-2.264025912655713,0.71338606911949],"aabb_xy":[[0.183182571569621,-2.3490259123493633],[0.20692673759262323,-2.1790259129620626]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[0.41285933913690176,-1.0754724533917945,0.71338606911949],"aabb_xy":[[0.4087234828042016,-1.1129724528361518],[0.416995195469602,-1.0379724539474378]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.2214466228184631,-1.9483977320558137,0.71338606911949],"aabb_xy":[[-0.2322982290673387,-1.9592570227834647],[-0.2105950165695875,-1.9375384413281627]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.7062184085590981,-0.821033010193436,0.71338606911949],"aabb_xy":[[0.6953126324715353,-0.9010330065922652],[0.7171241846466607,-0.7410330137946068]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[0.020701218065044324,0.7777643027674306,0.71338606911949],"aabb_xy":[[-0.03429878111154516,0.7227746279924728],[0.07570121724163381,0.8327539775423881]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.5310248542505098,1.554584446496937,0.71338606911949],"aabb_xy":[[-0.6110248522312949,1.546982905535085],[-0.4510248562697248,1.562185987458789]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[-0.059771915730192804,1.2313840902980737,0.71338606911949],"aabb_xy":[[-0.12477191673069332,1.1805977251433988],[0.005228085270307721,1.2821704554527487]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.5786260120613019,-1.5531448694280576,0.71338606911949],"aabb_xy":[[-0.6286252872297381,-1.6031448707040048],[-0.5286267368928658,-1.5031448681521105]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[0.5659561454877406,0.838635192907347,0.71338606911949],"aabb_xy":[[0.5009561469306678,0.8088826594934644],[0.6309561440448135,0.8683877263212296]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.6515025598562709,1.2436727018920934,0.71338606911949],"aabb_xy":[[-0.6609200344261337,1.2342565247543744],[-0.6420850852864082,1.2530888790298125]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[0.0022198274201962187,-1.9566182053212249,0.71338606911949],"aabb_xy":[[-0.016664556348313986,-1.9755041301015774],[0.021104211188706423,-1.9377322805408719]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.4676448454668731,-2.48941386744218,0.71338606911949],"aabb_xy":[[-0.48051674896781327,-2.5694138678560163],[-0.454772941965933,-2.409413867028344]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.6052373618591949,-0.1950579252951421,0.71338606911949],"aabb_xy":[[-0.6133650500525081,-0.20397153370584975],[-0.5971096736658816,-0.18614431688443445]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.5134074044564655,1.0140196583668994,0.71338606911949],"aabb_xy":[[-0.5420567368168816,0.9853740990898234],[-0.48475807209604915,1.042665217643975]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.0952046260121644,1.0184978377758132,0.71338606911949],"aabb_xy":[[0.07757179041863681,1.0008748917601902],[0.11283746160569195,1.0361207837914361]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[0.27565902569051615,-1.2102312353509521,0.71338606911949],"aabb_xy":[[0.26602738947008653,-1.219868548130661],[0.28529066191094576,-1.2005939225712432]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[0.4595185422979915,-0.9019686123797546,0.71338606911949],"aabb_xy":[[0.38951854069571207,-0.9154014055814123],[0.529518543900271,-0.8885358191780971]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[0.445197749456425,-1.8680836567955361,0.71338606911949],"aabb_xy":[[0.36519774729366244,-1.9480388404216797],[0.5251977516191875,-1.7881284731693925]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[0.3242944573755244,-2.1301353360686237,0.71338606911949],"aabb_xy":[[0.2867944567109457,-2.1458223940688455],[0.36179445804010313,-2.114448278068401]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.156222094648799,1.8187055771225444,0.71338606911949],"aabb_xy":[[-0.16106568941002897,1.8138539246435603],[-0.15137849988756902,1.8235572296015286]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.5248996478727219,0.2846725413012172,0.71338606911949],"aabb_xy":[[0.4924379469907944,0.25453970918631447],[0.5573613487546493,0.31480537341611975]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[-0.14620945281033915,-0.9758597371586208,0.71338606911949],"aabb_xy":[[-0.18050636382807975,-1.0101566233685622],[-0.11191254179259849,-0.9415628509486795]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[0.4155943140603364,-0.31601627859355297,0.71338606911949],"aabb_xy":[[0.39342178708368547,-0.3381919457496761],[0.43776684103698715,-0.29384061143742973]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[0.6213777667111366,-1.805455981089883,0.71338606911949],"aabb_xy":[[0.5838777663629088,-1.817247376670966],[0.6588777670593643,-1.793664585508799]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[0.6245622621279683,1.097072604452717,0.71338606911949],"aabb_xy":[[0.607062262993601,1.087192977415129],[0.6420622612623353,1.1069522314903046]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_27","position":[0.41868907094494734,1.344994139583584,0.71338606911949],"aabb_xy":[[0.388697408211077,1.3149941402467835],[0.44868073367881767,1.3749941389203846]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[0.08005194416105077,-1.4917176379373371,0.71338606911949],"aabb_xy":[[0.07212866392230242,-1.5142176381753405],[0.08797522439979909,-1.4692176376993338]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_29","position":[0.5372923808387904,0.629977749211676,0.71338606911949],"aabb_xy":[[0.4920137659576411,0.5659777498634924],[0.5825709957199396,0.6939777485598597]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898703277247946,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2107.png","name":"2107"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2107.png","name":"2107"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5968.png","name":"5968"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6727.png","name":"6727"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7920.png","name":"7920"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7639.png","name":"7639"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":574.3037829600415,"rotation_z_degrees":309.9796732630958,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01836589559202874,-0.00931592449185711,-0.018989425019545824]},{"name":"camera_2","offset_m":[0.006756779632602589,0.0024574204570666537,0.0030879057080440385]},{"name":"camera_3","offset_m":[0.003422794158856428,-0.01846210165415204,0.0034487940086958095]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006191997705404313,0.0008963560613682729,0.001185548648189798],"end_effector_yaw_offset_degrees":-0.9793711632074344},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010086419551837667,-0.0018627735969123469,-0.0014742568993016177],"end_effector_yaw_offset_degrees":0.13234249039243262},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002788890064392914,-0.0017913502152393627,0.0014503364040629688],"end_effector_yaw_offset_degrees":0.2884262778821929},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00042308819197309157,0.0006637027103037927,8.102381361237794e-05],"end_effector_yaw_offset_degrees":-0.9586645024479026}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010844932585167633,-0.0027383279207663968],"position_m":[0.2778155067414832,-0.12043832792076639,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002127166872856234,-0.00025906320208416746],"position_m":[0.22862716687285625,-0.4094590632020842,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020065271318637757,-0.004510814791382916],"position_m":[0.35059347286813625,0.061489185208617084,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003136967770763931,8.036788942799786e-05],"position_m":[0.33906303222923606,0.323980367889428,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"656b6502e1ab8b99818dbdead4dc8392aaaad4a070c7422f0599bcb82d4d0170","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0006.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2107/tex_ceiling_textures_7639/tex_floor_textures_7920/tex_table_textures_5968/tex_wall_textures_6727","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2468913624770085895,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2468913624770085895,"visual_seed":2468913624770085895,"scene_id":"lab_003","finished_at":"2026-09-05T00:33:36"}
+{"episode_id":"ep_000005","started_at":"2026-09-05T00:33:41","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[-0.06018710310269482,0.366955193610798,0.71338606911949],"aabb_xy":[[-0.06503069786392479,0.36210354113181387],[-0.05534350834146484,0.3718068460897821]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[0.06937428841021187,-2.2014743279645206,0.71338606911949],"aabb_xy":[[0.03187428983459107,-2.2142106236280785],[0.10687428698583268,-2.1887380323009626]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.566603623221174,0.3244749807451859,0.71338606911949],"aabb_xy":[[-0.6016036215318693,0.3167599658216402],[-0.5316036249104784,0.3321899956687315]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.357660486705419,-0.597932446172363,0.71338606911949],"aabb_xy":[[-0.3640743003486039,-0.6043422664200313],[-0.351246673062234,-0.5915226259246946]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[0.6650576858020794,-2.0207179177144448,0.71338606911949],"aabb_xy":[[0.6275576859850457,-2.0253561290255866],[0.7025576856191128,-2.016079706403303]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[0.25078781605315326,1.4074890186528308,0.71338606911949],"aabb_xy":[[0.2458317958682721,1.3849890184507094],[0.2557438362380345,1.4299890188549527]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[0.23183633741922938,-1.864870692137404,0.71338606911949],"aabb_xy":[[0.20933991598536525,-1.8873706919441517],[0.2543327588530935,-1.8423706923306569]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[-0.34340500313516337,-0.6747227529997437,0.71338606911949],"aabb_xy":[[-0.35533773749699143,-0.6871049058076031],[-0.3314722687733353,-0.6623406001918843]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.03408381266131699,-1.1042150426596005,0.71338606911949],"aabb_xy":[[-0.08408381210151261,-1.1541829671439165],[0.015916186778878627,-1.054247118175284]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[-0.29466334335462424,-0.12681210218955563,0.71338606911949],"aabb_xy":[[-0.33216334385198243,-0.13078078573767404],[-0.25716334285726594,-0.12284341864143722]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[-0.3951218306377385,-1.6412250827636452,0.71338606911949],"aabb_xy":[[-0.417621831149779,-1.6637169411290433],[-0.37262183012569783,-1.6187332243982466]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[-0.12075383891108182,1.6126404219414021,0.71338606911949],"aabb_xy":[[-0.18575383986820904,1.5606922100076965],[-0.05575383795395463,1.6645886338751077]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[0.02550048848951114,0.8670083578956973,0.71338606911949],"aabb_xy":[[0.01846017855597415,0.787008358496026],[0.032540798423048134,0.9470083572953688]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[0.1531994851577908,-0.8396507408806677,0.71338606911949],"aabb_xy":[[0.08919948488381257,-0.8897168410779557],[0.21719948543176903,-0.7895846406833797]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.2744350096773641,-2.4353983071421146,0.71338606911949],"aabb_xy":[[0.2525452620884233,-2.5253983044313637],[0.2963247572663049,-2.3453983098528655]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[0.2486107798268502,1.5614713765461157,0.71338606911949],"aabb_xy":[[0.2117602318898626,1.5239713757230822],[0.2854613277638378,1.5989713773691496]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.49305642940557104,-0.7349527027049838,0.71338606911949],"aabb_xy":[[0.44305642904500486,-0.7849326899145868],[0.5430564297661369,-0.6849727154953809]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[0.0011265692653615877,-1.6361195280290535,0.71338606911949],"aabb_xy":[[-0.048872705903074576,-1.6861195293050006],[0.05112584443379775,-1.5861195267531063]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[-0.6584693222475719,-1.2439607605330565,0.71338606911949],"aabb_xy":[[-0.6809693222577202,-1.2580569801726598],[-0.6359693222374236,-1.2298645408934532]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.0700721703806727,-1.245327277173619,0.71338606911949],"aabb_xy":[[0.032572170208800766,-1.278028012556526],[0.10757217055254464,-1.2126265417907116]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6908246673088618,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6018.png","name":"6018"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6018.png","name":"6018"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8393.png","name":"8393"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8959.png","name":"8959"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8545.png","name":"8545"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4192.png","name":"4192"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":800.652689501427,"rotation_z_degrees":324.51611851709305,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005062242286054421,0.0016759592014644782,0.0005357881881594383]},{"name":"camera_2","offset_m":[-0.018622096454080216,0.016852213925237332,0.012516006159133005]},{"name":"camera_3","offset_m":[-0.006641777366928699,-0.01277734014672331,0.006352793869074988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001166916894302973,-0.0009164396500317604,0.0005260428756543264],"end_effector_yaw_offset_degrees":0.9596267076203697},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016424555666219444,-0.000158915029553817,0.0014192569074521345],"end_effector_yaw_offset_degrees":0.5624464322342211},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018915020494413176,-3.86442024379232e-05,-0.0018347457723541455],"end_effector_yaw_offset_degrees":-0.3522469417764498},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00039455182869883604,0.001355255424223508,-0.0014760345256328634],"end_effector_yaw_offset_degrees":-0.9218162151927136}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005547915902528924,0.0037516554380582377],"position_m":[0.2783452084097471,-0.11394834456194176,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019604474396175465,0.0015004359230296558],"position_m":[0.22453955256038247,-0.40769956407697033,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023361154482879343,0.004220047826320434],"position_m":[0.35493611544828796,0.07022004782632044,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001346567213611064,-0.0012596561060732336],"position_m":[0.34085343278638897,0.32264034389392676,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a305103d76f53be91dbd3a96686117238d599db2e0f848bf104c00f6b0f261f0","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0007.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6018/tex_ceiling_textures_4192/tex_floor_textures_8545/tex_table_textures_8393/tex_wall_textures_8959","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":9004390330053535223,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":9004390330053535223,"visual_seed":9004390330053535223,"scene_id":"lab_003","finished_at":"2026-09-05T00:37:09"}
+{"episode_id":"ep_000006","started_at":"2026-09-05T00:37:13","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.5107389115517647,-0.2903034664549411,0.71338606911949],"aabb_xy":[[0.445738913670117,-0.34142713016148196],[0.5757389094334125,-0.23917980274840023]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.12203188844847057,0.7718886466813557,0.71338606911949],"aabb_xy":[[0.0991161755634207,0.7489843495449323],[0.1449476013335205,0.7947929438177794]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.011399116875635884,-0.8684868736605884,0.71338606911949],"aabb_xy":[[-0.006100882402450989,-0.8858249737269344],[0.02889911615372276,-0.8511487735942425]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[-0.5428353398666093,0.9448725396202797,0.71338606911949],"aabb_xy":[[-0.607835339900912,0.8981718629399524],[-0.4778353398323065,0.991573216300607]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_4","position":[0.42120225172977954,-1.8475342368404455,0.71338606911949],"aabb_xy":[[0.3844076186048732,-1.8844401119370278],[0.45799688485468576,-1.8106283617438632]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[0.5902626906908983,0.2886470817483464,0.71338606911949],"aabb_xy":[[0.578900956037612,0.2772786153420583],[0.6016244253441844,0.30001554815463444]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[-0.5099864188503487,-0.10017573838154403,0.71338606911949],"aabb_xy":[[-0.5699864194463649,-0.1549882109267675],[-0.4499864182543325,-0.04536326583632057]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[-0.6368955414288827,-2.4841782678943782,0.71338606911949],"aabb_xy":[[-0.6868729582941362,-2.5341782693836263],[-0.586918124563629,-2.4341782664051292]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.06068024854811138,-1.6347912591007319,0.71338606911949],"aabb_xy":[[-0.07956463231662159,-1.6536771838810846],[-0.04179586477960118,-1.615905334320379]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[-0.21208757295967023,-0.07381376109542304,0.71338606911949],"aabb_xy":[[-0.22086880010690652,-0.08259350838395318],[-0.20330634581243406,-0.06503401380689289]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[0.35728067000274133,-2.192218843100839,0.71338606911949],"aabb_xy":[[0.30326507372084127,-2.256218845993096],[0.4112962662846413,-2.1282188402085818]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.35070070718101115,0.7273134943554096,0.71338606911949],"aabb_xy":[[-0.4006737727135267,0.6773134945428767],[-0.30072764164849575,0.7773134941679426]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.40636609928057355,1.6363572322115219,0.71338606911949],"aabb_xy":[[-0.45135868599902396,1.591357232937073],[-0.36137351256212313,1.6813572314859706]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[-0.30739522680423403,0.8649857761057804,0.71338606911949],"aabb_xy":[[-0.3459409196294351,0.8264400050495917],[-0.268849533979033,0.9035315471619689]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.22940535534371942,1.6065710381313392,0.71338606911949],"aabb_xy":[[0.22136902064243458,1.5985329188269222],[0.23744169004500426,1.6146091574357557]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.2311543478071637,0.331927350510107,0.71338606911949],"aabb_xy":[[-0.3111543447702028,0.2548517088663335],[-0.15115435084412449,0.4090029921538804]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[-0.2187435111907613,1.0589203189885743,0.71338606911949],"aabb_xy":[[-0.2827435144804694,1.0155853999846567],[-0.15474350790105318,1.102255237992492]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[-0.6309705479125814,1.5928558741275283,0.71338606911949],"aabb_xy":[[-0.668301824437824,1.558202819332676],[-0.5936392713873389,1.6275089289223805]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[-0.4594066694116028,-1.9479593173746084,0.71338606911949],"aabb_xy":[[-0.48989091953863295,-1.997959317156104],[-0.42892241928457264,-1.8979593175931122]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[0.5242475722486717,-1.0656373873149803,0.71338606911949],"aabb_xy":[[0.5110963262773823,-1.090637387071667],[0.537398818219961,-1.040637387558294]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.6080645417305921,1.005443379794357,0.71338606911949],"aabb_xy":[[0.5904317061370645,0.9878204337787339],[0.6256973773241197,1.0230663258099797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6948975998988716,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4463.png","name":"4463"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4463.png","name":"4463"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5824.png","name":"5824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6057.png","name":"6057"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4106.png","name":"4106"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7054.png","name":"7054"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":785.5316692364636,"rotation_z_degrees":180.99365117861242,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019269375410765576,-0.010013193685060333,-0.010720805040557715]},{"name":"camera_2","offset_m":[0.008714093072037785,0.017610243731813992,0.01538444602842146]},{"name":"camera_3","offset_m":[0.01756270619149113,0.014368380919649617,0.0044377105590482115]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014751948609447838,-0.001267880391901597,0.0014298295666141476],"end_effector_yaw_offset_degrees":-0.45124497287335497},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015067467035127266,-0.0006611203384197153,-0.0019467849478026712],"end_effector_yaw_offset_degrees":0.8129221391990338},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009888363048833593,0.0005456449656892322,1.5906382589895088e-05],"end_effector_yaw_offset_degrees":-0.38883578944394515},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019406164379364684,-0.001457890858295885,0.0009181510614055489],"end_effector_yaw_offset_degrees":-0.4409737110203169}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034702223655441464,-0.002967304255093066],"position_m":[0.2754297776344558,-0.12066730425509306,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004056647810697512,-0.004450243903767198],"position_m":[0.2305566478106975,-0.4136502439037672,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032011913810197122,-0.0002593407620939958],"position_m":[0.35580119138101973,0.06574065923790601,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004534978309756727,-0.003711574786378271],"position_m":[0.34673497830975675,0.32018842521362173,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"913579ec101ae269f5bb805601d15f2a0d94d3a13cd6f74fa87dd0f8df397879","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4463/tex_ceiling_textures_7054/tex_floor_textures_4106/tex_table_textures_5824/tex_wall_textures_6057","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4855259846272103850,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4855259846272103850,"visual_seed":4855259846272103850,"scene_id":"lab_003","finished_at":"2026-09-05T00:40:42"}
+{"episode_id":"ep_000007","started_at":"2026-09-05T00:40:47","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_0","position":[0.16062364654093542,1.1545160998500439,0.71338606911949],"aabb_xy":[[0.13611002244392956,1.1302515065480074],[0.18513727063794128,1.1787806931520803]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[0.22230372841460133,-1.771847774928198,0.71338606911949],"aabb_xy":[[0.20475703349848237,-1.8093477764924493],[0.23985042333072024,-1.7343477733639467]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[-0.19078014189783143,1.4906265605909046,0.71338606911949],"aabb_xy":[[-0.21106444462123014,1.4703439354481955],[-0.17049583917443262,1.5109091857336132]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[0.32986948188395826,0.9016241275393231,0.71338606911949],"aabb_xy":[[0.29301893394697065,0.8641241267162894],[0.36672002982094587,0.9391241283623568]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.22653718909243759,-1.250071904295164,0.71338606911949],"aabb_xy":[[-0.26099966710552536,-1.256735581478087],[-0.19207471107934979,-1.243408227112241]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[0.12753342342178142,-1.17268366415017,0.71338606911949],"aabb_xy":[[0.08534900926095068,-1.2366836644273813],[0.16971783758261216,-1.108683663872959]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[-0.443603069979485,-0.6640076543218776,0.71338606911949],"aabb_xy":[[-0.46718819344337986,-0.7290076565673095],[-0.42001794651559016,-0.5990076520764459]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[0.09186602173976466,-2.193490214476046,0.71338606911949],"aabb_xy":[[0.08582900873909993,-2.1995169155449945],[0.0979030347404294,-2.1874635134070983]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.5451250957746743,-2.4223623491092083,0.71338606911949],"aabb_xy":[[-0.6091250976870166,-2.478273498367219],[-0.48112509386233193,-2.3664511998511983]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.12666037765750715,1.485132668203288,0.71338606911949],"aabb_xy":[[0.10916044422352378,1.4676326682830534],[0.14416031109149052,1.5026326681235225]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[0.6690119154862899,-1.24555103614342,0.71338606911949],"aabb_xy":[[0.6352363562955968,-1.2595895313565852],[0.7027874746769828,-1.2315125409302554]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[0.5874606948668109,1.5209577409487625,0.71338606911949],"aabb_xy":[[0.5661826867233386,1.4559577386226894],[0.6087387030102831,1.5859577432748355]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[-0.5944962263597913,-0.15651127626366224,0.71338606911949],"aabb_xy":[[-0.6644962279620708,-0.1699440694653198],[-0.5244962247575118,-0.14307848306200466]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[-0.42703816611841017,1.102477665269372,0.71338606911949],"aabb_xy":[[-0.5170381655367811,1.069102168425182],[-0.3370381667000392,1.1358531621135615]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[-0.19138927534391592,-0.4755908176303558,0.71338606911949],"aabb_xy":[[-0.19942561004520076,-0.4836289369347726],[-0.18335294064263108,-0.46755269832593904]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[-0.6150123807559513,1.410540334058104,0.71338606911949],"aabb_xy":[[-0.6282433262906326,1.397312915036104],[-0.60178143522127,1.423767753080103]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[0.4547020998821456,-1.5355717431149094,0.71338606911949],"aabb_xy":[[0.41720209971027367,-1.5682724784978166],[0.49220210005401754,-1.5028710077320022]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[0.6463384646246053,-1.0783053618821796,0.71338606911949],"aabb_xy":[[0.5962410006435317,-1.1423053623919914],[0.6964359286056789,-1.0143053613723678]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.2578231801201467,1.6320435830026105,0.71338606911949],"aabb_xy":[[0.23532317960810606,1.609551724637212],[0.28032318063218725,1.6545354413680087]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_19","position":[0.44891446684947534,-0.6466836704328454,0.71338606911949],"aabb_xy":[[0.42599875396442555,-0.669587967569269],[0.47183017973452535,-0.623779373296422]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[0.5808912393320955,-1.4616705552261249,0.71338606911949],"aabb_xy":[[0.5680193358311553,-1.5416705556399608],[0.5937631428330356,-1.3816705548122885]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[-0.585023688336968,0.1256988581403684,0.71338606911949],"aabb_xy":[[-0.6400236879587139,0.07071516535289568],[-0.5300236887152222,0.18068255092784113]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[0.205362241706041,-0.7699819115347246,0.71338606911949],"aabb_xy":[[0.15036224350429614,-0.8105038781611622],[0.2603622399077858,-0.729459944908287]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.04746903783957723,-0.38534694211056797,0.71338606911949],"aabb_xy":[[-0.06062028381086661,-0.41034694186725457],[-0.03431779186828788,-0.3603469423538814]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[0.5686452615863877,0.06820081648026566,0.71338606911949],"aabb_xy":[[0.5186504286584461,0.018200817585022122],[0.6186400945143293,0.1182008153755092]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[0.687131856017132,1.1709413008698886,0.71338606911949],"aabb_xy":[[0.6496318545015002,1.1597145278537433],[0.7246318575327636,1.1821680738860334]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[0.2983649720777717,0.6068984446660495,0.71338606911949],"aabb_xy":[[0.2608649721340053,0.5986053546312128],[0.3358649720215381,0.615191534700886]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_27","position":[0.544134279524638,0.31809974015502807,0.71338606911949],"aabb_xy":[[0.5091342781731562,0.29774000419820723],[0.5791342808761196,0.3384594761118489]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_28","position":[-0.483327736654771,-2.0098056053367914,0.71338606911949],"aabb_xy":[[-0.49526047101659904,-2.022187758144651],[-0.4713950022929429,-1.997423452528932]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_29","position":[-0.2051483418964702,0.659812463726444,0.71338606911949],"aabb_xy":[[-0.227320868873121,0.6376367965703207],[-0.18297581491981935,0.681988130882567]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_30","position":[-0.33276172994808706,1.2114559437756842,0.71338606911949],"aabb_xy":[[-0.3390738294844255,1.2056890045224655],[-0.3264496304117486,1.2172228830289034]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883334606602486,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7395.png","name":"7395"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7395.png","name":"7395"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9774.png","name":"9774"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8235.png","name":"8235"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2734.png","name":"2734"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/785.png","name":"785"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":581.1304730728556,"rotation_z_degrees":341.83603512039645,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006364024755374342,0.017194527263404574,0.012974714512247607]},{"name":"camera_2","offset_m":[-0.019460899271270975,0.00649777557802813,-0.0033294354002797732]},{"name":"camera_3","offset_m":[0.012060007437199555,-0.012248664130846024,-0.003089575417856337]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009421123408021575,0.001978754900622737,0.0016528399571910887],"end_effector_yaw_offset_degrees":0.879467195575188},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014318077984488424,-0.0004364679352987038,-0.0014922661216024815],"end_effector_yaw_offset_degrees":0.980844674423768},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005523056011289135,0.0009577755589539232,-0.0011514103400666875],"end_effector_yaw_offset_degrees":-0.3392717190335097},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00045534671332584905,0.001844902977023324,0.0009464170905307146],"end_effector_yaw_offset_degrees":0.9348349414056594}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004384203645881636,-0.004316575371318888],"position_m":[0.2784615796354118,-0.12201657537131888,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004274970762282856,0.001246928059466198],"position_m":[0.22692749707622828,-0.4079530719405338,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001376257553367124,-0.001079238044967218],"position_m":[0.3512237424466329,0.06492076195503278,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00429778500016662,-0.0010101782052525567],"position_m":[0.33790221499983336,0.32288982179474746,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7588e7f30e17ff77f1d25f59a32bdf852cb423110fa2d31a9b33701a362808ef","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0009.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7395/tex_ceiling_textures_785/tex_floor_textures_2734/tex_table_textures_9774/tex_wall_textures_8235","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8092562147495878173,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8092562147495878173,"visual_seed":8092562147495878173,"scene_id":"lab_003","finished_at":"2026-09-05T00:44:14"}
+{"episode_id":"ep_000008","started_at":"2026-09-05T00:46:54","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[0.6228448148776988,1.238313233124717,0.71338606911949],"aabb_xy":[[0.5878448135262171,1.2179534971678962],[0.6578448162291806,1.258672969081538]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.0780807812992077,1.4690260105406021,0.71338606911949],"aabb_xy":[[-0.011606295008907752,1.3790260102861516],[0.16776785760732316,1.5590260107950527]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[0.34260634029632286,-2.4137477087479153,0.71338606911949],"aabb_xy":[[0.30581170717141654,-2.4506535838444976],[0.3794009734212291,-2.376841833651333]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.6471458579288392,1.4412115328037642,0.71338606911949],"aabb_xy":[[0.6221458586568769,1.4248661692076017],[0.6721458572008014,1.4575568963999264]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.03914868469067101,-2.295738324963413,0.71338606911949],"aabb_xy":[[-0.04556249833385595,-2.302148145211081],[-0.03273487104748607,-2.2893285047157446]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.3646516819031669,-1.0939175158684373,0.71338606911949],"aabb_xy":[[0.2809294564030845,-1.183917519403133],[0.4483739074032494,-1.0039175123337412]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[0.4676425304331977,-2.501270097438858,0.71338606911949],"aabb_xy":[[0.45517517232346205,-2.513735422072182],[0.48010988854293335,-2.488804772805535]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[-0.39904552892165346,1.0449286819924466,0.71338606911949],"aabb_xy":[[-0.4336366117756987,0.9799286817074156],[-0.36445444606760824,1.1099286822774777]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.2933228087971384,0.6143556525885709,0.71338606911949],"aabb_xy":[[-0.3014504969904516,0.6054420441778634],[-0.2851951206038252,0.6232692609992787]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[-0.2915272202124041,-2.4734430408612393,0.71338606911949],"aabb_xy":[[-0.36152722202114956,-2.4947968096254267],[-0.2215272184036587,-2.452089272097052]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.33792340615946515,1.5427191037811476,0.71338606911949],"aabb_xy":[[-0.3754234045828655,1.5295548898133169],[-0.3004234077360648,1.5558833177489784]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.09978352303311655,1.0594335376171764,0.71338606911949],"aabb_xy":[[0.07456268617327685,1.0342097867642892],[0.12500435989295616,1.0846572884700627]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[-0.5687328973394241,-0.0278054585527725,0.71338606911949],"aabb_xy":[[-0.623706619375757,-0.08280545811700568],[-0.5137591753030912,0.027194541011460686]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[0.14932040769146226,1.2648471874948117,0.71338606911949],"aabb_xy":[[0.09432040948971744,1.224325220868374],[0.2043204058932071,1.305369154121249]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.4257435164789522,-1.1305115843802367,0.71338606911949],"aabb_xy":[[-0.46005979365357,-1.1805115843534144],[-0.39142723930433415,-1.080511584407059]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[0.6754596982765961,-2.4926492749861233,0.71338606911949],"aabb_xy":[[0.6379596979283683,-2.5044406705672064],[0.7129596986248238,-2.4808578794050393]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.25783957038308974,-2.043686747467911,0.71338606911949],"aabb_xy":[[-0.29517084690833245,-2.0783398022627635],[-0.22050829385784718,-2.009033692673059]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.05536557593105851,1.1812539993646154,0.71338606911949],"aabb_xy":[[-0.08651249477464162,1.1112540006778082],[-0.024218657087475386,1.2512539980514226]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.2165078061614366,-1.2508191435647604,0.71338606911949],"aabb_xy":[[0.2088835380712584,-1.2584523671013044],[0.22413207425161488,-1.243185920028217]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[-0.3876450673441831,-0.9526983899178272,0.71338606911949],"aabb_xy":[[-0.3917809236768833,-0.9901983893621843],[-0.3835092110114829,-0.9151983904734703]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[-0.4646656336731486,1.4632824859484779,0.71338606911949],"aabb_xy":[[-0.482165567107132,1.445782486028243],[-0.44716570023916524,1.4807824858687122]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[-0.006450223603131189,-0.7786851803932093,0.71338606911949],"aabb_xy":[[-0.04395022377500313,-0.8113859157761164],[0.03104977656874075,-0.745984445010302]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[-0.41172045045238664,-0.02184289659123273,0.71338606911949],"aabb_xy":[[-0.41971443903009,-0.02984297668632307],[-0.4037264618746832,-0.013842816496142381]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[0.20805975851581826,-2.2585696045885206,0.71338606911949],"aabb_xy":[[0.17102564908775855,-2.29294681192223],[0.24509386794387797,-2.224192397254811]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[0.06502004718212417,-1.7553083116247508,0.71338606911949],"aabb_xy":[[0.04747335226600524,-1.7928083131890018],[0.0825667420982431,-1.7178083100604993]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[0.42810345068263356,1.7994994851990964,0.71338606911949],"aabb_xy":[[0.4200771800520076,1.7907479902217438],[0.4361297213132596,1.808250980176449]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[0.48490533018564075,-0.7850566175096796,0.71338606911949],"aabb_xy":[[0.41990533015133796,-0.8317572941900069],[0.5499053302199435,-0.7383559408293523]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[0.11838630123154492,-2.102153385827996,0.71338606911949],"aabb_xy":[[0.10018047757029726,-2.113178786409988],[0.1365921248927926,-2.0911279852460045]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[-0.4862676919697212,0.07744713387160562,0.71338606911949],"aabb_xy":[[-0.4903836420817938,0.07333157883876013],[-0.4821517418576485,0.08156268890445112]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6942211411693301,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9911.png","name":"9911"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9911.png","name":"9911"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9884.png","name":"9884"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4447.png","name":"4447"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7930.png","name":"7930"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9940.png","name":"9940"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":572.0554985860176,"rotation_z_degrees":280.5298460128167,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01002533824453001,-0.01263891934097277,0.010090287165747957]},{"name":"camera_2","offset_m":[-0.018952960198736445,-0.0054320607928852824,-0.0026290014600722778]},{"name":"camera_3","offset_m":[-0.007278697335094538,0.015505839427591383,-0.0126902502231829]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005830820295344705,-5.152128760312503e-05,-0.0017558210108850458],"end_effector_yaw_offset_degrees":0.08946005378708732},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003216257559566626,-0.001652547884066792,0.001105379770868198],"end_effector_yaw_offset_degrees":0.8798290544299963},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012313889828112577,-0.00023731550060979959,0.00020915758090317297],"end_effector_yaw_offset_degrees":0.40982175605619964},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[9.288872562556805e-05,-0.000275839784250794,0.0010531007937930595],"end_effector_yaw_offset_degrees":0.6243269342083924}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014807174851241243,-0.004119228802089368],"position_m":[0.27741928251487585,-0.12181922880208937,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00447961498491519,-0.0029966158101975204],"position_m":[0.2309796149849152,-0.4121966158101975,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00041792991654247304,0.00356390721276587],"position_m":[0.3530179299165425,0.06956390721276587,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008420729238760019,0.001864326649171552],"position_m":[0.343042072923876,0.3257643266491716,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"96789d58df2343dc645e7738c7b17f28419b9d8ce79844daff22bb7c78c30c85","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0011.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9911/tex_ceiling_textures_9940/tex_floor_textures_7930/tex_table_textures_9884/tex_wall_textures_4447","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":895277726870117537,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":895277726870117537,"visual_seed":895277726870117537,"scene_id":"lab_003","finished_at":"2026-09-05T00:50:11"}
+{"episode_id":"ep_000009","started_at":"2026-09-05T00:54:01","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[-0.5450155678664405,-1.364838114120483,0.71338606911949],"aabb_xy":[[-0.6050155684624565,-1.4196505866657065],[-0.48501556727042416,-1.3100256415752596]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[-0.6321128683905327,0.15626435128864458,0.71338606911949],"aabb_xy":[[-0.6433579239611505,0.1450225535645493],[-0.6208678128199149,0.16750614901273986]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.22026088451612436,0.9587635353059523,0.71338606911949],"aabb_xy":[[-0.22730119444966138,0.8787635359062812],[-0.2132205745825874,1.038763534705624]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[-0.6640744206981748,-1.3765989060898183,0.71338606911949],"aabb_xy":[[-0.6816211156142936,-1.4140989076540695],[-0.6465277257820558,-1.339098904525567]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.52216579621795,-1.0513651948163123,0.71338606911949],"aabb_xy":[[-0.5861657935202964,-1.0957316217841688],[-0.4581657989156036,-1.0069987678484553]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.6027831215781404,0.9630117696374141,0.71338606911949],"aabb_xy":[[-0.6667831237985474,0.9186386855121258],[-0.5387831193577334,1.0073848537627024]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.05283121785190381,-2.2207157712498717,0.71338606911949],"aabb_xy":[[-0.08742230070594902,-2.2857157715349024],[-0.01824013499785859,-2.1557157709648402]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[-0.3794529320996269,0.12211744298671512,0.71338606911949],"aabb_xy":[[-0.39030453834850243,0.11125815225906412],[-0.3686013258507512,0.13297673371436614]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[-0.2823265138133277,-1.7975355221503606,0.71338606911949],"aabb_xy":[[-0.3363421100952277,-1.8615355250426175],[-0.22831091753142768,-1.7335355192581032]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.17752449734765186,-2.4261722800715226,0.71338606911949],"aabb_xy":[[0.14002449685029358,-2.430140963619641],[0.21502449784501007,-2.422203596523404]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[-0.5640379415936423,-1.761467586746515,0.71338606911949],"aabb_xy":[[-0.5721656297869556,-1.770381195157223],[-0.5559102534003292,-1.7525539783358075]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.24493614345716475,0.5485046024354698,0.71338606911949],"aabb_xy":[[-0.2901074613053337,0.48450460529093153],[-0.1997648256089958,0.6125045995800084]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[0.5290594093866845,1.1404510459232657,0.71338606911949],"aabb_xy":[[0.46505940912621363,1.0954422465703377],[0.5930594096471552,1.1854598452761937]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.031636241576166735,-1.601648976303701,0.71338606911949],"aabb_xy":[[-0.08160953557942718,-1.6516489768582479],[0.018337052427093714,-1.5516489757491532]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.3898225889607765,-1.4876928084692251,0.71338606911949],"aabb_xy":[[-0.3995785784699503,-1.4974553425284594],[-0.38006659945160254,-1.4779302744099905]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.1653558672388955,-0.9545607664100098,0.71338606911949],"aabb_xy":[[-0.21248524624073112,-1.0185607674544117],[-0.11822648823705978,-0.8905607653656078]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[-0.015688206128129267,0.935171723597108,0.71338606911949],"aabb_xy":[[-0.03279028408649742,0.9180649180658381],[0.0014138718302388886,0.9522785291283776]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[0.33343685359375086,-1.7846998305344886,0.71338606911949],"aabb_xy":[[0.28345261788557363,-1.834699829347984],[0.3834210893019281,-1.7346998317209927]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[0.6972075352366116,-1.931714841181265,0.71338606911949],"aabb_xy":[[0.6839765897019302,-1.9449422602032642],[0.7104384807712928,-1.9184874221592654]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.4083438465878515,0.4507096962369137,0.71338606911949],"aabb_xy":[[0.3283438479309655,0.436204837312651],[0.4883438452447375,0.46521455516117655]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.24196849320624003,1.719850471069448,0.71338606911949],"aabb_xy":[[0.2108215743626569,1.6498504723826406],[0.27311541204982315,1.789850469756255]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[0.18850686901429614,-1.0045956186626501,0.71338606911949],"aabb_xy":[[0.1463224548534654,-1.0685956189398613],[0.23069128317512688,-0.9405956183854389]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970348359869195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4110.png","name":"4110"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4110.png","name":"4110"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2482.png","name":"2482"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6243.png","name":"6243"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1887.png","name":"1887"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1690.png","name":"1690"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":786.8490781213077,"rotation_z_degrees":200.15139384615853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011029561706902166,0.0032193927244032264,0.005038691098124014]},{"name":"camera_2","offset_m":[-0.012680893302943756,-0.014826030729404253,0.0059405199379361125]},{"name":"camera_3","offset_m":[0.013382897098144133,0.0008544840554017413,0.005940958292850428]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00022908335659751838,0.0006948752855213663,0.001867856832285894],"end_effector_yaw_offset_degrees":0.1688787917562482},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00043650031747124746,-0.000701824347509154,0.0010248234276218778],"end_effector_yaw_offset_degrees":0.8805307506989757},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001859024923111254,0.00014879854241845033,0.0003073721021339777],"end_effector_yaw_offset_degrees":-0.1683511528943582},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006704513644974529,0.001982911653861355,0.0009864516825713585],"end_effector_yaw_offset_degrees":-0.9218598174513799}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017480500468614935,-0.0004690563494428087],"position_m":[0.27715194995313847,-0.1181690563494428,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003410199929933852,-0.004771038139174849],"position_m":[0.22991019992993386,-0.41397103813917485,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036147436204594903,0.0011327636435656792],"position_m":[0.3562147436204595,0.06713276364356568,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030153997485769775,0.0037698968328033792],"position_m":[0.34521539974857696,0.3276698968328034,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1d5f3eb6cbb1d5772bf1bedbaf5e78ab1f5d0b80d068c9b37b1df36c7f3f76d9","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0013.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4110/tex_ceiling_textures_1690/tex_floor_textures_1887/tex_table_textures_2482/tex_wall_textures_6243","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7368527535420168602,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7368527535420168602,"visual_seed":7368527535420168602,"scene_id":"lab_003","finished_at":"2026-09-05T00:57:34"}
+{"episode_id":"ep_000010","started_at":"2026-09-05T00:57:38","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[0.06690530444695086,-0.9301262658244578,0.71338606911949],"aabb_xy":[[0.021905302980722022,-0.9751261226859386],[0.11190530591317974,-0.8851264089629772]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.37526061724107596,-1.9455055181925338,0.71338606911949],"aabb_xy":[[0.36484905856059224,-1.9508512515284322],[0.38567217592155967,-1.9401597848566354]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[0.5750373084741405,1.7619722628116548,0.71338606911949],"aabb_xy":[[0.5407210312995224,1.7119722628384768],[0.6093535856487583,1.8119722627848323]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[0.6938173772684626,1.2601733387364287,0.71338606911949],"aabb_xy":[[0.6888613570835815,1.2376733385343073],[0.6987733974533439,1.2826733389385505]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.5147372052003871,-1.641291269074175,0.71338606911949],"aabb_xy":[[-0.5392834208231378,-1.6715401656232123],[-0.49019098957763646,-1.6110423725251382]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.2684713128213226,-0.703224691503807,0.71338606911949],"aabb_xy":[[-0.3235965184509133,-0.763224692945094],[-0.21334610719173178,-0.6432246900625197]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.49040061792080447,-1.3102607569773321,0.71338606911949],"aabb_xy":[[0.482406629343101,-1.3182608370724225],[0.4983946064985078,-1.3022606768822418]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.21499122531535897,-1.4450710335010306,0.71338606911949],"aabb_xy":[[-0.22576419923672675,-1.4800710317200696],[-0.2042182513939912,-1.4100710352819916]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.2884475125980125,-0.8626365833931393,0.71338606911949],"aabb_xy":[[0.26553179971296265,-0.8855408805295628],[0.31136322548306244,-0.8397322862567158]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.5946096079768386,0.03802841165299453,0.71338606911949],"aabb_xy":[[0.5873658419305933,-0.04197158655060785],[0.6018533740230839,0.1180284098565969]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[0.7167293773209797,-1.3045490441648036,0.71338606911949],"aabb_xy":[[0.7093169217795914,-1.3104002545864317],[0.7241418328623683,-1.2986978337431758]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.0947575139448189,0.9350686219468725,0.71338606911949],"aabb_xy":[[-0.13225751376185246,0.9304304106357305],[-0.05725751412778535,0.9397068332580142]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.07261257529899645,1.5514561128734994,0.71338606911949],"aabb_xy":[[-0.13661257670698712,1.499667161349575],[-0.008612573891005794,1.6032450643974243]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.5043596263405343,1.1256224823108196,0.71338606911949],"aabb_xy":[[0.4146725500324189,1.0356224820563689],[0.5940467026486498,1.21562248256527]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.34062080251382293,-0.4171056244779301,0.71338606911949],"aabb_xy":[[-0.36584163937366254,-0.4423293753308168],[-0.3153999656539832,-0.3918818736250433]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.3659982932236506,0.4829539468612176,0.71338606911949],"aabb_xy":[[-0.4034982917992714,0.4702176511976596],[-0.32849829464802976,0.4956902425247755]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.23237038789607956,-1.5919785967875448,0.71338606911949],"aabb_xy":[[-0.32237039157299774,-1.6534110033646485],[-0.14237038421916137,-1.5305461902104398]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.6261739169459216,0.6940316243003712,0.71338606911949],"aabb_xy":[[-0.6636739170515145,0.68720946244739],[-0.5886739168403285,0.7008537861533523]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[0.6559637714218416,-1.6212813863550255,0.71338606911949],"aabb_xy":[[0.6434964133121058,-1.6337467109883488],[0.6684311295315771,-1.6088160617217018]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[-0.1772578094386179,0.23313730373928498,0.71338606911949],"aabb_xy":[[-0.18133596734566762,0.22905632349102165],[-0.17317965153156814,0.23721828398754827]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[-0.5545289909264517,0.3131766168212011,0.71338606911949],"aabb_xy":[[-0.6095222022635886,0.2581766164824076],[-0.49953577958931505,0.3681766171599948]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[0.5640801620033744,0.7011104635414807,0.71338606911949],"aabb_xy":[[0.500080163416802,0.6541035001419719],[0.6280801605899469,0.7481174269409894]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.523200262277111,1.3757691311924023,0.71338606911949],"aabb_xy":[[-0.5683715801252801,1.3117691340478639],[-0.47802894442894217,1.4397691283369407]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.5514197113991406,-1.2255701465674647,0.71338606911949],"aabb_xy":[[-0.6154197086847892,-1.2670768655203086],[-0.48741971411349194,-1.1840634276146207]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_24","position":[-0.4521254644222291,0.11144256828544563,0.71338606911949],"aabb_xy":[[-0.4597497325124074,0.10380934474890192],[-0.44450119633205093,0.11907579182198937]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[0.438029128092124,-2.3844121105807763,0.71338606911949],"aabb_xy":[[0.36802912648984454,-2.3978449037824343],[0.5080291296944035,-2.370979317379119]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[-0.20512037839720787,1.2715755258992432,0.71338606911949],"aabb_xy":[[-0.22895659603781296,1.181575525090757],[-0.1812841607566028,1.3615755267077299]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_27","position":[0.3760257994054377,0.46748053016418956,0.71338606911949],"aabb_xy":[[0.31602579915403645,0.4131992051277249],[0.4360257996568388,0.5217618552006542]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_28","position":[-0.288404647876768,-1.372600628881605,0.71338606911949],"aabb_xy":[[-0.30598295006571485,-1.39017511845571],[-0.27082634568782116,-1.3550261393075005]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[0.5903205334927928,1.6168535413656993,0.71338606911949],"aabb_xy":[[0.5203205308562064,1.5967486763698333],[0.6603205361293791,1.6369584063615643]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_30","position":[0.5599171540724235,-1.2295763259413077,0.71338606911949],"aabb_xy":[[0.547290366785227,-1.2391223996428806],[0.5725439413596197,-1.2200302522397348]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_31","position":[0.5945680385611993,1.3659557481836533,0.71338606911949],"aabb_xy":[[0.5634211197176161,1.2959557494968459],[0.6257149574047823,1.4359557468704602]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6901317973577741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8598.png","name":"8598"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8598.png","name":"8598"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1599.png","name":"1599"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2764.png","name":"2764"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2387.png","name":"2387"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3953.png","name":"3953"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":829.0079624724243,"rotation_z_degrees":194.88810891898865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013063738741166928,-0.0036064770107341743,0.008773182876996913]},{"name":"camera_2","offset_m":[-0.015102028676287987,-0.01750654775362448,-0.016825855198088883]},{"name":"camera_3","offset_m":[-0.006866971642949488,0.017589192990309702,0.012365073735802704]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019139711518217683,0.0006157367170346395,-0.0019032245135447666],"end_effector_yaw_offset_degrees":0.36920299149053215},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00024701026290005956,-0.00095805385100395,-0.001701993522600159],"end_effector_yaw_offset_degrees":0.8925918661018579},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012928417250659937,0.0006876191144301225,0.0008746473112308034],"end_effector_yaw_offset_degrees":0.8488352153984484},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000296266054359208,0.00023608998065710336,0.0006152821025504455],"end_effector_yaw_offset_degrees":-0.18926763524181411}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003197840901348372,-0.004137908984483532],"position_m":[0.2757021590986516,-0.12183790898448353,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037770354817394476,0.003734704686509753],"position_m":[0.23027703548173944,-0.40546529531349024,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036085765041628916,-0.0016541136430731295],"position_m":[0.3489914234958371,0.06434588635692687,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0032265688947829543,0.0008048580866306188],"position_m":[0.33897343110521705,0.32470485808663063,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"048dce36ff44634b9de11b6ef7b9bcf6b3327c364e857b9ad2c920c68dc8a487","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8598/tex_ceiling_textures_3953/tex_floor_textures_2387/tex_table_textures_1599/tex_wall_textures_2764","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":339822444871279731,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":339822444871279731,"visual_seed":339822444871279731,"scene_id":"lab_003","finished_at":"2026-09-05T01:01:05"}
+{"episode_id":"ep_000011","started_at":"2026-09-05T01:01:10","dimensions":{"distractor":{"count":34,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[0.5051053580965015,1.4709304846342088,0.71338606911949],"aabb_xy":[[0.415418281788386,1.3809304843797583],[0.5947924344046169,1.5609304848886594]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[0.2537005421551012,-1.6069814899915629,0.71338606911949],"aabb_xy":[[0.19370054155908495,-1.6617939625367864],[0.3137005427511173,-1.5521690174463394]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[0.2165172160889247,-1.428220755907874,0.71338606911949],"aabb_xy":[[0.16653979922367113,-1.478220757397122],[0.2664946329541783,-1.378220754418625]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.5864856966202061,-0.959505122462242,0.71338606911949],"aabb_xy":[[0.4964856929432877,-1.020937529039346],[0.6764857002971241,-0.8980727158851374]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.07501686880198866,-1.1399123730253347,0.71338606911949],"aabb_xy":[[-0.08301035859727068,-1.1479105049658103],[-0.06702337900670663,-1.131914241084859]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[-0.4262196616224809,0.8480544195109583,0.71338606911949],"aabb_xy":[[-0.44401316855739736,0.8302546739151606],[-0.4084261546875645,0.865854165106756]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[0.6209003600626128,-0.15965737911224265,0.71338606911949],"aabb_xy":[[0.5709003606224171,-0.20962530359655895],[0.6709003595028084,-0.10968945462792634]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[-0.5828163612234291,0.6145093949692528,0.71338606911949],"aabb_xy":[[-0.6328163598693503,0.5645898513097904],[-0.5328163625775079,0.6644289386287152]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.6644867235301282,-0.5137081077876475,0.71338606911949],"aabb_xy":[[0.6269867227381327,-0.5200759487458375],[0.7019867243221236,-0.5073402668294573]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[0.4860042258304689,-0.7256490345864093,0.71338606911949],"aabb_xy":[[0.4360199901222916,-0.7756490333999048],[0.5359884615386461,-0.6756490357729136]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.57099191431081,-1.5502884022503023,0.71338606911949],"aabb_xy":[[0.5009919121793804,-1.5730503678759977],[0.6409919164422395,-1.5275264366246064]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.25622910086240036,-1.144208243972565,0.71338606911949],"aabb_xy":[[0.22176675346425848,-1.1787021263703874],[0.29069144826054205,-1.109714361574742]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[0.2617669112458766,-2.3149060213857884,0.71338606911949],"aabb_xy":[[0.19776690795616844,-2.3582409403897056],[0.32576691453558465,-2.2715711023818703]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[-0.48463320400004506,0.7389537322623436,0.71338606911949],"aabb_xy":[[-0.5013103399931406,0.7222538082884133],[-0.46795606800694955,0.7556536562362739]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.5299145113346826,-1.2806243486471884,0.71338606911949],"aabb_xy":[[-0.6099145116082896,-1.3535738964729052],[-0.44991451106107566,-1.2076748008214717]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[-0.5944029231848434,-2.468698023542817,0.71338606911949],"aabb_xy":[[-0.620691747505284,-2.494969457197468],[-0.5681140988644027,-2.4424265898881656]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.09880645287386092,0.3212305946414915,0.71338606911949],"aabb_xy":[[-0.12877400978368658,0.2912305943436057],[-0.06883889596403525,0.3512305949393772]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.08455793056952954,-1.1741003589164287,0.71338606911949],"aabb_xy":[[-0.005442065931342221,-1.2200120013348867],[0.17455792707040127,-1.1281887164979703]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.012987306805462673,1.6217055994680236,0.71338606911949],"aabb_xy":[[-0.050487305381083473,1.608969303804466],[0.024512691770158128,1.6344418951315818]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.09376390503221899,0.1465116403088884,0.71338606911949],"aabb_xy":[[-0.15776390644020966,0.09472268878496372],[-0.029763903624228327,0.19830059183281312]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.01279119014812935,-1.772924214340783,0.71338606911949],"aabb_xy":[[-0.004841645445398223,-1.7905471603564056],[0.03042402574165692,-1.7553012683251596]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[0.5706064214817614,1.2182414773979664,0.71338606911949],"aabb_xy":[[0.520623471294282,1.1682414777554058],[0.6205893716692407,1.2682414770405266]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.08101675210082215,-2.5327549554876874,0.71338606911949],"aabb_xy":[[-0.08659842373495091,-2.545254955305463],[-0.0754350804666934,-2.5202549556699116]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[-0.6354529900008239,-0.23696150153831397,0.71338606911949],"aabb_xy":[[-0.6665999088444069,-0.30696150022512114],[-0.6043060711572407,-0.16696150285150677]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[0.15595690879127821,1.174536732047772,0.71338606911949],"aabb_xy":[[0.09095691023420538,1.1447841986338894],[0.22095690734835105,1.2042892654616546]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[-0.33452088052113305,-0.6777641803641516,0.71338606911949],"aabb_xy":[[-0.3945208807725342,-0.7320455054006163],[-0.27452088026973187,-0.623482855327687]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[-0.11709576172302416,1.5747212249963298,0.71338606911949],"aabb_xy":[[-0.13959576196653956,1.562516590336558],[-0.09459576147950875,1.586925859656102]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_27","position":[0.650718584955625,-1.69876323490154,0.71338606911949],"aabb_xy":[[0.6157185849791291,-1.7082278509491566],[0.6857185849321208,-1.6892986188539234]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[-0.17169016244440072,1.789492417088551,0.71338606911949],"aabb_xy":[[-0.2516901611012867,1.7749875581642884],[-0.09169016378751471,1.8039972760128142]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_29","position":[-0.48522303034888914,0.38753340062200614,0.71338606911949],"aabb_xy":[[-0.5264718413788038,0.3325334011097886],[-0.44397421931897435,0.4425334001342235]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_30","position":[-0.10180122166169414,-1.9600457979814847,0.71338606911949],"aabb_xy":[[-0.10623185101653435,-1.9654941697161676],[-0.09737059230685399,-1.9545974262468022]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_31","position":[0.1556004659319501,-0.6360912631814861,0.71338606911949],"aabb_xy":[[0.14544745037780069,-0.6721608047542263],[0.16575348148609945,-0.6000217216087457]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_32","position":[0.16706117334817883,-1.7428550679970862,0.71338606911949],"aabb_xy":[[0.11206117514643398,-1.7833770346235238],[0.22206117154992364,-1.7023331013706486]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_33","position":[-0.6546766287214639,-1.0090278850393943,0.71338606911949],"aabb_xy":[[-0.6747350403347042,-1.0290929719485518],[-0.6346182171082236,-0.9889627981302368]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6899141181153221,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2344.png","name":"2344"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2344.png","name":"2344"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/146.png","name":"146"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9366.png","name":"9366"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7320.png","name":"7320"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6268.png","name":"6268"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":747.1865891716482,"rotation_z_degrees":114.4701594205229,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008735756334456054,-0.004515880445829188,-0.008540539612616516]},{"name":"camera_2","offset_m":[-0.008660303978362064,0.016657909094022465,0.016717235170634]},{"name":"camera_3","offset_m":[-0.007355653591030862,-0.016218520477185683,0.013966696076661119]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003348098640632816,0.0008421287846015761,-0.0012896438698817279],"end_effector_yaw_offset_degrees":0.8107685405528207},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008427451418435222,-0.0014516088007078044,0.0011370117177255854],"end_effector_yaw_offset_degrees":-0.8454602838487209},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016684381899125357,-0.0013934434436712584,0.000639490744101905],"end_effector_yaw_offset_degrees":0.9644417150153937},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019539882486823736,0.0012922824022771192,-0.0015240395310597542],"end_effector_yaw_offset_degrees":-0.7847292430288686}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0002019508768713492,0.002600993308538661],"position_m":[0.2786980491231286,-0.11509900669146134,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001629015352388762,0.0037477750899706135],"position_m":[0.22487098464761124,-0.4054522249100294,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032654233734766103,0.003371018039060979],"position_m":[0.3493345766265234,0.06937101803906098,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00041489010169250967,-0.004994909802189008],"position_m":[0.3417851098983075,0.318905090197811,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3791e45baea7c359aead920e1e14e7d4d672d7f7be588480d2c7624b53dad937","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2344/tex_ceiling_textures_6268/tex_floor_textures_7320/tex_table_textures_146/tex_wall_textures_9366","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3139056676978778942,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3139056676978778942,"visual_seed":3139056676978778942,"scene_id":"lab_003","finished_at":"2026-09-05T01:04:36"}
+{"episode_id":"ep_000012","started_at":"2026-09-05T01:04:41","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.6603191938870314,-2.081789476408464,0.71338606911949],"aabb_xy":[[0.6053237160663719,-2.136789477842371],[0.7153146717076907,-2.026789474974557]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[0.39731204176887136,-1.620854861310353,0.71338606911949],"aabb_xy":[[0.38574306102193484,-1.645854861427285],[0.408881022515808,-1.5958548611934216]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[0.34537126236045945,-0.9470336361039982,0.71338606911949],"aabb_xy":[[0.2653712612873391,-0.9568116824413826],[0.4253712634335798,-0.9372555897666137]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.6201740825968896,0.3183416344755212,0.71338606911949],"aabb_xy":[[0.6104180930877156,0.3085791004162868],[0.6299300721060633,0.32810416853475566]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.3951172827396293,-0.14697305118277626,0.71338606911949],"aabb_xy":[[-0.4201172819052625,-0.15392529688813283],[-0.37011728357399626,-0.14002080547741969]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.403840948423002,-1.9626427309899532,0.71338606911949],"aabb_xy":[[-0.43761650761369497,-1.976681226203118],[-0.370065389232309,-1.948604235776788]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[-0.5172887268574824,0.5281170022323334,0.71338606911949],"aabb_xy":[[-0.5872887289889118,0.5053550366066376],[-0.44728872472605274,0.5508789678580289]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[0.4923582079607425,0.952298830086983,0.71338606911949],"aabb_xy":[[0.4423589327923063,0.9022988288110358],[0.5423574831291786,1.0022988313629302]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[0.23741604147330464,-1.7004683381082781,0.71338606911949],"aabb_xy":[[0.21991604122825528,-1.7179681259478448],[0.254916041718354,-1.682968550268711]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[0.6021218329301268,0.6785171059542305,0.71338606911949],"aabb_xy":[[0.5608730219002118,0.6235171064420131],[0.6433706439600413,0.733517105466448]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_10","position":[-0.19745682220356786,-2.1814520669462336,0.71338606911949],"aabb_xy":[[-0.2524568218253137,-2.2364357597337063],[-0.14245682258182205,-2.126468374158761]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[-0.18156129494297724,-1.9799296294337105,0.71338606911949],"aabb_xy":[[-0.21906129560755588,-1.9956166874339325],[-0.14406129427839848,-1.9642425714334881]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[-0.05417835171642982,-0.32223716006752046,0.71338606911949],"aabb_xy":[[-0.05788161304556868,-0.32593917837623826],[-0.05047509038729094,-0.31853514175880254]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[0.4444626318803593,1.5802970848235094,0.71338606911949],"aabb_xy":[[0.4293603304193411,1.565195563192447],[0.45956493334137727,1.5953986064545709]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[0.6658532857248896,-1.7417480717080176,0.71338606911949],"aabb_xy":[[0.656559667487739,-1.7792480701961515],[0.6751469039620401,-1.7042480732198837]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.5424589213080893,-0.12716449713447986,0.71338606911949],"aabb_xy":[[0.4874666706725783,-0.18216449887779265],[0.5974511719436002,-0.07216449539116711]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.33233143436662105,-1.3175968811707646,0.71338606911949],"aabb_xy":[[0.2473314356745464,-1.3495827445656434],[0.4173314330586957,-1.2856110177758857]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.39278850953022726,0.28316468874757117,0.71338606911949],"aabb_xy":[[-0.4206335463108344,0.2523801900092595],[-0.36494347274962013,0.31394918748588285]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[0.2669906293481529,0.6335775474512073,0.71338606911949],"aabb_xy":[[0.21701733534489243,0.5835775468966599],[0.3169639233514133,0.6835775480057545]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[0.5549186563584887,1.095112689057685,0.71338606911949],"aabb_xy":[[0.5484170198504842,1.0853448670313754],[0.5614202928664934,1.104880511083995]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.5132566503807843,1.716962890568364,0.71338606911949],"aabb_xy":[[-0.5627370715947431,1.6529628926555124],[-0.4637762291668255,1.780962888481216]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[0.5299633095521639,-1.654155345366752,0.71338606911949],"aabb_xy":[[0.4949633112414684,-1.6618703602902978],[0.5649633078628593,-1.6464403304432065]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[-0.5056800864453759,-2.4219550862850117,0.71338606911949],"aabb_xy":[[-0.5556643221535532,-2.4719550850985073],[-0.45569585073719876,-2.371955087471516]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.2562523647225452,-0.8661748163108582,0.71338606911949],"aabb_xy":[[0.2458408060420615,-0.8715205496467566],[0.2666639234030289,-0.8608290829749596]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[0.18198071319807096,-1.8677006035453698,0.71338606911949],"aabb_xy":[[0.11798071249460163,-1.9137189860182913],[0.24598071390154033,-1.8216822210724493]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[0.5309483116076723,-2.2396762211495935,0.71338606911949],"aabb_xy":[[0.465948310501729,-2.264641594217722],[0.5959483127136156,-2.2147108480814652]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[0.11380330559818452,1.8227585734939917,0.71338606911949],"aabb_xy":[[0.10610011492410745,1.8150492027952534],[0.12150649627226154,1.8304679441927296]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[-0.29571367561389,-0.22260996402831967,0.71338606911949],"aabb_xy":[[-0.3307136755099088,-0.2309841995402596],[-0.2607136757178711,-0.2142357285163797]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_28","position":[-0.06200163650378232,-1.1826484692711536,0.71338606911949],"aabb_xy":[[-0.08450163674729771,-1.1948531039309256],[-0.03950163626026692,-1.1704438346113817]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[-0.47933602140529413,-0.4719343331451964,0.71338606911949],"aabb_xy":[[-0.4948917908155595,-0.48748476638960364],[-0.463780251995029,-0.45638389990078926]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_30","position":[-0.3431621208822912,0.41681797089355976,0.71338606911949],"aabb_xy":[[-0.3480057156435212,0.41196631841457565],[-0.3383185261210612,0.4216696233725439]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_31","position":[0.5005391248892392,-1.4915847694083872,0.71338606911949],"aabb_xy":[[0.4505391254490435,-1.5415526938927033],[0.5505391243294347,-1.4416168449240707]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_32","position":[0.6549163917651439,-1.103047470411981,0.71338606911949],"aabb_xy":[[0.629916391832626,-1.1099301386329044],[0.6799163916976618,-1.0961648021910577]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6899716026284896,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6307.png","name":"6307"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6307.png","name":"6307"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6094.png","name":"6094"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3779.png","name":"3779"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/717.png","name":"717"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1125.png","name":"1125"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":753.6462705558132,"rotation_z_degrees":112.00633700377709,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01646944524285223,-0.007082560995517233,-0.009645328247977423]},{"name":"camera_2","offset_m":[0.0048840102780062546,-0.012243738388152155,-0.011612389542551385]},{"name":"camera_3","offset_m":[0.01740725547010216,-0.01576069976462462,0.00403318458483954]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000694969652709538,0.0016645403944339325,0.0016574220866943682],"end_effector_yaw_offset_degrees":0.23706601137225802},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001308458771628605,0.001688428323798165,0.0013625299311676958],"end_effector_yaw_offset_degrees":0.49335306481042385},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011959211712292825,0.0006710537716343484,0.0012200396334769948],"end_effector_yaw_offset_degrees":0.059173623984581925},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004387166375704717,8.108334031260971e-05,-0.0002647501282041023],"end_effector_yaw_offset_degrees":0.004140426106064465}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003660846256607681,0.004014940367201381],"position_m":[0.28256084625660766,-0.11368505963279862,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020489383262341765,-0.004726979197122042],"position_m":[0.22445106167376583,-0.41392697919712207,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024931117288475814,0.0014053781811955816],"position_m":[0.35010688827115244,0.06740537818119559,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002520692663685001,-0.0008644887054387908],"position_m":[0.339679307336315,0.3230355112945612,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a18b102ed8a98a1c36f4becdeb1b082e4a45e30c40152919853161385df9d489","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6307/tex_ceiling_textures_1125/tex_floor_textures_717/tex_table_textures_6094/tex_wall_textures_3779","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7591231833018733935,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7591231833018733935,"visual_seed":7591231833018733935,"scene_id":"lab_003","finished_at":"2026-09-05T01:08:16"}
+{"episode_id":"ep_000013","started_at":"2026-09-05T01:08:20","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_0","position":[-0.26307755438611025,1.2158031697845688,0.71338606911949],"aabb_xy":[[-0.2976686372401554,1.1508031694995375],[-0.228486471532065,1.2808031700695997]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[0.5189294502713269,1.03942446860157,0.71338606911949],"aabb_xy":[[0.5109354616936234,1.0314243885064796],[0.5269234388490301,1.0474245486966602]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.47592785845629426,-2.343482173658156,0.71338606911949],"aabb_xy":[[0.43092785699006547,-2.388482030519637],[0.5209278599225231,-2.2984823167966755]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[-0.5440830599670605,-2.3619595663346082,0.71338606911949],"aabb_xy":[[-0.6090830600013631,-2.4086602430149355],[-0.4790830599327577,-2.315258889654281]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.3539461403459958,1.5402071792687013,0.71338606911949],"aabb_xy":[[0.3465336848046074,1.5343559688470731],[0.36135859588738434,1.546058389690329]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[0.10926836927668049,1.2944078544121562,0.71338606911949],"aabb_xy":[[0.1027667327686759,1.2846400323858465],[0.11577000578468513,1.304175676438466]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[-0.4845954171328867,0.9973876658811278,0.71338606911949],"aabb_xy":[[-0.5485954203515245,0.9506645539821195],[-0.4205954139142488,1.0441107777801362]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[0.6117007054221011,0.6474716982998947,0.71338606911949],"aabb_xy":[[0.5477007081197546,0.603105271332038],[0.6757007027244474,0.6918381252677515]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[-0.5722520853958236,-0.7050065464425799,0.71338606911949],"aabb_xy":[[-0.6272520850175695,-0.7599902392300526],[-0.5172520857740778,-0.6500228536551071]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[-0.23524451413739478,-0.644695222404458,0.71338606911949],"aabb_xy":[[-0.2727445140811612,-0.6529883124392946],[-0.19774451419362837,-0.6364021323696214]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.589643978909712,1.385569698835821,0.71338606911949],"aabb_xy":[[-0.6196115358195378,1.3555696985379353],[-0.5596764219998864,1.4155696991337068]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.13335294607637704,0.6398103923252689,0.71338606911949],"aabb_xy":[[0.12991226983631987,0.6359489593509046],[0.13679362231643422,0.6436718252996335]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.0374324727623353,1.6899988851444339,0.71338606911949],"aabb_xy":[[-0.11743247016592873,1.6100063139462506],[0.04256752464125811,1.7699914563426162]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[-0.06989604407863048,-1.6327469843869875,0.71338606911949],"aabb_xy":[[-0.1498960451517508,-1.6425250307243717],[0.010103956994489849,-1.6229689380496028]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.16772803404427572,0.8441870217037271,0.71338606911949],"aabb_xy":[[-0.23172803115638138,0.7951546519093164],[-0.10372803693217,0.8932193914981377]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[-0.4106351095799905,-0.36988616527718277,0.71338606911949],"aabb_xy":[[-0.42350701308093064,-0.44988616569101886],[-0.39776320607905036,-0.28988616486334656]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[0.4977530481788397,-1.1510383099788752,0.71338606911949],"aabb_xy":[[0.4140308226787573,-1.2410383135135712],[0.5814752736789222,-1.0610383064441793]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.026923285085970416,1.2783523783416668,0.71338606911949],"aabb_xy":[[-0.07689635061848589,1.2283523785291341],[0.02304978044654505,1.3283523781542]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.010230031456895605,0.8041692156800444,0.71338606911949],"aabb_xy":[[-0.0327300319689362,0.7816773573146459],[0.012269969055144993,0.8266610740454426]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[-0.21526700972719925,-2.193609770919899,0.71338606911949],"aabb_xy":[[-0.2653644737082729,-2.2576097714297103],[-0.16516954574612563,-2.1296097704100867]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[-0.18091812644671423,-1.3793586483090252,0.71338606911949],"aabb_xy":[[-0.19436465308075754,-1.3928284999621163],[-0.16747159981267087,-1.365888796655934]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[0.6957580347010983,-2.425525601976643,0.71338606911949],"aabb_xy":[[0.6831553355640219,-2.438120998201508],[0.7083607338381748,-2.412930205751777]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.07635966822821894,-2.517789703136499,0.71338606911949],"aabb_xy":[[-0.12635966780455365,-2.5677702820886052],[-0.026359668651884216,-2.4678091241843934]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[0.43790043584188076,-1.7041767054096095,0.71338606911949],"aabb_xy":[[0.3479004321649625,-1.7656091119867134],[0.5279004395187988,-1.6427442988325047]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[0.4612201341640245,0.34901374685565223,0.71338606911949],"aabb_xy":[[0.4575168728348856,0.3453117285469343],[0.4649233954931634,0.35271576516437003]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[-0.09062517586628638,-0.1887332138623159,0.71338606911949],"aabb_xy":[[-0.11895488581482662,-0.19319395605603298],[-0.062295465917746165,-0.18427247166859886]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[-0.5540453387161416,-1.9592207725689872,0.71338606911949],"aabb_xy":[[-0.6180453360017902,-2.000727491521831],[-0.49004534143049294,-1.9177140536161432]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_27","position":[0.1803016055632526,-0.6751783612188247,0.71338606911949],"aabb_xy":[[0.14280160404762085,-0.6864051342349697],[0.21780160707888427,-0.6639515882026796]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[0.6849619505513405,-2.0046658700986772,0.71338606911949],"aabb_xy":[[0.6741103443024649,-2.0155251608263285],[0.6958135568002161,-1.9938065793710262]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6919651946136107,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4880.png","name":"4880"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4880.png","name":"4880"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2198.png","name":"2198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5903.png","name":"5903"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6896.png","name":"6896"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7920.png","name":"7920"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":676.1656431690062,"rotation_z_degrees":206.1051460218543,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018044490001749264,0.011855369078011001,-0.0013063530051040523]},{"name":"camera_2","offset_m":[0.01388097198270059,-0.003859675000537001,-0.010667545385929964]},{"name":"camera_3","offset_m":[0.005897010818640264,1.762391053911419e-05,0.007090291020619623]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011396628874177797,-5.662911890910445e-05,-0.00161367088880593],"end_effector_yaw_offset_degrees":0.9872937470653196},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002917455902804384,-0.0007804422728296451,0.0013447458226268651],"end_effector_yaw_offset_degrees":-0.7042735403621407},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010609410183516888,0.0012481303687145108,-0.0019828908244002084],"end_effector_yaw_offset_degrees":-0.22080228467420193},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012135903749374206,0.0009770710923813976,0.0005221712681455467],"end_effector_yaw_offset_degrees":0.4336915075429204}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[1.1849977174619407e-05,0.0036608429577822755],"position_m":[0.2789118499771746,-0.11403915704221772,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004959441926458993,-0.002887608276636705],"position_m":[0.221540558073541,-0.4120876082766367,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004997969316856082,0.0032301184625756164],"position_m":[0.3575979693168561,0.06923011846257562,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00019475146262718304,-0.00099847757071084],"position_m":[0.3420052485373728,0.32290152242928916,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c0d65bebde9ca6eb04c1be923b86c4bb0255abfd960271bca6de6b6d0d6f8cc9","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4880/tex_ceiling_textures_7920/tex_floor_textures_6896/tex_table_textures_2198/tex_wall_textures_5903","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2628264347418444671,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2628264347418444671,"visual_seed":2628264347418444671,"scene_id":"lab_003","finished_at":"2026-09-05T01:11:51"}
+{"episode_id":"ep_000014","started_at":"2026-09-05T01:11:55","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.1185982167991072,-1.4487287798819628,0.71338606911949],"aabb_xy":[[-0.1267118714724843,-1.4568345963359919],[-0.11048456212573012,-1.4406229634279337]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.40737871705476425,-1.8927857245215032,0.71338606911949],"aabb_xy":[[0.37004744052952165,-1.9274387793163554],[0.44470999358000685,-1.858132669726651]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.29444721612659,-1.5785566001274778,0.71338606911949],"aabb_xy":[[-0.30322844327382625,-1.5873363474160085],[-0.2856659889793538,-1.569776852838948]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.007539051042618317,-2.5533010915355487,0.71338606911949],"aabb_xy":[[0.001957379408489559,-2.565801091353324],[0.013120722676747076,-2.5408010917177726]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[0.1856583965198576,1.3527498957818653,0.71338606911949],"aabb_xy":[[0.15065839516837584,1.3323901598250445],[0.2206583978713393,1.3731096317386862]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[-0.4308379060359428,-0.7795360468231189,0.71338606911949],"aabb_xy":[[-0.5008379024459044,-0.7999739824748004],[-0.3608379096259809,-0.759098111171437]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.3077586999549602,-0.6915866818820235,0.71338606911949],"aabb_xy":[[0.27431852475894053,-0.7250303077129535],[0.34119887515097974,-0.6581430560510934]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[0.6437709084481913,-0.4698070973491406,0.71338606911949],"aabb_xy":[[0.5797709070402006,-0.5215960488730652],[0.707770909856182,-0.41801814582521585]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[-0.10782432127953057,-2.5472796317582405,0.71338606911949],"aabb_xy":[[-0.11316189694553515,-2.5722796326873807],[-0.10248674561352601,-2.522279630829101]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[-0.37998676384697117,0.7163245528275417,0.71338606911949],"aabb_xy":[[-0.43498676302356054,0.6613348780525841],[-0.32498676467038157,0.7713142276024993]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[0.5087214639588782,0.4098399156435093,0.71338606911949],"aabb_xy":[[0.4978809857323633,0.39265363435286055],[0.5195619421853931,0.42702619693415816]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[-0.5213068883267645,0.44599445933781245,0.71338606911949],"aabb_xy":[[-0.6013068852898037,0.36891881769403906],[-0.44130689136372536,0.5230701009815859]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[0.21621998671849785,0.9778940568590051,0.71338606911949],"aabb_xy":[[0.1362199893149044,0.8979014856608223],[0.2962199841220912,1.057886628057188]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[-0.6009460310151118,-1.4770151295996576,0.71338606911949],"aabb_xy":[[-0.6549616272970118,-1.5410151324919146],[-0.5469304347332118,-1.4130151267074003]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.06348437588744948,-2.260098393160796,0.71338606911949],"aabb_xy":[[0.013505567377133584,-2.3100983931665144],[0.11346318439776536,-2.210098393155077]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[-0.2440089212374998,0.9795448649080383,0.71338606911949],"aabb_xy":[[-0.3080089234579068,0.93517178078275],[-0.18000891901709276,1.0239179490333266]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.0914350547839845,1.597555399091552,0.71338606911949],"aabb_xy":[[-0.1342017616634047,1.5335553956697496],[-0.0486683479045643,1.6615554025133545]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.4155806742482575,1.169197302321345,0.71338606911949],"aabb_xy":[[0.4078774835741804,1.1614879316226068],[0.4232838649223345,1.176906673020083]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[0.6033377825784239,1.3733747305661494,0.71338606911949],"aabb_xy":[[0.5820597744349516,1.3083747282400762],[0.6246157907218961,1.4383747328922223]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[-0.28772776464475874,-0.3008436050456176,0.71338606911949],"aabb_xy":[[-0.2938223925328771,-0.3094129995972863],[-0.2816331367566405,-0.29227421049394886]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[0.17830944287517236,-0.6806061014214237,0.71338606911949],"aabb_xy":[[0.14080944445177201,-0.6937703153892543],[0.2158094412985727,-0.667441887453593]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[0.03302190982612663,-1.2671865626997942,0.71338606911949],"aabb_xy":[[0.024807364710442637,-1.2758631529974354],[0.041236454941810594,-1.2585099724021527]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.14535318040259992,-1.948553273150378,0.71338606911949],"aabb_xy":[[-0.16226391283894168,-1.9620254787429925],[-0.12844244796625812,-1.9350810675577637]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[-0.5338353039678513,-0.493257181808334,0.71338606911949],"aabb_xy":[[-0.5662970048497786,-0.5233900139232365],[-0.5013736030859237,-0.4631243496934313]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_24","position":[0.255512988044026,0.7024730659800342,0.71338606911949],"aabb_xy":[[0.22105051003093817,0.6958093887971113],[0.2899754660571137,0.7091367431629569]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[0.47809096986460276,1.5946358160109049,0.71338606911949],"aabb_xy":[[0.3980909666067597,1.5146393082189207],[0.5580909731224456,1.6746323238028886]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[0.623243200824467,-1.8997827226217114,0.71338606911949],"aabb_xy":[[0.6107758427147315,-1.9122480472550352],[0.6357105589342028,-1.8873173979883882]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_27","position":[0.2566146305747833,-2.0351778995000656,0.71338606911949],"aabb_xy":[[0.21144331272661437,-2.099177896644604],[0.3017859484229523,-1.9711779023555271]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_28","position":[-0.3510751914547235,-1.0700828501547064,0.71338606911949],"aabb_xy":[[-0.3680852887447741,-1.08621733865298],[-0.3340650941646728,-1.0539483616564322]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_29","position":[-0.05659475728727792,0.9178203463957355,0.71338606911949],"aabb_xy":[[-0.07422759288080547,0.9001974003801124],[-0.03896192169375033,0.9354432924113584]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_30","position":[0.5399467326138161,1.1118568243669622,0.71338606911949],"aabb_xy":[[0.5064675653527752,1.0783777109958552],[0.573425899874857,1.1453359377380692]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_31","position":[0.5034974957142757,0.7713215149799941,0.71338606911949],"aabb_xy":[[0.4805817828292259,0.7484172178435707],[0.5264132085993257,0.7942258121164179]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6939794496772723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2437.png","name":"2437"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2437.png","name":"2437"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/870.png","name":"870"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6919.png","name":"6919"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7816.png","name":"7816"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/817.png","name":"817"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":805.814454582864,"rotation_z_degrees":151.25167418528278,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010846537284899095,-0.01654714376225205,-0.0076327590197457825]},{"name":"camera_2","offset_m":[-0.007530910689416595,0.01743037800534614,0.01591845660333709]},{"name":"camera_3","offset_m":[-0.018847578657147757,-0.01787510210375571,0.01959411742215075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016988676419236568,-0.001325101789705896,0.0014848876560981435],"end_effector_yaw_offset_degrees":0.24646061547265186},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009205305272875458,-0.000666260967035317,-0.0012069243705229642],"end_effector_yaw_offset_degrees":-0.13384256844628584},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015471260265025447,0.00031437245661776903,9.616999778821198e-05],"end_effector_yaw_offset_degrees":-0.4684187191269744},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018733562407697475,0.0009395746103830799,-0.0009526931855571279],"end_effector_yaw_offset_degrees":0.1558965388239708}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002300875896211647,-0.0031117681709307886],"position_m":[0.27659912410378834,-0.12081176817093078,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034705615352656595,0.001633040269106786],"position_m":[0.22302943846473436,-0.40756695973089324,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024301666457826323,-0.0029314376176578383],"position_m":[0.35503016664578263,0.06306856238234217,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003807947876281143,-0.004303893156493697],"position_m":[0.34600794787628114,0.3195961068435063,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a2bcc52c3d4679026af47cf44251d9336c9418291fde96a78965086fe5a37e42","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2437/tex_ceiling_textures_817/tex_floor_textures_7816/tex_table_textures_870/tex_wall_textures_6919","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3644358757739300724,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3644358757739300724,"visual_seed":3644358757739300724,"scene_id":"lab_003","finished_at":"2026-09-05T01:15:14"}
+{"episode_id":"ep_000015","started_at":"2026-09-05T01:15:18","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.41110356830035855,-1.7207903094133359,0.71338606911949],"aabb_xy":[[0.3471035718730367,-1.7679599332354323],[0.4751035647276805,-1.6736206855912394]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[-0.32128209275632513,-1.9803985686762782,0.71338606911949],"aabb_xy":[[-0.33184957241442414,-1.9909435987892867],[-0.3107146130982261,-1.9698535385632696]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.4653351407400037,-1.3949417959164174,0.71338606911949],"aabb_xy":[[0.45023283927898555,-1.410043317547479],[0.48043744220102175,-1.379840274285355]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.6221316633624122,0.6659141704236622,0.71338606911949],"aabb_xy":[[-0.6293929109328196,0.6531271601601527],[-0.6148704157920049,0.6787011806871717]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.6421950664954587,1.121026494135108,0.71338606911949],"aabb_xy":[[-0.6916754877094174,1.0570264962222562],[-0.5927146452814999,1.1850264920479598]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[0.35369030381853217,-1.4798593591817062,0.71338606911949],"aabb_xy":[[0.3419221170238747,-1.564859359086928],[0.36545849061318975,-1.3948593592764846]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.06762027064949994,1.762467082997421,0.71338606911949],"aabb_xy":[[-0.07839324457086773,1.727467084778382],[-0.05684729672813217,1.79746708121646]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.5581704705185702,-2.502448115016309,0.71338606911949],"aabb_xy":[[0.47817047253778505,-2.510049655978161],[0.6381704684993551,-2.494846574054457]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[0.5640413030526081,1.7310427294652722,0.71338606911949],"aabb_xy":[[0.5000413007098066,1.6861018782211394],[0.6280413053954097,1.7759835807094044]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[-0.310814746841323,-1.4649789339776906,0.71338606911949],"aabb_xy":[[-0.32831474597569005,-1.4748585610152782],[-0.2933147477069557,-1.4550993069401026]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.32723777612886584,1.0066139035262776,0.71338606911949],"aabb_xy":[[-0.36223777443956123,0.9988988886027319],[-0.29223777781817034,1.0143289184498232]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.2145762050715051,-0.7494115561003234,0.71338606911949],"aabb_xy":[[0.2044944979929316,-0.8294115539924378],[0.22465791215007855,-0.6694115582082085]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.17943882298722413,0.897281606098784,0.71338606911949],"aabb_xy":[[0.1294388217033841,0.8473027517081617],[0.22943882427106405,0.9472604604894059]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.5245067641466881,-1.0924876388152316,0.71338606911949],"aabb_xy":[[0.5093345948650547,-1.107656495743435],[0.5396789334283214,-1.0773187818870282]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.5991676814370304,-0.7622751435223498,0.71338606911949],"aabb_xy":[[0.5091676820186595,-0.7956506403665395],[0.6891676808554013,-0.7288996466781601]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[-0.6286099323559337,-0.21714245727859005,0.71338606911949],"aabb_xy":[[-0.6339424470105466,-0.22246678552382568],[-0.6232774177013207,-0.21181812903335448]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[-0.16279427751684972,0.7172801003010618,0.71338606911949],"aabb_xy":[[-0.187794276788812,0.7009347367048995],[-0.13779427824488744,0.7336254638972242]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.3961911992448839,-2.1471111176077438,0.71338606911949],"aabb_xy":[[0.36786148929634366,-2.151571859801461],[0.4245209091934241,-2.1426503754140267]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[0.15257396110824095,0.5838339965223232,0.71338606911949],"aabb_xy":[[0.14379273396100475,0.5750542492337931],[0.1613551882554772,0.5926137438108534]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.13799957632087878,1.3351646164857511,0.71338606911949],"aabb_xy":[[-0.20199957490745124,1.2881576530862424],[-0.07399957773430632,1.3821715798852598]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[0.2282587603430456,-1.7670256561160689,0.71338606911949],"aabb_xy":[[0.17844198087821078,-1.8170256546003725],[0.2780755398078803,-1.7170256576317657]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.5031994637523896,-0.6176739599169279,0.71338606911949],"aabb_xy":[[0.4810269367757387,-0.639849627073051],[0.5253719907290404,-0.5954982927608047]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[-0.39324329694834825,0.030896436138989625,0.71338606911949],"aabb_xy":[[-0.41078999186446713,-0.006603565425261641],[-0.37569660203222927,0.06839643770324089]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6886153654338185,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7827.png","name":"7827"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7827.png","name":"7827"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1984.png","name":"1984"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4897.png","name":"4897"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4351.png","name":"4351"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7525.png","name":"7525"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":772.4445051775836,"rotation_z_degrees":356.83540621163843,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00850347924574667,0.004331853821807775,0.0053519976929177066]},{"name":"camera_2","offset_m":[0.008584055492704377,-0.014413787398161012,-0.016307544607708307]},{"name":"camera_3","offset_m":[-0.01521341043802479,0.005345308492795537,0.007006419343310571]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007563857418080341,0.0011100572723092192,0.00044689109442937365],"end_effector_yaw_offset_degrees":0.34472442698049033},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008397426703755282,0.000591736338206748,-0.0013858773517263063],"end_effector_yaw_offset_degrees":0.22224084622413054},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019023911555525075,-0.0018160650500561664,-0.00037136078017597856],"end_effector_yaw_offset_degrees":0.13952816208146235},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011844687828539363,-0.001749440014069844,0.0012478340139884495],"end_effector_yaw_offset_degrees":-0.2620945120424769}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002165775912567276,-0.0005816099332943501],"position_m":[0.2767342240874327,-0.11828160993329435,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010075433200852964,0.0006544666612562254],"position_m":[0.22549245667991472,-0.40854553333874377,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00014349005538897164,-0.004829803397328108],"position_m":[0.352743490055389,0.061170196602671895,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027932250590565534,-0.0032530117228938317],"position_m":[0.33940677494094346,0.3206469882771062,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"825adfcee3afd4b4e17d58a40a23d6b81413aaffe39407b0e654cf1d0c7dfe04","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7827/tex_ceiling_textures_7525/tex_floor_textures_4351/tex_table_textures_1984/tex_wall_textures_4897","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1322040536342290783,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1322040536342290783,"visual_seed":1322040536342290783,"scene_id":"lab_003","finished_at":"2026-09-05T01:18:54"}
+{"episode_id":"ep_000016","started_at":"2026-09-05T01:18:58","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.6025081444107168,1.6472420628249647,0.71338606911949],"aabb_xy":[[0.5805994622713656,1.6253413960048737],[0.6244168265500677,1.6691427296450552]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[-0.30021832282762545,-0.5370735418853805,0.71338606911949],"aabb_xy":[[-0.3046489521824656,-0.5425219136200632],[-0.2957876934727853,-0.531625170150698]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[-0.06904042069207805,-2.0923330413682804,0.71338606911949],"aabb_xy":[[-0.07274368202121691,-2.0960350596769977],[-0.06533715936293917,-2.088631023059562]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[0.1507537741991063,-2.150959590604989,0.71338606911949],"aabb_xy":[[0.08675377279111564,-2.202748542128914],[0.21475377560709696,-2.0991706390810645]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[0.14144061813268904,-1.25606131314898,0.71338606911949],"aabb_xy":[[0.06144061947580304,-1.270566172073243],[0.22144061678957505,-1.2415564542247173]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_5","position":[-0.33160291176356177,0.2986530099872171,0.71338606911949],"aabb_xy":[[-0.42160291148673595,0.2755796574520372],[-0.2416029120403876,0.3217263625223969]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[-0.16763975850199786,-0.02428448433082231,0.71338606911949],"aabb_xy":[[-0.1851864534181168,-0.06178448589507357],[-0.15009306358587893,0.013215517233428953]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.5810268381353869,1.1679241555595898,0.71338606911949],"aabb_xy":[[0.5498799192918039,1.0979241568727824],[0.6121737569789701,1.2379241542463968]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[0.5048055584199984,-0.5895839152853002,0.71338606911949],"aabb_xy":[[0.5006697020872983,-0.6270839147296573],[0.5089414147526987,-0.5520839158409433]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[0.657261790759673,-2.4466095506836485,0.71338606911949],"aabb_xy":[[0.6397617905146235,-2.4641093385232145],[0.6747617910047222,-2.4291097628440808]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[0.3430913640932973,-1.2961595328813795,0.71338606911949],"aabb_xy":[[0.3209188371166465,-1.3183352000375026],[0.36526389106994817,-1.273983865725256]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[0.5735725041912083,-1.669646698018287,0.71338606911949],"aabb_xy":[[0.5490588800942025,-1.6939112913203234],[0.5980861282882142,-1.6453821047162505]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[-0.44280417238517905,-1.853333814532423,0.71338606911949],"aabb_xy":[[-0.4594813083782746,-1.870033738506353],[-0.4261270363920836,-1.8366338905584925]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.0962836920579001,1.7290459358635144,0.71338606911949],"aabb_xy":[[0.03128369390198106,1.7027496913136024],[0.16128369021381916,1.7553421804134268]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[-0.10289917657820769,-1.730425917488302,0.71338606911949],"aabb_xy":[[-0.15789465439886707,-1.7854259189222088],[-0.04790369875754828,-1.675425916054395]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[-0.4013178600743822,-0.7149460678658617,0.71338606911949],"aabb_xy":[[-0.4381684080113698,-0.7524460686888953],[-0.3644673121373946,-0.6774460670428278]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.3082387250909425,1.2079607868486573,0.71338606911949],"aabb_xy":[[-0.341678900286962,1.174517161017727],[-0.2747985498949228,1.2414044126795871]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.21175279573581063,-1.6290655934426723,0.71338606911949],"aabb_xy":[[-0.21771933467654642,-1.6350267381020362],[-0.20578625679507484,-1.6231044487833084]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.388309975937763,-2.298612918671674,0.71338606911949],"aabb_xy":[[-0.4783099726733732,-2.3517963819889687],[-0.2983099792021528,-2.2454294553543797]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.5984580333147246,-1.803595876572062,0.71338606911949],"aabb_xy":[[-0.62095803355824,-1.815800511231834],[-0.5759580330712092,-1.7913912419122902]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[-0.6141487173368615,-2.166723231895446,0.71338606911949],"aabb_xy":[[-0.6516487175087333,-2.1994239672783533],[-0.5766487171649894,-2.134022496512539]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[0.646987619862458,-0.27049646366638136,0.71338606911949],"aabb_xy":[[0.5819876189053307,-0.3224446756000869],[0.7119876208195851,-0.21854825173267575]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6923684290988835,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8035.png","name":"8035"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8035.png","name":"8035"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5003.png","name":"5003"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3064.png","name":"3064"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8982.png","name":"8982"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2760.png","name":"2760"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":564.5267891693666,"rotation_z_degrees":249.86054614079328,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012440362049388625,0.0017886960224630273,-0.008519599868123553]},{"name":"camera_2","offset_m":[-0.01617599113143716,0.019770530515762327,-0.015004677447100198]},{"name":"camera_3","offset_m":[0.00873101020890989,-0.008446741806558045,-0.0083943110037045]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017716477300935628,0.0015971881777106945,-0.00020480769877478542],"end_effector_yaw_offset_degrees":0.31469982347885717},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011662178332463064,0.0004365422042699502,-0.0009957761833126449],"end_effector_yaw_offset_degrees":-0.9328270012805806},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007884528569929428,0.00025361434523146114,0.0013373690032041662],"end_effector_yaw_offset_degrees":0.9790255384263655},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007789844505708197,0.0002277081986155993,7.226410076101872e-05],"end_effector_yaw_offset_degrees":0.3826193028331062}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019349190272556736,0.0009342236021563245],"position_m":[0.2769650809727443,-0.11676577639784368,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001276295262469451,-0.0007114095814576725],"position_m":[0.22637237047375305,-0.40991140958145766,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005662042481734434,-0.00018675579206242372],"position_m":[0.35316620424817347,0.06581324420793758,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[3.0478804959008753e-05,-0.0005613705446483762],"position_m":[0.342230478804959,0.32333862945535163,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e93c530bb92d1489e3ff379a404a4d26f48b45dc0e860f142bd9f36bbefd0f9c","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0020.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8035/tex_ceiling_textures_2760/tex_floor_textures_8982/tex_table_textures_5003/tex_wall_textures_3064","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1760007070447389560,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1760007070447389560,"visual_seed":1760007070447389560,"scene_id":"lab_003","finished_at":"2026-09-05T01:22:29"}
+{"episode_id":"ep_000017","started_at":"2026-09-05T01:22:32","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[0.15007674622633993,-1.4312563511469283,0.71338606911949],"aabb_xy":[[0.09007674571848705,-1.4881030848328496],[0.21007674673419288,-1.374409617461007]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.39066310190662923,-2.3445168338082216,0.71338606911949],"aabb_xy":[[-0.3947989582393294,-2.382016833252579],[-0.38652724557392903,-2.307016834363865]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_2","position":[0.0014457785426623682,-1.225998726074684,0.71338606911949],"aabb_xy":[[-0.052569817739237634,-1.2899987289669412],[0.05546137482456237,-1.161998723182427]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_3","position":[-0.5852325631626798,-1.5075954092741701,0.71338606911949],"aabb_xy":[[-0.6402280409833392,-1.562595410708077],[-0.5302370853420204,-1.4525954078402632]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[0.6685659617777795,-0.7312254628354751,0.71338606911949],"aabb_xy":[[0.6639308466255459,-0.7350927979126236],[0.6732010769300126,-0.7273581277583263]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.015289810579095509,-1.8377708943805706,0.71338606911949],"aabb_xy":[[-0.027757168688831158,-1.8502362190138943],[-0.0028224524693598596,-1.8253055697472473]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[-0.1884324910468973,0.14630464840439128,0.71338606911949],"aabb_xy":[[-0.1975923699907739,0.13977343036085427],[-0.1792726121030207,0.1528358664479283]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[-0.35137314067249764,-1.1041728825035335,0.71338606911949],"aabb_xy":[[-0.35787477718050226,-1.1139407045298433],[-0.344871504164493,-1.0944050604772237]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[0.48609980375258766,1.2643849923620976,0.71338606911949],"aabb_xy":[[0.4734730164653912,1.2548389186605244],[0.4987265910397839,1.2739310660636702]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.5517459121555386,1.1634145547147505,0.71338606911949],"aabb_xy":[[-0.6157416095506352,1.0994145564140418],[-0.487750214760442,1.2274145530154592]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[-0.20403392813348958,0.7874394837630452,0.71338606911949],"aabb_xy":[[-0.2415339283053615,0.7547387483801379],[-0.16653392796161762,0.8201402191459523]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[-0.638181823286779,0.1000046929088727,0.71338606911949],"aabb_xy":[[-0.6756818233923719,0.09318253105589157],[-0.600681823181186,0.10682685476185382]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.21591173187016977,-0.8362263314223377,0.71338606911949],"aabb_xy":[[0.16091173224842392,-0.8912100242098105],[0.2709117314919156,-0.7812426386348651]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[-0.4505465128968992,0.7623792203207156,0.71338606911949],"aabb_xy":[[-0.49582512777804844,0.6983792209725319],[-0.4052678980157499,0.8263792196688993]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[-0.09959924821832666,-1.811162180778639,0.71338606911949],"aabb_xy":[[-0.1279289581668669,-1.8156229229723562],[-0.07126953826978644,-1.806701438584922]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.5087645636785509,0.2188013026421496,0.71338606911949],"aabb_xy":[[0.4237645652611277,0.1339270071798646],[0.5937645620959742,0.30367559810443456]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[-0.21824067726930796,-2.4832055797211856,0.71338606911949],"aabb_xy":[[-0.2732338886064447,-2.538205580059979],[-0.1632474659321712,-2.428205579382392]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.49604234008163833,-1.0232515321624223,0.71338606911949],"aabb_xy":[[-0.5660423418903837,-1.0446053009266096],[-0.42604233827289295,-1.0018977633982349]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.4066162279617582,-2.5043687132099546,0.71338606911949],"aabb_xy":[[0.36144491011358926,-2.5683687103544934],[0.45178754580992725,-2.4403687160654166]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[0.10993265192151547,1.1072352451617617,0.71338606911949],"aabb_xy":[[0.10017666241234156,1.0974727111025273],[0.11968864143068934,1.1169977792209962]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.689992671918786,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2960.png","name":"2960"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2960.png","name":"2960"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9864.png","name":"9864"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6552.png","name":"6552"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1771.png","name":"1771"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1896.png","name":"1896"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":805.6959638665498,"rotation_z_degrees":356.65976444311076,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009409488611251881,0.01200781715415528,-0.019194497005870014]},{"name":"camera_2","offset_m":[-0.011463921502462338,-0.014352855273408013,0.019160244011284838]},{"name":"camera_3","offset_m":[0.01175831357236579,-0.005790896816201374,0.003118683111888551]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017308362442891414,0.0017202129471003578,0.00023222122797261335],"end_effector_yaw_offset_degrees":0.4428957172376533},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007454155726528433,0.0006199945514623749,-4.60305699996463e-05],"end_effector_yaw_offset_degrees":0.9168590537630401},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00048109443095121183,-0.00013758831067123365,0.00044613125093755784],"end_effector_yaw_offset_degrees":-0.13872514074591336},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019338460062411516,-1.9407656498735514e-06,7.751936008854174e-05],"end_effector_yaw_offset_degrees":0.7370522629429379}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002743505679670093,-0.0007686709229950527],"position_m":[0.2761564943203299,-0.11846867092299505,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002784214101955845,4.8194280041357826e-05],"position_m":[0.22928421410195585,-0.40915180571995863,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002191648129648534,5.199330088462642e-05],"position_m":[0.3528191648129649,0.06605199330088463,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018564620785823027,-0.0020760731041882387],"position_m":[0.3403435379214177,0.3218239268958118,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f02f0e60976384bab8c76deeb57f95301e35e239b42d6cbb80b09a4b0f5873d","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2960/tex_ceiling_textures_1896/tex_floor_textures_1771/tex_table_textures_9864/tex_wall_textures_6552","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7994310535476844271,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7994310535476844271,"visual_seed":7994310535476844271,"scene_id":"lab_003","finished_at":"2026-09-05T01:26:04"}
+{"episode_id":"ep_000018","started_at":"2026-09-05T01:26:09","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.6780789536283567,-0.8456292218109378,0.71338606911949],"aabb_xy":[[0.6602854466934402,-0.8634289674067355],[0.6958724605632731,-0.8278294762151401]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.43959156088874485,-0.8772921215014164,0.71338606911949],"aabb_xy":[[0.38961849535622944,-0.9272921213139496],[0.48956462642126036,-0.8272921216888838]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.3105187623085093,-0.4057379221142212,0.71338606911949],"aabb_xy":[[-0.3144792460782437,-0.4134057866997418],[-0.306558278538775,-0.3980700575287006]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[-0.0035317652151910517,-0.9978818232327269,0.71338606911949],"aabb_xy":[[-0.04881038009634031,-1.0618818225809106],[0.04174684966595821,-0.9338818238845432]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.0012694093886153057,-2.185139273835189,0.71338606911949],"aabb_xy":[[-0.021227012045248794,-2.2076392736419366],[0.023765830822479406,-2.1626392740284417]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[0.605291453285348,-1.80409082356159,0.71338606911949],"aabb_xy":[[0.5991968253972296,-1.8126602181132587],[0.6113860811734663,-1.7955214290099213]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[0.4300396708804577,0.8610081629744388,0.71338606911949],"aabb_xy":[[0.3931891229434701,0.823508162151405],[0.4668902188174453,0.8985081637974724]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.13662739973736782,-0.8403331027129615,0.71338606911949],"aabb_xy":[[0.11751509237938895,-0.8594678815902034],[0.15573970709534668,-0.8211983238357193]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[-0.48596059140998316,1.3743787500232294,0.71338606911949],"aabb_xy":[[-0.5092424336081143,1.2893787487260011],[-0.4626787492118517,1.4593787513204572]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.4839466187622248,-2.1518882942249125,0.71338606911949],"aabb_xy":[[-0.5639466173495441,-2.2312038961630734],[-0.4039466201749053,-2.0725726922867516]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[-0.3401536897413731,-0.7761499176526276,0.71338606911949],"aabb_xy":[[-0.3776536896851395,-0.7844430076874643],[-0.3026536897976067,-0.7678568276177912]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.44534029596926095,1.1911713530165136,0.71338606911949],"aabb_xy":[[-0.49533530692871297,1.141171353980922],[-0.3953452850098089,1.2411713520521055]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[-0.13428750747932017,1.7603171373734727,0.71338606911949],"aabb_xy":[[-0.14485498713741918,1.749772107260464],[-0.12372002782122116,1.770862167486481]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.11186561137898143,-1.741477190803486,0.71338606911949],"aabb_xy":[[-0.19686560979640466,-1.8263514862657713],[-0.02686561296155819,-1.6566028953412013]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.25924352239547055,-2.0011618113812837,0.71338606911949],"aabb_xy":[[0.221743522578437,-2.005800022692425],[0.2967435222125041,-1.9965236000701414]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[-0.44948232942464406,-1.3933543376573303,0.71338606911949],"aabb_xy":[[-0.48698233094027576,-1.4045811106734756],[-0.41198232790901235,-1.3821275646411855]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.5280484019601184,0.03413874119077498,0.71338606911949],"aabb_xy":[[-0.5618239611508112,0.020100245977609954],[-0.4942728427694253,0.048177236403940005]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.3205755650276085,-1.6450930446578595,0.71338606911949],"aabb_xy":[[-0.3905755668363539,-1.6664468134220471],[-0.25057556321886304,-1.6237392758936724]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[-0.26761225827900464,0.41347184304148943,0.71338606911949],"aabb_xy":[[-0.3316122586565383,0.3637265761906771],[-0.20361225790147108,0.46321710989230164]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.4111161683231782,-1.291743546080186,0.71338606911949],"aabb_xy":[[-0.4152321184352508,-1.2958591011130314],[-0.4070002182111055,-1.2876279910473403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6976930338802403,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9546.png","name":"9546"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9546.png","name":"9546"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1947.png","name":"1947"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3478.png","name":"3478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6136.png","name":"6136"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8370.png","name":"8370"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":522.8651633839445,"rotation_z_degrees":229.45788072073086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014013017631658766,-0.016339085158268048,-0.006042696548741504]},{"name":"camera_2","offset_m":[-0.009077757566848815,0.002566913797854852,0.01127447371635652]},{"name":"camera_3","offset_m":[0.017741586154605502,0.0059912166459976865,-0.006818888816245509]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002069605745639684,-1.3457184499379455e-05,-0.0014325053076339178],"end_effector_yaw_offset_degrees":0.44683752824092693},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012454105418770664,0.0003163529750425365,0.0003503960069186989],"end_effector_yaw_offset_degrees":0.19690042780536343},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012236788848011728,-0.0006630228426278127,0.0004584165905997103],"end_effector_yaw_offset_degrees":-0.7855461860585238},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009491931361890913,0.0009679159195220919,0.0002489450256078704],"end_effector_yaw_offset_degrees":-0.8180438550252633}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013249122645058262,-0.002905103962403397],"position_m":[0.2802249122645058,-0.1206051039624034,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025803633504783907,0.004579527747859617],"position_m":[0.2239196366495216,-0.4046204722521404,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00023931523249688062,0.004530371052153394],"position_m":[0.35236068476750315,0.0705303710521534,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004088913205032896,0.0031527965962805044],"position_m":[0.3462889132050329,0.3270527965962805,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eb4005acade77325d94333c04b173b3071d2496e24988703f98bc4e6bb0412e3","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9546/tex_ceiling_textures_8370/tex_floor_textures_6136/tex_table_textures_1947/tex_wall_textures_3478","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1246492999993845051,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1246492999993845051,"visual_seed":1246492999993845051,"scene_id":"lab_003","finished_at":"2026-09-05T01:29:45"}
+{"episode_id":"ep_000019","started_at":"2026-09-05T01:29:49","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.5873666112578159,1.714491025876796,0.71338606911949],"aabb_xy":[[-0.6573666076677774,1.6940530902251139],[-0.5173666148478538,1.7349289615284773]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.15413408618169988,0.3095093505972244,0.71338606911949],"aabb_xy":[[-0.19690079306112007,0.24550934717542194],[-0.11136737930227969,0.37350935401902685]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.09449032620921882,-1.2821305032953083,0.71338606911949],"aabb_xy":[[-0.13948291292766923,-1.3271305025697568],[-0.04949773949076841,-1.2371305040208593]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.2062473357117216,-1.9525136189960852,0.71338606911949],"aabb_xy":[[-0.24843174987255237,-2.0165136192732964],[-0.1640629215508909,-1.8885136187188738]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[0.5695367066765515,-2.027932675169141,0.71338606911949],"aabb_xy":[[0.5544344052155332,-2.043034196800202],[0.5846390081375694,-2.012831153538078]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.6758804341223235,1.7116669073283792,0.71338606911949],"aabb_xy":[[0.6603246647120582,1.6961164740839723],[0.6914362035325887,1.7272173405727866]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.07275126179131075,-1.9248412548979608,0.71338606911949],"aabb_xy":[[-0.11025126173507716,-1.9331343449327973],[-0.035251261847544346,-1.9165481648631242]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.1094809171935458,0.08899626780937853,0.71338606911949],"aabb_xy":[[-0.11747490577124918,0.08099618771428815],[-0.1014869286158424,0.09699634790446884]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[0.0652353940288769,0.9773335098569342,0.71338606911949],"aabb_xy":[[0.03145983483818392,0.9632950146437691],[0.09901095321956986,0.9913720050700991]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.589761902526796,-0.707415403245661,0.71338606911949],"aabb_xy":[[-0.5978052624527511,-0.7924154043410275],[-0.5817185426008408,-0.6224154021502947]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[0.1933586446689357,-2.2122070016186552,0.71338606911949],"aabb_xy":[[0.17144996252958464,-2.2341076684387455],[0.21526732680828672,-2.190306334798564]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[-0.36621668149691367,0.1615937160039902,0.71338606911949],"aabb_xy":[[-0.4302123788920102,0.09759371770328151],[-0.302220984101817,0.22559371430469888]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[0.6407739650300484,1.0531037748345975,0.71338606911949],"aabb_xy":[[0.6333615094886599,1.0472525644129693],[0.6481864205714368,1.0589549852562252]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[-0.582559660559745,-0.3825576273425253,0.71338606911949],"aabb_xy":[[-0.6625596619898722,-0.46207478235513477],[-0.5025596591296178,-0.3030404723299158]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.4433351943986313,-0.04371416249085591,0.71338606911949],"aabb_xy":[[-0.49114136201239983,-0.10871416519791485],[-0.3955290267848625,0.021285840216203052]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[0.23804407389156057,0.517652963117146,0.71338606911949],"aabb_xy":[[0.22017496613710505,0.5038200551399351],[0.25591318164601606,0.531485871094357]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.052437861612153025,-1.1646724950532266,0.71338606911949],"aabb_xy":[[-0.08993786196038078,-1.1764638906343101],[-0.01493786126392526,-1.152881099472143]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[-0.11374909939079603,1.0827407771789734,0.71338606911949],"aabb_xy":[[-0.20374909798526597,1.0664901908655526],[-0.023749100796326084,1.0989913634923947]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.041954412485662784,-2.343592826055428,0.71338606911949],"aabb_xy":[[-0.06445441299770338,-2.3660846844208265],[-0.01945441197362218,-2.32110096769003]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[-0.37534470021923194,-2.3468873299167554,0.71338606911949],"aabb_xy":[[-0.3991809178598371,-2.4368873307252423],[-0.35150848257862694,-2.2568873291082694]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[0.3756510322803863,1.1474180664308733,0.71338606911949],"aabb_xy":[[0.345659369546516,1.1174180670940728],[0.40564269501425665,1.1774180657676738]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.3132932003497871,0.6269175953028348,0.71338606911949],"aabb_xy":[[-0.32793660590382,0.6122588756460505],[-0.29864979479575404,0.641576314959619]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[0.4366232717864871,-1.6216350675350135,0.71338606911949],"aabb_xy":[[0.4305862587858224,-1.627661768603962],[0.44266028478715186,-1.6156083664660659]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[0.6092464850104893,1.3168297532744497,0.71338606911949],"aabb_xy":[[0.584246485738527,1.3004843896782872],[0.6342464842824516,1.3331751168706119]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[0.6287408504862073,-0.6629495040545561,0.71338606911949],"aabb_xy":[[0.5487470269076492,-0.7429495066473977],[0.7087346740647656,-0.5829495014617145]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[0.23903399703923522,-2.4940729963747,0.71338606911949],"aabb_xy":[[0.18903399667866913,-2.544052983584303],[0.28903399739980123,-2.444093009165097]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[-0.479693415689185,-1.2722612898402936,0.71338606911949],"aabb_xy":[[-0.49679549364755315,-1.2893680953715634],[-0.46259133773081684,-1.2551544843090239]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[-0.14644915147052606,-0.47013410213988704,0.71338606911949],"aabb_xy":[[-0.15178166612513905,-0.47545843038512264],[-0.14111663681591308,-0.46480977389465145]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_28","position":[0.42944679442897593,-1.0189694466550268,0.71338606911949],"aabb_xy":[[0.41697943631924034,-1.0314347712883503],[0.44191415253871164,-1.0065041220217033]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_29","position":[0.007852633654605867,-1.6545250733530128,0.71338606911949],"aabb_xy":[[-0.04977783523266498,-1.7145250722797232],[0.06548310254187671,-1.594525074426302]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.693859447910214,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2531.png","name":"2531"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2531.png","name":"2531"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8367.png","name":"8367"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8909.png","name":"8909"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2423.png","name":"2423"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1936.png","name":"1936"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":598.4579307150566,"rotation_z_degrees":285.68367864509787,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01535121302875141,0.0017090537963966208,0.0061253807412482535]},{"name":"camera_2","offset_m":[-0.01473887882794466,-0.013277841640144335,-0.017891710924107768]},{"name":"camera_3","offset_m":[-0.012701616726556075,-0.013916720122569188,-0.016148601493787662]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.938138514887195e-07,-0.0007795199808038355,-0.0010387026377630018],"end_effector_yaw_offset_degrees":0.7662592824124639},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007406316293724828,0.0011609266456375812,-0.00012038424186525142],"end_effector_yaw_offset_degrees":0.20485618838675057},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007944787654920868,-0.0016995530434600866,0.0007026252617691781],"end_effector_yaw_offset_degrees":-0.3767866760422718},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00062574654118431,0.000775181744285214,0.0006637668838281627],"end_effector_yaw_offset_degrees":0.12319201757738507}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004719493043706016,0.0042326156145949196],"position_m":[0.274180506956294,-0.11346738438540507,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00024206614983749136,-0.0014733659632763297],"position_m":[0.2267420661498375,-0.41067336596327636,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001558664415439213,-0.0009665335755842299],"position_m":[0.35415866441543925,0.06503346642441578,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011660816933869002,0.0048529026818906066],"position_m":[0.3410339183066131,0.3287529026818906,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0224559f8d89a4ca28f7e27a12af4460d43eed6088c46a236e02486a56e3845e","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2531/tex_ceiling_textures_1936/tex_floor_textures_2423/tex_table_textures_8367/tex_wall_textures_8909","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5111285086207673203,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5111285086207673203,"visual_seed":5111285086207673203,"scene_id":"lab_003","finished_at":"2026-09-05T01:33:14"}
+{"episode_id":"ep_000020","started_at":"2026-09-05T01:37:10","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.5412065916241726,-0.43606396788794566,0.71338606911949],"aabb_xy":[[-0.556762361034438,-0.45161440113235296],[-0.5256508222139075,-0.4205135346435386]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.4845989619569204,0.17618531229561896,0.71338606911949],"aabb_xy":[[-0.5645989633870476,0.09666815728300945],[-0.40459896052679317,0.25570246730822843]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.3915695371369194,0.9082187045397725,0.71338606911949],"aabb_xy":[[-0.4413863166017542,0.8582187060554692],[-0.3417527576720847,0.958218703024076]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[-0.26301378915607454,-1.342543832980265,0.71338606911949],"aabb_xy":[[-0.2855102105899387,-1.3650438327870127],[-0.2405173677222105,-1.3200438331735178]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[-0.014043549521838061,-1.5074652254183043,0.71338606911949],"aabb_xy":[[-0.04444166062098164,-1.5378721274199734],[0.016354561577305523,-1.4770583234166343]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[-0.34340010285753364,0.08362253514306994,0.71338606911949],"aabb_xy":[[-0.3609467977736526,0.04612253357881867],[-0.3258534079414147,0.12112253670732119]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.1976039425446186,0.1592015954225734,0.71338606911949],"aabb_xy":[[-0.2346380519726783,0.12482438808886392],[-0.1605698331165589,0.1935788027562828]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[0.6532116410754214,-0.9764514427045874,0.71338606911949],"aabb_xy":[[0.6357117076414379,-0.9939514426248219],[0.6707115745094047,-0.9589514427843528]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[0.5895686392474482,0.6103157030598574,0.71338606911949],"aabb_xy":[[0.5808546701975136,0.5878157024006689],[0.5982826082973826,0.6328157037190454]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[0.47785797303299016,-0.7243661686132834,0.71338606911949],"aabb_xy":[[0.427858697864554,-0.7743661698892305],[0.5278572482014263,-0.6743661673373361]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.4183730947709241,-1.9944388480353497,0.71338606911949],"aabb_xy":[[0.3383730977566761,-2.0145733997087607],[0.4983730917851721,-1.9743042963619384]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.3742336839587529,1.1015050456970679,0.71338606911949],"aabb_xy":[[-0.42923368313534244,1.04651537092211],[-0.31923368478216346,1.1564947204720253]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.3862535925895012,1.7843261762687397,0.71338606911949],"aabb_xy":[[0.3162535899529148,1.764221311272874],[0.4562535952260875,1.804431041264605]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[0.5279170594688118,1.066581922502337,0.71338606911949],"aabb_xy":[[0.4579170576600664,1.0452281537381496],[0.5979170612775573,1.0879356912665243]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[-0.5963723367052496,-1.661488118502663,0.71338606911949],"aabb_xy":[[-0.6055322156491261,-1.6680193365462],[-0.5872124577613729,-1.6549569004591258]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.20624775893811326,0.5138160353309509,0.71338606911949],"aabb_xy":[[-0.2312477584898517,0.5036735514658162],[-0.18124775938637475,0.5239585191960856]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[0.032503442792621184,1.2272206346994108,0.71338606911949],"aabb_xy":[[-0.031496555793951275,1.180213671299902],[0.09650344137919364,1.2742275980989195]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.10899336386482672,-1.4396094237694161,0.71338606911949],"aabb_xy":[[0.08034403150441048,-1.468254983046492],[0.13764269622524294,-1.4109638644923403]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.11457197094568361,1.6392699319209911,0.71338606911949],"aabb_xy":[[0.10194518365848726,1.629723858219418],[0.12719875823287996,1.6488160056225638]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[-0.2629537179932438,-1.1941708771076882,0.71338606911949],"aabb_xy":[[-0.26639439423330097,-1.1980323100820527],[-0.2595130417531866,-1.1903094441333237]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.6915640901602773,-0.4281243316518033,0.71338606911949],"aabb_xy":[[0.6834364019669642,-0.43703794006251095],[0.6996917783535906,-0.41921072324109565]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6896719922569162,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7546.png","name":"7546"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7546.png","name":"7546"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4355.png","name":"4355"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2714.png","name":"2714"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7993.png","name":"7993"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5542.png","name":"5542"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":839.4603173095365,"rotation_z_degrees":246.1486497971973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004209416164959238,0.0017863478359500008,0.01351974854692473]},{"name":"camera_2","offset_m":[-0.01687967950901755,0.014406685937240916,-0.0027221253841006494]},{"name":"camera_3","offset_m":[-0.0027519512003354313,-0.011578879167773662,-0.019643235847020327]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011741005550325668,0.0018842187893320108,-0.00022155694253677663],"end_effector_yaw_offset_degrees":0.055444085263264276},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00185545343775079,0.0011087334614342664,-0.00027950000644328516],"end_effector_yaw_offset_degrees":0.8668092708798905},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000489579660649287,-0.001901293096297343,-0.00025280231586823163],"end_effector_yaw_offset_degrees":-0.8922525396902055},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000236882097744365,-0.0019202022907602299,0.0019205445759384078],"end_effector_yaw_offset_degrees":0.6063102509817182}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[1.3525304966626947e-05,-0.0018449553504589654],"position_m":[0.2789135253049666,-0.11954495535045896,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004791462967179823,0.003897539729496648],"position_m":[0.23129146296717984,-0.4053024602705034,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014024570530810155,0.004420037021799461],"position_m":[0.351197542946919,0.07042003702179947,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004337881894496168,0.0019083627419780235],"position_m":[0.3378621181055038,0.32580836274197805,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"649708a11d687682ab0d49e3dca8cedf059c37d23e7efad339d7967674948441","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0025.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7546/tex_ceiling_textures_5542/tex_floor_textures_7993/tex_table_textures_4355/tex_wall_textures_2714","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4030033221932677383,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4030033221932677383,"visual_seed":4030033221932677383,"scene_id":"lab_003","finished_at":"2026-09-05T01:40:43"}
+{"episode_id":"ep_000021","started_at":"2026-09-05T01:46:49","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[-0.27773858997748974,-0.35675335380079165,0.71338606911949],"aabb_xy":[[-0.34273858813340885,-0.38304959835070385],[-0.21273859182157073,-0.33045710925087945]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.09659473668183371,1.027824555611872,0.71338606911949],"aabb_xy":[[-0.1045887252595371,1.0198244755167816],[-0.08860074810413031,1.0358246357069623]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[-0.03408295118723759,-1.6884727359904395,0.71338606911949],"aabb_xy":[[-0.05296733495574779,-1.7073586607707925],[-0.015198567418727382,-1.669586811210087]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[0.5750080251672085,-0.0871545567637626,0.71338606911949],"aabb_xy":[[0.5376767486419659,-0.12180761155861491],[0.6123393016924511,-0.0525015019689103]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.6773923238724688,-0.6870803338051861,0.71338606911949],"aabb_xy":[[0.6541104816743375,-0.772080335102414],[0.7006741660706002,-0.6020803325079579]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[-0.026582299551111133,-1.4798724775523011,0.71338606911949],"aabb_xy":[[-0.06104464694925293,-1.5143663599501236],[0.007880047847030667,-1.4453785951544782]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[-0.2073999770108843,-1.178351144771718,0.71338606911949],"aabb_xy":[[-0.24171625418550222,-1.2283511447448958],[-0.17308369983626634,-1.1283511447985404]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[0.558226589173787,1.3085446808250492,0.71338606911949],"aabb_xy":[[0.4932265880678437,1.2835793077569209],[0.6232265902797303,1.3335100538931774]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[-0.5642038665933136,-1.1802867121443976,0.71338606911949],"aabb_xy":[[-0.6142038682548081,-1.2302851544001001],[-0.5142038649318186,-1.1302882698886947]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[0.46276208194731505,-2.352915160966885,0.71338606911949],"aabb_xy":[[0.41278466508206146,-2.4029151624561336],[0.5127394988125686,-2.3029151594776365]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.33707418855057275,-0.4786510370551995,0.71338606911949],"aabb_xy":[[-0.3505207151846161,-0.4921208887082907],[-0.3236276619165294,-0.46518118540210823]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.34333556902604356,0.4325278543683537,0.71338606911949],"aabb_xy":[[0.31549053224543644,0.40174335563004204],[0.3711806058066507,0.4633123531066654]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[0.5711007064287592,-2.1485999937074656,0.71338606911949],"aabb_xy":[[0.548587014605302,-2.2185999943084727],[0.5936143982522164,-2.0785999931064576]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.6869697531533574,-0.1674022769618304,0.71338606911949],"aabb_xy":[[0.6756080185000711,-0.17877074336811846],[0.6983314878066434,-0.1560338105555423]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.07643004984519952,1.4768852289396084,0.71338606911949],"aabb_xy":[[-0.1068281609443431,1.4464783269379389],[-0.04603193874605593,1.507292130941278]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[-0.3125970609606641,-2.3904980721647675,0.71338606911949],"aabb_xy":[[-0.3547814751214948,-2.454498072441979],[-0.27041264679983334,-2.3264980718875568]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.3478390122524322,-0.6260367654630576,0.71338606911949],"aabb_xy":[[0.25815193594431673,-0.7160367657175082],[0.43752608856054764,-0.5360367652086071]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[-0.1106538855866972,-0.3582172655770024,0.71338606911949],"aabb_xy":[[-0.12775596354506535,-0.37532407110827215],[-0.09355180762832903,-0.34111046004573264]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[0.18966315751339546,1.2711337386433446,0.71338606911949],"aabb_xy":[[0.18238084113673178,1.1811337350338351],[0.1969454738900591,1.361133742252853]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.42445596191841733,-0.11031745257362946,0.71338606911949],"aabb_xy":[[-0.4744509728778694,-0.16031745160922117],[-0.3744609509589653,-0.06031745353803773]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931275909649043,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1318.png","name":"1318"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1318.png","name":"1318"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1435.png","name":"1435"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1000.png","name":"1000"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5259.png","name":"5259"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4514.png","name":"4514"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":783.1772475064072,"rotation_z_degrees":237.86249781648306,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01707537195546962,-0.0036395798650834255,-0.011478230369215253]},{"name":"camera_2","offset_m":[0.008809010576289262,-0.0059008614078854115,0.018380150806020828]},{"name":"camera_3","offset_m":[0.004579233765803034,-0.007286412307393601,0.011644143160509619]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018902438513633756,0.0015004342543339625,0.0019237529858392366],"end_effector_yaw_offset_degrees":-0.44262812105507465},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003740370486738495,-0.0008945987145611443,0.001992239279684987],"end_effector_yaw_offset_degrees":-0.814805628824921},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002856911044577994,-0.0006425309394308099,0.0004227296077038275],"end_effector_yaw_offset_degrees":0.4146223091912995},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009852362423629292,0.000717420423644608,0.0002456636064972965],"end_effector_yaw_offset_degrees":0.19481212071328646}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003723110525906412,0.0036043301983836847],"position_m":[0.2785276889474093,-0.11409566980161631,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003939657342932536,-0.0031632831033678675],"position_m":[0.22256034265706748,-0.4123632831033679,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011418607810693782,0.0025150021625719443],"position_m":[0.3537418607810694,0.06851500216257195,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024901182876047702,-0.003615903225647305],"position_m":[0.34469011828760476,0.3202840967743527,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4dafbd0661161175f9635ab7a472bcd13146515e2e463026b41356adddc15617","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1318/tex_ceiling_textures_4514/tex_floor_textures_5259/tex_table_textures_1435/tex_wall_textures_1000","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":997629364098804176,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":997629364098804176,"visual_seed":997629364098804176,"scene_id":"lab_003","finished_at":"2026-09-05T01:50:17"}
+{"episode_id":"ep_000022","started_at":"2026-09-05T01:50:20","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[-0.41303720488186685,-0.4377471355988054,0.71338606911949],"aabb_xy":[[-0.4629199017595631,-0.48774713484508014],[-0.36315450800417065,-0.38774713635253066]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.647998636512369,1.6985852730688813,0.71338606911949],"aabb_xy":[[-0.6732194733722086,1.673361522215994],[-0.6227777996525292,1.7238090239217676]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.6064288987987254,-2.5133138798687034,0.71338606911949],"aabb_xy":[[-0.6439288995907209,-2.5196817208268936],[-0.56892889800673,-2.506946038910513]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[0.6155033553401179,1.434716301360075,0.71338606911949],"aabb_xy":[[0.6063434763962413,1.428185083316538],[0.6246632342839945,1.441247519403612]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[-0.6295815746495284,-0.17314729911360605,0.71338606911949],"aabb_xy":[[-0.6945815756500289,-0.22393366426828099],[-0.5645815736490278,-0.1223609339589311]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[0.5799821577538873,1.639037877508327,0.71338606911949],"aabb_xy":[[0.5449821564024055,1.618678141551506],[0.614982159105369,1.6593976134651476]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.56965061018174,-2.299714829819572,0.71338606911949],"aabb_xy":[[0.5592390515012562,-2.3050605631554695],[0.5800621688622236,-2.2943690964836727]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.46656111910361275,1.2617111908984144,0.71338606911949],"aabb_xy":[[0.4114359134740219,1.201711189457127],[0.5216863247332034,1.3217111923397014]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.6038363556077528,1.1009022437606988,0.71338606911949],"aabb_xy":[[-0.63168139238836,1.070117745022387],[-0.5759913188271457,1.1316867424990105]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[0.2855926857265263,-1.0059410359425942,0.71338606911949],"aabb_xy":[[0.2306189636901934,-1.0609410355068274],[0.3405664077628592,-0.950941036378361]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.5332925030057851,-1.599226723484887,0.71338606911949],"aabb_xy":[[-0.5832925016517063,-1.649146267144349],[-0.48329250435986393,-1.5493071798254243]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.21015757664779988,-0.3508814025627447,0.71338606911949],"aabb_xy":[[-0.3001575752422698,-0.36713198887616577],[-0.12015757805332997,-0.3346308162493237]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[-0.32687163202523406,-1.7115368514334526,0.71338606911949],"aabb_xy":[[-0.33489790265586006,-1.7202883464108054],[-0.31884536139460806,-1.7027853564561002]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[-0.5661051401477183,-2.0985741015260877,0.71338606911949],"aabb_xy":[[-0.5944348500962585,-2.1030348437198048],[-0.5377754301991781,-2.0941133593323706]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_14","position":[0.6564228035543378,0.5815286275965219,0.71338606911949],"aabb_xy":[[0.6064279706263962,0.5315286287012784],[0.7064176364822794,0.6315286264917654]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[0.21218384156652437,-1.60154156380016,0.71338606911949],"aabb_xy":[[0.1471838404605811,-1.6265069368682883],[0.27718384267246765,-1.5765761907320317]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[-0.3760751407755363,-1.0043120900145928,0.71338606911949],"aabb_xy":[[-0.4064732518746798,-1.034718992016262],[-0.34567702967639263,-0.9739051880129231]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[0.026093057367600037,0.7336959534595175,0.71338606911949],"aabb_xy":[[-0.023906942072595583,0.6837280289752012],[0.07609305680779566,0.7836638779438339]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.2664817874712074,-0.5844953446243282,0.71338606911949],"aabb_xy":[[-0.3039817875768003,-0.5913175064773093],[-0.2289817873656144,-0.577673182771347]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.6188561028236973,-1.9419006834721717,0.71338606911949],"aabb_xy":[[-0.6688511137831493,-1.9919006825077636],[-0.5688610918642453,-1.8919006844365802]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[-0.05895760793368965,-0.8553601601529366,0.71338606911949],"aabb_xy":[[-0.1289576043436514,-0.8757980958046182],[0.011042388476272159,-0.8349222245012548]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[0.1949080680942641,1.2572603312782067,0.71338606911949],"aabb_xy":[[0.18556106051196888,1.2429567090605627],[0.20425507567655934,1.2715639534958507]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[0.30726461637407376,1.6649231781426361,0.71338606911949],"aabb_xy":[[0.29209244709244037,1.6497543212144328],[0.32243678565570705,1.6800920350708395]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[0.5556903148913626,0.8691534122653461,0.71338606911949],"aabb_xy":[[0.5338005673024216,0.779153414976097],[0.5775800624803032,0.9591534095545953]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968763463038865,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1084.png","name":"1084"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1084.png","name":"1084"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1344.png","name":"1344"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3633.png","name":"3633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8652.png","name":"8652"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3040.png","name":"3040"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":742.9182660442933,"rotation_z_degrees":1.8309647601787038,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005240018759866776,0.01877645694135398,-0.0015968077293648485]},{"name":"camera_2","offset_m":[0.017151175618941136,0.007980577153735485,-3.5276893738243886e-05]},{"name":"camera_3","offset_m":[-0.002161139976011167,0.0009858013323521993,-0.005849048156233456]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011985414229607584,-9.979449726163253e-05,-0.0006117086100692641],"end_effector_yaw_offset_degrees":0.432625228525676},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018110692113536032,-0.000523340030836276,0.001214014981696427],"end_effector_yaw_offset_degrees":0.7490333081527225},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.168676224398013e-05,-0.0008292254006610552,0.0012307372867465267],"end_effector_yaw_offset_degrees":0.3652633380246715},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008463038543164397,0.001870162243173757,0.00039867715634599394],"end_effector_yaw_offset_degrees":-0.3448945137752981}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-6.251688522003994e-05,0.0022864221369390926],"position_m":[0.27883748311477996,-0.1154135778630609,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033313515598241946,-0.004231005501930397],"position_m":[0.2298313515598242,-0.4134310055019304,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002875150556289293,-0.0007962282832209644],"position_m":[0.34972484944371074,0.06520377171677903,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004880826994365283,-9.777370640823551e-05],"position_m":[0.34708082699436527,0.3238022262935918,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"17167e09d027567ea22501879bb7916c5da0a4c31c6880bc8fbecdeb05ac6501","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0029.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1084/tex_ceiling_textures_3040/tex_floor_textures_8652/tex_table_textures_1344/tex_wall_textures_3633","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1265906771044113643,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1265906771044113643,"visual_seed":1265906771044113643,"scene_id":"lab_003","finished_at":"2026-09-05T01:53:53"}
+{"episode_id":"ep_000023","started_at":"2026-09-05T01:53:57","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_0","position":[-0.4830805709435908,-1.1066865117393023,0.71338606911949],"aabb_xy":[[-0.4981828724046088,-1.1217880333703638],[-0.4679782694825726,-1.09158499010824]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.5373428559123312,-1.5670572346528773,0.71338606911949],"aabb_xy":[[0.47334285262262304,-1.6103921536567947],[0.6013428592020392,-1.5237223156489594]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.1418367734945567,-1.2763034634789931,0.71338606911949],"aabb_xy":[[0.10737442609641486,-1.3107973458768154],[0.17629912089269845,-1.24180958108117]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[0.44739395855299824,-2.4470732690187926,0.71338606911949],"aabb_xy":[[0.38739395830159706,-2.501354594055257],[0.5073939588043994,-2.3927919439823273]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.5311071946558097,-0.7229760566715442,0.71338606911949],"aabb_xy":[[-0.56860719307921,-0.7361402706393747],[-0.49360719623240934,-0.7098118427037134]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[0.3474338056198474,-1.875645015933077,0.71338606911949],"aabb_xy":[[0.26743380865680827,-1.9527206575768503],[0.4274338025828866,-1.7985693742893034]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.35872358248754566,-1.5039583518998418,0.71338606911949],"aabb_xy":[[0.3486418754089721,-1.5839583497919563],[0.3688052895661191,-1.423958354007727]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[-0.3772904390219383,-2.0935587479480393,0.71338606911949],"aabb_xy":[[-0.44129043630758696,-2.1350654669008833],[-0.31329044173628967,-2.0520520289951953]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[-0.3133234591152003,-2.3777357704959607,0.71338606911949],"aabb_xy":[[-0.32295509533563,-2.3873730832756697],[-0.30369182289477076,-2.368098457716252]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.11416327607169308,-0.8015071034366232,0.71338606911949],"aabb_xy":[[0.05016757867659648,-0.8655071017373319],[0.17815897346678966,-0.7375071051359146]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_10","position":[0.22085172524539853,-2.0749842748049474,0.71338606911949],"aabb_xy":[[0.15585172413945525,-2.0999496478730757],[0.2858517263513418,-2.050018901736819]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.5002015335074795,-1.3331019639488297,0.71338606911949],"aabb_xy":[[-0.5377015320831003,-1.3458382596123875],[-0.4627015349318588,-1.3203656682852716]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.14916331479396383,-0.9773428601730276,0.71338606911949],"aabb_xy":[[0.0691633137208435,-0.9871209065104121],[0.22916331586708416,-0.9675648138356432]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.035829390764649194,-2.1751772798091,0.71338606911949],"aabb_xy":[[0.026535772527498606,-2.212677278297234],[0.04512300900179977,-2.137677281320966]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.5661918455334534,1.722409185310243,0.71338606911949],"aabb_xy":[[-0.6005081227080713,1.672409185337065],[-0.5318755683588354,1.7724091852834205]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[-0.36714023901068354,1.1337093114462329,0.71338606911949],"aabb_xy":[[-0.3779807172371984,1.1165230301555842],[-0.3562997607841686,1.1508955927368816]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.31799856895028045,1.6073098381695075,0.71338606911949],"aabb_xy":[[0.3140846957548579,1.5985608227629502],[0.32191244214570297,1.6160588535760638]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[0.6797438231331359,-0.13050532981591756,0.71338606911949],"aabb_xy":[[0.6497521603992655,-0.1605053291527181],[0.7097354858670062,-0.10050533047911703]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[-0.031228561346723693,1.6241562833492185,0.71338606911949],"aabb_xy":[[-0.051512864070122455,1.6038736582065096],[-0.010944258623324933,1.6444389084919273]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.32678843852525097,-0.8021640620168409,0.71338606911949],"aabb_xy":[[-0.3400193840599322,-0.8153914810388403],[-0.3135574929905696,-0.7889366429948415]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.45223617524421794,-1.6771416410471767,0.71338606911949],"aabb_xy":[[-0.5072361748659637,-1.7321253338346496],[-0.39723617562247215,-1.6221579482597042]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.25452189663108915,-1.3589814552211312,0.71338606911949],"aabb_xy":[[-0.2920218964481227,-1.3636196665322728],[-0.2170218968140556,-1.3543432439099892]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.01262267467659095,1.0729607978215667,0.71338606911949],"aabb_xy":[[-0.057377327959995394,1.052855932825701],[0.0826226773131773,1.093065662817432]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[-0.49133692994529626,-1.9352263345781946,0.71338606911949],"aabb_xy":[[-0.49859817751570373,-1.9480133448417039],[-0.4840756823748889,-1.922439324314685]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.33449570036983706,-0.9496709520736664,0.71338606911949],"aabb_xy":[[-0.34540147645739977,-1.0296709484724955],[-0.32358992428227434,-0.8696709556748371]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6920403271155223,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5630.png","name":"5630"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5630.png","name":"5630"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9249.png","name":"9249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6485.png","name":"6485"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2782.png","name":"2782"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5060.png","name":"5060"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":651.2672915621408,"rotation_z_degrees":193.54457022139619,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0001268819928802109,0.017908798918931,-0.007201155875486243]},{"name":"camera_2","offset_m":[0.016122889326406282,-0.010643797715003114,0.007113201362942256]},{"name":"camera_3","offset_m":[0.008460003016981143,-0.017349512015295804,-0.01898083809431759]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006863254981539831,0.00011461258069144897,0.00035516421981417103],"end_effector_yaw_offset_degrees":-0.7849428832651268},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001353155122114024,-0.00047499862238326376,0.000656326419553631],"end_effector_yaw_offset_degrees":0.73268945469774},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00028835132234250084,7.61286868357666e-05,0.0018068071063614454],"end_effector_yaw_offset_degrees":0.965064691236738},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002690337119931306,-6.198921591014234e-06,-0.0005821036566547129],"end_effector_yaw_offset_degrees":0.3474659689643893}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007656415599010509,0.00397011192440986],"position_m":[0.2781343584400989,-0.11372988807559013,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001104279612436696,-0.002819723593551602],"position_m":[0.2253957203875633,-0.4120197235935516,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021531325730510397,0.004726497197481407],"position_m":[0.35044686742694897,0.0707264971974814,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005407752963119961,-0.00018284867146881913],"position_m":[0.34165922470368804,0.3237171513285312,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dccee4db7e80aa397cefdc8ba288fcd1329fabe742069a46a2f8123d34ff6e54","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5630/tex_ceiling_textures_5060/tex_floor_textures_2782/tex_table_textures_9249/tex_wall_textures_6485","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5153182384536479396,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5153182384536479396,"visual_seed":5153182384536479396,"scene_id":"lab_003","finished_at":"2026-09-05T01:57:27"}
+{"episode_id":"ep_000024","started_at":"2026-09-05T01:57:31","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[-0.10074288154524591,-2.432181638358898,0.71338606911949],"aabb_xy":[[-0.16074288205309883,-2.4890283720448187],[-0.04074288103739299,-2.3753349046729766]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.1627474821857544,0.6496097280476429,0.71338606911949],"aabb_xy":[[-0.1806165899402099,0.635776820070432],[-0.14487837443129892,0.6634426360248539]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.5157630088787628,0.49112244132971616,0.71338606911949],"aabb_xy":[[0.45076301032168986,0.4613699079158335],[0.5807630074358355,0.5208749747435988]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[-0.39672192888228575,0.4138757986551598,0.71338606911949],"aabb_xy":[[-0.4205581465228909,0.32387579784667336],[-0.37288571124168074,0.5038757994636464]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.1864640716246313,1.809992383343101,0.71338606911949],"aabb_xy":[[0.17854079138588297,1.7874923831050977],[0.19438735186337963,1.8324923835811044]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[-0.5869798445722372,-2.499320831691466,0.71338606911949],"aabb_xy":[[-0.6204200197682567,-2.5327644575223953],[-0.5535396693762175,-2.4658772058605347]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.37023836278057454,0.43384085236474723,0.71338606911949],"aabb_xy":[[0.35244485584565816,0.41604110676894956],[0.38803186971549103,0.4516405979605449]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[0.030252025757750767,1.593046639964483,0.71338606911949],"aabb_xy":[[0.008362278168809969,1.503046642675234],[0.05214177334669157,1.6830466372537323]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[-0.42551174865532565,0.7633736043960608,0.71338606911949],"aabb_xy":[[-0.4895117518739635,0.7166504924970525],[-0.3615117454366878,0.8100967162950692]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.35355838606969336,-1.0284916693188264,0.71338606911949],"aabb_xy":[[-0.3709891011486998,-1.0457637839826768],[-0.3361276709906868,-1.0112195546549752]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[0.5991079190627382,-1.3343066127933094,0.71338606911949],"aabb_xy":[[0.5898143008255876,-1.3718066112814433],[0.6084015372998888,-1.2968066143051755]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[0.6826277584262381,-0.45447121883298225,0.71338606911949],"aabb_xy":[[0.6739297961355228,-0.46659619314045697],[0.6913257207169534,-0.4423462445255075]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.08971733291147899,-1.7948609331791119,0.71338606911949],"aabb_xy":[[0.0347436108751461,-1.849860932743345],[0.14469105494781187,-1.7398609336148787]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.29003375857679015,-0.7650338845703857,0.71338606911949],"aabb_xy":[[0.2525337577847947,-0.7714017255285758],[0.3275337593687856,-0.7586660436121956]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[0.6155661620183466,-0.5324503146142741,0.71338606911949],"aabb_xy":[[0.6101082163813265,-0.6124503179219332],[0.6210241076553666,-0.45245031130661495]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.18177500522326018,-0.20248244672820448,0.71338606911949],"aabb_xy":[[-0.18998955033894413,-0.21115903702584574],[-0.17356046010757617,-0.19380585643056317]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[-0.48847391235198434,-2.168356978206563,0.71338606911949],"aabb_xy":[[-0.49718788140191883,-2.190856978865751],[-0.47975994330204985,-2.1458569775473744]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.018278197858030754,1.0580527099499228,0.71338606911949],"aabb_xy":[[0.010995881481367093,0.9680527063404135],[0.025560514234694402,1.1480527135594314]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[-0.08178930243930049,1.3810363221632818,0.71338606911949],"aabb_xy":[[-0.10090160979727936,1.3619015432860395],[-0.06267699508132163,1.4001711010405236]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[-0.6024176680545498,-1.5943406025450315,0.71338606911949],"aabb_xy":[[-0.6861398935546322,-1.6843406060797275],[-0.5186954425544673,-1.5043405990103356]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[-0.3875644578255629,-1.2811368593871353,0.71338606911949],"aabb_xy":[[-0.4725644562429861,-1.3660111548494203],[-0.30256445940813964,-1.1962625639248503]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[-0.1178472951469266,-1.183914055897936,0.71338606911949],"aabb_xy":[[-0.18184729585039594,-1.229932438370857],[-0.05384729444345726,-1.137895673425015]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[-0.479469630798325,1.32189281962552,0.71338606911949],"aabb_xy":[[-0.4927005763330063,1.3086654006035205],[-0.4662386852636437,1.3351202386475194]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[0.18341321438860358,1.5758668896461558,0.71338606911949],"aabb_xy":[[0.16091321414508822,1.563662254986384],[0.205913214632119,1.5880715243059278]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_24","position":[-0.5958621263137387,0.5780472344970753,0.71338606911949],"aabb_xy":[[-0.6368800697001096,0.528047233866118],[-0.5548441829273678,0.6280472351280326]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[-0.41702756413706543,-0.9292552315495706,0.71338606911949],"aabb_xy":[[-0.42110572204411517,-0.9333362117978338],[-0.4129494062300157,-0.9251742513013071]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_26","position":[0.08034215734509165,-2.115778683157676,0.71338606911949],"aabb_xy":[[0.06909710177447381,-2.127020480881771],[0.09158721291570948,-2.1045368854335806]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[-0.5117586167953047,0.8866989820740119,0.71338606911949],"aabb_xy":[[-0.5917586138095526,0.8665644304006005],[-0.4317586197810567,0.906833533747423]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905433984633897,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1994.png","name":"1994"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1994.png","name":"1994"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7464.png","name":"7464"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6223.png","name":"6223"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4423.png","name":"4423"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2177.png","name":"2177"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":639.0865997618819,"rotation_z_degrees":11.445457136874193,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010560382511398979,0.015196246743222192,0.01565297386147899]},{"name":"camera_2","offset_m":[-0.014586509113777443,-0.005136824549466748,-0.01614279711414522]},{"name":"camera_3","offset_m":[0.000992034640904884,0.011157561749947986,-0.012487292337440593]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018465829189452162,-0.0014664635389066085,-0.00022334365356945223],"end_effector_yaw_offset_degrees":0.2853077181270498},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001701853771146727,0.0009370627564353352,-0.0001644337518981857],"end_effector_yaw_offset_degrees":0.7121068537303425},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013509733663723367,0.00041892225169980896,0.0016128520797173795],"end_effector_yaw_offset_degrees":0.15115702011341314},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.888689264878396e-05,0.000614019236772905,0.0005163506904361306],"end_effector_yaw_offset_degrees":-0.966054172705832}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0043229133406782255,0.0026765238559623055],"position_m":[0.28322291334067823,-0.1150234761440377,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018387039715162677,0.003730882278819383],"position_m":[0.22466129602848373,-0.4054691177211806,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004240528145359599,-0.0035048589647400153],"position_m":[0.34835947185464045,0.062495141035259986,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002268778374638526,-0.00011909111212604715],"position_m":[0.3399312216253615,0.323780908887874,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"792182549c3f95ac9294291aa77f1b103bba2fa6be933ab36e0c94343ae112cd","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1994/tex_ceiling_textures_2177/tex_floor_textures_4423/tex_table_textures_7464/tex_wall_textures_6223","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2261942316378729179,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2261942316378729179,"visual_seed":2261942316378729179,"scene_id":"lab_003","finished_at":"2026-09-05T02:00:57"}
+{"episode_id":"ep_000025","started_at":"2026-09-05T02:01:01","dimensions":{"distractor":{"count":20,"items":[{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_0","position":[0.6355932731765144,-1.9658958168960532,0.71338606911949],"aabb_xy":[[0.555593272103394,-1.9756738632334376],[0.7155932742496347,-1.9561177705586688]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.03866682751473893,-2.3030758338042308,0.71338606911949],"aabb_xy":[[-0.0561667609487223,-2.320575833724465],[-0.021166894080755554,-2.2855758338839958]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[0.1044763744439835,1.4691152638671725,0.71338606911949],"aabb_xy":[[0.040476371154275374,1.4257803448632547],[0.1684763777336916,1.51245018287109]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[-0.13980823090333816,-1.8046802432608802,0.71338606911949],"aabb_xy":[[-0.15497110388027527,-1.8198457005559994],[-0.1246453579264011,-1.7895147859657619]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[0.07104675872288524,-1.593049843487516,0.71338606911949],"aabb_xy":[[0.016046759101139396,-1.648033536274989],[0.12604675834463108,-1.5380661507000435]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.3977570771934282,-1.9939543414837955,0.71338606911949],"aabb_xy":[[-0.47775708045127113,-2.0739508492757794],[-0.3177570739355852,-1.9139578336918117]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[-0.5227476440342091,0.855765276950625,0.71338606911949],"aabb_xy":[[-0.5452613358576663,0.7857652763496175],[-0.500233952210752,0.9257652775516325]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.5706130537386622,-0.9563155286050169,0.71338606911949],"aabb_xy":[[-0.634613053999133,-1.001324327957945],[-0.5066130534781914,-0.911306729252089]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[-0.404992574861282,-0.4357204217112698,0.71338606911949],"aabb_xy":[[-0.41298656343898527,-0.4437205018063601],[-0.3969985862835785,-0.4277203416161794]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.34345316963586514,1.3043192109131465,0.71338606911949],"aabb_xy":[[0.3156081328552581,1.2735347121748348],[0.3712982064164723,1.3351037096514582]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[-0.4890426267141863,0.653152372446685,0.71338606911949],"aabb_xy":[[-0.525538447341465,0.6166684300199273],[-0.45254680608690756,0.6896363148734425]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.454590853725916,1.0399710452134294,0.71338606911949],"aabb_xy":[[0.4234439348823328,0.969971046526622],[0.485737772569499,1.1099710439002364]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.3782082336877673,0.14684753591062005,0.71338606911949],"aabb_xy":[[-0.38911400977533,0.0668475395117909],[-0.3673024576002046,0.2268475323094492]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[0.6341521600481095,-0.5477933559684662,0.71338606911949],"aabb_xy":[[0.588067068793378,-0.6117933532210212],[0.680237251302841,-0.48379335871591106]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[-0.2928976526401085,-0.801128257290546,0.71338606911949],"aabb_xy":[[-0.37661987814019093,-0.891128260825242],[-0.20917542714002602,-0.7111282537558501]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.5426348730988889,-1.4013392181952191,0.71338606911949],"aabb_xy":[[-0.563912881242361,-1.4663392205212922],[-0.5213568649554166,-1.336339215869146]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.42929323994333707,-0.1145900539230742,0.71338606911949],"aabb_xy":[[-0.49329324228613863,-0.15953090516720667],[-0.3652932376005355,-0.06964920267894169]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.6045187172442108,-2.254257710349431,0.71338606911949],"aabb_xy":[[-0.6457675282741254,-2.309257709861648],[-0.563269906214296,-2.199257710837213]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.09321238911457796,-1.535673104617364,0.71338606911949],"aabb_xy":[[-0.15721238840874618,-1.5996592449862181],[-0.029212389820409745,-1.4716869642485098]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.6239793568387945,0.7414668351059412,0.71338606911949],"aabb_xy":[[-0.6300163698394592,0.7354401340369929],[-0.6179423438381297,0.7474935361748893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938772069867567,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3972.png","name":"3972"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3972.png","name":"3972"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5223.png","name":"5223"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/47.png","name":"47"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7807.png","name":"7807"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6753.png","name":"6753"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":821.5470591392727,"rotation_z_degrees":312.7018218883052,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018568443211638922,-0.013912649989477496,0.007673269298967899]},{"name":"camera_2","offset_m":[-0.0024723814527542257,-0.0019248266000747374,0.018582937284202846]},{"name":"camera_3","offset_m":[-0.00026905563091835644,-0.009851146758995677,0.013290410516509674]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003831953780253656,0.0007300338670605346,0.0006712603096159153],"end_effector_yaw_offset_degrees":0.7426567453012842},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001921876345316694,0.0013684882641400182,0.00029415060490046345],"end_effector_yaw_offset_degrees":0.21344011009789243},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019052763988269246,0.0018582316600392465,-0.0013330657697267028],"end_effector_yaw_offset_degrees":-0.7058506562316424},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005826154893632748,0.0014868760967778477,-0.00010683532497904216],"end_effector_yaw_offset_degrees":0.6713180630050708}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002055877905404301,0.002604113760164703],"position_m":[0.2768441220945957,-0.1150958862398353,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0039033315646580437,-0.003966053651557579],"position_m":[0.22259666843534195,-0.41316605365155756,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011856183936253652,-0.003958843015014002],"position_m":[0.3537856183936254,0.062041156984986,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000734288164307091,0.0013339521269471102],"position_m":[0.3429342881643071,0.3252339521269471,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2155d2e41b8b0f2f1862836d9c6d5670e8d3eb04a5bea563e8200ae28773b1ab","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3972/tex_ceiling_textures_6753/tex_floor_textures_7807/tex_table_textures_5223/tex_wall_textures_47","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3979505961354084070,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3979505961354084070,"visual_seed":3979505961354084070,"scene_id":"lab_003","finished_at":"2026-09-05T02:04:23"}
+{"episode_id":"ep_000026","started_at":"2026-09-05T02:04:27","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.5410678981730821,-1.867474722084744,0.71338606911949],"aabb_xy":[[0.5197898900296098,-1.932474724410817],[0.5623459063165543,-1.8024747197586708]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_1","position":[0.45261989040302963,0.11009787515095892,0.71338606911949],"aabb_xy":[[0.4176198920923342,0.10238286022741329],[0.4876198887137251,0.11781289007450459]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[0.4894154030138762,-1.1215601908039223,0.71338606911949],"aabb_xy":[[0.42541540572822756,-1.163066909756766],[0.5534154002995249,-1.0800534718510781]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[-0.6347828511269342,1.043905708211755,0.71338606911949],"aabb_xy":[[-0.638486112456073,1.0402036899030371],[-0.6310795897977952,1.0476077265204726]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.204700551222203,0.9493124093498833,0.71338606911949],"aabb_xy":[[0.19386007299568808,0.9321261280592344],[0.2155410294487179,0.9664986906405321]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[-0.38472634373267794,0.8924408846245333,0.71338606911949],"aabb_xy":[[-0.4072254794589049,0.8699408838462702],[-0.362227208006451,0.9149408854027962]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[0.6696995406765949,-1.475280267011104,0.71338606911949],"aabb_xy":[[0.6472031192427309,-1.4977802668178513],[0.6921959621104591,-1.4527802672043564]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.3487918048706422,-1.3144993543432375,0.71338606911949],"aabb_xy":[[0.2847918031926448,-1.3630167458225517],[0.4127918065486395,-1.2659819628639233]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[0.08675460581919314,-0.900372675038456,0.71338606911949],"aabb_xy":[[0.06175460665356004,-0.9073249207438125],[0.11175460498482627,-0.8934204293330994]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[-0.23937662479274008,-0.8622963364535894,0.71338606911949],"aabb_xy":[[-0.30437662743053356,-0.9137759351530363],[-0.1743766221549466,-0.8108167377541424]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[0.4105156503246552,1.201506928384549,0.71338606911949],"aabb_xy":[[0.32679342482457274,1.111506924849853],[0.49423787582473766,1.291506931919245]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[-0.19803907667002496,-0.4789518481384518,0.71338606911949],"aabb_xy":[[-0.20246970602486514,-0.48440021987313453],[-0.19360844731518478,-0.47350347640376933]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[-0.558183919406226,1.702432448745237,0.71338606911949],"aabb_xy":[[-0.5916240946022455,1.6689888229143066],[-0.5247437442102063,1.7358760745761668]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_13","position":[0.0056259140213105185,1.3925606422350518,0.71338606911949],"aabb_xy":[[-0.0444715499597631,1.3285606417252402],[0.05572337800238414,1.4565606427448639]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.462205917486248,1.4754439972428846,0.71338606911949],"aabb_xy":[[-0.4966683954993357,1.468780320059962],[-0.4277434394731602,1.4821076744258075]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.48984850135157804,1.0711605987354615,0.71338606911949],"aabb_xy":[[-0.5698484983146171,0.9940849570916881],[-0.40984850438853876,1.148236240379235]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[0.47924207176075395,-1.3936995116733768,0.71338606911949],"aabb_xy":[[0.47516391385370427,-1.39778049192164],[0.48332022966780375,-1.3896185314251133]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[-0.29839404667775116,1.4358601029974492,0.71338606911949],"aabb_xy":[[-0.3535192523073419,1.375860101556162],[-0.24326884104816035,1.4958601044387363]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.0309493551736576,1.6740836030122117,0.71338606911949],"aabb_xy":[[-0.12094935167452936,1.6281719605937532],[0.059050641327214146,1.7199952454306697]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[-0.3690210505237909,-1.9936720647516823,0.71338606911949],"aabb_xy":[[-0.380382785177077,-2.00504053115797],[-0.3576593158705047,-1.982303598345394]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[-0.1627828993267214,-1.4035749525379722,0.71338606911949],"aabb_xy":[[-0.22278289957812256,-1.4578562775744366],[-0.1027828990753202,-1.3492936275015073]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[0.08425424034489326,-2.4929398643439105,0.71338606911949],"aabb_xy":[[0.04862508444493352,-2.528572531100764],[0.119883396244853,-2.457307197587058]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[0.613452343979485,-0.2710810031388835,0.71338606911949],"aabb_xy":[[0.6061700276028212,-0.36108100674839244],[0.6207346603561485,-0.18108099952937448]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[-0.08774333457445349,0.18983979228380887,0.71338606911949],"aabb_xy":[[-0.10537617016798106,0.1722168462681859],[-0.07011049898092592,0.20746273829943185]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_24","position":[0.4304985614168586,0.6352082432431216,0.71338606911949],"aabb_xy":[[0.3754985632151137,0.5946862766166839],[0.4854985596186034,0.6757302098695591]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[0.6517835415461255,-1.041230752444812,0.71338606911949],"aabb_xy":[[0.6342368466300065,-1.0787307540090632],[0.6693302364622443,-1.0037307508805606]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_26","position":[0.52530780667125,-2.0492481551420876,0.71338606911949],"aabb_xy":[[0.465307805810437,-2.1006745851485733],[0.5853078075320626,-1.997821725135601]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[0.09968619519567579,-1.4259995529679386,0.71338606911949],"aabb_xy":[[0.06722449431374831,-1.456132385082841],[0.13214789607760322,-1.3958667208530358]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921157770402928,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7442.png","name":"7442"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7442.png","name":"7442"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6288.png","name":"6288"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/654.png","name":"654"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8880.png","name":"8880"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9247.png","name":"9247"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":519.0488329270299,"rotation_z_degrees":205.5077032584019,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013511108631154987,-0.015456257313044635,-0.00932623662215895]},{"name":"camera_2","offset_m":[0.005955581740636623,-0.01867214841348761,0.01782761907541856]},{"name":"camera_3","offset_m":[-0.014652891423798718,0.009098569913417964,0.015189637623912174]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012762340402193745,-0.0004113263432231338,-0.001464552841611396],"end_effector_yaw_offset_degrees":-0.09981025477518668},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019487044029369413,-0.0006147321370598079,-0.0011341339916485502],"end_effector_yaw_offset_degrees":0.32401836549229124},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006626371108140357,-0.0009996088155819988,-0.001514220183283341],"end_effector_yaw_offset_degrees":0.8580952724333866},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016317393853275638,0.0011994705973835296,-0.0011798127803101552],"end_effector_yaw_offset_degrees":0.2828118267045199}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037353675577781855,0.0019729634896277163],"position_m":[0.2751646324422218,-0.11572703651037228,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004661699682394036,-0.0020635911195260727],"position_m":[0.22183830031760596,-0.4112635911195261,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004205285794582102,-0.002753166693806125],"position_m":[0.35680528579458215,0.06324683330619388,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019987262736177827,0.002716964160299029],"position_m":[0.3402012737263822,0.32661696416029906,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8af1e5aa1f22d681310c14ff94bf60bf5115761d06a386cff4d732cf46e26048","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0033.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7442/tex_ceiling_textures_9247/tex_floor_textures_8880/tex_table_textures_6288/tex_wall_textures_654","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3690227215182704174,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3690227215182704174,"visual_seed":3690227215182704174,"scene_id":"lab_003","finished_at":"2026-09-05T02:07:59"}
+{"episode_id":"ep_000027","started_at":"2026-09-05T02:08:02","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[0.018444798027393183,1.6504125252435249,0.71338606911949],"aabb_xy":[[-0.01655520194910265,1.6409479091959083],[0.053444798003889016,1.6598771412911415]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.09858084995096317,1.1124977195235766,0.71338606911949],"aabb_xy":[[0.08611349184122752,1.1000323948902533],[0.11104820806069882,1.1249630441569003]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[-0.17609389626641736,-1.3291016222989687,0.71338606911949],"aabb_xy":[[-0.23108937408707672,-1.3841016237328754],[-0.12109841844575794,-1.2741016208650615]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[0.5915227894389805,-0.21679688120540774,0.71338606911949],"aabb_xy":[[0.5015227927033702,-0.2699803445227022],[0.6815227861745906,-0.16361341788811318]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[0.40561922313008014,-1.1430189780016788,0.71338606911949],"aabb_xy":[[0.35561922276951397,-1.1929989652112816],[0.4556192234906461,-1.0930389907920757]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.1967721265520862,-0.565648737830327,0.71338606911949],"aabb_xy":[[0.18906893587800916,-0.5733581085290651],[0.20447531722616324,-0.5579393671315891]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.33394327635306653,-0.7175438957417206,0.71338606911949],"aabb_xy":[[0.24425620004495108,-0.8075438959961712],[0.423630352661182,-0.6275438954872701]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[0.7060372809294206,1.1209892761119487,0.71338606911949],"aabb_xy":[[0.6909349794684023,1.1058877544808863],[0.7211395823904385,1.1360907977430101]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[-0.4427820736005318,-1.9984786459978965,0.71338606911949],"aabb_xy":[[-0.4467425573702662,-2.006146510583417],[-0.4388215898307975,-1.9908107814123759]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[0.5461120817971461,-1.0134026286055813,0.71338606911949],"aabb_xy":[[0.46611208132693027,-1.0217133362199298],[0.6261120822673621,-1.0050919209912328]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.5071563430163128,1.7008398492924726,0.71338606911949],"aabb_xy":[[-0.5711520404114093,1.6368398509917637],[-0.44316064562121615,1.764839847593181]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[0.2573533923710789,-2.4602272740498994,0.71338606911949],"aabb_xy":[[0.19335339320130898,-2.506993961168862],[0.32135339154084885,-2.413460586930937]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.5786664138119229,0.4502775136063977,0.71338606911949],"aabb_xy":[[0.5475194949683396,0.3802775149195905],[0.6098133326555059,0.5202775122932048]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[-0.5946728718414508,0.9465049909601748,0.71338606911949],"aabb_xy":[[-0.6124663787763672,0.9287052453643772],[-0.5768793649065344,0.9643047365559725]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.5309007088364135,-0.5656658344164471,0.71338606911949],"aabb_xy":[[-0.5534007083601208,-0.5881617818670678],[-0.508400709312706,-0.5431698869658262]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.42167865889037887,0.877446232355898,0.71338606911949],"aabb_xy":[[-0.4351251855244221,0.8639763807028069],[-0.4082321322563354,0.8909160840089894]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.3863803224251562,-1.1389709082757502,0.71338606911949],"aabb_xy":[[-0.4232308703621438,-1.176470909098784],[-0.3495297744881686,-1.1014709074527165]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.10505007125612076,-2.292311065611123,0.71338606911949],"aabb_xy":[[0.041050074828798855,-2.3394806894332194],[0.16905006768344266,-2.2451414417890265]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.43848510689963005,0.4570011275862771,0.71338606911949],"aabb_xy":[[0.38850769003437635,0.4070011260970285],[0.4884625237648835,0.5070011290755255]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[0.16602376462317436,1.6135683871283937,0.71338606911949],"aabb_xy":[[0.1485237653450875,1.5962302870620477],[0.18352376390126124,1.6309064871947396]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.14619143858189176,-0.1768693171788116,0.71338606911949],"aabb_xy":[[-0.18369144009752347,-0.18809609019495666],[-0.10869143706626005,-0.16564254416266655]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.43511373900447875,1.272255766970765,0.71338606911949],"aabb_xy":[[-0.45274657459800627,1.254632820955142],[-0.4174809034109511,1.289878712986388]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915736599352248,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3537.png","name":"3537"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3537.png","name":"3537"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2312.png","name":"2312"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7527.png","name":"7527"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9558.png","name":"9558"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9060.png","name":"9060"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":829.2686833651971,"rotation_z_degrees":71.50585392209274,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014227685379060297,-0.011256317585747602,0.00839132826827842]},{"name":"camera_2","offset_m":[-0.015966446891868123,0.009643941501440153,0.013369866404935902]},{"name":"camera_3","offset_m":[-0.005492716062310143,-0.013108933346255949,0.0019222515168701854]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010850058060132418,-0.0006745406593697361,-0.0014322974392060157],"end_effector_yaw_offset_degrees":0.409423444496118},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003424340346063338,0.0013403489583002693,-0.001944585416766758],"end_effector_yaw_offset_degrees":0.21938563470633055},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002737898792751726,-0.0019380929539182517,0.0013505423323453628],"end_effector_yaw_offset_degrees":0.18126269124212002},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007849811119535856,-0.0006603151760396298,0.0011457956811713843],"end_effector_yaw_offset_degrees":-0.34703719489153095}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00023866163520911646,-0.003514538371440257],"position_m":[0.2791386616352091,-0.12121453837144025,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009996756776065353,-0.003075005855715388],"position_m":[0.22749967567760654,-0.4122750058557154,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007233687576528426,-0.0014434588692098537],"position_m":[0.3518766312423472,0.06455654113079015,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011379716689408183,-0.004383730516854314],"position_m":[0.3433379716689408,0.3195162694831457,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"47c7f200b030d8bdfd307179f99f1502ad498f2986328757520feb897394f07d","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3537/tex_ceiling_textures_9060/tex_floor_textures_9558/tex_table_textures_2312/tex_wall_textures_7527","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4404421886542484612,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4404421886542484612,"visual_seed":4404421886542484612,"scene_id":"lab_003","finished_at":"2026-09-05T02:11:25"}
+{"episode_id":"ep_000028","started_at":"2026-09-05T02:11:31","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[-0.365141433977602,0.35236428861662183,0.71338606911949],"aabb_xy":[[-0.43514143578634745,0.33101051985243446],[-0.2951414321688566,0.3737180573808092]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[0.42379675920630366,-0.1999711589790487,0.71338606911949],"aabb_xy":[[0.41450314096915297,-0.23747115746718261],[0.43309037744345413,-0.1624711604909148]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[0.40559862437111804,1.6032849439416164,0.71338606911949],"aabb_xy":[[0.33559862097955606,1.5679691702381853],[0.47559862776268,1.638600717645047]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.3039585572160383,1.5462876060417954,0.71338606911949],"aabb_xy":[[-0.32687427010108827,1.523383308905372],[-0.2810428443309885,1.569191903178219]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.07370521654263018,0.8454754537808986,0.71338606911949],"aabb_xy":[[0.03620521587805147,0.8297883957806763],[0.11120521720720887,0.8611625117811207]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.6489991249945746,-0.11487204985706745,0.71338606911949],"aabb_xy":[[0.584999126408002,-0.16187901325657617],[0.7129991235811469,-0.06786508645755873]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.20267873861221686,-1.5354298365156482,0.71338606911949],"aabb_xy":[[0.19304710239178724,-1.545067149295357],[0.21231037483264648,-1.525792523735939]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[0.3173885317015701,0.5853308408140259,0.71338606911949],"aabb_xy":[[0.2273885319783959,0.5622574882788459],[0.40738853142474424,0.6084041933492056]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.23401588481524116,0.4901481484558916,0.71338606911949],"aabb_xy":[[-0.2980158841094094,0.4261620080870374],[-0.17001588552107294,0.5541342888247458]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.4135335674524588,-2.4097407249567384,0.71338606911949],"aabb_xy":[[-0.4207948150228662,-2.422527735220248],[-0.40627231988205137,-2.396953714693229]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[0.5887095881080473,0.40243806609689603,0.71338606911949],"aabb_xy":[[0.5726476606495295,0.31743806428430416],[0.6047715155665648,0.4874380679094878]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[-0.41499951324979273,-0.06887030958690632,0.71338606911949],"aabb_xy":[[-0.46509697723086635,-0.13287031009671812],[-0.3649020492687191,-0.0048703090770945145]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.24103775900098712,-1.7024607381977828,0.71338606911949],"aabb_xy":[[-0.2862090768491561,-1.7664607353423214],[-0.19586644115281818,-1.6384607410532446]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.5870664107508478,-2.086471055764579,0.71338606911949],"aabb_xy":[[-0.6370656859192839,-2.1364710570405263],[-0.5370671355824116,-2.036471054488632]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.24994611571144154,-0.757810610012106,0.71338606911949],"aabb_xy":[[0.23227048512284318,-0.7754908262915088],[0.2676217463000398,-0.7401303937327033]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[0.6498249902187647,0.8218223523782018,0.71338606911949],"aabb_xy":[[0.6262398667548699,0.75682235013277],[0.6734101136826596,0.8868223546236336]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.3334223805708676,0.8868800173282243,0.71338606911949],"aabb_xy":[[-0.3452944635823687,0.801880017634574],[-0.3215502975593665,0.9718800170218747]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[0.25586475288764754,1.1725374049606931,0.71338606911949],"aabb_xy":[[0.17586475145752034,1.0930202499480837],[0.33586475431777474,1.2520545599733026]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.07511671073079917,-2.5089849851134844,0.71338606911949],"aabb_xy":[[0.057616710471462565,-2.5230765273022575],[0.09261671099013581,-2.4948934429247123]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[0.44871242661313104,-1.7775859182528064,0.71338606911949],"aabb_xy":[[0.40769448322676016,-1.8275859188837638],[0.4897303699995019,-1.727585917621849]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6976431056917685,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/555.png","name":"555"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/555.png","name":"555"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/896.png","name":"896"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4729.png","name":"4729"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8817.png","name":"8817"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1763.png","name":"1763"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":629.0614609803532,"rotation_z_degrees":117.30928918496778,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002258644132850006,-0.018128423916028855,0.002423721946346432]},{"name":"camera_2","offset_m":[-0.01295227254812389,0.009124443728972555,0.003772059778821845]},{"name":"camera_3","offset_m":[0.00801086046413662,0.0019472219868063995,-0.004974213177238181]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018273502420618473,0.0015099765085858706,-0.00044741387183256493],"end_effector_yaw_offset_degrees":0.40094495440730005},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00033207429794298313,-0.0008881914224908804,-0.000525991209122937],"end_effector_yaw_offset_degrees":-0.39362856685295067},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016576219959725936,-0.0015562148781132908,0.0014558151725935593],"end_effector_yaw_offset_degrees":-0.3182375370423194},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005711963573643475,-0.0001724766441178595,0.0018831004350768664],"end_effector_yaw_offset_degrees":0.65997220237347}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004872053481682901,-0.003198661780564163],"position_m":[0.2740279465183171,-0.12089866178056416,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018830765063140597,0.0035009603410432683],"position_m":[0.22461692349368595,-0.40569903965895676,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008965135629510112,-0.00138069951704041],"position_m":[0.351703486437049,0.0646193004829596,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031437311930422847,0.0048217397691195955],"position_m":[0.3453437311930423,0.3287217397691196,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f43c9a0630cf88703b322da87291dfaf920bf44c78bf30c97b6ccd1af68ba75b","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_555/tex_ceiling_textures_1763/tex_floor_textures_8817/tex_table_textures_896/tex_wall_textures_4729","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":163026759362057590,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":163026759362057590,"visual_seed":163026759362057590,"scene_id":"lab_003","finished_at":"2026-09-05T02:15:08"}
+{"episode_id":"ep_000029","started_at":"2026-09-05T02:15:12","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[-0.13528045112271414,1.624120483690756,0.71338606911949],"aabb_xy":[[-0.1702804494334096,1.6164054687672103],[-0.1002804528120187,1.6318354986143015]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.3184981722146677,-1.5298404448159737,0.71338606911949],"aabb_xy":[[-0.33599817134903487,-1.5397200718535613],[-0.3009981730803005,-1.5199608177783857]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[0.22619062468261897,0.7144175186651918,0.71338606911949],"aabb_xy":[[0.19241506549192602,0.7003790234520266],[0.25996618387331194,0.7284560138783567]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.6402911245247886,-1.701192808635422,0.71338606911949],"aabb_xy":[[0.6349535488587841,-1.726192809564562],[0.6456287001907932,-1.6761928077062824]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[-0.36221671785988857,0.6623367776882274,0.71338606911949],"aabb_xy":[[-0.37197270736906246,0.652574243628993],[-0.3524607283507147,0.6720993117474618]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.04265381700661086,1.4271484339435268,0.71338606911949],"aabb_xy":[[0.02597668101351535,1.4104485099695967],[0.05933095299970636,1.4438483579174572]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[0.3068513292830122,1.4464029163499421,0.71338606911949],"aabb_xy":[[0.2693513284910167,1.440035075391752],[0.34435133007500757,1.4527707573081323]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[0.4945291470713866,0.4347359359625722,0.71338606911949],"aabb_xy":[[0.42452914443480017,0.4146310709667066],[0.5645291497079729,0.4548408009584376]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[-0.5927308808376065,1.7778284890604712,0.71338606911949],"aabb_xy":[[-0.5975744755988365,1.772976836581487],[-0.5878872860763765,1.7826801415394553]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[0.3360716591446873,1.6006993974015198,0.71338606911949],"aabb_xy":[[0.2992211112076997,1.563199396578486],[0.3729222070816749,1.6381993982245535]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.3673417094360987,1.3877213390010579,0.71338606911949],"aabb_xy":[[-0.38983813086996283,1.3652213391943104],[-0.34484528800223463,1.4102213388078053]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[-0.6700085444991538,0.18984001566623254,0.71338606911949],"aabb_xy":[[-0.673449220739211,0.18597858269186807],[-0.6665678682590966,0.19370144864059705]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.10868543596171387,-2.317278469820205,0.71338606911949],"aabb_xy":[[-0.17268543830451544,-2.362219321064337],[-0.044685433618912314,-2.272337618576072]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[0.06114135329838155,-2.55338214952561,0.71338606911949],"aabb_xy":[[0.04364135402029467,-2.570720249591956],[0.07864135257646843,-2.536044049459264]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[0.3601879885780994,-0.9693927525438535,0.71338606911949],"aabb_xy":[[0.3226879900024786,-0.9821290482074114],[0.3976879871537202,-0.9566564568802955]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[0.14287002067755095,-1.655134276260798,0.71338606911949],"aabb_xy":[[0.1257679427191828,-1.6722410817920679],[0.1599720986359191,-1.6380274707295284]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.40216814773561316,-0.4132883918831496,0.71338606911949],"aabb_xy":[[0.36466814723825497,-0.41725707543126794],[0.43966814823297146,-0.4093197083350311]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.6313521774131845,-0.5917003616132452,0.71338606911949],"aabb_xy":[[0.5763589660760478,-0.6467003619520388],[0.6863453887503213,-0.5367003612744516]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[-0.11691098159009117,-1.0005872291234594,0.71338606911949],"aabb_xy":[[-0.151910981566587,-1.010051845171076],[-0.08191098161359535,-0.9911226130758428]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[-0.5827169960889909,0.6593378499482081,0.71338606911949],"aabb_xy":[[-0.6325337755538256,0.6093378514639047],[-0.5329002166241561,0.7093378484325115]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.6038858373527354,-1.3979084883806974,0.71338606911949],"aabb_xy":[[-0.641385838868367,-1.4091352613968424],[-0.5663858358371036,-1.3866817153645523]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.4124069285478331,-1.247807736384172,0.71338606911949],"aabb_xy":[[-0.4458471037438526,-1.2812513622151018],[-0.3789667533518134,-1.2143641105532417]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[-0.546078135386104,1.0168490334074662,0.71338606911949],"aabb_xy":[[-0.5541144700873888,1.0088109141030495],[-0.5380418006848191,1.024887152711883]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[0.45423567928274755,-0.8147396437538217,0.71338606911949],"aabb_xy":[[0.43177090931134243,-0.8372396446326821],[0.47670044925415267,-0.7922396428749611]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[0.07037844803189719,1.7275120100374184,0.71338606911949],"aabb_xy":[[0.015404725995564306,1.6725120104731852],[0.12535217006823007,1.7825120096016516]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[-0.46778226809857626,1.7712467745669227,0.71338606911949],"aabb_xy":[[-0.4803849672356527,1.7586513783420572],[-0.4551795689614998,1.7838421707917882]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_26","position":[-0.06067148231888109,1.3135141649551811,0.71338606911949],"aabb_xy":[[-0.08567148225139898,1.3066314967342583],[-0.0356714823863632,1.320396833176105]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[-0.43687769506127255,-1.74618597446756,0.71338606911949],"aabb_xy":[[-0.4614239106840232,-1.776434871016597],[-0.4123314794385218,-1.7159370779185228]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[0.1922597661969333,1.1890661602278372,0.71338606911949],"aabb_xy":[[0.1848473106555448,1.1832149498062094],[0.19967222173832175,1.1949173706494653]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_29","position":[-0.3261252030130274,-0.6860097703287327,0.71338606911949],"aabb_xy":[[-0.39612520514445687,-0.7087717359544282],[-0.2561252008815978,-0.6632478047030369]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_30","position":[0.35747299201363836,-1.5175727053622612,0.71338606911949],"aabb_xy":[[0.32962795523303123,-1.5483572041005729],[0.3853180287942455,-1.4867882066239495]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_31","position":[0.18651300771304602,-2.5347331599463825,0.71338606911949],"aabb_xy":[[0.15151300858309033,-2.540478381022046],[0.22151300684300165,-2.528987938870718]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950161508014037,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5350.png","name":"5350"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5350.png","name":"5350"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2415.png","name":"2415"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7539.png","name":"7539"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1509.png","name":"1509"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2706.png","name":"2706"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":677.4505071558627,"rotation_z_degrees":225.93871911462966,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007879187011773654,-0.0036965248584198,0.013523947417766292]},{"name":"camera_2","offset_m":[-0.0014777728508741268,0.002937849053109863,0.003276536250358616]},{"name":"camera_3","offset_m":[-0.014053865475257665,0.007963214956379396,0.00849865797240473]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-4.712736280847976e-05,-0.00044819376251279265,0.0007762804784123582],"end_effector_yaw_offset_degrees":0.47708954627007794},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014669865807422273,-0.0013733051425093988,-0.001552882306955573],"end_effector_yaw_offset_degrees":-0.36570521315529425},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000544867480492834,0.0015067570177576982,-0.0018197156425442077],"end_effector_yaw_offset_degrees":-0.35793724444964514},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013636045346030743,0.0016324324520738866,0.0002870404289161215],"end_effector_yaw_offset_degrees":-0.4638205661978281}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003843538082299509,-0.004869808272068787],"position_m":[0.27505646191770045,-0.12256980827206879,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010910008500127823,-0.004584641639619282],"position_m":[0.2275910008500128,-0.4137846416396193,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002086503490862062,0.0025957657135741],"position_m":[0.35468650349086206,0.0685957657135741,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024126144347931247,0.000597720892260842],"position_m":[0.34461261443479313,0.32449772089226087,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"80ec7ce6cafc20197ba1a2b8d8ad403b8b9a3af9975e6e285d67b4151e75ea64","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5350/tex_ceiling_textures_2706/tex_floor_textures_1509/tex_table_textures_2415/tex_wall_textures_7539","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8400257959849484211,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8400257959849484211,"visual_seed":8400257959849484211,"scene_id":"lab_003","finished_at":"2026-09-05T02:18:47"}
+{"episode_id":"ep_000030","started_at":"2026-09-05T02:22:41","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.31744872605919516,-1.0428941016472177,0.71338606911949],"aabb_xy":[[0.309321037865882,-1.0518077100579257],[0.32557641425250844,-1.0339804932365102]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[0.0976499271269845,1.3817671223501389,0.71338606911949],"aabb_xy":[[0.07514992688346912,1.3695624876903671],[0.12014992737049991,1.393971757009911]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.22948954255904175,0.8578514183428401,0.71338606911949],"aabb_xy":[[0.16948954271247496,0.8010327961498014],[0.28948954240560854,0.9146700405358787]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[-0.15462896088459877,-1.7202130054391511,0.71338606911949],"aabb_xy":[[-0.19564690427096965,-1.7702130060701085],[-0.11361101749822788,-1.6702130048081938]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.3507285009263236,-0.9112920131568849,0.71338606911949],"aabb_xy":[[-0.38072016366019396,-0.9412920124936854],[-0.3207368381924533,-0.8812920138200844]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.45100046054297027,1.2985206712611945,0.71338606911949],"aabb_xy":[[-0.5210004626743997,1.2757587056354986],[-0.3810004584115406,1.32128263688689]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.44612903659980985,-1.7385751854318676,0.71338606911949],"aabb_xy":[[-0.5101290368737881,-1.7886412856291554],[-0.3821290363258316,-1.6885090852345794]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[-0.6566153548208296,0.027865218384346857,0.71338606911949],"aabb_xy":[[-0.6737174327791977,0.010758412853077107],[-0.6395132768624614,0.04497202391561661]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.4499688258149259,1.326932936638813,0.71338606911949],"aabb_xy":[[0.4124688251503472,1.3112458786385905],[0.4874688264795046,1.342619994639035]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[-0.2030424145460818,0.569327800213717,0.71338606911949],"aabb_xy":[[-0.22804241381804408,0.5529824366175546],[-0.17804241527411951,0.5856731638098793]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[0.1005972205112814,-0.9296147239606394,0.71338606911949],"aabb_xy":[[0.020597219438161077,-0.9393927702980237],[0.18059722158440172,-0.9198366776232548]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[0.08374049444884035,0.6970728507378703,0.71338606911949],"aabb_xy":[[0.023740493588027527,0.6456464207313838],[0.1437404953096531,0.7484992807443566]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[0.3038263707345471,-1.5087777617847873,0.71338606911949],"aabb_xy":[[0.29678606080101017,-1.5887777611844591],[0.31086668066808415,-1.4287777623851161]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[0.5372034401285735,0.022019775556327836,0.71338606911949],"aabb_xy":[[0.49987216360333075,-0.012633279238524465],[0.574534716653816,0.05667283035118015]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[-0.600559685191791,-0.9708873570439218,0.71338606911949],"aabb_xy":[[-0.6268485095122316,-0.997158790698573],[-0.5742708608713503,-0.9446159233892706]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_15","position":[-0.48111546136532624,0.16393293315582103,0.71338606911949],"aabb_xy":[[-0.4987482969588538,0.14630998714019802],[-0.46348262577179866,0.18155587917144397]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[0.34273859692839825,-2.4289585297550045,0.71338606911949],"aabb_xy":[[0.32453277326715063,-2.439983930336996],[0.360944420589646,-2.417933129173013]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.5703409775229715,-0.19269478242383498,0.71338606911949],"aabb_xy":[[0.5605849880137976,-0.2024573164830694],[0.5800969670321454,-0.1829322483646005]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[-0.319093182988895,-2.3210526277143466,0.71338606911949],"aabb_xy":[[-0.409093185322914,-2.3985349822994593],[-0.22909318065487588,-2.243570273129234]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[0.16866500908344562,1.1855189813408042,0.71338606911949],"aabb_xy":[[0.1640298939312122,1.1816516462636553],[0.17330012423567898,1.1893863164179528]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[-0.2661422105037218,0.17636941282496688,0.71338606911949],"aabb_xy":[[-0.2813143797853551,0.16120055589676352],[-0.25097004122208844,0.19153826975317023]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911958961321479,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1372.png","name":"1372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1372.png","name":"1372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5101.png","name":"5101"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8783.png","name":"8783"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6075.png","name":"6075"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3345.png","name":"3345"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":680.716320171722,"rotation_z_degrees":302.04962139030386,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008672149278845093,0.01317963128938927,0.0027842321091362324]},{"name":"camera_2","offset_m":[-0.016896901804930645,-0.01295040236359601,-0.011648314624583142]},{"name":"camera_3","offset_m":[0.007419127430132285,-0.01492053475156745,0.006119068026807652]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001826444891988176,0.0010121699513678537,0.00010550528916715299],"end_effector_yaw_offset_degrees":-0.8464804074259498},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003194029875095085,0.0018402155495297963,-0.00013970293292199314],"end_effector_yaw_offset_degrees":-0.16515860433877694},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-8.35565052542675e-05,-0.0007832383643645478,-0.0008293566121659107],"end_effector_yaw_offset_degrees":-0.5345652767587885},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008678342843593412,0.0016780791356594033,-0.0003717269018773837],"end_effector_yaw_offset_degrees":0.7916806540198256}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003541649228192378,0.0028716267216806297],"position_m":[0.2753583507718076,-0.11482837327831937,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004562965183371487,0.004858190806192461],"position_m":[0.22193703481662852,-0.4043418091938075,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004828187203301929,0.0039365593282367954],"position_m":[0.3477718127966981,0.0699365593282368,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007111351205310356,-0.004382091075415957],"position_m":[0.34291113512053106,0.31951790892458404,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7a31b4dd6c01acee9836c02aec07fc5ae9a00e0013799339134793469042390e","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0038.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1372/tex_ceiling_textures_3345/tex_floor_textures_6075/tex_table_textures_5101/tex_wall_textures_8783","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7958441329553945561,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7958441329553945561,"visual_seed":7958441329553945561,"scene_id":"lab_003","finished_at":"2026-09-05T02:26:06"}
+{"episode_id":"ep_000031","started_at":"2026-09-05T02:26:10","dimensions":{"distractor":{"count":27,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.04924447679966948,1.2039707915175764,0.71338606911949],"aabb_xy":[[0.031450969864753035,1.1861710459217787],[0.06703798373458592,1.221770537113374]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.0008675797779627015,-1.5303981957181598,0.71338606911949],"aabb_xy":[[-0.008479427804332529,-1.544701817935804],[0.010214587360257932,-1.516094573500516]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[0.42962367372900956,0.5349641105705563,0.71338606911949],"aabb_xy":[[0.39258956430094977,0.5005869032368468],[0.46665778315706924,0.5693413179042657]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.6165739210544006,-0.1626949001859841,0.71338606911949],"aabb_xy":[[-0.6805739231041326,-0.20278938327529203],[-0.5525739190046686,-0.1226004170966761]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.44545006318119995,1.753375109996989,0.71338606911949],"aabb_xy":[[0.4204500636294614,1.743232626131854],[0.4704500627329384,1.7635175938621235]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[-0.3173555994914519,-0.29342950241015764,0.71338606911949],"aabb_xy":[[-0.3723488108285886,-0.34842950274895124],[-0.2623623881543151,-0.23842950207136404]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.6596396616676667,-1.852274865347943,0.71338606911949],"aabb_xy":[[0.623726157242677,-1.8881883735646974],[0.6955531660926563,-1.8163613571311883]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[0.08046745004907785,0.9663321841683574,0.71338606911949],"aabb_xy":[[0.04615117287445991,0.9163321841951798],[0.11478372722369579,1.0163321841415351]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.3492644338642472,-1.223933444890691,0.71338606911949],"aabb_xy":[[0.28926443222132536,-1.275933594182635],[0.40926443550716907,-1.1719332955987467]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_9","position":[0.22625903125094915,1.2584252684203787,0.71338606911949],"aabb_xy":[[0.20375903100743378,1.2462206337606068],[0.24875903149446457,1.2706299030801507]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.48337319002764756,-1.4838104900129887,0.71338606911949],"aabb_xy":[[-0.5208731884510478,-1.4969747039808192],[-0.4458731916042471,-1.4706462760451582]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[0.0017316211048389318,-1.4039228206916166,0.71338606911949],"aabb_xy":[[-0.08826837861833524,-1.4269961732267962],[0.0917316208280131,-1.3808494681564365]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[0.524664745310762,0.3420005556547414,0.71338606911949],"aabb_xy":[[0.43466474671629207,0.3257499693413204],[0.614664743905232,0.35825114196816243]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[-0.5541304914007829,-0.7237691644188939,0.71338606911949],"aabb_xy":[[-0.5766304919128236,-0.7462610227842923],[-0.5316304908887424,-0.7012773060534956]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.01192588492154556,1.7265471008378577,0.71338606911949],"aabb_xy":[[-0.0333527299596037,1.662547101489674],[0.05720449980269482,1.7905471001860414]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_15","position":[-0.28705959474338916,-0.6102722301391572,0.71338606911949],"aabb_xy":[[-0.37205959343546374,-0.6422580935340361],[-0.20205959605131446,-0.5782863667442784]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[-0.3730298686252204,0.3709409373845136,0.71338606911949],"aabb_xy":[[-0.4105298685689868,0.36264784734967703],[-0.335529868681454,0.3792340274193502]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[-0.46962974638985755,0.9708988778442103,0.71338606911949],"aabb_xy":[[-0.4872625819833851,0.9532759318285872],[-0.45199691079633,0.9885218238598331]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[-0.6041440354600438,-1.7784356488385153,0.71338606911949],"aabb_xy":[[-0.6123585805757276,-1.7871122391361565],[-0.5959294903443596,-1.7697590585408738]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[0.380903841386367,-0.663856595331551,0.71338606911949],"aabb_xy":[[0.35962583324289477,-0.728856597657624],[0.40218184952983926,-0.5988565930054779]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[-0.1428276507926708,-0.7438964852778078,0.71338606911949],"aabb_xy":[[-0.22282764780691874,-0.764031036951219],[-0.06282765377842278,-0.7237619336043964]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[-0.17358683446003387,-2.028730544801868,0.71338606911949],"aabb_xy":[[-0.22355989999254938,-2.0787305446144013],[-0.12361376892751844,-1.9787305449893355]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[-0.4017809882713385,1.7676006606357677,0.71338606911949],"aabb_xy":[[-0.4467735749897889,1.7226006613613187],[-0.3567884015528881,1.8126006599102162]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[0.224013338282401,-0.9703604148883458,0.71338606911949],"aabb_xy":[[0.15901333728190048,-1.0211467800430207],[0.2890133392829015,-0.9195740497336709]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_24","position":[-0.485552836019045,-1.9113685009841879,0.71338606911949],"aabb_xy":[[-0.4942507983097603,-1.9234934752916628],[-0.47685487372832974,-1.8992435266767134]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[0.15529292999178568,-1.9444536739170752,0.71338606911949],"aabb_xy":[[0.1361806226338068,-1.963588452794317],[0.17440523734976454,-1.925318895039833]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[0.5215191110895401,1.2223018526039162,0.71338606911949],"aabb_xy":[[0.5063562381126031,1.2071363953087975],[0.5366819840664773,1.237467309899035]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929675789401943,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/44.png","name":"44"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/44.png","name":"44"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9675.png","name":"9675"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3104.png","name":"3104"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/403.png","name":"403"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5761.png","name":"5761"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":537.1468047663498,"rotation_z_degrees":9.200913356705108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012045111196754447,0.001743309746319248,-0.015434412255336136]},{"name":"camera_2","offset_m":[0.0015498563864350945,-0.009500962517748058,-0.004517504347182082]},{"name":"camera_3","offset_m":[0.0011331736623261708,-0.009577618585533836,-0.009426163965098789]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015835858222358378,0.0009433264083361943,0.00041875188965623126],"end_effector_yaw_offset_degrees":-0.97502523485188},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013140358906246442,0.0010851977648022393,0.0016813971902439446],"end_effector_yaw_offset_degrees":0.9935055486959923},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.5645356782298097e-06,0.0013476695278993073,0.0016392257225616835],"end_effector_yaw_offset_degrees":-0.6565012284409559},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013609611279200894,0.0011293411495116607,0.0014137647977796224],"end_effector_yaw_offset_degrees":0.9802126502266693}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00482917905959722,0.0019773058252681034],"position_m":[0.27407082094040275,-0.1157226941747319,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017971336014068516,0.0024330234009949806],"position_m":[0.22470286639859316,-0.406766976599005,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002349512112512273,0.0007244504881287472],"position_m":[0.35025048788748775,0.06672445048812875,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017044613460491156,0.003970781934047331],"position_m":[0.3404955386539509,0.32787078193404734,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"01b2f15436c342275a4b3b15c9788a5a64a3ca3c193ff89f24733aa4d3e67a61","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_44/tex_ceiling_textures_5761/tex_floor_textures_403/tex_table_textures_9675/tex_wall_textures_3104","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2944427859786687382,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2944427859786687382,"visual_seed":2944427859786687382,"scene_id":"lab_003","finished_at":"2026-09-05T02:29:36"}
+{"episode_id":"ep_000032","started_at":"2026-09-05T02:29:40","dimensions":{"distractor":{"count":28,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.43495774918611446,-1.2425086805456835,0.71338606911949],"aabb_xy":[[-0.4574577491962628,-1.2566049001852868],[-0.4124577491759662,-1.2284124609060803]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.19810742630854394,0.4058653841393136,0.71338606911949],"aabb_xy":[[-0.28810742572691483,0.3724898872951239],[-0.10810742689017305,0.43924088098350333]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[0.5399394082191846,1.5977089704934824,0.71338606911949],"aabb_xy":[[0.489961991353931,1.5477089690042336],[0.5899168250844381,1.6477089719827307]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[0.5594585168850541,0.38298178287905804,0.71338606911949],"aabb_xy":[[0.5144659301666037,0.33798178360460923],[0.6044511036035045,0.42798178215350674]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.301745921100129,-1.8020124528165746,0.71338606911949],"aabb_xy":[[-0.35174592205066174,-1.8335615998200958],[-0.2517459201495961,-1.770463305813053]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.4065924363542629,-1.0098308208365034,0.71338606911949],"aabb_xy":[[-0.4617176419838537,-1.0698308222777904],[-0.3514672307246721,-0.9498308193952162]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.4252124347783981,-1.1305181644709579,0.71338606911949],"aabb_xy":[[0.3612124333704074,-1.1823071159948824],[0.48921243618638877,-1.078729212947033]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[-0.4500227195052371,-0.4092911161459787,0.71338606911949],"aabb_xy":[[-0.5150227195395398,-0.4559917928263059],[-0.38502271947093436,-0.36259043946565134]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.49082140100659166,0.20499284211770918,0.71338606911949],"aabb_xy":[[0.42682140062905805,0.15524757526689692],[0.5548214013841253,0.25473810896852145]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.29617525678315015,0.1615108592667167,0.71338606911949],"aabb_xy":[[-0.37617525379739813,0.14137630759330544],[-0.21617525976890217,0.18164541094012798]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[0.5204434481514106,-0.7752919400052547,0.71338606911949],"aabb_xy":[[0.5029434479063611,-0.7927917278448213],[0.5379434483964599,-0.7577921521656876]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.37025322773962865,-1.6431400055547618,0.71338606911949],"aabb_xy":[[0.2902532263095014,-1.7226571605673713],[0.4502532291697558,-1.5636228505421523]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.5900044484731027,0.9409534984598777,0.71338606911949],"aabb_xy":[[-0.645004447649692,0.88596382368492],[-0.535004449296513,0.9959431732348353]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.014637524070381769,-2.2399614128292513,0.71338606911949],"aabb_xy":[[0.0091795784333617,-2.3199614161369104],[0.020095469707401836,-2.159961409521592]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.32646266480161934,-1.4469528900105526,0.71338606911949],"aabb_xy":[[0.31846917500633737,-1.4549510219510282],[0.3344561545969014,-1.438954758070077]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[-0.42516333100725895,0.5975484308299892,0.71338606911949],"aabb_xy":[[-0.47296949862102755,0.5325484281229304],[-0.37735716339349024,0.6625484335370483]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[-0.5293628640011054,1.4042817143643638,0.71338606911949],"aabb_xy":[[-0.5793470997092827,1.3542817155508684],[-0.4793786282929282,1.4542817131778596]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.14059475948774658,-1.0842513166214671,0.71338606911949],"aabb_xy":[[0.0906214654844861,-1.1342513171760142],[0.190568053491007,-1.0342513160669196]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.5832195863408887,-1.9975594817004336,0.71338606911949],"aabb_xy":[[0.5663088539045468,-2.0110316872930483],[0.6001303187772303,-1.984087276107819]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[-0.11949045830928073,0.06616307246361908,0.71338606911949],"aabb_xy":[[-0.15449045966076244,0.045803336506798235],[-0.08449045695779898,0.0865228084204399]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.4857992017498882,-2.388362977546114,0.71338606911949],"aabb_xy":[[0.4057992012796724,-2.396673685160463],[0.5657992022201043,-2.3800522699317663]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[0.4174705115186781,-2.1394607268137027,0.71338606911949],"aabb_xy":[[0.408689284371442,-2.1482404741022334],[0.4262517386659144,-2.130680979525173]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[-0.5694184686319177,-2.1168641104452943,0.71338606911949],"aabb_xy":[[-0.5919184688754331,-2.129068745105066],[-0.5469184683884023,-2.104659475785522]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[-0.5399586954740856,1.1165281029479153,0.71338606911949],"aabb_xy":[[-0.5860437867288171,1.0525281056953601],[-0.49387360421935417,1.1805281002004704]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[0.5465293390513899,1.3169550420016511,0.71338606911949],"aabb_xy":[[0.4966466421736937,1.2669550427553764],[0.5964120359290861,1.3669550412479259]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_25","position":[-0.44717618286477273,-1.3534619246213435,0.71338606911949],"aabb_xy":[[-0.5111761852075742,-1.398402775865476],[-0.38317618052197117,-1.308521073377211]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[-0.03510682083206984,0.8245512583750427,0.71338606911949],"aabb_xy":[[-0.10010682183257036,0.7737648932203678],[0.029893180168430684,0.8753376235297177]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_27","position":[0.26399710626864425,1.5407052034046598,0.71338606911949],"aabb_xy":[[0.2099815099867442,1.4767052005124026],[0.3180127025505442,1.604705206296917]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907228578946066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9536.png","name":"9536"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9536.png","name":"9536"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9258.png","name":"9258"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8014.png","name":"8014"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5084.png","name":"5084"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3278.png","name":"3278"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":553.421404383299,"rotation_z_degrees":65.3965050126362,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011312362961788298,-0.004603876147598211,0.010507067435508857]},{"name":"camera_2","offset_m":[0.012506371295496501,-0.004338513653201467,-0.0023785123632308197]},{"name":"camera_3","offset_m":[-0.01910069006416617,-0.017791865890026366,0.01566064102643298]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017340595926669967,-0.0014084845076334446,-0.0003564644352514689],"end_effector_yaw_offset_degrees":0.5942365308557931},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00010289655271899069,7.458666048294413e-05,0.00034372163825898035],"end_effector_yaw_offset_degrees":0.7586424238795331},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006637441376652073,8.625447173245954e-05,0.0009799525823076666],"end_effector_yaw_offset_degrees":0.9345657473815585},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005703796106500518,0.0013586878302403109,0.0019499912222737184],"end_effector_yaw_offset_degrees":-0.6437533719407964}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022352778277524334,0.00041754975290579557],"position_m":[0.28113527782775244,-0.1172824502470942,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002722027195064397,0.004229621743881942],"position_m":[0.2292220271950644,-0.4049703782561181,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023565458978104257,-0.0032793567396339385],"position_m":[0.35495654589781045,0.06272064326036607,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019049213185189573,-0.0004220714488453181],"position_m":[0.34029507868148107,0.3234779285511547,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d7bd1d5d1a84e8373fbc2bbecf9c50279043b5dbe07999c0fe29759e639e2b23","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9536/tex_ceiling_textures_3278/tex_floor_textures_5084/tex_table_textures_9258/tex_wall_textures_8014","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5605853702526292092,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5605853702526292092,"visual_seed":5605853702526292092,"scene_id":"lab_003","finished_at":"2026-09-05T02:33:06"}
+{"episode_id":"ep_000033","started_at":"2026-09-05T02:33:13","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[-0.07696407801615024,-1.3975509850059722,0.71338606911949],"aabb_xy":[[-0.14096407731031846,-1.4615371253748264],[-0.012964078721982006,-1.333564844637118]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.6846952797615571,0.04501650782244537,0.71338606911949],"aabb_xy":[[0.6473640032363145,0.010363453027593068],[0.7220265562867997,0.07966956261729768]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.10657023808516153,0.6577360916289825,0.71338606911949],"aabb_xy":[[-0.1221260074954268,0.6421856583845754],[-0.09101446867489627,0.6732865248733898]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.18947620077214278,1.525669652704281,0.71338606911949],"aabb_xy":[[0.1766042972712026,1.4456696522904449],[0.2023481042730829,1.6056696531181172]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.6156927947343629,0.48335158434163894,0.71338606911949],"aabb_xy":[[0.5516927928220206,0.42744043508362856],[0.6796927966467052,0.5392627335996494]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[-0.5827057292309323,-0.965016323395467,0.71338606911949],"aabb_xy":[[-0.6327057278768535,-1.0149358670549296],[-0.5327057305850111,-0.9150967797360047]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[0.13832561891896555,1.0179269731776612,0.71338606911949],"aabb_xy":[[0.11582561867545016,1.0057223385178893],[0.16082561916248095,1.0301316078374332]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.5158664072988268,-2.069884946398724,0.71338606911949],"aabb_xy":[[-0.5798664058853992,-2.1168919097982326],[-0.45186640871225425,-2.022877982999215]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[0.5593778333434716,1.253852295582207,0.71338606911949],"aabb_xy":[[0.5171934191826407,1.1898522953049957],[0.6015622475043022,1.317852295859418]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[0.44712140560232494,-2.0269203674028637,0.71338606911949],"aabb_xy":[[0.40212881888387453,-2.0719203666773125],[0.49211399232077535,-1.981920368128415]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[0.08380060521859067,-1.365449328435033,0.71338606911949],"aabb_xy":[[0.07770597733047235,-1.3740187229867018],[0.089895233106709,-1.3568799338833644]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[-0.6114947192772295,-1.2301492659584368,0.71338606911949],"aabb_xy":[[-0.6426416381208127,-1.3001492646452437],[-0.5803478004336464,-1.1601492672716294]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[0.16038094259585678,-1.0288744165800323,0.71338606911949],"aabb_xy":[[0.09638094037544978,-1.0732475007053206],[0.22438094481626383,-0.984501332454744]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.35917918736184234,-2.053887023927567,0.71338606911949],"aabb_xy":[[-0.385468011682283,-2.080158457582218],[-0.3328903630414017,-2.0276155902729154]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.6580827980001323,0.7388457114268805,0.71338606911949],"aabb_xy":[[0.6404499624066047,0.7212227654112574],[0.6757156335936598,0.7564686574425034]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[-0.31102453816680886,0.7377234572367501,0.71338606911949],"aabb_xy":[[-0.3206561743872385,0.7280861444570413],[-0.30139290194637924,0.7473607700164592]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.0524811535150943,-1.227671868356269,0.71338606911949],"aabb_xy":[[0.04836520340302163,-1.2317874233891144],[0.05659710362716696,-1.2235563133234233]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.5875109812599317,-0.2512424938881739,0.71338606911949],"aabb_xy":[[-0.667510978663525,-0.3312350650863566],[-0.5075109838563382,-0.17124992268999098]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.24428331130602382,-1.3051226406332312,0.71338606911949],"aabb_xy":[[-0.29410009077085864,-1.3551226391175346],[-0.1944665318411891,-1.2551226421489279]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.22948855198398238,-1.5244661571110576,0.71338606911949],"aabb_xy":[[-0.2513782995729231,-1.6144661544003067],[-0.20759880439504158,-1.4344661598218085]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.49046986523698677,1.4206208065866943,0.71338606911949],"aabb_xy":[[-0.5079698654820362,1.4031210187471272],[-0.4729698649919374,1.438120594426261]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[0.2592191238427115,1.790311184366875,0.71338606911949],"aabb_xy":[[0.2217191223270798,1.7790844113507298],[0.2967191253583432,1.80153795738302]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[0.3623627740807396,1.047165992617877,0.71338606911949],"aabb_xy":[[0.27236277466236863,1.013790495773687],[0.4523627734991104,1.0805414894620664]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[-0.25577224128844006,0.8769006858299133,0.71338606911949],"aabb_xy":[[-0.3057715164568762,0.8269006845539663],[-0.2057729661200039,0.9269006871058606]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.279745762611564,-1.052609235605502,0.71338606911949],"aabb_xy":[[-0.3047457625440819,-1.0594919038264254],[-0.25474576267904614,-1.0457265673845788]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.13253437727342277,1.0639681084211747,0.71338606911949],"aabb_xy":[[-0.1362376386025616,1.0602660901124568],[-0.12883111594428387,1.0676701267298923]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[-0.5361118070614238,0.2405483828098478,0.71338606911949],"aabb_xy":[[-0.6161118040756718,0.2204138311364365],[-0.4561118100471758,0.2606829344832591]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[-0.4513988697535503,0.6437328665939521,0.71338606911949],"aabb_xy":[[-0.47661970661339,0.6185091157410653],[-0.42617803289371065,0.6689566174468388]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_28","position":[-0.027900063643175432,-2.2243969076787526,0.71338606911949],"aabb_xy":[[-0.07789317575236733,-2.2743969083529487],[0.02209304846601646,-2.1743969070045575]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[-0.36706933984692824,-1.1746216213280984,0.71338606911949],"aabb_xy":[[-0.37763681950502725,-1.185166651441107],[-0.35650186018882923,-1.1640765912150899]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_30","position":[0.27303042776351616,-2.2207822792189837,0.71338606911949],"aabb_xy":[[0.23803042786749726,-2.229156514730924],[0.308030427659535,-2.2124080437070437]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_31","position":[-0.00972293152700876,-0.8000503200927718,0.71338606911949],"aabb_xy":[[-0.05969622553026921,-0.8500503206473189],[0.04025036247625169,-0.7500503195382242]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_32","position":[-0.6066709844915016,0.6769330855229456,0.71338606911949],"aabb_xy":[[-0.6518423023396706,0.6129330883784073],[-0.5614996666433326,0.7409330826674841]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_33","position":[0.5735285821885545,1.1076281128801937,0.71338606911949],"aabb_xy":[[0.5185285839868096,1.067106146253756],[0.6285285803902992,1.1481500795066313]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941710314362138,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4908.png","name":"4908"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4908.png","name":"4908"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9696.png","name":"9696"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3471.png","name":"3471"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2575.png","name":"2575"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6710.png","name":"6710"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":804.6185685882838,"rotation_z_degrees":152.15232264439558,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008488343178184241,-0.01841853327068474,0.0035471909571070798]},{"name":"camera_2","offset_m":[-0.0035185606937888914,0.019967771609936156,0.015651956078511695]},{"name":"camera_3","offset_m":[-0.0012431128961196726,-0.008362184483239847,0.006354164371931578]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006096611274637948,-0.0004585763176143667,-0.0019983335641286],"end_effector_yaw_offset_degrees":-0.5454056948698274},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00045842777867793763,-0.0017508205476755862,-0.0017701509315911114],"end_effector_yaw_offset_degrees":-0.9926213821560959},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001973856418544494,-0.0007814633779490321,-0.0008550693066893551],"end_effector_yaw_offset_degrees":0.3567760495451362},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011486944950043101,0.0005040354499719225,-3.426738241021996e-05],"end_effector_yaw_offset_degrees":0.826585299627163}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038300044391476806,0.0024770284499701766],"position_m":[0.28273000443914764,-0.11522297155002982,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022833037868441055,0.0011418811382853718],"position_m":[0.2242166962131559,-0.4080581188617146,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016535102442124193,0.002604525016780412],"position_m":[0.3509464897557876,0.06860452501678041,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005428358096044592,0.004351308078187789],"position_m":[0.34165716419039555,0.3282513080781878,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3aaf96a2666cf04a0a7cef383057dc9dc8c79c378fdd87023e7828361de446aa","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4908/tex_ceiling_textures_6710/tex_floor_textures_2575/tex_table_textures_9696/tex_wall_textures_3471","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3989698758621760213,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3989698758621760213,"visual_seed":3989698758621760213,"scene_id":"lab_003","finished_at":"2026-09-05T02:36:46"}
+{"episode_id":"ep_000034","started_at":"2026-09-05T02:36:50","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.27893967576546785,-1.742936260215518,0.71338606911949],"aabb_xy":[[-0.3139396749582861,-1.7539033062131804],[-0.2439396765726496,-1.7319692142178549]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.3818629504382954,1.73699167952141,0.71338606911949],"aabb_xy":[[-0.3912804250081581,1.727575502383691],[-0.3724454758684326,1.746407856659129]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.26089578345780706,-1.6618016921588388,0.71338606911949],"aabb_xy":[[0.23872325648115622,-1.6839773593149616],[0.2830683104344579,-1.6396260250027155]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.4697210311570408,-0.5844238740789205,0.71338606911949],"aabb_xy":[[-0.5041833785551826,-0.618917756476743],[-0.435258683758899,-0.5499299916810976]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[0.3442693528309182,1.4141964393930615,0.71338606911949],"aabb_xy":[[0.29899073794976894,1.350196440044878],[0.38954796771206746,1.4781964387412454]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[0.5887699007026257,-0.9523847476341427,0.71338606911949],"aabb_xy":[[0.5807436300719998,-0.9611362426114954],[0.5967961713332518,-0.9436332526567902]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[0.5933495007546203,-1.8091017292237148,0.71338606911949],"aabb_xy":[[0.5133494993244931,-1.888618884236324],[0.6733495021847475,-1.7295845742111051]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[0.6898507544372283,1.4603639572390157,0.71338606911949],"aabb_xy":[[0.6806908754933517,1.4538327391954786],[0.6990106333811049,1.4668951752825528]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[0.666303556931338,-0.7449692484452488,0.71338606911949],"aabb_xy":[[0.6487252547423911,-0.7625437380193538],[0.6838818591202848,-0.727394758871144]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.36057291282926407,-1.1145045237317415,0.71338606911949],"aabb_xy":[[0.2955729118721368,-1.1664527356654468],[0.4255729137863912,-1.0625563117980357]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.537644343488862,1.5815167270954409,0.71338606911949],"aabb_xy":[[0.5268713695674943,1.5465167288764021],[0.5484173174102298,1.61651672531448]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.08363697211173626,1.042905822334582,0.71338606911949],"aabb_xy":[[-0.10184279577298394,1.0318804217525903],[-0.06543114845048859,1.0539312229165736]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[-0.6261009508162052,-1.3079611094162003,0.71338606911949],"aabb_xy":[[-0.6378691376108628,-1.392961109321422],[-0.6143327640215478,-1.222961109510979]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[-0.41559328009760493,-0.9033954837887741,0.71338606911949],"aabb_xy":[[-0.45059328007410077,-0.9128600998363907],[-0.3805932801211091,-0.8939308677411575]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[-0.48962241631768116,-1.8063485936259402,0.71338606911949],"aabb_xy":[[-0.5796224149121512,-1.8225991799393613],[-0.3996224177232112,-1.7900980073125192]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.5016750079016452,1.2331388688957392,0.71338606911949],"aabb_xy":[[-0.5516750073418407,1.183170944411423],[-0.4516750084614495,1.2831067933800555]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.15686141273769272,1.191027451370191,0.71338606911949],"aabb_xy":[[-0.16412266030810013,1.1782404411066816],[-0.1496001651672853,1.2038144616337005]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.32219727105894647,-1.4286411593385162,0.71338606911949],"aabb_xy":[[0.25719727005844595,-1.4794275244931911],[0.387197272059447,-1.3778547941838413]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.6612178638500779,0.29925600321772405,0.71338606911949],"aabb_xy":[[0.6117374426361191,0.23525600530487223],[0.7106982850640367,0.3632560011305759]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.10958294829570481,-2.170321587931225,0.71338606911949],"aabb_xy":[[-0.1214550313072059,-2.2553215876248753],[-0.09771086528420368,-2.0853215882375746]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[-0.10700776342139107,-1.6315680507717536,0.71338606911949],"aabb_xy":[[-0.15200035013984148,-1.6765680500462021],[-0.06201517670294064,-1.5865680514973046]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_21","position":[0.0689576468924924,1.4897057810038548,0.71338606911949],"aabb_xy":[[0.008957646384639485,1.4328590473179335],[0.12895764740034532,1.546552514689776]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[-0.6195181235149639,0.4334081937012759,0.71338606911949],"aabb_xy":[[-0.6835181257353709,0.3890351095759876],[-0.5555181212945568,0.47778127782656415]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[-0.661421667528826,0.9269566378905849,0.71338606911949],"aabb_xy":[[-0.6711776570379999,0.9171941038313504],[-0.6516656780196521,0.9367191719498192]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[0.2965547320936377,-0.946683487237826,0.71338606911949],"aabb_xy":[[0.25530592106372296,-1.0016834867500433],[0.33780354312355243,-0.8916834877256085]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[-0.40179343576183485,-2.3144183919802255,0.71338606911949],"aabb_xy":[[-0.43929343611006255,-2.326209787561309],[-0.36429343541360704,-2.302626996399142]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887257513553279,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3569.png","name":"3569"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3569.png","name":"3569"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6908.png","name":"6908"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3214.png","name":"3214"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2372.png","name":"2372"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7546.png","name":"7546"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":569.2869574504184,"rotation_z_degrees":238.52867466612068,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009582891216433671,0.007956101311350716,-0.01953770578069445]},{"name":"camera_2","offset_m":[0.016241404335595188,0.0018029620593448745,0.013607684000863155]},{"name":"camera_3","offset_m":[-0.008960934368264967,0.0036544527067190295,-0.013813290347388877]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006919622983141264,-0.0006677096771239707,-0.0015425652861341863],"end_effector_yaw_offset_degrees":0.17567825278390337},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[4.661455422541464e-05,0.0015487964812483657,-0.0018138070554374953],"end_effector_yaw_offset_degrees":0.5793993921241958},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007167808573318459,0.001389016255405876,-0.0006037880491621644],"end_effector_yaw_offset_degrees":0.472361662203751},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008993760913585309,-0.0006698753214369258,-0.001614995401234737],"end_effector_yaw_offset_degrees":-0.5504828398984458}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0043939235663430975,-0.0015541679885272132],"position_m":[0.2745060764336569,-0.11925416798852721,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023092665135408842,-0.0005750755866414806],"position_m":[0.22419073348645913,-0.4097750755866415,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038379838698313342,-0.002170146034822189],"position_m":[0.35643798386983133,0.06382985396517782,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002185953578262422,-0.004171973923683668],"position_m":[0.3400140464217376,0.31972802607631634,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c6fa88d444b8e2d1672cd9df6cd49d8e2d1bebab25ba0701dcc8f72dc7fd48f0","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3569/tex_ceiling_textures_7546/tex_floor_textures_2372/tex_table_textures_6908/tex_wall_textures_3214","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2625851015289775858,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2625851015289775858,"visual_seed":2625851015289775858,"scene_id":"lab_003","finished_at":"2026-09-05T02:40:28"}
+{"episode_id":"ep_000035","started_at":"2026-09-05T02:44:17","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.1673668044133001,-0.5754706871504429,0.71338606911949],"aabb_xy":[[-0.21736680607479483,-0.6254691294061455],[-0.11736680275180532,-0.5254722448947401]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[0.42139949192265247,-0.7791360290832277,0.71338606911949],"aabb_xy":[[0.4067560863686194,-0.7937947487400118],[0.43604289747668534,-0.7644773094264433]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[-0.4964759062582093,-1.9286021301438816,0.71338606911949],"aabb_xy":[[-0.5321050621581691,-1.964234796900734],[-0.46084675035824957,-1.8929694633870282]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.42155282984513476,-0.36771416372857413,0.71338606911949],"aabb_xy":[[-0.4915528314474143,-0.38114695693023176],[-0.35155282824285533,-0.3542813705269166]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[0.5051465594483016,0.046416913541973415,0.71338606911949],"aabb_xy":[[0.44514655960173477,-0.010401708651065274],[0.5651465592948683,0.1032355357350121]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.6130452196932996,-1.9525555301686275,0.71338606911949],"aabb_xy":[[0.563045220116965,-2.002536109120734],[0.6630452192696344,-1.9025749512165218]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.25233512973256433,-1.0604262704137548,0.71338606911949],"aabb_xy":[[-0.27222616961290463,-1.0730820816984519],[-0.23244408985222414,-1.0477704591290582]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.5841271979948117,-0.8119738694727687,0.71338606911949],"aabb_xy":[[-0.6391226758154711,-0.8669738709066755],[-0.5291317201741523,-0.7569738680388617]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.5957361427843948,1.211217991303613,0.71338606911949],"aabb_xy":[[0.58769980808311,1.2031798719991962],[0.6037724774856796,1.2192561106080297]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.3887874094274102,0.1421342738201825,0.71338606911949],"aabb_xy":[[-0.4687874105005305,0.13235622748279807],[-0.30878740835428986,0.15191232015756695]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.008408003937594222,-0.9450205687215838,0.71338606911949],"aabb_xy":[[-0.027520311295573086,-0.9641553475988258],[0.010704303420384642,-0.9258857898443418]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[0.484477197222996,-0.431382280862159,0.71338606911949],"aabb_xy":[[0.4474430877949362,-0.46575948819586843],[0.5215113066510557,-0.3970050735284495]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[-0.11522913018415937,-0.958760309019739,0.71338606911949],"aabb_xy":[[-0.12264158572554783,-0.9646115194413669],[-0.10781667464277088,-0.952909098598111]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.3056170746399853,1.514018389224026,0.71338606911949],"aabb_xy":[[-0.36961707668971727,1.473923906134718],[-0.24161707259025328,1.554112872313334]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[0.6529520828219482,-2.247438573940485,0.71338606911949],"aabb_xy":[[0.6179520836919925,-2.253183795016149],[0.6879520819519038,-2.2416933528648206]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.6093116808393144,0.5661745597728691,0.71338606911949],"aabb_xy":[[-0.6343116803910529,0.5560320759077343],[-0.5843116812875759,0.5763170436380037]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.004302427881569426,1.2203349303894968,0.71338606911949],"aabb_xy":[[-0.04021593230655911,1.1844214221727423],[0.031611076543420255,1.2562484386062513]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.04174421730743516,1.0114229442754121,0.71338606911949],"aabb_xy":[[-0.04325578110998806,0.9265486488131272],[0.1267442157248584,1.096297239737697]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[0.33688096555576363,-1.2458710160136708,0.71338606911949],"aabb_xy":[[0.3312992939216348,-1.258371015831446],[0.34246263718989234,-1.233371016195895]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[-0.2735281660883599,-1.9653701657324842,0.71338606911949],"aabb_xy":[[-0.363528165811534,-1.9884435182676639],[-0.18352816636518568,-1.9422968131973042]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.5484203050085495,0.6931641152268142,0.71338606911949],"aabb_xy":[[-0.6084203055164025,0.6363173815408928],[-0.4884203045006967,0.7500108489127354]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[-0.5909751733568998,-0.4997390517757543,0.71338606911949],"aabb_xy":[[-0.6709751703711477,-0.5198736034491656],[-0.5109751763426518,-0.47960450010234296]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.4466046342744805,-1.5757737823832154,0.71338606911949],"aabb_xy":[[-0.462666561732998,-1.660773784195807],[-0.43054270681596274,-1.4907737805706234]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[-0.2892104409165031,-1.360458050134434,0.71338606911949],"aabb_xy":[[-0.37293266641658557,-1.45045805366913],[-0.20548821541642065,-1.2704580465997382]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[-0.3487594472757344,-2.0952474655012687,0.71338606911949],"aabb_xy":[[-0.3524627086048733,-2.098949483809986],[-0.3450561859465955,-2.0915454471925505]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.6843877327855001,1.7599526618297392,0.71338606911949],"aabb_xy":[[0.6756737637355654,1.7374526611705507],[0.6931017018354344,1.7824526624889272]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[0.3075357775917642,-1.599584552177667,0.71338606911949],"aabb_xy":[[0.2850357777778619,-1.604059168548148],[0.33003577740566664,-1.5951099358071865]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[-0.4315045695451604,0.34528185622770646,0.71338606911949],"aabb_xy":[[-0.4815038447135966,0.2952818549517593],[-0.38150529437672426,0.39528185750365363]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_28","position":[0.5621408520209301,-2.513778700452107,0.71338606911949],"aabb_xy":[[0.5276783740078423,-2.520442377635029],[0.5966033300340179,-2.5071150232691837]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_29","position":[0.28228235763024345,-2.416762221802091,0.71338606911949],"aabb_xy":[[0.244782357686477,-2.4250553118369274],[0.3197823575740098,-2.408469131767254]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_30","position":[0.3840964438343175,-1.0531839594681132,0.71338606911949],"aabb_xy":[[0.3140964420255721,-1.0745377282323005],[0.45409644564306295,-1.0318301907039258]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6875180482851279,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8377.png","name":"8377"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8377.png","name":"8377"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3329.png","name":"3329"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9742.png","name":"9742"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7610.png","name":"7610"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8746.png","name":"8746"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":529.8589455514893,"rotation_z_degrees":352.2618254056457,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009564494548259774,0.0013383737688072474,0.019357464421604836]},{"name":"camera_2","offset_m":[0.0022236545942609133,0.011793040056796173,-0.013948725776811527]},{"name":"camera_3","offset_m":[0.006832901340693708,0.0005956796069732234,-0.01603609879403315]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000772909602175938,0.00011120251102755916,-0.0009241180402425918],"end_effector_yaw_offset_degrees":0.48851875682100987},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00013580965185669164,-6.6888263756787435e-06,0.00027471605794330764],"end_effector_yaw_offset_degrees":-0.7222125058749038},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.51747608649794e-05,0.0002494111362380245,-0.0019993020882407217],"end_effector_yaw_offset_degrees":0.8464163302544647},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000251016086689689,-0.0016747970925188374,0.0012364873188682362],"end_effector_yaw_offset_degrees":-0.9219436155190401}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011332939152989795,-0.0008558001186891465],"position_m":[0.28003329391529896,-0.11855580011868914,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-8.108411563040579e-05,-0.0030294711272733023],"position_m":[0.2264189158843696,-0.4122294711272733,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004964905998036084,0.0017766652581897831],"position_m":[0.3575649059980361,0.06777666525818979,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004032929122486637,-0.003253984013199638],"position_m":[0.33816707087751335,0.32064601598680037,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4890c46f7fe7aa19ca3ee4a788c46c4e5060519d34815b90455c33fbf07ed487","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0044.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8377/tex_ceiling_textures_8746/tex_floor_textures_7610/tex_table_textures_3329/tex_wall_textures_9742","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8585439544716156289,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8585439544716156289,"visual_seed":8585439544716156289,"scene_id":"lab_003","finished_at":"2026-09-05T02:47:38"}
+{"episode_id":"ep_000036","started_at":"2026-09-05T02:47:42","dimensions":{"distractor":{"count":29,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.5332421574146715,0.9074982388488952,0.71338606911949],"aabb_xy":[[0.4432421537377531,0.8460658322717907],[0.6232421610915895,0.9689306454259994]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[-0.1675359184953472,-0.601218682619894,0.71338606911949],"aabb_xy":[[-0.23153592071575424,-0.6455917667451823],[-0.10353591627494019,-0.5568455984946057]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.09050893323851994,0.40002801933617516,0.71338606911949],"aabb_xy":[[-0.17050893431164027,0.3902499729987908],[-0.01050893216539961,0.40980606567355965]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_3","position":[-0.025117299506468238,-1.0131408973739662,0.71338606911949],"aabb_xy":[[-0.042910806441384675,-1.0309406429697638],[-0.0073237925715518015,-0.9953411517781685]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.18554476003335674,0.8813565866354187,0.71338606911949],"aabb_xy":[[-0.1969064946866429,0.8699881202291306],[-0.17418302538007058,0.8927250530417068]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.1704602641367533,0.7780307407271057,0.71338606911949],"aabb_xy":[[-0.24046026573903279,0.7645979475254481],[-0.10046026253447382,0.7914635339287632]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_6","position":[0.1287525183626601,0.7268262622856656,0.71338606911949],"aabb_xy":[[0.06875251671973825,0.6748261129937215],[0.18875252000558196,0.7788264115776099]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[0.4151035509109018,-1.849323907107857,0.71338606911949],"aabb_xy":[[0.40594367196702513,-1.8558551251513942],[0.42426342985477833,-1.84279268906432]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.16587876145264002,1.1647899078211807,0.71338606911949],"aabb_xy":[[0.0758787620342691,1.131414410976991],[0.2558787608710109,1.1981654046653705]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[-0.1711663161032082,-0.9648343512970585,0.71338606911949],"aabb_xy":[[-0.21335073026403895,-1.02883435157427],[-0.12898190194237746,-0.9008343510198474]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.3346894296179741,0.08952971486028227,0.71338606911949],"aabb_xy":[[-0.3464576164126316,0.004529714955060702],[-0.3229212428233166,0.17452971476550383]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[0.5815797119201056,0.14256488825294245,0.71338606911949],"aabb_xy":[[0.5175840145250089,0.07856488995223376],[0.6455754093152021,0.20656488655365113]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[0.4494816031845592,0.34472530240796306,0.71338606911949],"aabb_xy":[[0.4379126224376226,0.31972530229103135],[0.4610505839314957,0.36972530252489477]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.028088555746712984,-1.7815107250907216,0.71338606911949],"aabb_xy":[[-0.031529231986770156,-1.7853721580650865],[-0.024647879506655816,-1.7776492921163576]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.22797186230071498,-1.0085755329727135,0.71338606911949],"aabb_xy":[[0.1639718659051419,-1.072538821391447],[0.29197185869628806,-0.94461224455398]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[-0.41668722625447163,-0.8203114352981051,0.71338606911949],"aabb_xy":[[-0.4391519962258768,-0.8428114361769655],[-0.39422245628306657,-0.7978114344192445]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[0.6245329699483892,1.4154168366564606,0.71338606911949],"aabb_xy":[[0.6184959569477246,1.4093901355875125],[0.6305699829490541,1.4214435377254087]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[-0.6742399939607667,0.9307516397133764,0.71338606911949],"aabb_xy":[[-0.6885744190869301,0.9186914241588375],[-0.6599055688346032,0.9428118552679152]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.5778133878609649,-1.8763894452856296,0.71338606911949],"aabb_xy":[[-0.6128133877569839,-1.8847636807975694],[-0.5428133879649462,-1.8680152097736897]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[0.18668543372421464,-1.467158011867093,0.71338606911949],"aabb_xy":[[0.17726795915435187,-1.476574189004812],[0.19610290829407737,-1.457741834729374]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[0.3565461071129523,0.6574127730228372,0.71338606911949],"aabb_xy":[[0.33154610784099003,0.6410674094266748],[0.3815461063849146,0.6737581366189995]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[-0.6072648684499737,-1.1744658138039348,0.71338606911949],"aabb_xy":[[-0.6622648676265632,-1.2294554885788922],[-0.5522648692733843,-1.119476139028977]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[-0.429584777183928,-0.412573024226222,0.71338606911949],"aabb_xy":[[-0.5195847739195383,-0.4657564875435165],[-0.33958478044831775,-0.3593895609089275]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_23","position":[-0.6399496277278317,1.2723525034895546,0.71338606911949],"aabb_xy":[[-0.6769837371558913,1.2379752961558452],[-0.6029155182997719,1.306729710823264]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[0.14034568819842563,-0.8545736755368316,0.71338606911949],"aabb_xy":[[0.10284568802655367,-0.8872744109197388],[0.17784568837029754,-0.8218729401539244]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[-0.3827430661142682,-1.8343195529876946,0.71338606911949],"aabb_xy":[[-0.4127347288481385,-1.864319552324495],[-0.35275140338039784,-1.804319553650894]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[0.5902729697280054,1.2899037406909768,0.71338606911949],"aabb_xy":[[0.586312485958271,1.2822358761054562],[0.5942334534977397,1.2975716052764974]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[0.33984274430081474,0.5012267962596058,0.71338606911949],"aabb_xy":[[0.27484274614489573,0.47493055170969356],[0.40484274245673385,0.527523040809518]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_28","position":[0.29684477345039884,0.9036270132107309,0.71338606911949],"aabb_xy":[[0.2689997366697917,0.8728425144724191],[0.32468981023100596,0.9344115119490425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954042426554883,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8157.png","name":"8157"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8157.png","name":"8157"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2305.png","name":"2305"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9321.png","name":"9321"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9921.png","name":"9921"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7086.png","name":"7086"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":823.4745395076292,"rotation_z_degrees":297.02606047534215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0046838196251944905,-0.008014067236802612,0.014809845318556964]},{"name":"camera_2","offset_m":[0.019375686326709187,0.0017163124940920219,0.01970800360026508]},{"name":"camera_3","offset_m":[0.001636349825170847,0.004635423584573729,-0.003344815590665174]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019591859319807283,-0.0007582933849438166,0.001190328469431701],"end_effector_yaw_offset_degrees":-0.36829712387825064},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001154502623969279,-0.001223613563602976,-0.001649098411736269],"end_effector_yaw_offset_degrees":0.49367044587568953},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013985065909778722,-0.0018708293741511444,0.00010719926730885874],"end_effector_yaw_offset_degrees":-0.9512285005903782},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003172065787202807,-0.0017524666657325145,-0.0003995644158300874],"end_effector_yaw_offset_degrees":-0.9681221723455153}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004066125804517265,0.001758499820295272],"position_m":[0.28296612580451724,-0.11594150017970473,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002940791208715051,-0.0024741286297058317],"position_m":[0.22944079120871505,-0.4116741286297058,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009018798665344097,-0.0009148667427481784],"position_m":[0.35169812013346563,0.06508513325725182,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00100898458886285,0.00406613966187359],"position_m":[0.34320898458886284,0.3279661396618736,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b2b3bc48ef4a0e71238484942e525976f2bf4fb696bcc2d7e3b4afbdf3403ed9","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8157/tex_ceiling_textures_7086/tex_floor_textures_9921/tex_table_textures_2305/tex_wall_textures_9321","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3225191316140744804,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3225191316140744804,"visual_seed":3225191316140744804,"scene_id":"lab_003","finished_at":"2026-09-05T02:51:17"}
+{"episode_id":"ep_000037","started_at":"2026-09-05T02:51:21","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.17491386705815715,-1.7920083940574432,0.71338606911949],"aabb_xy":[[0.16721067638408008,-1.7997177647561813],[0.18261705773223416,-1.784299023358705]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.4824626373135277,-0.18508843874665226,0.71338606911949],"aabb_xy":[[0.45461760053292055,-0.21587293748496397],[0.5103076740941348,-0.1543039400083406]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[0.41913615864789633,1.2096652131155836,0.71338606911949],"aabb_xy":[[0.40653345951081993,1.1970698168907181],[0.43173885778497284,1.2222606093404491]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[-0.42821302932516875,1.7739908128902893,0.71338606911949],"aabb_xy":[[-0.43311232163173213,1.74631389358772],[-0.42331373701860514,1.8016677321928576]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.4788462655098682,0.7430762686299945,0.71338606911949],"aabb_xy":[[0.4293658442959094,0.6790762707171428],[0.528326686723827,0.8070762665428465]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[0.44493128341665145,0.6224239113144829,0.71338606911949],"aabb_xy":[[0.41993128386491296,0.6122814274493482],[0.46993128296838993,0.6325663951796177]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.16996030205354262,1.1136462239118896,0.71338606911949],"aabb_xy":[[0.15954874337305888,1.108300490575991],[0.1803718607340263,1.1189919572477878]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[0.27428195280545586,-2.5266140391701137,0.71338606911949],"aabb_xy":[[0.21428195229760297,-2.583460772856035],[0.3342819533133088,-2.4697673054841927]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[-0.29659103514493784,-0.06896602864746226,0.71338606911949],"aabb_xy":[[-0.3014346299061679,-0.07381768112644638],[-0.2917474403837079,-0.06411437616847815]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[-0.31481814979813716,1.576647262210519,0.71338606911949],"aabb_xy":[[-0.3317288822344789,1.5631750566179041],[-0.2979074173617953,1.5901194678031334]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.6960001391893345,-0.8096362250920117,0.71338606911949],"aabb_xy":[[0.6735010034631075,-0.8321362258702747],[0.7184992749155614,-0.7871362243137487]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[0.29937447210756396,1.472018424285713,0.71338606911949],"aabb_xy":[[0.27687447159552336,1.4495265659203145],[0.32187447261960456,1.4945102826511112]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.3074941547072889,-0.7106265503510776,0.71338606911949],"aabb_xy":[[0.24349415553751905,-0.7573932374700402],[0.3714941538770589,-0.6638598632321152]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.33721302214620197,-1.8824269558263156,0.71338606911949],"aabb_xy":[[0.3279194039090514,-1.9199269543144493],[0.34650664038335255,-1.8449269573381815]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.13358568267824156,-0.10495847502646205,0.71338606911949],"aabb_xy":[[-0.1679019598528595,-0.15495847499963974],[-0.09926940550362362,-0.0549584750532843]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.42497351204194234,1.4898316863477157,0.71338606911949],"aabb_xy":[[-0.4474872038653995,1.4198316857467081],[-0.4024598202184851,1.5598316869487232]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[0.09246841326048016,-0.8530450867244779,0.71338606911949],"aabb_xy":[[0.08110667860719399,-0.8644135531307658],[0.10383014791376631,-0.8416766203181897]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.3061953667739945,-1.6650532771634539,0.71338606911949],"aabb_xy":[[0.2512021554368578,-1.7200532775022477],[0.3611885781111313,-1.6100532768246605]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[-0.5035017465676837,1.343813470303226,0.71338606911949],"aabb_xy":[[-0.5735017492042699,1.3237086053073603],[-0.4335017439310972,1.3639183352990913]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[-0.6152353019092852,-1.6942650886869144,0.71338606911949],"aabb_xy":[[-0.6852353037180307,-1.715618857451102],[-0.5452353001005398,-1.6729113199227272]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.539620421048641,-0.9917606445879006,0.71338606911949],"aabb_xy":[[0.5051579430355533,-0.9984243217708234],[0.5740828990617288,-0.9850969674049778]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.41936757945349007,-1.7259590288590911,0.71338606911949],"aabb_xy":[[-0.4543675794299859,-1.7354236449067075],[-0.38436757947699424,-1.7164944128114743]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[-0.34231513333195734,0.40681319236278446,0.71338606911949],"aabb_xy":[[-0.3551870368328975,0.32681319194894826],[-0.3294432298310172,0.48681319277662055]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.04483039260710486,0.9655823334417604,0.71338606911949],"aabb_xy":[[-0.059932694068122946,0.9504808118106983],[-0.029728091146086755,0.980683855072822]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_24","position":[-0.4715613543675915,-0.5996857933808266,0.71338606911949],"aabb_xy":[[-0.536561357005385,-0.6511653920802735],[-0.406561351729798,-0.5482061946813795]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[0.2388476582054071,-1.4127053420644877,0.71338606911949],"aabb_xy":[[0.2013476580998141,-1.4195275039174688],[0.27634765831099994,-1.4058831802115066]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6946971913152682,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8354.png","name":"8354"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8354.png","name":"8354"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3192.png","name":"3192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5185.png","name":"5185"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8658.png","name":"8658"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9859.png","name":"9859"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":646.3542977757629,"rotation_z_degrees":297.04229396802424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026990526678635253,-0.011136686731704426,-0.013286088828798212]},{"name":"camera_2","offset_m":[-0.011791092479327978,0.013786577452891562,-0.011417615675465407]},{"name":"camera_3","offset_m":[-0.01896705715593807,-0.0031592033807582437,0.0035102965787527744]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001590668781313424,0.0010139071509869622,-0.0017156457148137477],"end_effector_yaw_offset_degrees":0.748207579380765},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012713886470293125,-0.0013019776301024443,-0.0012946054402048907],"end_effector_yaw_offset_degrees":-0.07071068887439358},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008968420590114677,0.0007726924748448234,0.0016875651403700466],"end_effector_yaw_offset_degrees":0.19884429550270677},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005587934574477953,0.0010238939472470188,-0.001714955045488221],"end_effector_yaw_offset_degrees":-0.596112208414987}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004005915224801553,0.004320540336043237],"position_m":[0.27489408477519844,-0.11337945966395677,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019229723464782435,0.0017034787277441623],"position_m":[0.22457702765352178,-0.40749652127225583,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004909060486055168,0.0011582687670394654],"position_m":[0.34769093951394486,0.06715826876703947,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003444046378580972,-0.0020513048501800404],"position_m":[0.345644046378581,0.32184869514982,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6852e4a319facc144c4e7459ce3d9c7e9116254f35109d2fa93ca6b2c1d6220c","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0046.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8354/tex_ceiling_textures_9859/tex_floor_textures_8658/tex_table_textures_3192/tex_wall_textures_5185","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4756873805115761892,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4756873805115761892,"visual_seed":4756873805115761892,"scene_id":"lab_003","finished_at":"2026-09-05T02:54:42"}
+{"episode_id":"ep_000038","started_at":"2026-09-05T02:54:47","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[-0.3373190207154314,-2.0939784758750615,0.71338606911949],"aabb_xy":[[-0.3800857275948516,-2.1579784792968635],[-0.2945523138360112,-2.0299784724532586]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.46874477732936826,-2.0340822870532036,0.71338606911949],"aabb_xy":[[0.46146246095270455,-2.1240822906627117],[0.47602709370603186,-1.944082283443694]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[0.03343262148077897,-1.637206207627047,0.71338606911949],"aabb_xy":[[-0.030567378896754642,-1.686951474477859],[0.09743262185831258,-1.5874609407762346]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[-0.031052649826257217,-1.1252916924612255,0.71338606911949],"aabb_xy":[[-0.039078920456883215,-1.1340431874385783],[-0.02302637919563122,-1.1165401974838731]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[-0.41294077525633976,1.6010630648134279,0.71338606911949],"aabb_xy":[[-0.4779407762568403,1.550276699658753],[-0.34794077425583925,1.6518494299681028]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[0.6533869923919671,0.5820490872797812,0.71338606911949],"aabb_xy":[[0.5833869959820052,0.5616111516280993],[0.7233869888019288,0.6024870229314627]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[0.1676092260920229,1.4204547224579254,0.71338606911949],"aabb_xy":[[0.10260922498607963,1.3954893493897969],[0.2326092271979662,1.4454200955260534]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.4265039798558841,-1.9275222021325737,0.71338606911949],"aabb_xy":[[-0.4486765068325349,-1.9496978692886966],[-0.4043314528792332,-1.90534653497645]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[-0.056025135560204165,-0.0639847566337215,0.71338606911949],"aabb_xy":[[-0.10119645340837316,-0.1279847537782599],[-0.010853817712035198,1.5240510816930123e-05]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.5808661373722177,1.6345552518828037,0.71338606911949],"aabb_xy":[[-0.6308611483316698,1.5845552528472124],[-0.5308711264127658,1.6845552509183959]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[-0.5586039648173291,-1.7026530610800168,0.71338606911949],"aabb_xy":[[-0.592920241991947,-1.752653061053194],[-0.5242876876427112,-1.6526530611068386]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.6096414092901474,1.5656407137714106,0.71338606911949],"aabb_xy":[[0.5456414060004393,1.522305794767493],[0.6736414125798555,1.6089756327753282]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.5126419481107963,1.171239674348683,0.71338606911949],"aabb_xy":[[-0.542609505020622,1.1412396740507973],[-0.48267439120097066,1.2012396746465688]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[-0.6256132176722392,1.2477749255562887,0.71338606911949],"aabb_xy":[[-0.6624078507971455,1.2108690504597064],[-0.5888185845473329,1.284680800652871]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[0.6720327827651347,0.7414947496743047,0.71338606911949],"aabb_xy":[[0.6501241006257835,0.719594082854214],[0.6939414649044856,0.7633954164943955]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.12250941368956003,1.5763928231907767,0.71338606911949],"aabb_xy":[[-0.15290752478870362,1.5459859211891067],[-0.09211130259041644,1.6067997251924457]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[-0.18486092334912396,-1.0181753842145824,0.71338606911949],"aabb_xy":[[-0.19527248202960765,-1.0235211175504806],[-0.17444936466864022,-1.0128296508786838]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[-0.27500131600874916,0.28358638278389936,0.71338606911949],"aabb_xy":[[-0.2790794739157989,0.27950540253563605],[-0.2709231581016994,0.28766736303216267]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[0.5279127560689698,0.15630908210393368,0.71338606911949],"aabb_xy":[[0.46291275791305075,0.1300128375540215],[0.5929127542248889,0.18260532665384588]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[0.2537116607508292,-2.1298377994541697,0.71338606911949],"aabb_xy":[[0.2439556712416553,-2.139600333513404],[0.2634676502600031,-2.1200752653949353]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.5719058035766358,-0.6565057168248751,0.71338606911949],"aabb_xy":[[-0.5894841057655826,-0.6740802063989799],[-0.5543275013876889,-0.6389312272507701]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.21619219306711546,0.9764609092083045,0.71338606911949],"aabb_xy":[[0.20372483495737984,0.9639955845749811],[0.22865955117685113,0.9889262338416281]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.03881882154274219,1.0362388171553336,0.71338606911949],"aabb_xy":[[-0.045320458050746804,1.0264709951290238],[-0.03231718503473757,1.0460066391816434]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[-0.45278927086149734,-1.0142490635493326,0.71338606911949],"aabb_xy":[[-0.5424763471696128,-1.1042490638037834],[-0.3631021945533819,-0.9242490632948823]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_24","position":[-0.48656594493501604,-0.5028338215302819,0.71338606911949],"aabb_xy":[[-0.5040658783689993,-0.5203338214505163],[-0.4690660115010326,-0.48533382161004723]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929418490329788,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/828.png","name":"828"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/828.png","name":"828"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7292.png","name":"7292"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4124.png","name":"4124"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7493.png","name":"7493"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/326.png","name":"326"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":570.0901542834921,"rotation_z_degrees":262.96573461750904,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017816231838536534,-0.019697706494243933,0.0013401982526444409]},{"name":"camera_2","offset_m":[0.009796694511220137,-0.0036261588246991223,-0.014414970432520994]},{"name":"camera_3","offset_m":[-0.007617691979342384,0.017762351005952807,-0.013266593008657863]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000189583239439286,0.000881446548722221,0.001309177806268875],"end_effector_yaw_offset_degrees":-0.1542065441384688},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018734938774355265,-0.001494212176510537,0.0011841274925796777],"end_effector_yaw_offset_degrees":0.26218125179206275},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018038545827586835,-0.00080878390441966,0.0019302504154179792],"end_effector_yaw_offset_degrees":0.6761680438207565},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001194130800772868,0.00011653007211545911,6.988395975029245e-05],"end_effector_yaw_offset_degrees":0.8413091909575501}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015673709604518784,-0.00011642737154509385],"position_m":[0.2773326290395481,-0.11781642737154509,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018421686408534085,0.002545830372744599],"position_m":[0.2283421686408534,-0.4066541696272554,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002942946306503506,-0.0023003223709417444],"position_m":[0.3555429463065035,0.06369967762905826,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007384160898731389,0.002110926845742497],"position_m":[0.3414615839101269,0.3260109268457425,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dfde6a5cd586fea309940201162e09456fe0f2aeccf45cd5f72d95de573f8255","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_828/tex_ceiling_textures_326/tex_floor_textures_7493/tex_table_textures_7292/tex_wall_textures_4124","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":520053363089748665,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":520053363089748665,"visual_seed":520053363089748665,"scene_id":"lab_003","finished_at":"2026-09-05T02:58:18"}
+{"episode_id":"ep_000039","started_at":"2026-09-05T02:58:21","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.487002424979762,1.4167478728777376,0.71338606911949],"aabb_xy":[[-0.5282512360096767,1.36174787336552],[-0.44575361394984725,1.4717478723899549]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[-0.1683988552838821,0.34004676505977915,0.71338606911949],"aabb_xy":[[-0.19057138226053288,0.3178710979036559],[-0.14622632830723123,0.3622224322159023]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.5198939138241307,1.4009231896251584,0.71338606911949],"aabb_xy":[[0.4698939128049956,1.3644569738873307],[0.5698939148432661,1.4373894053629865]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.5355410388056481,-1.8831660779972461,0.71338606911949],"aabb_xy":[[-0.5554320786859884,-1.895821889281943],[-0.5156499989253079,-1.8705102667125493]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.5173697609950252,0.08393015835177042,0.71338606911949],"aabb_xy":[[0.5093762711997433,0.07593202641129478],[0.5253632507903073,0.0919282902922461]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[0.2752542791872138,-1.8308933462139292,0.71338606911949],"aabb_xy":[[0.2502542800215807,-1.8378455919192858],[0.3002542783528469,-1.8239411005085726]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.48401753218299615,0.5009788685839616,0.71338606911949],"aabb_xy":[[-0.5015175324423329,0.48688732639518906],[-0.46651753192365963,0.5150704107727343]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.017633993021400007,-2.456743303646721,0.71338606911949],"aabb_xy":[[-0.06763399338196606,-2.5067232908563235],[0.03236600733916605,-2.4067633164371176]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[0.26097408989322923,-1.922852622137774,0.71338606911949],"aabb_xy":[[0.23232475753281295,-1.9514981814148498],[0.2896234222536454,-1.8942070628606982]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[0.6784306943347611,0.25945161674579786,0.71338606911949],"aabb_xy":[[0.6374127509483901,0.2094516161148406],[0.7194486377211319,0.30945161737675525]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[0.40500945676052624,-2.2342752177330882,0.71338606911949],"aabb_xy":[[0.32000945834310307,-2.319149513195373],[0.4900094551779495,-2.1494009222708033]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.1396321920805702,-2.314277520794576,0.71338606911949],"aabb_xy":[[-0.18961100059088606,-2.364277520800295],[-0.08965338357025429,-2.2642775207888572]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[-0.16250374765030606,-1.4309237907704209,0.71338606911949],"aabb_xy":[[-0.21247704165356648,-1.480923791324968],[-0.11253045364704559,-1.3809237902158733]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[-0.5055685385174371,-1.286836136667128,0.71338606911949],"aabb_xy":[[-0.595568537111907,-1.303086722980549],[-0.41556853992296716,-1.270585550353707]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[-0.3763161204706881,-0.7184943224870437,0.71338606911949],"aabb_xy":[[-0.4403161211741576,-0.7645127049599648],[-0.31231611976721885,-0.6724759400141227]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.24527087122911234,-2.026236638579561,0.71338606911949],"aabb_xy":[[-0.309270868341218,-2.0752690083739713],[-0.18127087411700663,-1.97720426878515]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.10338871043570919,0.16865646840453508,0.71338606911949],"aabb_xy":[[-0.11626061393664931,0.08865646799069894],[-0.09051680693476903,0.24865646881837122]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[0.4537573743789718,-1.692242359308975,0.71338606911949],"aabb_xy":[[0.4194410972043538,-1.7422423592821525],[0.48807365155358967,-1.642242359335797]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[-0.642847402240466,-1.1812455987100239,0.71338606911949],"aabb_xy":[[-0.6813930950656671,-1.2197913697662126],[-0.6043017094152651,-1.1426998276538352]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[0.4828785783313152,0.5676982891176139,0.71338606911949],"aabb_xy":[[0.45959673613318386,0.4826982878203859],[0.5061604205294465,0.652698290414842]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[-0.5609906717512997,0.7566343362712566,0.71338606911949],"aabb_xy":[[-0.6159829223868106,0.7016343345279439],[-0.5059984211157887,0.8116343380145695]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[0.49808650544306166,0.9388504628733978,0.71338606911949],"aabb_xy":[[0.47802809382982137,0.9187853759642403],[0.518144917056302,0.9589155497825553]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6948497810299944,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8256.png","name":"8256"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8256.png","name":"8256"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8932.png","name":"8932"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6634.png","name":"6634"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/591.png","name":"591"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5469.png","name":"5469"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":600.8837922224924,"rotation_z_degrees":156.64349255203786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008772921066962126,0.003963457320328878,-0.0026708755190573315]},{"name":"camera_2","offset_m":[-0.011087472587256855,0.011251270168858133,-0.012328356382421619]},{"name":"camera_3","offset_m":[0.014319850802897615,0.010086677883020721,-0.016436155225664068]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005488277825837725,-0.0006051235208871456,6.2840733860967425e-06],"end_effector_yaw_offset_degrees":0.5211884113115359},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019821977296058356,-0.001540166405989983,5.8811785149554506e-05],"end_effector_yaw_offset_degrees":0.3006439448633247},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003514112257198333,6.199493810190746e-05,-0.0017918007583557008],"end_effector_yaw_offset_degrees":-0.42522252691874773},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012393740366993668,-0.0008605266856998952,0.0003502658387431264],"end_effector_yaw_offset_degrees":0.3752314880987766}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00023495025743757846,0.0041446012412194025],"position_m":[0.2786650497425624,-0.1135553987587806,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001300111968870225,-0.003591908181179364],"position_m":[0.226369988803113,-0.4127919081811794,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00015986683011276828,0.001534168374585398],"position_m":[0.3527598668301128,0.0675341683745854,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029135556313363052,-0.00071039825343862],"position_m":[0.34511355563133633,0.3231896017465614,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1113dbc754d06ab79b05efafeac30ebb79f61e9f698e569e63f8d317b90fc41b","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8256/tex_ceiling_textures_5469/tex_floor_textures_591/tex_table_textures_8932/tex_wall_textures_6634","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2673479317761139828,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2673479317761139828,"visual_seed":2673479317761139828,"scene_id":"lab_003","finished_at":"2026-09-05T03:01:46"}
+{"episode_id":"ep_000040","started_at":"2026-09-05T03:04:20","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[-0.5027964210056282,-1.0615489788004517,0.71338606911949],"aabb_xy":[[-0.514041476576246,-1.0727907765245468],[-0.4915513654350103,-1.0503071810763562]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_1","position":[0.2955231988079573,-1.3421178405381315,0.71338606911949],"aabb_xy":[[0.2890215622999527,-1.3518856625644413],[0.3020248353159619,-1.3323500185118218]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.6337078744555937,-0.4675106181634332,0.71338606911949],"aabb_xy":[[0.6012461735736662,-0.4976434502783358],[0.6661695753375211,-0.4373777860485305]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[0.10121872671316146,0.8193422421997809,0.71338606911949],"aabb_xy":[[0.06418461728510173,0.7849650348660714],[0.13825283614122114,0.8537194495334902]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[0.054291117151877955,-2.1589959675680754,0.71338606911949],"aabb_xy":[[0.04272213640494138,-2.183995967685007],[0.06586009789881453,-2.1339959674511437]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[0.4430714098636197,1.658444952726072,0.71338606911949],"aabb_xy":[[0.4299201638923304,1.633444952969386],[0.4562226558349091,1.683444952482759]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[-0.023583864240807717,1.460040570864352,0.71338606911949],"aabb_xy":[[-0.05735942343150069,1.4460020756511873],[0.010191694949885255,1.4740790660775172]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_7","position":[0.5884967331586153,-1.1406113720712485,0.71338606911949],"aabb_xy":[[0.5244967339888452,-1.187378059190211],[0.6524967323283851,-1.093844684952286]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.2797939230505769,-0.06405852785315647,0.71338606911949],"aabb_xy":[[-0.2903614027086759,-0.07460355796616502],[-0.26922644339247787,-0.05351349774014791]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.3186427260680855,-0.8223092712776672,0.71338606911949],"aabb_xy":[[0.25705196684409276,-0.8863092693867141],[0.3802334852920784,-0.7583092731686203]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.47409317188309685,-0.5953455681350506,0.71338606911949],"aabb_xy":[[-0.5380931691687456,-0.6368522870878947],[-0.41009317459744826,-0.5538388491822067]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.6142896857770055,0.9288108572938212,0.71338606911949],"aabb_xy":[[0.6048722112071427,0.9193946801561022],[0.6237071603468682,0.9382270344315402]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.5886674566651163,1.6472694535772798,0.71338606911949],"aabb_xy":[[-0.6436674558417057,1.592279778802322],[-0.5336674574885267,1.7022591283522372]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[0.3373487958530861,-1.0068073602518803,0.71338606911949],"aabb_xy":[[0.3023487966602677,-1.0177744062495429],[0.37234879504590424,-0.9958403142542175]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[-0.14663605569895966,-2.1385056708587142,0.71338606911949],"aabb_xy":[[-0.19662029140713688,-2.18850566967221],[-0.09665181999078243,-2.0885056720452186]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[0.6318959453887063,-0.2344732957650666,0.71338606911949],"aabb_xy":[[0.5618959437864268,-0.2479060889667242],[0.7018959469909858,-0.22104050256340904]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[0.18705014250534513,-1.2296087192144802,0.71338606911949],"aabb_xy":[[0.1520501411538634,-1.249968455171301],[0.22205014385682686,-1.2092489832576594]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.45981809254590045,-2.564833516732524,0.71338606911949],"aabb_xy":[[-0.46862014785487316,-2.572644842887453],[-0.45101603723692774,-2.557022190577595]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[0.5777235022047094,-0.9642098135762824,0.71338606911949],"aabb_xy":[[0.5736075520926366,-0.968325368609128],[0.5818394523167819,-0.9600942585434369]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.3855877646677184,-1.7283575243759421,0.71338606911949],"aabb_xy":[[0.3434033505068877,-1.7923575246531533],[0.4277721788285492,-1.664357524098731]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.38344708957332513,0.4542473309186623,0.71338606911949],"aabb_xy":[[-0.4134146464831508,0.4242473306207766],[-0.35347953266349946,0.48424733121654806]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.4239033419326069,-0.10006141348022313,0.71338606911949],"aabb_xy":[[-0.5038971655111651,-0.1800614160730647],[-0.3439095183540487,-0.020061410887381573]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[0.16714543113777192,0.940784203034887,0.71338606911949],"aabb_xy":[[0.10314542879497036,0.8958433517907545],[0.23114543348057348,0.9857250542790195]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.30160648173876814,-1.987910315127158,0.71338606911949],"aabb_xy":[[0.251607206570332,-2.0379103164031056],[0.3516057569072043,-1.937910313851211]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_24","position":[0.3491441221652496,-2.124606745331775,0.71338606911949],"aabb_xy":[[0.2941441239635047,-2.165128711958212],[0.4041441203669944,-2.084084778705337]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[0.041497693733284824,-2.422572540673444,0.71338606911949],"aabb_xy":[[-0.028502309658277155,-2.4578883143768744],[0.11149769712484679,-2.3872567669700127]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947931531840508,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1604.png","name":"1604"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1604.png","name":"1604"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8256.png","name":"8256"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9425.png","name":"9425"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9263.png","name":"9263"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1044.png","name":"1044"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":689.8538223180063,"rotation_z_degrees":170.1930332964447,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014956744457048202,0.002223937625910083,0.010544300754888512]},{"name":"camera_2","offset_m":[-0.01477707247194325,-0.008037959635625617,-9.24850693010057e-05]},{"name":"camera_3","offset_m":[-0.009965549449993465,0.01805478782786885,-0.015599245370236492]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001441531561677832,0.0017636850347791683,0.0015843262482446588],"end_effector_yaw_offset_degrees":-0.5908808266209415},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001657262446316146,3.570941452002386e-05,-0.0010670782463103987],"end_effector_yaw_offset_degrees":-0.46221112130445774},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016901808006395194,0.000330069421502769,0.0012325765183726568],"end_effector_yaw_offset_degrees":0.7453631317879592},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.16376805321485e-05,-0.0015141251604731663,-0.000767361322449288],"end_effector_yaw_offset_degrees":-0.17268278772032897}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009198694060030188,-0.004389409297530655],"position_m":[0.279819869406003,-0.12208940929753065,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000400396684686638,-0.004165076899634076],"position_m":[0.22690039668468664,-0.4133650768996341,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004419007306967296,-3.160241200832279e-05],"position_m":[0.3481809926930327,0.06596839758799168,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001035330522064789,0.0027189552863199577],"position_m":[0.3432353305220648,0.32661895528631996,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"87d41cfe381528bcf15faf57ebe0d96099cd5550790ea814c2881c1f35510acb","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1604/tex_ceiling_textures_1044/tex_floor_textures_9263/tex_table_textures_8256/tex_wall_textures_9425","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6307102172025499956,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6307102172025499956,"visual_seed":6307102172025499956,"scene_id":"lab_003","finished_at":"2026-09-05T03:07:42"}
+{"episode_id":"ep_000041","started_at":"2026-09-05T03:11:47","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.3029550190650986,1.2529526565911073,0.71338606911949],"aabb_xy":[[0.23895501684469156,1.208579572465819],[0.3669550212855056,1.2973257407163956]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.4492308139403647,-1.6539289052159147,0.71338606911949],"aabb_xy":[[0.43729807957853667,-1.6663110580237739],[0.4611635483021928,-1.6415467524080551]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[-0.27314298165020323,-0.8290648423597295,0.71338606911949],"aabb_xy":[[-0.33314298190160435,-0.8833461673961942],[-0.213142981398802,-0.7747835173232649]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.1353625605437575,-0.35385506521081966,0.71338606911949],"aabb_xy":[[-0.16782426142568493,-0.38398789732572225],[-0.10290085966183003,-0.32372223309591697]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.3214693540171938,-2.454463124240695,0.71338606911949],"aabb_xy":[[0.3063064810402567,-2.4696285815358143],[0.33663222699413087,-2.439297666945577]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.004151616143468595,-1.0686923898789342,0.71338606911949],"aabb_xy":[[-0.08415161473078801,-1.148007991817095],[0.07584838244385082,-0.9893767879407732]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.43397415093431735,-0.9162811026218998,0.71338606911949],"aabb_xy":[[0.4238924438557438,-0.9962811005140144],[0.44405585801289077,-0.8362811047297851]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.050199924796767825,-1.461227441880647,0.71338606911949],"aabb_xy":[[0.019053005953184703,-1.531227440567454],[0.08134684364035094,-1.3912274431938396]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.3834023455125135,-2.2193985611344424,0.71338606911949],"aabb_xy":[[-0.39424282373902847,-2.236584842425091],[-0.37256186728599866,-2.2022122798437938]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.16750132600190637,-1.9830561445051909,0.71338606911949],"aabb_xy":[[0.07750132627873217,-2.0061294970403702],[0.2575013257250805,-1.9599827919700108]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[-0.3892511724797829,0.9765215613667664,0.71338606911949],"aabb_xy":[[-0.4267511732717784,0.9701537204085762],[-0.3517511716877875,0.9828894023249564]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[-0.10253586555819638,0.8864332115670415,0.71338606911949],"aabb_xy":[[-0.14355380894456726,0.8364332109360842],[-0.0615179221718255,0.9364332121979989]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[-0.31739951981722064,0.25758799746908023,0.71338606911949],"aabb_xy":[[-0.39739951683146857,0.23745344579566896],[-0.2373995228029726,0.2777225491424915]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.0832304952708719,1.745746218222521,0.71338606911949],"aabb_xy":[[-0.14323049613168465,1.6943197882160344],[-0.02323049441005907,1.7971726482290071]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.35007884182656235,1.454035704878756,0.71338606911949],"aabb_xy":[[0.2860788404185716,1.402246753354831],[0.41407884323455296,1.5058246564026805]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.006398986075267898,-1.2946674353274055,0.71338606911949],"aabb_xy":[[-0.05760101419871033,-1.3447335355246934],[0.07039898634924613,-1.2446013351301175]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.18321364563519205,-2.3960117967628567,0.71338606911949],"aabb_xy":[[0.1457136441195603,-2.4072385697790017],[0.22071364715082373,-2.3847850237467116]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.6019628854904965,-1.4927802805943557,0.71338606911949],"aabb_xy":[[-0.6471342033386654,-1.5567802777388944],[-0.5567915676423275,-1.4287802834498173]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.6238382420567357,1.4447714274880261,0.71338606911949],"aabb_xy":[[0.5598382427625674,1.3807852871191717],[0.6878382413509039,1.50875756785688]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.5469125419551946,-0.8791801133704054,0.71338606911949],"aabb_xy":[[0.535343561208258,-0.904180113487337],[0.5584815227021311,-0.8541801132534735]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[0.6249056195675227,-1.4033023234103936,0.71338606911949],"aabb_xy":[[0.6074056861335393,-1.420802323330628],[0.642405553001506,-1.3858023234901589]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[0.26095341218228274,-1.4006991971195344,0.71338606911949],"aabb_xy":[[0.22415877905737647,-1.4376050722161167],[0.297748045307189,-1.3637933220229521]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943857201633948,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9433.png","name":"9433"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9433.png","name":"9433"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5380.png","name":"5380"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4095.png","name":"4095"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5070.png","name":"5070"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7387.png","name":"7387"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":617.3252385585674,"rotation_z_degrees":68.69076616095424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012208766149453355,-0.0054444613793056765,-0.014927180193712867]},{"name":"camera_2","offset_m":[0.014159182118048643,0.003817721202617884,-0.0008472752800665097]},{"name":"camera_3","offset_m":[-0.018486369992708317,0.017061240818810563,-0.008269738243569375]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010609884855647162,0.0002286394082884626,0.0006260811640095812],"end_effector_yaw_offset_degrees":0.6133623370366579},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000674007265993846,-0.0008305634029084827,-0.0004063414596345552],"end_effector_yaw_offset_degrees":-0.85530753055855},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015493836126052184,8.01409671908216e-06,0.0017822321325940541],"end_effector_yaw_offset_degrees":0.1628221092857598},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007951314647634045,-0.0004104193624979416,-0.001219392598772024],"end_effector_yaw_offset_degrees":-0.27479643772926465}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031525132481240977,-0.0031734144551804613],"position_m":[0.2820525132481241,-0.12087341445518046,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004235616197511109,0.0038878326238305323],"position_m":[0.2269235616197511,-0.4053121673761695,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016776733027981964,-0.001534351775106444],"position_m":[0.35427767330279825,0.06446564822489356,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002454082783554048,-0.0008336388676492513],"position_m":[0.344654082783554,0.32306636113235077,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db32481eb36dc1de580b50d3a11375f1b37339a815d02777e547acebfbb061cb","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9433/tex_ceiling_textures_7387/tex_floor_textures_5070/tex_table_textures_5380/tex_wall_textures_4095","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":150891946333956694,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":150891946333956694,"visual_seed":150891946333956694,"scene_id":"lab_003","finished_at":"2026-09-05T03:15:16"}
+{"episode_id":"ep_000042","started_at":"2026-09-05T03:15:19","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.3894732943186181,-0.605295991834693,0.71338606911949],"aabb_xy":[[-0.41164582129526883,-0.6274716589908161],[-0.3673007673419672,-0.5831203246785698]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[0.381536252618627,-1.8439666983091436,0.71338606911949],"aabb_xy":[[0.3175362502758254,-1.888907549553276],[0.4455362549614285,-1.7990258470650111]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.39787083861443245,1.6680398970233221,0.71338606911949],"aabb_xy":[[-0.4628708395715596,1.6160916850896165],[-0.3328708376573052,1.7199881089570277]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.1455503090547262,1.683908285938029,0.71338606911949],"aabb_xy":[[-0.15518194527515583,1.67427097315832],[-0.1359186728342966,1.693545598717738]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[-0.49786185452338716,-0.861940923035899,0.71338606911949],"aabb_xy":[[-0.5578618553841999,-0.9133673530423853],[-0.43786185366257435,-0.8105144930294125]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[-0.3838887511876741,1.060866328305682,0.71338606911949],"aabb_xy":[[-0.4478887514481449,1.015857528952754],[-0.31988875092720326,1.10587512765861]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[0.5820038991776113,0.9525794409985853,0.71338606911949],"aabb_xy":[[0.5718508836234617,0.9165098994258446],[0.5921569147317605,0.9886489825713253]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[0.22300026947679685,-0.9954449370919676,0.71338606911949],"aabb_xy":[[0.20050026995308942,-1.017940884542588],[0.24550026900050423,-0.9729489896413466]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[-0.14655785292894363,-1.8682102302545658,0.71338606911949],"aabb_xy":[[-0.1581268336758802,-1.8932102303714977],[-0.13498887218200706,-1.8432102301376343]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[0.45999591805378026,0.2587212950645572,0.71338606911949],"aabb_xy":[[0.4511938627448075,0.25090996890962813],[0.4687979733627529,0.2665326212194863]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[-0.34679293017309937,-1.5014601313171634,0.71338606911949],"aabb_xy":[[-0.3967929314569393,-1.5514389857077853],[-0.29679292888925934,-1.451481276926541]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[0.6678911963469352,1.2752057471976914,0.71338606911949],"aabb_xy":[[0.656019113335434,1.190205747504041],[0.6797632793584362,1.3602057468913418]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.31420609366000074,-2.3102873923244496,0.71338606911949],"aabb_xy":[[-0.342535803608541,-2.3147481345181666],[-0.28587638371146057,-2.3058266501307325]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[0.2819048755119119,-2.345385340873193,0.71338606911949],"aabb_xy":[[0.2586230333137805,-2.430385342170421],[0.3051867177100432,-2.260385339575965]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.5348904431080157,-2.0043345302002757,0.71338606911949],"aabb_xy":[[0.5309299593382814,-2.012002394785796],[0.53885092687775,-1.9966666656147547]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.05512339509642317,-2.3283569328618308,0.71338606911949],"aabb_xy":[[0.005123394735857107,-2.3783369200714333],[0.10512339545698923,-2.2783769456522274]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.07018006752640338,-0.9007654562930858,0.71338606911949],"aabb_xy":[[-0.12015336152966381,-0.9507654568476329],[-0.020206773523142915,-0.8507654557385382]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[-0.6450961439079392,-1.6271413538153312,0.71338606911949],"aabb_xy":[[-0.6902674617561083,-1.6911413509598698],[-0.5999248260597704,-1.563141356670793]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[-0.24576992956964194,-1.9837694368276169,0.71338606911949],"aabb_xy":[[-0.28326993108527365,-1.994996209843762],[-0.2082699280540102,-1.9725426638114718]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.12191330867074412,1.8118309048213512,0.71338606911949],"aabb_xy":[[-0.13882404110708588,1.7983586992287361],[-0.10500257623440233,1.8253031104139654]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[0.2264999660660756,-2.015799874498879,0.71338606911949],"aabb_xy":[[0.19302079880503467,-2.049278987869986],[0.25997913332711653,-1.982320761127772]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.2233930938181718,1.5724748900802097,0.71338606911949],"aabb_xy":[[-0.23849539527918984,1.5573733684491473],[-0.20829079235715364,1.5875764117112712]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.696639986480179,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8440.png","name":"8440"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8440.png","name":"8440"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2628.png","name":"2628"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8181.png","name":"8181"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2048.png","name":"2048"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9329.png","name":"9329"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":739.5227336723455,"rotation_z_degrees":285.67874484562054,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007118035724649065,0.0018221436230895574,0.004984353446896187]},{"name":"camera_2","offset_m":[-0.01089916997213995,0.004357773235498571,-0.014182124094507368]},{"name":"camera_3","offset_m":[0.016163365777586935,0.005988408297049035,-0.0114385943330943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019215599033714174,0.0016682087203959803,-0.0005275373772039038],"end_effector_yaw_offset_degrees":-0.23637424579808086},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005353906600118758,0.0012891579942856581,0.001622027044154371],"end_effector_yaw_offset_degrees":0.8880957449312457},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001268965119792212,-0.0009211459470729966,0.0019990978078768045],"end_effector_yaw_offset_degrees":-0.4546948335783665},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005183623745337461,0.00020246365749887084,0.0004029680790423786],"end_effector_yaw_offset_degrees":-0.08778336170076906}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004456909424386967,0.0024838627223952806],"position_m":[0.274443090575613,-0.11521613727760471,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002034509333581305,0.0038402571003854054],"position_m":[0.22446549066641872,-0.40535974289961463,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0042425902205904045,-0.002302722517162984],"position_m":[0.3483574097794096,0.06369727748283702,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034784057307455105,0.002056068004456551],"position_m":[0.34567840573074554,0.3259560680044566,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"60c1690e4d91b6f535425ab2bff4205c3b78f85c64b544609204475c83b6c365","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8440/tex_ceiling_textures_9329/tex_floor_textures_2048/tex_table_textures_2628/tex_wall_textures_8181","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":9138449387885545027,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":9138449387885545027,"visual_seed":9138449387885545027,"scene_id":"lab_003","finished_at":"2026-09-05T03:18:52"}
+{"episode_id":"ep_000043","started_at":"2026-09-05T03:18:55","dimensions":{"distractor":{"count":27,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[0.4095953875262617,-1.1341401125749149,0.71338606911949],"aabb_xy":[[0.3871306175548565,-1.1566401134537754],[0.43206015749766674,-1.1116401116960544]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.321887106350057,-0.6884699364927185,0.71338606911949],"aabb_xy":[[0.27970269218922633,-0.7524699367699299],[0.3640715205108878,-0.6244699362155075]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[0.1885791346856195,-1.7608495865500235,0.71338606911949],"aabb_xy":[[0.10857913421540355,-1.7691602941643723],[0.2685791351558354,-1.7525388789356757]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[-0.6136663705367581,-0.9619534552033655,0.71338606911949],"aabb_xy":[[-0.6936663675510061,-0.9820880068767767],[-0.5336663735225101,-0.9418189035299541]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[0.6413497246352138,1.7535046689186147,0.71338606911949],"aabb_xy":[[0.5915329451703789,1.703504670434311],[0.6911665041000484,1.8035046674029178]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[-0.16994949112580093,1.2520512406359172,0.71338606911949],"aabb_xy":[[-0.23494949212630145,1.2012648754812423],[-0.10494949012530042,1.3028376057905922]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.37129066428182655,-0.1667309370834329,0.71338606911949],"aabb_xy":[[-0.42629066248357134,-0.20725290370987048],[-0.31629066608008166,-0.1262089704569953]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[0.2508203570584454,-1.2048919321279274,0.71338606911949],"aabb_xy":[[0.18682035679797457,-1.2499007314808552],[0.31482035731891617,-1.1598831327749992]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.657660563858449,-0.13684881388572423,0.71338606911949],"aabb_xy":[[0.6401605647240817,-0.14672844092331205],[0.675160562992816,-0.1269691868481364]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[0.5362403314188822,0.709293604527403,0.71338606911949],"aabb_xy":[[0.48624033013504214,0.6593147501367809],[0.586240332702722,0.7592724589180251]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.5800438217319539,0.48314672104979595,0.71338606911949],"aabb_xy":[[-0.6050438210039161,0.4668013574536336],[-0.5550438224599915,0.4994920846459583]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.11871377865412525,-0.8630014788868103,0.71338606911949],"aabb_xy":[[-0.1687130538225614,-0.9130014801627576],[-0.0687145034856891,-0.8130014776108633]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[0.07704858133015524,-2.0125839053441963,0.71338606911949],"aabb_xy":[[0.013048582035987036,-2.07657004571305],[0.14104858062432346,-1.9485977649753417]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_13","position":[-0.48841363748089095,-1.4307582583344924,0.71338606911949],"aabb_xy":[[-0.5435388431104816,-1.4907582597757794],[-0.4332884318513001,-1.370758256893205]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.33637713920169177,-2.1072740951667748,0.71338606911949],"aabb_xy":[[-0.3592928520867417,-2.1301783923031983],[-0.3134614263166419,-2.0843697980303513]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.1553243163673116,-1.9166224779105407,0.71338606911949],"aabb_xy":[[-0.21032431554390105,-1.9716121526854982],[-0.10032431719072207,-1.8616328031355829]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[-0.3778564357641616,0.7606123656848243,0.71338606911949],"aabb_xy":[[-0.3852688913055501,0.7547611552631964],[-0.37044398022277314,0.7664635761064523]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.3683989491723681,-0.91160721252707,0.71338606911949],"aabb_xy":[[-0.42339894879411394,-0.9665909053145428],[-0.31339894955062225,-0.8566235197395974]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[0.36923087173511315,-1.236815380515905,0.71338606911949],"aabb_xy":[[0.3651527138280634,-1.2408963607641683],[0.3733090296421629,-1.2327344002676417]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.2180134023967215,1.1101164181438707,0.71338606911949],"aabb_xy":[[0.21191877450860316,1.101547023592202],[0.2241080302848398,1.1186858126955395]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[-0.6566599502383782,0.24193418715037573,0.71338606911949],"aabb_xy":[[-0.6709943753645417,0.22987397159583692],[-0.6423255251122147,0.2539944027049146]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[0.08567305839374406,1.554540144707825,0.71338606911949],"aabb_xy":[[0.04465511500737318,1.5045401440768678],[0.12669100178011494,1.6045401453387824]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[0.6774670063344155,1.3233848377446042,0.71338606911949],"aabb_xy":[[0.6666265281079005,1.3061985564539553],[0.6883074845609303,1.3405711190352527]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.5306828244905282,-1.6711473405094524,0.71338606911949],"aabb_xy":[[-0.5420445591438141,-1.6825158069157402],[-0.5193210898372418,-1.659778874103164]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_24","position":[-0.5721704494708602,-0.5372186596443407,0.71338606911949],"aabb_xy":[[-0.6096704499682184,-0.5411873431924591],[-0.5346704489735019,-0.5332499760962223]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[0.09192831700125992,0.795710604309726,0.71338606911949],"aabb_xy":[[0.011928319841684618,0.7841630033519088],[0.1719283141608352,0.8072582052675429]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_26","position":[-0.09405955793141496,-1.633754340744499,0.71338606911949],"aabb_xy":[[-0.14405955737161058,-1.683722265228815],[-0.04405955849121933,-1.5837864162601825]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6952305811710475,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/18.png","name":"18"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/18.png","name":"18"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5316.png","name":"5316"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1257.png","name":"1257"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/308.png","name":"308"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8321.png","name":"8321"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":508.58419655645787,"rotation_z_degrees":347.7136068487772,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00293723729589173,0.013659923389973062,-0.01793618132794799]},{"name":"camera_2","offset_m":[0.016191466205167957,0.005400788626948049,0.0076898294976056915]},{"name":"camera_3","offset_m":[0.004383119594759174,-0.008543304567643522,0.015261536671792437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00182659640000588,0.0013782214636617516,-0.00033766860226308376],"end_effector_yaw_offset_degrees":0.5268511405615739},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015451353947681973,0.00017890594880701693,0.0005113585922321183],"end_effector_yaw_offset_degrees":-0.344731505999468},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014514392704255545,-0.001549085714374392,-0.00187954076215376],"end_effector_yaw_offset_degrees":-0.021515970782319593},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017904061277904501,-0.0011566641193244626,0.0016161687731425832],"end_effector_yaw_offset_degrees":-0.3454289969822819}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032517856408579926,0.00252827956664705],"position_m":[0.28215178564085797,-0.11517172043335294,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003766444430114345,0.0026192041141419363],"position_m":[0.23026644443011435,-0.40658079588585805,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034554413609034452,0.00047312072031989623],"position_m":[0.35605544136090345,0.0664731207203199,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004878805688804049,-0.003651197778919403],"position_m":[0.34707880568880406,0.3202488022210806,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9dbfbc86538b884afe4ce295475c2b7bca12f2aaa24c9301d246d55c1b82a46d","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_18/tex_ceiling_textures_8321/tex_floor_textures_308/tex_table_textures_5316/tex_wall_textures_1257","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2290025205413821940,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2290025205413821940,"visual_seed":2290025205413821940,"scene_id":"lab_003","finished_at":"2026-09-05T03:22:25"}
+{"episode_id":"ep_000044","started_at":"2026-09-05T03:22:29","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_0","position":[-0.29421690816978435,-1.4912391693370657,0.71338606911949],"aabb_xy":[[-0.3003115360579027,-1.4998085638887344],[-0.28812228028166603,-1.482669774785397]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.06429833940924046,-2.1755002576150444,0.71338606911949],"aabb_xy":[[-0.1342983428008024,-2.210816031318475],[0.0057016639823215245,-2.140184483911613]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.32980485911682833,1.0615611232682052,0.71338606911949],"aabb_xy":[[0.3233910454736434,1.0551513030205366],[0.33621867276001327,1.0679709435158733]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.5403339199157415,-1.8783068505973781,0.71338606911949],"aabb_xy":[[0.5316359576250262,-1.890431824904853],[0.5490318822064568,-1.8661818762899036]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.6146768947395644,-1.2369653541824273,0.71338606911949],"aabb_xy":[[-0.6521768962551961,-1.2481921271985723],[-0.5771768932239327,-1.2257385811662822]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[-0.2406122755417519,-1.3086370999359358,0.71338606911949],"aabb_xy":[[-0.3206122741986379,-1.3231419588601985],[-0.1606122768848659,-1.2941322410116731]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[0.11939547372670156,0.773254889881339,0.71338606911949],"aabb_xy":[[0.06439547410495573,0.7182711970938662],[0.1743954733484474,0.8282385826688117]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.1930518438611627,0.13261321011350402,0.71338606911949],"aabb_xy":[[-0.22805184217185814,0.12489819518995834],[-0.15805184555046725,0.14032822503704964]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[0.08371955180011292,1.3978901085673892,0.71338606911949],"aabb_xy":[[0.003719553819327897,1.390288567605537],[0.16371954978089798,1.4054916495292409]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.35327122295287405,1.3740806660951068,0.71338606911949],"aabb_xy":[[0.3484276281916441,1.3692290136161225],[0.35811481771410403,1.3789323185740907]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.22585868266605502,-0.8871872115137875,0.71338606911949],"aabb_xy":[[0.2139865996545539,-0.9721872112074378],[0.23773076567755613,-0.8021872118201371]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[-0.6641164729195105,-2.0873719504768156,0.71338606911949],"aabb_xy":[[-0.6720397531582588,-2.109871950714819],[-0.6561931926807621,-2.064871950238812]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[0.5496436572038244,-2.0551770654536154,0.71338606911949],"aabb_xy":[[0.4599565808957089,-2.145177065708066],[0.6393307335119398,-1.965177065199165]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[-0.34307790496508084,-2.061856388225576,0.71338606911949],"aabb_xy":[[-0.4130779065673604,-2.0752891814272334],[-0.2730779033628014,-2.0484235950239182]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.6531432763371513,1.5863829827495821,0.71338606911949],"aabb_xy":[[-0.6906432747605515,1.573218768781751],[-0.6156432779137508,1.5995471967174124]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.14644362405807554,0.9297578720071904,0.71338606911949],"aabb_xy":[[-0.1964210409233291,0.8797578705179417],[-0.09646620719282194,0.9797578734964388]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[0.6899543843930043,-0.15602659145999542,0.71338606911949],"aabb_xy":[[0.6674406925695471,-0.22602659206100298],[0.7124680762164615,-0.08602659085898792]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.2898245250420511,-2.312746020221576,0.71338606911949],"aabb_xy":[[-0.33981953600150316,-2.3627460192571683],[-0.23982951408259912,-2.262746021185985]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[0.30225003382246063,-0.5091934250204382,0.71338606911949],"aabb_xy":[[0.2981340837103879,-0.5133089800532836],[0.30636598393453324,-0.5050778699875925]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.12161239646664113,1.2232518621600992,0.71338606911949],"aabb_xy":[[0.056612395360697856,1.1982864890919709],[0.1866123975725844,1.2482172352282275]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.2293358811029202,0.7810959557031425,0.71338606911949],"aabb_xy":[[-0.2668358812085131,0.7742737938501614],[-0.1918358809973272,0.7879181175561236]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[0.4605024670332578,-1.6625085863845528,0.71338606911949],"aabb_xy":[[0.44307175195425125,-1.6797807010484034],[0.47793318211226427,-1.6452364717207018]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[0.5945379724957365,-2.3320441016847933,0.71338606911949],"aabb_xy":[[0.5145379710656092,-2.4115612566974027],[0.6745379739258636,-2.252526946672184]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_23","position":[0.010871594197547463,-1.9387498432960761,0.71338606911949],"aabb_xy":[[0.001239957977117843,-1.9483871560757853],[0.02050323041797708,-1.9291125305163674]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[-0.16539132994787764,-1.4351209389739887,0.71338606911949],"aabb_xy":[[-0.22038358058338864,-1.4901209407173017],[-0.11039907931236673,-1.3801209372306762]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[-0.4950089027708562,0.31505136571913095,0.71338606911949],"aabb_xy":[[-0.5175089027810045,0.3009551460795276],[-0.4725089027607079,0.3291475853587342]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[0.02196161400338681,-1.453083415024095,0.71338606911949],"aabb_xy":[[-0.000534807430477291,-1.4755834148308424],[0.04445803543725091,-1.4305834152173476]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[-0.508246700294136,-2.1228397105895045,0.71338606911949],"aabb_xy":[[-0.5225811254202994,-2.134899926144043],[-0.49391227516797254,-2.110779495034966]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[-0.5979941075987139,0.7162585740459808,0.71338606911949],"aabb_xy":[[-0.6050355585494616,0.7092318223081863],[-0.5909526566479664,0.7232853257837754]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6899085088346149,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1411.png","name":"1411"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1411.png","name":"1411"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1633.png","name":"1633"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6912.png","name":"6912"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1677.png","name":"1677"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1686.png","name":"1686"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":515.0693242417564,"rotation_z_degrees":33.13477190510416,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0061690811665145555,0.0062507674046400445,0.0007282738375076897]},{"name":"camera_2","offset_m":[-0.008827825533064862,-0.018765896080132995,0.017404832245096955]},{"name":"camera_3","offset_m":[-0.009499843607114023,0.006008209070866126,0.0035379440056044174]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015108920439044137,-0.0016286370035782478,0.0016939499925836257],"end_effector_yaw_offset_degrees":0.010183717365056522},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019455472709860237,0.0013253285140039685,-0.00016341372660001155],"end_effector_yaw_offset_degrees":-0.10922558050040054},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014395022773066577,-0.0009508208616794387,-0.00013701444855216262],"end_effector_yaw_offset_degrees":0.4080783358313631},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016854633893977938,-0.0008287713740773408,0.0016540564267949307],"end_effector_yaw_offset_degrees":0.36508078422461354}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003722988050557793,0.001281244226274467],"position_m":[0.27517701194944216,-0.11641875577372553,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001081189470793784,-0.003203982791004316],"position_m":[0.22758118947079378,-0.4124039827910043,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023286537260232545,0.003999923367008817],"position_m":[0.35027134627397677,0.06999992336700882,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007151120574007304,-0.004431739825086529],"position_m":[0.3414848879425993,0.3194682601749135,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ad280147f9607a595400f6ea191e75a8ac6254679ec83b090922ef3189271611","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1411/tex_ceiling_textures_1686/tex_floor_textures_1677/tex_table_textures_1633/tex_wall_textures_6912","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3539090910048877900,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3539090910048877900,"visual_seed":3539090910048877900,"scene_id":"lab_003","finished_at":"2026-09-05T03:25:59"}
+{"episode_id":"ep_000045","started_at":"2026-09-05T03:26:03","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[-0.01967322635789015,-0.9619503543299734,0.71338606911949],"aabb_xy":[[-0.09967322778801735,-1.0414675093425827],[0.06032677507223705,-0.8824331993173639]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[-0.4809528202025697,-2.034166251960387,0.71338606911949],"aabb_xy":[[-0.5034528197262769,-2.0566621994110075],[-0.45845282067886217,-2.011670304509766]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[-0.46108510497215205,-1.5405583460886108,0.71338606911949],"aabb_xy":[[-0.47431605050683334,-1.55378576511061],[-0.44785415943747076,-1.527330927066611]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.6113794478015271,-2.4910529041944107,0.71338606911949],"aabb_xy":[[0.5738794476296551,-2.5237536395773175],[0.648879447973399,-2.458352168811503]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[0.5974852445562078,0.5578783852970335,0.71338606911949],"aabb_xy":[[0.5799069423672608,0.5403038957229286],[0.6150635467451545,0.5754528748711384]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[0.6999160820944619,-2.140024186145363,0.71338606911949],"aabb_xy":[[0.6897630665403123,-2.1760937277181025],[0.710069097648611,-2.103954644572622]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.6277073595753564,-1.307977136826889,0.71338606911949],"aabb_xy":[[-0.6647414690034161,-1.3423543441605983],[-0.5906732501472967,-1.2735999294931795]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.4035138006628578,-1.800247631998289,0.71338606911949],"aabb_xy":[[0.35353638379760416,-1.8502476334875373],[0.45349121752811133,-1.7502476305090402]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.3921253913487499,1.0613313186666429,0.71338606911949],"aabb_xy":[[-0.456125394638458,1.0179963996627253],[-0.3281253880590418,1.1046662376705605]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[0.6780131970418524,-1.0533506734018723,0.71338606911949],"aabb_xy":[[0.6605131967968029,-1.070850461241439],[0.6955131972869016,-1.0358508855623052]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[-0.45679231325352276,1.6311847080528774,0.71338606911949],"aabb_xy":[[-0.47429231351285944,1.6170931658641052],[-0.4392923129941862,1.6452762502416505]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[0.5012395635833844,0.07678038565086176,0.71338606911949],"aabb_xy":[[0.4372395642892162,0.012794245282007552],[0.5652395628775526,0.14076652601971595]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[0.636758755229796,0.7251599931518924,0.71338606911949],"aabb_xy":[[0.631177083595667,0.7126599933341168],[0.6423404268639247,0.7376599929696678]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.09890118045890595,-0.22868014757341593,0.71338606911949],"aabb_xy":[[-0.11083391482073399,-0.24106230038127532],[-0.08696844609707785,-0.21629799476555658]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.23681076317676608,-1.9596457311177513,0.71338606911949],"aabb_xy":[[0.20816143081634983,-1.9882912903948269],[0.2654600955371823,-1.9310001718406753]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[0.4504760671158341,-2.4606012598088975,0.71338606911949],"aabb_xy":[[0.38647606983018545,-2.502107978761742],[0.5144760644014827,-2.419094540856054]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.7110125078150982,0.1679135974692998,0.71338606911949],"aabb_xy":[[0.7068766514823979,0.13041359802494282],[0.7151483641477983,0.20541359691365682]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[0.6706357324604828,1.272611570517892,0.71338606911949],"aabb_xy":[[0.6642219188172978,1.2662017502702234],[0.6770495461036676,1.27902139076556]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.10381108657485594,0.12270439076322948,0.71338606911949],"aabb_xy":[[-0.1382735645879437,0.11604071358030665],[-0.06934860856176815,0.1293680679461523]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.024872766398410517,-2.1582341210362617,0.71338606911949],"aabb_xy":[[0.007962033962068736,-2.171706326628876],[0.04178349883475229,-2.1447619154436466]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[-0.6480278059403713,-1.865572913953034,0.71338606911949],"aabb_xy":[[-0.6730278051060045,-1.8725251596583905],[-0.6230278067747382,-1.8586206682476774]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.2827845424470664,-2.1275352671340424,0.71338606911949],"aabb_xy":[[-0.3202845429444246,-2.131503950682161],[-0.2452845419497081,-2.123566583585924]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[-0.16116980953862214,-2.4717158497245904,0.71338606911949],"aabb_xy":[[-0.17581321509265513,-2.4863745693813746],[-0.14652640398458916,-2.457057130067806]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.2341419041737552,-1.757801501426297,0.71338606911949],"aabb_xy":[[-0.32414190650777425,-1.8352838560114098],[-0.14414190183973613,-1.6803191468411844]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6978692411295375,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5768.png","name":"5768"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5768.png","name":"5768"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6230.png","name":"6230"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2902.png","name":"2902"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6168.png","name":"6168"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3446.png","name":"3446"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":710.1627211791572,"rotation_z_degrees":347.2566247458083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01109265077726889,-0.006286990264443203,-0.012177400544848713]},{"name":"camera_2","offset_m":[0.004554459535193036,-0.018359356676096898,0.018083177406555694]},{"name":"camera_3","offset_m":[0.019743479591097204,0.007052815009586211,0.003454627491909036]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004299134968297107,-0.0016012773294123068,-0.0015397718192334672],"end_effector_yaw_offset_degrees":0.1017284646791321},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000677578205174175,-0.0009596055076698154,0.001551426899425425],"end_effector_yaw_offset_degrees":0.8873634933087333},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019290784856010696,0.00042186811699984096,-0.0002141217002547724],"end_effector_yaw_offset_degrees":-0.641974848574294},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011819404208120955,0.0012092784027090604,-0.0009637674465394035],"end_effector_yaw_offset_degrees":0.35369960106828957}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022814906982746262,0.004006617642380492],"position_m":[0.2766185093017254,-0.11369338235761951,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006409620128895689,-0.0018680824494766704],"position_m":[0.22585903798711043,-0.4110680824494767,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004057830223453302,0.0049614424852453725],"position_m":[0.3566578302234533,0.07096144248524537,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033963536391401023,0.004828754281773244],"position_m":[0.3455963536391401,0.3287287542817733,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"081796b1b973066621757a7049726e1d0a535d098b60867a19302af1034e2ee9","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0056.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5768/tex_ceiling_textures_3446/tex_floor_textures_6168/tex_table_textures_6230/tex_wall_textures_2902","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1624173671967318391,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1624173671967318391,"visual_seed":1624173671967318391,"scene_id":"lab_003","finished_at":"2026-09-05T03:29:26"}
+{"episode_id":"ep_000046","started_at":"2026-09-05T03:29:30","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.08619499141742604,1.6123853726086188,0.71338606911949],"aabb_xy":[[-0.09109428372398952,1.5847084533060496],[-0.08129569911086253,1.6400622919111871]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.19993049636251353,-0.2755352139779381,0.71338606911949],"aabb_xy":[[-0.22321233856064485,-0.36053521527516613],[-0.17664865416438216,-0.19053521268071003]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.07902019802333482,1.2068376274116845,0.71338606911949],"aabb_xy":[[-0.11148189890526225,1.1767047952967817],[-0.04655849714140734,1.236970459526587]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[0.5770773850170805,-2.236597860313857,0.71338606911949],"aabb_xy":[[0.5426149070039926,-2.2432615374967795],[0.6115398630301682,-2.229934183130934]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[-0.5916397154584068,1.0140540090898051,0.71338606911949],"aabb_xy":[[-0.6045116189593469,0.9340540086759689],[-0.5787678119574666,1.094054009503641]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.0013218532791769988,-0.7742779171416074,0.71338606911949],"aabb_xy":[[-0.009583922808385714,-0.8542779135404365],[0.012227629366739712,-0.6942779207427782]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.47525167416848163,-0.9593900394292736,0.71338606911949],"aabb_xy":[[-0.5302516723702264,-0.9999120060557111],[-0.42025167596673685,-0.9188680728028359]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.6397124871096281,1.7260493046467205,0.71338606911949],"aabb_xy":[[-0.6897074980690802,1.6760493056111292],[-0.5897174761501761,1.7760493036823126]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[-0.46303974629743305,-1.954266829171998,0.71338606911949],"aabb_xy":[[-0.5005397461144666,-1.9589050404831398],[-0.4255397464803995,-1.9496286178608562]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[0.5624395483777931,0.13929446955373903,0.71338606911949],"aabb_xy":[[0.5172682305296241,0.07529447240920063],[0.607610866225962,0.2032944666982775]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.4863719038599817,0.06877934503583738,0.71338606911949],"aabb_xy":[[-0.5092876167450316,0.04587504789941387],[-0.4634561909749319,0.09168364217226088]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.6146194778967209,-1.7081094558842045,0.71338606911949],"aabb_xy":[[-0.6559240209604569,-1.7721094554523213],[-0.5733149348329849,-1.6441094563160872]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[0.38916420695559806,-0.7804864315936291,0.71338606911949],"aabb_xy":[[0.33918539844528217,-0.8304864315993479],[0.43914301546591394,-0.7304864315879103]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.5679481274132792,1.573552155479042,0.71338606911949],"aabb_xy":[[-0.5795171081602158,1.5485521553621102],[-0.5563791466663427,1.5985521555959736]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.28137254053157107,1.7287800686243826,0.71338606911949],"aabb_xy":[[-0.36137254269433355,1.648824884998239],[-0.20137253836880858,1.8087352522505262]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.04787211444746842,-1.073560520322461,0.71338606911949],"aabb_xy":[[-0.11187211361723837,-1.1203272074414234],[0.016127884722301523,-1.0267938332034985]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.19380461249190462,0.7422322266467343,0.71338606911949],"aabb_xy":[[0.17617177689837704,0.7246092806311112],[0.2114374480854322,0.7598551726623571]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[-0.5153966842290681,1.4602496826821665,0.71338606911949],"aabb_xy":[[-0.6003966829211428,1.4282638192872876],[-0.4303966855369935,1.4922355460770453]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.046741805630812316,1.7733637599647651,0.71338606911949],"aabb_xy":[[0.009241804446019517,1.7689455372687046],[0.0842418068156051,1.7777819826608257]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[0.7036904773597381,-0.2503834012162893,0.71338606911949],"aabb_xy":[[0.6976534643590734,-0.25641010228523753],[0.7097274903604028,-0.24435670014734112]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.6838060536287804,-1.7892823571158374,0.71338606911949],"aabb_xy":[[0.6750920845788458,-1.8117823577750252],[0.6925200226787148,-1.7667823564566487]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.45947797218289044,-1.1448481243711024,0.71338606911949],"aabb_xy":[[-0.5171084410701612,-1.2048481232978128],[-0.40184750329561947,-1.0848481254443916]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.012380348864918456,0.833870359707344,0.71338606911949],"aabb_xy":[[-0.02221073398912676,0.7688703594223129],[0.04697143171896367,0.898870359992375]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[-0.30110043397156094,1.0058494553067625,0.71338606911949],"aabb_xy":[[-0.3811004372294039,0.9258529475147788],[-0.221100430713718,1.0858459630987467]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[0.43469657200697576,0.10316374098471837,0.71338606911949],"aabb_xy":[[0.4283844724706374,0.09739680173149955],[0.44100867154331425,0.10893068023793721]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[0.21249951882596418,-0.8586070415507694,0.71338606911949],"aabb_xy":[[0.1912215106824919,-0.9236070438768424],[0.2337775269694364,-0.7936070392246963]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[0.6089444280662142,-1.4208581579086377,0.71338606911949],"aabb_xy":[[0.593388658655949,-1.4364085911530449],[0.6245001974764796,-1.4053077246642305]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[-0.6090682856620429,-1.207123993636299,0.71338606911949],"aabb_xy":[[-0.6171046203633277,-1.2151621129407157],[-0.601031950960758,-1.1990858743318822]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_28","position":[0.07615756667454221,-0.7876330878877142,0.71338606911949],"aabb_xy":[[0.05626652679420198,-0.8002888991724112],[0.09604860655488248,-0.7749772766030175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6946960324517666,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2213.png","name":"2213"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2213.png","name":"2213"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6960.png","name":"6960"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/805.png","name":"805"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3235.png","name":"3235"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5258.png","name":"5258"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":645.6951784181679,"rotation_z_degrees":63.04294163944567,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00014684466198701396,0.013367298641146035,0.0037514700633012425]},{"name":"camera_2","offset_m":[0.01945324459628422,-0.00806394051901147,0.008429450055398805]},{"name":"camera_3","offset_m":[-0.010522019828641321,-0.010067525605438093,-0.0051960111343822835]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016910926028890297,2.957237885849607e-05,0.0019247032418359886],"end_effector_yaw_offset_degrees":-0.4762260807129257},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018484797153121859,0.0019127373446259635,-0.0008219944789811463],"end_effector_yaw_offset_degrees":-0.16203532750243133},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005691944520047989,-0.0004794264336319997,-0.0006493234015912609],"end_effector_yaw_offset_degrees":-0.7776616488835191},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019393668070430423,-4.4098852945619743e-07,-0.0004493302959379629],"end_effector_yaw_offset_degrees":0.03312483808851652}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010244996965059752,-0.004742381675862283],"position_m":[0.27992449969650596,-0.12244238167586229,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017228456197418062,0.0031906984115040978],"position_m":[0.2247771543802582,-0.4060093015884959,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002860565246865595,0.0026954771124738782],"position_m":[0.3497394347531344,0.06869547711247388,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002554171070858956,-0.0003573081276391924],"position_m":[0.344754171070859,0.32354269187236084,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bc2a16adecb6220418ba06c2ea198fb8031b3bcee0c8eb77c27e754de186e1df","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2213/tex_ceiling_textures_5258/tex_floor_textures_3235/tex_table_textures_6960/tex_wall_textures_805","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4871303710047822121,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4871303710047822121,"visual_seed":4871303710047822121,"scene_id":"lab_003","finished_at":"2026-09-05T03:32:55"}
+{"episode_id":"ep_000047","started_at":"2026-09-05T03:32:59","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[0.45597663054998105,-0.7412487548349889,0.71338606911949],"aabb_xy":[[0.4510773382434175,-0.7689256741375575],[0.4608759228565445,-0.71357183553242]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.3600833302358588,-1.5973915123863538,0.71338606911949],"aabb_xy":[[-0.37352985686990214,-1.6108613640394454],[-0.3466368036018155,-1.5839216607332627]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.4292615467661962,-1.8677529992034216,0.71338606911949],"aabb_xy":[[0.3392615502653244,-1.9136646416218797],[0.5192615432670679,-1.8218413567849632]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[-0.10471376641369168,-2.4104204802338285,0.71338606911949],"aabb_xy":[[-0.19471376874771074,-2.487902834818941],[-0.01471376407967262,-2.332938125648716]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[0.651530791818473,-1.0887734905396191,0.71338606911949],"aabb_xy":[[0.6290307913064324,-1.1112653489050173],[0.6740307923305136,-1.0662816321742206]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.43557322909668317,-0.45064136802089605,0.71338606911949],"aabb_xy":[[0.38557395392824706,-0.5006413692968432],[0.4855725042651194,-0.4006413667449488]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[0.12261091613681718,-0.7968611303113289,0.71338606911949],"aabb_xy":[[0.11245790058266779,-0.8329306718840689],[0.13276393169096656,-0.7607915887385882]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[-0.06391120980764331,-0.11774302532963388,0.71338606911949],"aabb_xy":[[-0.11390432191683522,-0.1677430260038295],[-0.01391809769845143,-0.06774302465543824]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[-0.042699189218680544,-0.9058858963895136,0.71338606911949],"aabb_xy":[[-0.050111644760069025,-0.9117371068111416],[-0.03528673367729208,-0.9000346859678857]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[-0.45323875019583804,-2.45981309001362,0.71338606911949],"aabb_xy":[[-0.46480773094277467,-2.484813090130552],[-0.4416697694489015,-2.4348130898966884]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.6215545964866729,-1.5714190382711029,0.71338606911949],"aabb_xy":[[0.5615545958906568,-1.6262315108163263],[0.6815545970826892,-1.5166065657258794]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.4517778308754901,1.3582043094505614,0.71338606911949],"aabb_xy":[[-0.4588192818262377,1.351177557712767],[-0.4447363799247425,1.3652310611883558]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[0.17842372499455983,-2.2654201308901585,0.71338606911949],"aabb_xy":[[0.11442372856723793,-2.312589754712255],[0.24242372142188173,-2.218250507068062]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[-0.5357307830720803,-2.5047768107413395,0.71338606911949],"aabb_xy":[[-0.5643801154324964,-2.5334223700184153],[-0.507081450711664,-2.4761312514642637]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[-0.47663599822650693,-0.7025647226124416,0.71338606911949],"aabb_xy":[[-0.48033925955564577,-0.7062667409211595],[-0.472932736897368,-0.6988627043037238]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[0.3103977096811792,-1.552579584748858,0.71338606911949],"aabb_xy":[[0.245397708724052,-1.6045277966825635],[0.3753977106383064,-1.5006313728151524]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[-0.5282506843255386,-1.1742988628192674,0.71338606911949],"aabb_xy":[[-0.5471350680940488,-1.1931847875996202],[-0.5093663005570284,-1.1554129380389146]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.48945336946758145,-2.292641230767769,0.71338606911949],"aabb_xy":[[-0.5045556709285994,-2.30774275239883],[-0.47435106800656324,-2.2775397091367062]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.2434526910063446,-2.4395044091579017,0.71338606911949],"aabb_xy":[[0.23949220723661027,-2.4471722737434223],[0.24741317477607902,-2.431836544572381]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[0.015235618504934378,1.54520075366151,0.71338606911949],"aabb_xy":[[-0.019355464349110837,1.4802007533764787],[0.04982670135897959,1.6102007539465408]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[0.5199776771814244,-2.1435014849412397,0.71338606911949],"aabb_xy":[[0.4700949803037282,-2.193501484187515],[0.5698603740591206,-2.0935014856949654]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[-0.3362510531430502,0.4595409422010941,0.71338606911949],"aabb_xy":[[-0.3862510527193849,0.40956036324898826],[-0.2862510535667155,0.5095215211532002]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[0.4096602069222959,-2.4581423096355803,0.71338606911949],"aabb_xy":[[0.3925581289639278,-2.47524911516685],[0.4267622848806641,-2.4410355041043106]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_23","position":[0.5396736162848976,1.1291773591925613,0.71338606911949],"aabb_xy":[[0.489673616844702,1.0792094347082448],[0.5896736157250932,1.1791452836768774]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[-0.33511061609259807,1.584423789588271,0.71338606911949],"aabb_xy":[[-0.38119570734732955,1.520423792335716],[-0.2890255248378666,1.6484237868408262]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[0.6267968694900166,0.9617444293942841,0.71338606911949],"aabb_xy":[[0.576802036562075,0.9117444304990406],[0.6767917024179582,1.0117444282895276]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[0.1839973189949733,-0.94886878001909,0.71338606911949],"aabb_xy":[[0.10399731872136629,-1.0218183278448065],[0.2639973192685802,-0.8759192321933732]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[-0.2971650184022042,-2.031862645042032,0.71338606911949],"aabb_xy":[[-0.3234538427226448,-2.058134078696683],[-0.2708761940817635,-2.0055912113873804]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_28","position":[0.2825910063152446,1.3911701340760545,0.71338606911949],"aabb_xy":[[0.2325910049543574,1.3411922295006387],[0.3325910076761318,1.44114803865147]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_29","position":[0.10502900711494645,-1.4840486056177828,0.71338606911949],"aabb_xy":[[0.05005528507861358,-1.539048605182016],[0.16000272915127933,-1.4290486060535497]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[0.28717630701378194,-0.8017578586311356,0.71338606911949],"aabb_xy":[[0.26950067642518355,-0.8194380749105383],[0.3048519376023802,-0.7840776423517328]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[0.364426301235542,-1.4185211748195992,0.71338606911949],"aabb_xy":[[0.35562424592656927,-1.426332500974528],[0.3732283565445147,-1.4107098486646699]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_32","position":[0.0999012599882082,0.7428525653685263,0.71338606911949],"aabb_xy":[[0.044776054358617416,0.682852563927239],[0.15502646561779895,0.8028525668098133]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_33","position":[-0.2067506179226663,1.339134510102542,0.71338606911949],"aabb_xy":[[-0.21403293429932993,1.2491345064930326],[-0.19946830154600262,1.4291345137120506]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6975828628046028,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4290.png","name":"4290"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4290.png","name":"4290"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1335.png","name":"1335"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/389.png","name":"389"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5045.png","name":"5045"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7490.png","name":"7490"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":595.4801457214363,"rotation_z_degrees":313.4032418644498,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006835315542839542,-0.006555863848258308,0.004205697513841845]},{"name":"camera_2","offset_m":[0.013681937217780046,0.00805529971930664,-0.01963842886330869]},{"name":"camera_3","offset_m":[-0.0027674683138039814,-0.0027571451944201283,-0.016145937501301035]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006782124453686565,-0.0007401887182549567,0.0017815692833247922],"end_effector_yaw_offset_degrees":0.7428120752042398},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019389394453270567,0.00039781076672835893,-0.0010934238415993944],"end_effector_yaw_offset_degrees":-0.05642906604607423},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010803388809096232,0.000579805464985914,0.00047110449358546804],"end_effector_yaw_offset_degrees":-0.41887913670963695},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007900673625719844,-0.0009902738638903324,0.00048677788802216826],"end_effector_yaw_offset_degrees":0.5423147636095824}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003251936923294402,-0.001786027174604222],"position_m":[0.2756480630767056,-0.11948602717460421,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002706622033503987,0.0006212653753707113],"position_m":[0.223793377966496,-0.4085787346246293,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018255450511186111,0.0016266626944374226],"position_m":[0.35077445494888143,0.06762666269443743,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004980649348611896,0.001230563474169403],"position_m":[0.3471806493486119,0.3251305634741694,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1002af5b3d92a41122fa0037818101c52f6ded6f815da5a7cae4b0a47cbc171e","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4290/tex_ceiling_textures_7490/tex_floor_textures_5045/tex_table_textures_1335/tex_wall_textures_389","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":8170103796963506830,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":8170103796963506830,"visual_seed":8170103796963506830,"scene_id":"lab_003","finished_at":"2026-09-05T03:36:21"}
+{"episode_id":"ep_000048","started_at":"2026-09-05T03:36:24","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[0.454818594891935,1.1657635386940042,0.71338606911949],"aabb_xy":[[0.4454011203220722,1.1563473615562851],[0.4642360694617977,1.1751797158317232]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[-0.4588817148855775,-1.698746015033346,0.71338606911949],"aabb_xy":[[-0.5388817118998255,-1.7188805667067573],[-0.37888171787132946,-1.6786114633599347]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.6166338071597914,1.6503729319627598,0.71338606911949],"aabb_xy":[[-0.6618051250079604,1.5863729348182216],[-0.5714624893116225,1.7143729291072984]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[-0.5244494752207205,1.3480800443673497,0.71338606911949],"aabb_xy":[[-0.5744444861801726,1.298080045331758],[-0.4744544642612686,1.3980800434029415]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[0.07023248099424906,1.6436956470732729,0.71338606911949],"aabb_xy":[[0.027465774114828867,1.5796956436514704],[0.11299918787366925,1.7076956504950753]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[0.4261795778377575,-2.303864470143832,0.71338606911949],"aabb_xy":[[0.4086795787033903,-2.3137440971814196],[0.4436795769721246,-2.293984843106244]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.3776269059481743,1.7156151136500797,0.71338606911949],"aabb_xy":[[0.3699237152740972,1.7079057429513416],[0.38533009662225126,1.7233244843488178]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[-0.611953501909924,-0.5517883085426649,0.71338606911949],"aabb_xy":[[-0.643100420753507,-0.621788307229472],[-0.5808065830663408,-0.48178830985585763]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[0.39850387764221984,-0.5453842370776996,0.71338606911949],"aabb_xy":[[0.3345081802471232,-0.6093842353784081],[0.46249957503731637,-0.48138423877699077]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.002430365693169678,-2.366140484676666,0.71338606911949],"aabb_xy":[[-0.06643036297881832,-2.40764720362951],[0.06156963159247897,-2.324633765723822]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[-0.5886533776575062,-0.38939722644236374,0.71338606911949],"aabb_xy":[[-0.6186450403913765,-0.4193972257791643],[-0.5586617149236358,-0.3593972271055632]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.300123985894884,-1.8761019090085875,0.71338606911949],"aabb_xy":[[0.23612398949931085,-1.9400651974273209],[0.364123982290457,-1.8121386205898538]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[-0.3391772483307592,0.17867691861025925,0.71338606911949],"aabb_xy":[[-0.3500288545796348,0.16781762788260823],[-0.3283256420818836,0.18953620933791027]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.6864962173608398,0.019562130664964705,0.71338606911949],"aabb_xy":[[-0.6913398121220699,0.014710478185980591],[-0.6816526225996099,0.02441378314394882]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.6270229628038805,-2.1046442616861274,0.71338606911949],"aabb_xy":[[-0.6620229626998994,-2.113018497198067],[-0.5920229629078616,-2.096270026174187]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.32854855315342474,-2.3423135059607536,0.71338606911949],"aabb_xy":[[-0.3783653326182595,-2.392313504445057],[-0.27873177368859,-2.2923135074764502]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.5817589611784657,0.40155220646869205,0.71338606911949],"aabb_xy":[[-0.5905610164874383,0.3937408803137629],[-0.5729569058694929,0.4093635326236211]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.1701980735611479,1.245689349043893,0.71338606911949],"aabb_xy":[[-0.2251912848982847,1.1906893487050991],[-0.11520486222401116,1.3006893493826863]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[-0.13499113231056004,-0.9412142242579029,0.71338606911949],"aabb_xy":[[-0.19499113290657624,-0.9960266968031264],[-0.07499113171454388,-0.8864017517126794]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[-0.3976194760285858,-1.875557638523906,0.71338606911949],"aabb_xy":[[-0.48761947462305577,-1.891808224837327],[-0.3076194774341159,-1.8593070522104849]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[0.5659758276819808,0.5610037180496898,0.71338606911949],"aabb_xy":[[0.5459174160687407,0.5409386311405323],[0.5860342392952212,0.5810688049588474]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[-0.390231478606468,0.7049456800427731,0.71338606911949],"aabb_xy":[[-0.4402314781828027,0.6549651010906673],[-0.3402314790301333,0.7549262589948792]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[0.5425340286254989,-1.4119883877965784,0.71338606911949],"aabb_xy":[[0.4625340306447138,-1.4195899287584306],[0.6225340266062839,-1.4043868468347267]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.07022283715656352,0.3741015426503642,0.71338606911949],"aabb_xy":[[-0.13422283358388543,0.32693191882826783],[-0.006222840729241633,0.4212711664724607]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[-0.4434202612473239,0.8846404918821937,0.71338606911949],"aabb_xy":[[-0.49054964024915954,0.8206404908377917],[-0.3962908822454882,0.9486404929265956]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_25","position":[0.6229471552218016,0.2149344795807484,0.71338606911949],"aabb_xy":[[0.5729629195136242,0.16493448076725278],[0.6729313909299787,0.264934478394244]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.39855705598100166,1.4440389398702362,0.71338606911949],"aabb_xy":[[0.34855705562043554,1.3940589526606333],[0.4485570563415677,1.4940189270798392]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[-0.1751669606279267,1.6474576309817581,0.71338606911949],"aabb_xy":[[-0.18394818777516297,1.638677883693228],[-0.16638573348069052,1.6562373782702886]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[0.6251771196073834,-0.1086606467379787,0.71338606911949],"aabb_xy":[[0.5866314267821823,-0.14720641779416738],[0.6637228124325844,-0.07011487568179005]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_29","position":[-0.5544129038756224,0.482021598079315,0.71338606911949],"aabb_xy":[[-0.5590480190278556,0.47815426300216624],[-0.5497777887233889,0.48588893315646353]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_30","position":[0.1038134870467946,-1.4349065808496229,0.71338606911949],"aabb_xy":[[0.09848097239218162,-1.4402309090948584],[0.10914600170140759,-1.4295822526043873]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_31","position":[-0.3948127265241874,-1.5919413104339113,0.71338606911949],"aabb_xy":[[-0.4588127267846582,-1.636950109786839],[-0.33081272626371655,-1.546932511080983]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_32","position":[0.5108497036267949,-1.781853295371897,0.71338606911949],"aabb_xy":[[0.48584970369427705,-1.7887359635928202],[0.5358497035593128,-1.7749706271509735]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_33","position":[-0.05546607837013384,-2.4649652157681534,0.71338606911949],"aabb_xy":[[-0.06309034646031209,-2.472598439304697],[-0.047841810279955606,-2.4573319922316097]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_34","position":[-0.4033806751767024,1.1875744286301297,0.71338606911949],"aabb_xy":[[-0.4398764958039811,1.1510904862033722],[-0.3668848545494236,1.2240583710568873]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6924250844142017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7303.png","name":"7303"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7303.png","name":"7303"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1526.png","name":"1526"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8453.png","name":"8453"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7342.png","name":"7342"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5268.png","name":"5268"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":782.445080369934,"rotation_z_degrees":251.13784786173775,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003981487435061583,-0.006734860546537385,0.014851056360455386]},{"name":"camera_2","offset_m":[-0.0016801243763436974,0.019561534156872635,-0.007529792977258882]},{"name":"camera_3","offset_m":[0.01743149254284401,-0.0031942493159334805,0.002718724465496737]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.924593958980362e-05,-0.0007372237537791296,-0.0018183420253181928],"end_effector_yaw_offset_degrees":-0.009013864677407168},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017962384900742344,-0.0004890713694783559,0.0008467932050242252],"end_effector_yaw_offset_degrees":-0.9907838035410339},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014783987726737866,0.0012217580772212818,-0.0016172879518074384],"end_effector_yaw_offset_degrees":0.457929528885471},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016671088042177389,-0.001613064890020619,-0.0016339393749436484],"end_effector_yaw_offset_degrees":-0.09794076986323863}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003721044128542246,-0.0013742124335040652],"position_m":[0.2792721044128542,-0.11907421243350406,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00470777904065172,-0.0028459039175380463],"position_m":[0.22179222095934828,-0.41204590391753804,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020228830509064896,-0.002013210714729483],"position_m":[0.3546228830509065,0.06398678928527052,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004059814714949218,0.0003846948147289706],"position_m":[0.3417940185285051,0.324284694814729,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"715f3db2e9ad2d420f15ff135f089f62e8d28724514140e4f0f57de809662f5a","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0059.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7303/tex_ceiling_textures_5268/tex_floor_textures_7342/tex_table_textures_1526/tex_wall_textures_8453","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7708069788430059454,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7708069788430059454,"visual_seed":7708069788430059454,"scene_id":"lab_003","finished_at":"2026-09-05T03:39:54"}
+{"episode_id":"ep_000049","started_at":"2026-09-05T03:39:57","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.2905199798567731,-1.3063795918632626,0.71338606911949],"aabb_xy":[[-0.3605199762667348,-1.3268175275149439],[-0.22051998344681126,-1.2859416562115804]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.3013575919060445,0.2133429814358987,0.71338606911949],"aabb_xy":[[-0.3713575952976064,0.1780272077324678],[-0.2313575885144825,0.24865875513932953]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.03288841958294675,-1.569478221098706,0.71338606911949],"aabb_xy":[[-0.1028884222195331,-1.5895830860945714],[0.0371115830536396,-1.5493733561028404]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.5164570136822179,-1.003155935349722,0.71338606911949],"aabb_xy":[[-0.5625421049369493,-1.067155932602277],[-0.47037192242748643,-0.9391559380971669]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.26758914987130056,-0.6321796599961744,0.71338606911949],"aabb_xy":[[0.2305550404432408,-0.6665568673298838],[0.30462325929936024,-0.597802452662465]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[0.1597343139987656,1.316083765473047,0.71338606911949],"aabb_xy":[[0.10963685001769194,1.2520837649632355],[0.20983177797983918,1.380083765982859]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[0.09548014485501433,1.7018125197092586,0.71338606911949],"aabb_xy":[[0.0608890620009691,1.6368125194242276],[0.13007122770905952,1.7668125199942897]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[-0.5892191291637385,1.6084392177116524,0.71338606911949],"aabb_xy":[[-0.639192423166999,1.5584392171571049],[-0.5392458351604781,1.6584392182661996]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.5082870265988565,-0.7283843822201048,0.71338606911949],"aabb_xy":[[-0.572282723993953,-0.7923843805208134],[-0.4442913292037598,-0.664384383919396]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.6353299399413523,-1.3210913455963655,0.71338606911949],"aabb_xy":[[0.6177832450252334,-1.3585913471606168],[0.6528766348574713,-1.2835913440321143]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[-0.4776385765894743,-0.497961853782662,0.71338606911949],"aabb_xy":[[-0.5426385775899747,-0.5487482189373368],[-0.4126385755889737,-0.44717548862798695]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.07932270443556388,1.213888747585394,0.71338606911949],"aabb_xy":[[-0.10716774121617102,1.1831042488470822],[-0.051477667654956774,1.2446732463237056]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.6172779249659373,0.8172117280402755,0.71338606911949],"aabb_xy":[[0.5672949747784579,0.767211728397715],[0.6672608751534166,0.8672117276828358]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[-0.2553220468223609,1.1171946801620765,0.71338606911949],"aabb_xy":[[-0.27782204706587627,1.1049900455023045],[-0.23282204657884548,1.1293993148218484]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[0.32025593162116617,-2.2293328266757912,0.71338606911949],"aabb_xy":[[0.27508461377299726,-2.2933328238203297],[0.3654272494693352,-2.165332829531253]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.061092582438137644,-0.9747797775438882,0.71338606911949],"aabb_xy":[[0.05384881639189231,-1.0547797757474906],[0.06833634848438297,-0.8947797793402859]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[0.10497267291885837,-1.9038477828962366,0.71338606911949],"aabb_xy":[[0.02497267075609587,-1.9838029665223802],[0.18497267508162085,-1.823892599270093]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.3530948008942032,1.0497420663482329,0.71338606911949],"aabb_xy":[[0.3285485852714524,1.0194931697991956],[0.37764101651695386,1.0799909628972697]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.4220113707152826,-2.3125403291567657,0.71338606911949],"aabb_xy":[[0.4133134084245673,-2.3246653034642404],[0.4307093330059979,-2.300415354849291]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.2051718839503125,1.489746370192282,0.71338606911949],"aabb_xy":[[0.19636982864133978,1.4819350440373524],[0.2139739392592852,1.4975576963472106]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[-0.6033486066473484,0.6967772125497067,0.71338606911949],"aabb_xy":[[-0.6147103413006345,0.6854087461434186],[-0.5919868719940622,0.7081456789559948]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[0.5473931788575692,1.024847865452748,0.71338606911949],"aabb_xy":[[0.5238080553936744,0.9598478632073162],[0.5709783023214641,1.0898478676981798]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.3952220046740211,1.5520530948522757,0.71338606911949],"aabb_xy":[[-0.4592220032605935,1.5050461314527668],[-0.33122200608744856,1.5990600582517842]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[0.5982977037783723,0.626825180080417,0.71338606911949],"aabb_xy":[[0.5791853964203935,0.607690401203175],[0.6174100111363512,0.645959958957659]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.3168044564941941,1.3556307818409445,0.71338606911949],"aabb_xy":[[0.25280445320448597,1.312295862837027],[0.3808044597839022,1.3989657008448622]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_25","position":[-0.26043056502819883,0.7368830806422655,0.71338606911949],"aabb_xy":[[-0.3104236771373907,0.6868830799680699],[-0.21043745291900695,0.7868830813164612]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[0.5021717251599211,-1.1811763803435964,0.71338606911949],"aabb_xy":[[0.49133124693340624,-1.198362661634245],[0.513012203386436,-1.1639900990529477]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[0.02183185687208855,0.9177596748295507,0.71338606911949],"aabb_xy":[[0.018391180632031375,0.9138982418551863],[0.025272533112145723,0.9216211078039153]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915362066562716,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1862.png","name":"1862"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1862.png","name":"1862"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8768.png","name":"8768"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8690.png","name":"8690"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7598.png","name":"7598"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2152.png","name":"2152"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":584.1971784422993,"rotation_z_degrees":228.9165680122322,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015700461245615718,-0.00356794110645867,0.008315729629517876]},{"name":"camera_2","offset_m":[-0.008737379782314933,0.017495484014263648,-0.0136311541008395]},{"name":"camera_3","offset_m":[0.01049494420699056,-0.0005528165224637678,0.01618090862435245]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007015526213418389,0.0012092742825693622,-0.0005461460480981999],"end_effector_yaw_offset_degrees":0.9637376177518275},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013658189497184972,-0.0017227183282953393,0.001274285805958278],"end_effector_yaw_offset_degrees":-0.08716518910739013},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007850335315191135,-0.00025340605658723627,0.0016295603984239093],"end_effector_yaw_offset_degrees":0.9733096741095904},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00041726180355067645,0.0007166917980909598,0.0017095459902253685],"end_effector_yaw_offset_degrees":-0.847244538484754}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015869767176637075,-0.0037659931976595394],"position_m":[0.2804869767176637,-0.12146599319765954,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000554336188286023,0.0028542175549073684],"position_m":[0.225945663811714,-0.4063457824450926,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005119687627565669,0.002779272144289583],"position_m":[0.35208803123724347,0.06877927214428958,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00278196666823707,0.002951606527946374],"position_m":[0.33941803333176296,0.32685160652794637,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f0b6f7a215d155f09091d1f57648a0a544a2d263c913a11ac2ddfca94eb68f0c","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1862/tex_ceiling_textures_2152/tex_floor_textures_7598/tex_table_textures_8768/tex_wall_textures_8690","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1403861300971858886,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1403861300971858886,"visual_seed":1403861300971858886,"scene_id":"lab_003","finished_at":"2026-09-05T03:43:35"}
+{"episode_id":"ep_000050","started_at":"2026-09-05T03:45:56","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.353585736567694,1.4676891448602238,0.71338606911949],"aabb_xy":[[0.2735857379108079,1.4531842859359614],[0.43358573522457994,1.4821940037844872]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[-0.6114598517352207,1.2411686152658308,0.71338606911949],"aabb_xy":[[-0.6418579628343641,1.210761713264161],[-0.581061740636077,1.2715755172675]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.021863169158120033,-2.491890731583914,0.71338606911949],"aabb_xy":[[-0.1118631688812942,-2.5149640841190934],[0.06813683056505414,-2.4688173790487338]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[-0.1219699235351902,-1.5821580670569835,0.71338606911949],"aabb_xy":[[-0.15946992403254845,-1.5861267506051018],[-0.08446992303783195,-1.5781893835088652]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.4945588453844796,-0.5797531423813385,0.71338606911949],"aabb_xy":[[0.43055884895715774,-0.626922766203435],[0.5585588418118015,-0.5325835185592421]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.3305082406714972,-0.7068414082866898,0.71338606911949],"aabb_xy":[[0.3224719059702123,-0.7148795275911066],[0.338544575372782,-0.6988032889822731]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[-0.1092162936419041,-0.40883107518380335,0.71338606911949],"aabb_xy":[[-0.12676298855802304,-0.4463310767480546],[-0.09166959872578517,-0.3713310736195521]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[-0.1752618644464562,1.0419758363993843,0.71338606911949],"aabb_xy":[[-0.2352618650424724,0.9871633638541608],[-0.11526186385044004,1.0967883089446078]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[-0.4991751279320017,-1.0750279389132729,0.71338606911949],"aabb_xy":[[-0.5216715493658657,-1.0975279387200203],[-0.47667870649813754,-1.0525279391065254]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.6367484536036914,-0.4773168365808389,0.71338606911949],"aabb_xy":[[-0.6513918591577244,-0.4919755562376232],[-0.6221050480496584,-0.4626581169240546]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.038937457004177056,1.655519743238775,0.71338606911949],"aabb_xy":[[-0.0518093605051172,1.575519742824939],[-0.02606555350323692,1.7355197436526113]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.3710178336297991,-1.2456755275259994,0.71338606911949],"aabb_xy":[[0.3566834085036357,-1.2577357430805383],[0.38535225875596263,-1.2336153119714606]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[-0.5261436461095683,1.4584663104045323,0.71338606911949],"aabb_xy":[[-0.546427948832967,1.4381836852618233],[-0.5058593433861694,1.478748935547241]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_13","position":[-0.4360574119730575,0.1881537217970446,0.71338606911949],"aabb_xy":[[-0.4573354201165297,0.1231537194709715],[-0.4147794038295852,0.25315372412311765]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.23566608244645904,-1.5562210531108058,0.71338606911949],"aabb_xy":[[0.22957145455834072,-1.5647904476624745],[0.24176071033457736,-1.5476516585591371]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[0.5907859066479935,-1.6336304259378533,0.71338606911949],"aabb_xy":[[0.5644970823275527,-1.6599018595925044],[0.617074730968434,-1.607358992283202]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.02759083835033882,-1.657805625140962,0.71338606911949],"aabb_xy":[[-0.009909161755254131,-1.6646277869939434],[0.06509083845593176,-1.6509834632879812]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.3567636000114133,-1.5388054979243795,0.71338606911949],"aabb_xy":[[-0.39053915920210625,-1.5528439931375444],[-0.3229880408207203,-1.5247670027112146]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.4067879962260079,-1.076850328544997,0.71338606911949],"aabb_xy":[[0.35179574559049703,-1.13185033028831],[0.461780246861519,-1.0218503268016845]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[0.2962840660573256,1.0708150297550736,0.71338606911949],"aabb_xy":[[0.2921482097246254,1.0333150303107168],[0.3004199223900258,1.1083150291994308]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[-0.3026329700874819,-0.6578839921639048,0.71338606911949],"aabb_xy":[[-0.3676329686445547,-0.6876365255777874],[-0.23763297153040902,-0.6281314587500222]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[0.2989904835096795,1.7381472434160128,0.71338606911949],"aabb_xy":[[0.2518611045078437,1.6741472423716104],[0.34611986251151505,1.8021472444604143]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[-0.6252409302921189,1.0575493995526828,0.71338606911949],"aabb_xy":[[-0.6892409306696525,1.0078041327018705],[-0.5612409299145853,1.107294666403495]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.5812816009016147,0.36326160053438583,0.71338606911949],"aabb_xy":[[-0.6065024377614543,0.33803784968149897],[-0.556060764041775,0.38848535138727247]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_24","position":[0.6927328733809757,-0.5009045372801539,0.71338606911949],"aabb_xy":[[0.6694510311828442,-0.5859045385773819],[0.7160147155791069,-0.4159045359829258]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[-0.3364008441236767,-0.9583173608645983,0.71338606911949],"aabb_xy":[[-0.34581831869353946,-0.9677335380023172],[-0.32698336955381396,-0.9489011837268791]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[0.3939902206722574,0.5450112582325191,0.71338606911949],"aabb_xy":[[0.3039902241713856,0.49909961581406087],[0.4839902171731291,0.5909229006509773]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_27","position":[0.4203842406573468,-2.2830694479694356,0.71338606911949],"aabb_xy":[[0.3353842422399236,-2.3679437434317205],[0.50538423907477,-2.1981951525071506]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_28","position":[-0.3049496877148703,-1.9685043149271606,0.71338606911949],"aabb_xy":[[-0.3549446986743223,-2.0185043139627528],[-0.2549546767554183,-1.9185043158915693]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_29","position":[-0.3162304019248574,1.2448440825591724,0.71338606911949],"aabb_xy":[[-0.3537304022170322,1.240802607158569],[-0.2787304016326826,1.248885557959776]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[-0.6529109675881971,-0.6567868136641204,0.71338606911949],"aabb_xy":[[-0.6899450770162567,-0.6911640209978298],[-0.6158768581601373,-0.622409606330411]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_31","position":[-0.06240439870445569,-0.7135024788092761,0.71338606911949],"aabb_xy":[[-0.06631827189987821,-0.7222514942158328],[-0.05849052550903317,-0.7047534634027192]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_32","position":[0.06262883545955633,-1.3559902622259747,0.71338606911949],"aabb_xy":[[0.057729543152992835,-1.3836671815285433],[0.06752812776611983,-1.3283133429234057]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_33","position":[0.14776120969083362,-2.1073251693428245,0.71338606911949],"aabb_xy":[[0.09778379282558002,-2.1573251708320726],[0.19773862655608718,-2.0573251678535756]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933321387822893,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5816.png","name":"5816"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5816.png","name":"5816"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4146.png","name":"4146"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6780.png","name":"6780"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2598.png","name":"2598"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3128.png","name":"3128"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":751.8066161648201,"rotation_z_degrees":231.4660016262889,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017613852647271406,0.014409645117292317,-0.019971690137890345]},{"name":"camera_2","offset_m":[-0.012203111143861927,0.0012645519352960446,-0.003217371017040817]},{"name":"camera_3","offset_m":[0.019685267929236517,-0.01887065058082105,-0.011207881786426102]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012683553733721731,-0.0006264611244889981,0.001902204331166374],"end_effector_yaw_offset_degrees":0.1272496761200652},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010326142729117668,-0.0007275528305630079,-0.0009084761843542095],"end_effector_yaw_offset_degrees":0.44512685058040535},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001309260054078732,-0.00042395964632827715,-0.00047344255966898533],"end_effector_yaw_offset_degrees":0.12966243228718777},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018030700039403903,0.00021444931766072825,6.773489370362745e-05],"end_effector_yaw_offset_degrees":-0.5222261655733889}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024080139571091893,0.002021916497767254],"position_m":[0.2813080139571092,-0.11567808350223274,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004987061615909785,-0.002183336930732691],"position_m":[0.2314870616159098,-0.4113833369307327,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004395731661640048,-0.0005005394431787311],"position_m":[0.34820426833836,0.06549946055682127,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025163052407990126,-0.003223674791631226],"position_m":[0.344716305240799,0.3206763252083688,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8f28b84ac9ae51826fb1e98f7dc1037442e7619f1299354fd452ebeba08e1871","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5816/tex_ceiling_textures_3128/tex_floor_textures_2598/tex_table_textures_4146/tex_wall_textures_6780","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6326559925853293057,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6326559925853293057,"visual_seed":6326559925853293057,"scene_id":"lab_003","finished_at":"2026-09-05T03:49:20"}
+{"episode_id":"ep_000051","started_at":"2026-09-05T03:49:24","dimensions":{"distractor":{"count":30,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.360599374274287,1.1294853690529618,0.71338606911949],"aabb_xy":[[0.2705993748559161,1.096109872208772],[0.4505993736926579,1.1628608658971515]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[-0.29768466571722113,1.7633260344116546,0.71338606911949],"aabb_xy":[[-0.3201846657273694,1.749229814772051],[-0.27518466570707284,1.7774222540512576]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[0.2937930730391368,-0.9627292711752751,0.71338606911949],"aabb_xy":[[0.25699843991423055,-0.9996351462718573],[0.3305877061640431,-0.9258233960786928]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.5281071651464433,1.1407627530790765,0.71338606911949],"aabb_xy":[[0.5106071658683564,1.1234246530127303],[0.5456071644245302,1.1581008531454222]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.579694270975196,-0.5482163047561905,0.71338606911949],"aabb_xy":[[0.5578045233862552,-0.6382163020454396],[0.6015840185641368,-0.45821630746694136]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[0.3487540545984147,0.6690658039204425,0.71338606911949],"aabb_xy":[[0.2987609424892228,0.6190658032462469],[0.3987471667076066,0.7190658045946382]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.07582839679335351,-2.0009507991668207,0.71338606911949],"aabb_xy":[[0.06641092222349075,-2.0103669763045398],[0.08524587136321625,-1.9915346220291017]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[0.6221979285554633,-2.305506022944372,0.71338606911949],"aabb_xy":[[0.6168603528894588,-2.3305060238735122],[0.627535504221468,-2.2805060220152327]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[0.47901956812138047,1.368872410899559,0.71338606911949],"aabb_xy":[[0.4290366179339011,1.318872411256998],[0.5290025183088597,1.4188724105421189]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.6387190698969145,-2.1150384183246227,0.71338606911949],"aabb_xy":[[0.5787190693008983,-2.169850890869846],[0.6987190704929307,-2.060225945779399]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.5997230098289976,-0.42412506361399815,0.71338606911949],"aabb_xy":[[-0.6797230069885728,-0.4356726645718152],[-0.5197230126694222,-0.4125774626561811]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[-0.6444465920150062,1.3127415028047147,0.71338606911949],"aabb_xy":[[-0.655287070241521,1.2955552215140658],[-0.6336061137884912,1.3299277840953632]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.6310656293269545,0.6438933178698676,0.71338606911949],"aabb_xy":[[-0.6610331862367801,0.613893317571982],[-0.6010980724171288,0.6738933181677534]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[0.5197679153716441,-1.0990031355711163,0.71338606911949],"aabb_xy":[[0.4736828241169127,-1.1630031328236714],[0.5658530066263756,-1.0350031383185612]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.2484489174891379,-1.5285958268766162,0.71338606911949],"aabb_xy":[[-0.28291126488727963,-1.5630897092744387],[-0.21398657009099606,-1.4941019444787933]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[-0.13225162539369162,-2.0593003877300737,0.71338606911949],"aabb_xy":[[-0.16656790256830956,-2.1093003877032515],[-0.09793534821907368,-2.009300387756896]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[-0.610394283600137,0.45613563677426683,0.71338606911949],"aabb_xy":[[-0.6653865342356481,0.4011356350309541],[-0.5554020329646262,0.5111356385175796]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[-0.14316905472819963,0.9349357657592923,0.71338606911949],"aabb_xy":[[-0.20475981395219248,0.8709357676502455],[-0.08157829550420684,0.9989357638683393]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[-0.2985166775394976,-1.9965865941826695,0.71338606911949],"aabb_xy":[[-0.3039746231765177,-2.0765865974903286],[-0.29305873190247755,-1.9165865908750104]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.0008212923261619043,-2.404129649112982,0.71338606911949],"aabb_xy":[[-0.06317870972357009,-2.44422413220229],[0.0648212943758939,-2.3640351660236743]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_20","position":[-0.5648725154072924,-1.3602371096674912,0.71338606911949],"aabb_xy":[[-0.6101511302884417,-1.424237109015675],[-0.5195939005261432,-1.2962371103193076]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[0.042216105874236964,-0.7409386069922752,0.71338606911949],"aabb_xy":[[0.0011981624878660835,-0.7909386076232325],[0.08323404926060785,-0.6909386063613179]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[-0.12831255538984665,1.7396186145058699,0.71338606911949],"aabb_xy":[[-0.20831255681997385,1.6601014594932604],[-0.04831255395971945,1.8191357695184793]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[-0.2154342672352369,-0.0468929443482784,0.71338606911949],"aabb_xy":[[-0.2336400908964846,-0.057918344930270045],[-0.19722844357398925,-0.035867543766286765]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.4888197931449507,-1.7456750093877282,0.71338606911949],"aabb_xy":[[-0.4997255692325134,-1.8256750057865572],[-0.47791401705738795,-1.6656750129888989]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[0.17014857181164178,-1.1672921495438418,0.71338606911949],"aabb_xy":[[0.12017115494638818,-1.2172921510330899],[0.22012598867689534,-1.1172921480545928]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[0.3957275743172517,-2.520607044319187,0.71338606911949],"aabb_xy":[[0.359814069892262,-2.5565205525359413],[0.4316410787422414,-2.484693536102432]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.07423166073950294,-1.033084154731014,0.71338606911949],"aabb_xy":[[-0.13823166144297228,-1.0791025372039351],[-0.010231660036033584,-0.9870657722580931]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[0.3049171255686185,1.80348621393212,0.71338606911949],"aabb_xy":[[0.2943496459105195,1.7929411838191114],[0.3154846052267175,1.8140312440451285]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_29","position":[0.2364578366392548,-1.7296699774362803,0.71338606911949],"aabb_xy":[[0.1724578342964532,-1.7746108286804128],[0.3004578389820563,-1.6847291261921478]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950926472618653,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7543.png","name":"7543"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7543.png","name":"7543"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/482.png","name":"482"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8541.png","name":"8541"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5589.png","name":"5589"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7111.png","name":"7111"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":836.2440433420095,"rotation_z_degrees":259.5825597114192,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009362934421940711,-0.013717349734744935,0.011727093156215191]},{"name":"camera_2","offset_m":[-0.0027118276852051426,-0.013052213723236412,-0.010708077909190025]},{"name":"camera_3","offset_m":[-0.001993535420632405,0.0017418684427833939,0.0035890337008878774]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001799349400695465,-0.0013873685778251362,0.0017196458691919264],"end_effector_yaw_offset_degrees":0.6038568696701971},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010283247073801182,0.00018553692654433435,0.0006146002474994314],"end_effector_yaw_offset_degrees":0.45859732846574097},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009182716687642766,-0.0007415668647248787,-0.001550980034900003],"end_effector_yaw_offset_degrees":-0.44947758443222563},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015483606463331176,0.0010027191696342767,0.001041306367577923],"end_effector_yaw_offset_degrees":-0.9877165427628116}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003136426258562028,-0.002409280805719544],"position_m":[0.282036426258562,-0.12010928080571955,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003679170858163422,0.004464477190711572],"position_m":[0.23017917085816342,-0.40473552280928843,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008085951931709641,-0.004884928895961351],"position_m":[0.3517914048068291,0.06111507110403865,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019648949030406718,0.0016076911037522434],"position_m":[0.3441648949030407,0.3255076911037523,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c3e82e2059b3d09d4aedc67ad84b056b1eeed4461beae572e0ba3dffeb143e5e","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0063.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7543/tex_ceiling_textures_7111/tex_floor_textures_5589/tex_table_textures_482/tex_wall_textures_8541","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6809623581646140342,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6809623581646140342,"visual_seed":6809623581646140342,"scene_id":"lab_003","finished_at":"2026-09-05T03:52:54"}
+{"episode_id":"ep_000052","started_at":"2026-09-05T03:55:20","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.047983708649741996,-1.3693946924634777,0.71338606911949],"aabb_xy":[[-0.05669767769967648,-1.3918946931226657],[-0.0392697395998075,-1.3468946918042892]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.5831990947809222,0.24149909433087346,0.71338606911949],"aabb_xy":[[-0.6471990939506921,0.19473240721191099],[-0.5191990956111522,0.28826578144983594]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[-0.32909672292429776,0.43395563058267195,0.71338606911949],"aabb_xy":[[-0.37909672428518504,0.3839777260072564],[-0.2790967215634106,0.4839335351580876]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.6168762924620992,-1.5353902106564075,0.71338606911949],"aabb_xy":[[0.6098348415113517,-1.5424169623942021],[0.6239177434128469,-1.5283634589186132]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[0.6030945747188281,0.11915661089469021,0.71338606911949],"aabb_xy":[[0.5958333271484206,0.10636960063118071],[0.6103558222892356,0.1319436211581997]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.06669930067479635,1.6686260936307833,0.71338606911949],"aabb_xy":[[0.029199299882800886,1.6622582526725929],[0.10419930146679178,1.6749939345889733]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.23908600187979262,-0.7926253530111371,0.71338606911949],"aabb_xy":[[-0.24398529418635606,-0.8203022723137058],[-0.23418670957322907,-0.7649484337085682]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.6240636903858556,0.2901470405751181,0.71338606911949],"aabb_xy":[[0.6058578667246078,0.2791216399931265],[0.6422695140471032,0.3011724411571098]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[0.3856842474347697,1.1030551532138064,0.71338606911949],"aabb_xy":[[0.3730815482976932,1.0904597569889407],[0.3982869465718461,1.1156505494386717]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[0.3831420620267436,0.8903475839251773,0.71338606911949],"aabb_xy":[[0.3191420649146379,0.8413152141307667],[0.4471420591388493,0.9393799537195879]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.2052103794986564,0.7540406366690631,0.71338606911949],"aabb_xy":[[-0.2228860100872547,0.7363604203896602],[-0.18753474891005803,0.7717208529484657]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[-0.08137437473643416,0.7889534922099943,0.71338606911949],"aabb_xy":[[-0.13637437293817897,0.7484315255835567],[-0.026374376534689322,0.8294754588364319]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.2219650554855615,1.3727924984593756,0.71338606911949],"aabb_xy":[[-0.2719650571470562,1.3227940562036726],[-0.17196505382406668,1.422790940715078]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[0.5047072116486986,-0.9385845433764612,0.71338606911949],"aabb_xy":[[0.4569010440349298,-1.00358454608352],[0.5525133792624671,-0.873584540669402]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.5961725899650002,0.9789239857012331,0.71338606911949],"aabb_xy":[[-0.6461725909841355,0.9424577699634054],[-0.546172588945865,1.0153902014390612]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[-0.5749743148858351,0.4549587399617341,0.71338606911949],"aabb_xy":[[-0.5790902649979076,0.4508431849288886],[-0.5708583647737623,0.4590742949945796]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[-0.49756664195518324,-0.08754746054514184,0.71338606911949],"aabb_xy":[[-0.5343612750800893,-0.12445333564172412],[-0.46077200883027686,-0.05064158544855957]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[0.1941505514624231,0.8173262592558332,0.71338606911949],"aabb_xy":[[0.1301505495500808,0.7614151099978228],[0.25815055337476545,0.8732374085138437]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.18595487938235233,-2.360475099623566,0.71338606911949],"aabb_xy":[[-0.26595488081247953,-2.4399922546361754],[-0.10595487795222513,-2.2809579446109565]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[-0.5998819882175823,1.1098190241326247,0.71338606911949],"aabb_xy":[[-0.6898819868120523,1.0935684378192039],[-0.5098819896231124,1.126069610446046]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[0.013182306426308021,-1.1813463120722754,0.71338606911949],"aabb_xy":[[-0.001461099127724963,-1.1960050317290594],[0.027825711980341006,-1.166687592415491]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[0.6941465252740306,1.6941802151741219,0.71338606911949],"aabb_xy":[[0.6806999986399873,1.6807103635210303],[0.707593051908074,1.707650066827213]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.5311492583644537,-2.1268382713459584,0.71338606911949],"aabb_xy":[[0.49655817551040843,-2.191838271630989],[0.5657403412184988,-2.061838271060927]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[-0.5822767127757686,-2.393053006622756,0.71338606911949],"aabb_xy":[[-0.6044492397524195,-2.415228673778879],[-0.5601041857991178,-2.3708773394666327]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[-0.2604480264052139,-1.977272318083446,0.71338606911949],"aabb_xy":[[-0.2890973587656301,-2.0059178773605217],[-0.23179869404479764,-1.9486267588063702]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6953944167075391,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/926.png","name":"926"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/926.png","name":"926"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3539.png","name":"3539"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/490.png","name":"490"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9283.png","name":"9283"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/94.png","name":"94"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":743.7284912606314,"rotation_z_degrees":208.65015192387568,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018130001940627204,0.007443733216818536,-0.008351694909095694]},{"name":"camera_2","offset_m":[0.010818342274889897,0.0011044081861869386,0.00010182098750053867]},{"name":"camera_3","offset_m":[0.01760867715758457,0.014442564631419161,0.012205340833128745]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017433365474858837,-0.0007658128465353902,-0.0014066554170030264],"end_effector_yaw_offset_degrees":0.5199936584761671},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001604279321525007,6.421093158791519e-05,-0.0015172312097642177],"end_effector_yaw_offset_degrees":0.5977523250198997},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012853236359076326,0.00032866047596260975,-0.0006304768499999724],"end_effector_yaw_offset_degrees":0.5115763322572284},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00023435562801736674,-0.00044678576486840743,0.0002748755723269163],"end_effector_yaw_offset_degrees":0.7509735001694224}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013584113348106188,-0.004126691387936965],"position_m":[0.27754158866518935,-0.12182669138793696,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018512912387547843,-0.0004532295474475286],"position_m":[0.22464870876124524,-0.40965322954744754,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038306904285726976,0.004966979757744845],"position_m":[0.3487693095714273,0.07096697975774485,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002457973502167682,0.0013213972190291622],"position_m":[0.3446579735021677,0.3252213972190292,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a4500c63e311b0f524d32c66a89d3698a3c79a16a127f4b5ab3f98ae6fa64ae5","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_926/tex_ceiling_textures_94/tex_floor_textures_9283/tex_table_textures_3539/tex_wall_textures_490","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3764509893387123515,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3764509893387123515,"visual_seed":3764509893387123515,"scene_id":"lab_003","finished_at":"2026-09-05T03:58:47"}
+{"episode_id":"ep_000053","started_at":"2026-09-05T03:58:51","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.5135243509207703,1.6394753664868609,0.71338606911949],"aabb_xy":[[0.49602441748678683,1.621975366566626],[0.5310242843547536,1.6569753664070952]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_1","position":[0.6775621561832768,-2.3756802713789313,0.71338606911949],"aabb_xy":[[0.666789182261909,-2.4106802695979708],[0.6883351301046445,-2.340680273159893]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.5242059124494811,-1.6823128139036378,0.71338606911949],"aabb_xy":[[-0.5592059115794368,-1.688058034979302],[-0.48920591331952545,-1.6765675928279737]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.38311089283032795,1.259383626364075,0.71338606911949],"aabb_xy":[[0.3606117571041009,1.236883625585812],[0.40561002855655487,1.281883627142338]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[-0.3106029578614031,1.4277762667599379,0.71338606911949],"aabb_xy":[[-0.33188096600487527,1.3627762644338646],[-0.28932494971793077,1.4927762690860107]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[0.006459175015852803,-1.5079897675068954,0.71338606911949],"aabb_xy":[[-0.058540825984647715,-1.5587761326615703],[0.07145917601635332,-1.4572034023522205]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[0.6103806602945703,1.3616807449913537,0.71338606911949],"aabb_xy":[[0.6043436472939056,1.3556540439224056],[0.616417673295235,1.3677074460603018]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.1455191980043995,1.745146773337796,0.71338606911949],"aabb_xy":[[-0.210519200642193,1.6936671746383494],[-0.08051919536660604,1.7966263720372433]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[0.6706455868311672,0.4533371936800723,0.71338606911949],"aabb_xy":[[0.6555432853701488,0.43823567204901037],[0.685747888292185,0.468438715311134]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.48624316211781027,0.9038731726858571,0.71338606911949],"aabb_xy":[[-0.5237431624099851,0.8998316972852535],[-0.44874316182563545,0.9079146480864607]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[-0.22481895125029278,0.48687006944482825,0.71338606911949],"aabb_xy":[[-0.23360017839752903,0.4780903221562982],[-0.21603772410305658,0.4956498167333585]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.3128638120830964,-1.1122629814310014,0.71338606911949],"aabb_xy":[[-0.3407088488637035,-1.1430474801693131],[-0.28501877530248926,-1.0814784826926898]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.5206873817569548,0.13532577244677713,0.71338606911949],"aabb_xy":[[0.509781605669392,0.055325776047947944],[0.5315931578445174,0.21532576884560625]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[-0.3936381371328163,1.085267419293681,0.71338606911949],"aabb_xy":[[-0.430133957760095,1.0487834768669235],[-0.3571423165055375,1.1217513617204387]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[0.15525567232883197,-1.7529838414821426,0.71338606911949],"aabb_xy":[[0.12025567235233614,-1.7624484575297592],[0.1902556723053278,-1.743519225434526]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_15","position":[0.464120042883875,0.8350760211109809,0.71338606911949],"aabb_xy":[[0.41463962166991625,0.7710760231981292],[0.5136004640978338,0.8990760190238328]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[0.49386915646553864,0.6652003918054841,0.71338606911949],"aabb_xy":[[0.4298691572957687,0.6184337046865216],[0.5578691556353086,0.7119670789244466]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.556614035648491,-0.019708259828573826,0.71338606911949],"aabb_xy":[[-0.5811602512712417,-0.04995715637761089],[-0.5320678200257403,0.010540636720463232]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[-0.5418324953621818,-2.4156726776973727,0.71338606911949],"aabb_xy":[[-0.5457929791319163,-2.4233405422828933],[-0.5378720115924476,-2.408004813111852]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[0.07618614729612483,-2.09362539096657,0.71338606911949],"aabb_xy":[[-0.003807676282433378,-2.1736253935594116],[0.15617997087468305,-2.0136253883737285]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.2098575213874857,0.614556294931003,0.71338606911949],"aabb_xy":[[-0.24415443240522633,0.5802594087210616],[-0.17556061036974507,0.6488531811409443]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[0.49676966504241804,-1.5602334023937932,0.71338606911949],"aabb_xy":[[0.4880556959924835,-1.5827334030529812],[0.5054836340923524,-1.5377334017346047]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[0.5323968960188752,1.2371523110682863,0.71338606911949],"aabb_xy":[[0.501249977175292,1.1671523123814793],[0.5635438148624582,1.3071523097550937]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.17827981033695184,-1.6069358347823255,0.71338606911949],"aabb_xy":[[-0.1823579682440016,-1.611016815030589],[-0.17420165242990213,-1.6028548545340624]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[0.41112192663508296,-2.2909415145415433,0.71338606911949],"aabb_xy":[[0.32112192430106395,-2.3684238691266564],[0.501121928969102,-2.213459159956431]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_25","position":[-0.097671302239418,0.3312610418117119,0.71338606911949],"aabb_xy":[[-0.10696492047656858,0.293761043323578],[-0.08837768400226742,0.3687610402998458]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[0.551198047760455,-1.1645106040863886,0.71338606911949],"aabb_xy":[[0.5161980485676366,-1.1754776500840511],[0.5861980469532732,-1.1535435580887257]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_27","position":[0.39712858319639466,-1.1632913991701495,0.71338606911949],"aabb_xy":[[0.34712858183550743,-1.213269303745565],[0.4471285845572819,-1.1133134945947338]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_28","position":[-0.18304018066184502,-0.7692737971332297,0.71338606911949],"aabb_xy":[[-0.22054017923746583,-0.7820100927967877],[-0.1455401820862242,-0.7565375014696718]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_29","position":[0.2713422334256348,1.480326891732394,0.71338606911949],"aabb_xy":[[0.25366660283703646,1.462646675452991],[0.28901786401423313,1.4980071080117965]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_30","position":[-0.421070102441078,-2.4439943841067366,0.71338606911949],"aabb_xy":[[-0.4910701040433575,-2.457427177308394],[-0.3510701008387985,-2.430561590905079]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_31","position":[0.23968955747105192,-1.1874077397538363,0.71338606911949],"aabb_xy":[[0.18980686059335575,-1.237407739000111],[0.2895722543487481,-1.1374077405075615]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_32","position":[-0.4590571680599847,1.2905981813598166,0.71338606911949],"aabb_xy":[[-0.467184856253298,1.2816845729491089],[-0.45092947986667153,1.2995117897705244]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_33","position":[-0.5474903551132773,1.7454194781907408,0.71338606911949],"aabb_xy":[[-0.5538024546496156,1.739652538937522],[-0.5411782555769389,1.7511864174439598]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_34","position":[-0.27749246220608753,-0.2377636333382558,0.71338606911949],"aabb_xy":[[-0.3414924594917362,-0.27927035229109975],[-0.21349246492043888,-0.1962569143854118]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931983749325681,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1896.png","name":"1896"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1896.png","name":"1896"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8602.png","name":"8602"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7326.png","name":"7326"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6239.png","name":"6239"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8458.png","name":"8458"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":508.153886565382,"rotation_z_degrees":7.801241495829201,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005879297081212686,-0.0077183990420104775,-0.014255373964859208]},{"name":"camera_2","offset_m":[0.011281801949109816,-0.010078375695970561,-0.009986272370624607]},{"name":"camera_3","offset_m":[0.01920383594781337,-0.018612953039975417,-0.008120731551974973]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007455825594674774,0.0002706053994472714,-0.000753856262191746],"end_effector_yaw_offset_degrees":0.9681315336905998},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006122105153596575,0.0017635355611955684,0.0013827851965449306],"end_effector_yaw_offset_degrees":-0.41702087545017164},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.535576207442354e-05,-0.0008704647214532511,0.0003052589301687208],"end_effector_yaw_offset_degrees":0.9438578940517968},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009958929207635628,-0.0002035072728756187,-8.264053769396415e-05],"end_effector_yaw_offset_degrees":-0.5881222462193179}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002581122993475813,-0.0024648004887044364],"position_m":[0.2814811229934758,-0.12016480048870444,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001228020430075723,0.001397126828977923],"position_m":[0.22637719795699243,-0.4078028731710221,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010127066203590666,0.0021458884195156925],"position_m":[0.35158729337964095,0.0681458884195157,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005186457819416571,0.00029104702749081866],"position_m":[0.34271864578194167,0.32419104702749085,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e857b64508b9bab60129a078212d1f3724a67ef10ad397751c6f09ea58c4e760","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1896/tex_ceiling_textures_8458/tex_floor_textures_6239/tex_table_textures_8602/tex_wall_textures_7326","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":6303007672105781169,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":6303007672105781169,"visual_seed":6303007672105781169,"scene_id":"lab_003","finished_at":"2026-09-05T04:01:54"}
+{"episode_id":"ep_000054","started_at":"2026-09-05T04:01:58","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.12385168607376906,1.1066310937768167,0.71338606911949],"aabb_xy":[[0.04385168911072988,1.0295554521330432],[0.20385168303680823,1.1837067354205901]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.37878036280293703,0.6210461154497464,0.71338606911949],"aabb_xy":[[-0.41378036199575524,0.6100790694520836],[-0.3437803636101187,0.6320131614474088]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.6438289990461874,-1.051217426020918,0.71338606911949],"aabb_xy":[[-0.6724783314066035,-1.0798629852979937],[-0.6151796666857711,-1.0225718667438422]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.6673606612488197,-0.021592277307223906,0.71338606911949],"aabb_xy":[[-0.6898597969750467,-0.04409227808548688],[-0.6448615255225928,0.000907723471039068]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.20467166983570784,-1.1753823683744742,0.71338606911949],"aabb_xy":[[0.14308091061171505,-1.2393823664835215],[0.26626242905970066,-1.1113823702654277]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.3920105684700672,-1.8340353365068829,0.71338606911949],"aabb_xy":[[0.3832293413228311,-1.8428150837954136],[0.40079179561730355,-1.825255589218353]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.6961326811670121,-2.1594858964489463,0.71338606911949],"aabb_xy":[[0.6835299820299358,-2.1720812926738122],[0.7087353803040887,-2.1468905002240812]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[0.5896406740527382,-0.7573209473972795,0.71338606911949],"aabb_xy":[[0.4999535977446228,-0.8473209476517302],[0.6793277503608537,-0.6673209471428291]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.15898153600988063,-0.7900680961544635,0.71338606911949],"aabb_xy":[[0.12194742658182092,-0.8244453034881728],[0.19601564543794034,-0.755690888820754]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[-0.3027362874075722,-1.7522193318373414,0.71338606911949],"aabb_xy":[[-0.3827362845671474,-1.7637669327951582],[-0.22273629024799685,-1.740671730879524]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_10","position":[0.40712637453568457,1.5486612438416771,0.71338606911949],"aabb_xy":[[0.3951936401738565,1.5362790910338175],[0.41905910889751263,1.5610433966495363]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[0.4650721680804395,-2.5259963273851973,0.71338606911949],"aabb_xy":[[0.41007216987869466,-2.5665182940116344],[0.5200721662821843,-2.4854743607587593]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[-0.5420194107620475,-0.7732772088439255,0.71338606911949],"aabb_xy":[[-0.5500627706880027,-0.8582772099392919],[-0.5339760508360923,-0.688277207748559]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[-0.5825440414728418,0.25291215090146846,0.71338606911949],"aabb_xy":[[-0.6238485845365778,0.18891215133335137],[-0.5412394984091058,0.31691215046958554]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[0.30469666334453815,-0.7872378028018057,0.71338606911949],"aabb_xy":[[0.2497011855238787,-0.8422378042357126],[0.3596921411651975,-0.7322378013678987]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.5869741145612697,-1.136572054179289,0.71338606911949],"aabb_xy":[[0.5694741143019332,-1.1506635963680616],[0.6044741148206064,-1.1224805119905163]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.2828375885736158,-2.3101812556249586,0.71338606911949],"aabb_xy":[[-0.2876811833348458,-2.3150329081039427],[-0.2779939938123859,-2.3053296031459745]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.2705277858132555,1.4401473943583443,0.71338606911949],"aabb_xy":[[-0.2792417548631899,1.4176473936991558],[-0.26181381676332094,1.4626473950175323]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.177921310820077,0.06825799616907213,0.71338606911949],"aabb_xy":[[-0.1839583238207418,0.06223129510012394],[-0.17188429781941233,0.07428469723802035]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[0.27203613086171086,-2.1760728362395962,0.71338606911949],"aabb_xy":[[0.25940934357451445,-2.185618909941169],[0.28466291814890715,-2.1665267625380227]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[-0.16367367320620008,1.4401558624619537,0.71338606911949],"aabb_xy":[[-0.17108612874758855,1.4343046520403258],[-0.1562612176648116,1.4460070728835817]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[0.5938339464340738,-0.43910447190987645,0.71338606911949],"aabb_xy":[[0.5288339437962803,-0.4905840706093234],[0.6588339490718673,-0.3876248732104295]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[0.666352950062767,-1.4611133571249586,0.71338606911949],"aabb_xy":[[0.6520185249366035,-1.4731735726794974],[0.6806873751889304,-1.4490531415704198]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[0.09894043438960787,-1.3971927028871,0.71338606911949],"aabb_xy":[[0.04895748420212851,-1.4471927025296603],[0.14892338457708715,-1.3471927032445394]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[0.41304314574570355,0.9181177763244603,0.71338606911949],"aabb_xy":[[0.3330493221671454,0.8381177737316188],[0.49303696932426183,0.9981177789173019]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[-0.3613666415758966,-0.21538071973328643,0.71338606911949],"aabb_xy":[[-0.3693929122065226,-0.22413221471063907],[-0.3533403709452706,-0.20662922475593384]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_26","position":[0.3347892535860917,-2.022581113631849,0.71338606911949],"aabb_xy":[[0.292604839425261,-2.08658111390906],[0.3769736677469225,-1.9585811133546378]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_27","position":[0.13067272141001818,-2.022833133224146,0.71338606911949],"aabb_xy":[[0.0506727243957702,-2.042967684897557],[0.21067271842426616,-2.002698581550734]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_28","position":[0.08953339067168797,1.5317168652540016,0.71338606911949],"aabb_xy":[[0.05523647965394735,1.49741997904406],[0.1238303016894286,1.5660137514639427]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_29","position":[-0.0424587540689203,-1.831056680584521,0.71338606911949],"aabb_xy":[[-0.06251716568216059,-1.8511217674936786],[-0.022400342455680004,-1.8109915936753638]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_30","position":[0.4405907957400126,0.6273626222722841,0.71338606911949],"aabb_xy":[[0.42238497207876496,0.6163372216902925],[0.4587966194012603,0.6383880228542758]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_31","position":[0.207807987977775,1.7081470561885213,0.71338606911949],"aabb_xy":[[0.12780798690465467,1.6983690098511366],[0.28780798905089533,1.7179251025259055]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_32","position":[-0.53371676455318,1.0793090305322366,0.71338606911949],"aabb_xy":[[-0.5687167659046617,1.0589492945754155],[-0.4987167632016983,1.0996687664890572]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_33","position":[0.18634008224140808,-2.4385812028805165,0.71338606911949],"aabb_xy":[[0.12234007895169997,-2.4819161218844337],[0.2503400855311162,-2.3952462838765984]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6895414332430586,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9215.png","name":"9215"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9215.png","name":"9215"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8635.png","name":"8635"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/817.png","name":"817"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6475.png","name":"6475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3333.png","name":"3333"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":845.6035268670614,"rotation_z_degrees":276.8101121081112,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0051777045211677045,0.0015245594765038242,0.01310352804697518]},{"name":"camera_2","offset_m":[-0.012609923152487164,-0.005809677378770629,-0.013406978605561566]},{"name":"camera_3","offset_m":[0.007031401013084294,0.0034466930210132196,0.001719078327457088]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00012685027335411188,0.0011030709639596034,-0.00016414651620084444],"end_effector_yaw_offset_degrees":0.9830891030647289},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000909405692130306,0.0007511906265523223,-0.0010654147845118975],"end_effector_yaw_offset_degrees":-0.11149974308921284},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004871596758278143,0.0017828887227225587,0.0006660056199477475],"end_effector_yaw_offset_degrees":-0.6209120758367166},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015532839159990088,-0.0010966376365340253,0.0019738937931694624],"end_effector_yaw_offset_degrees":-0.7540058100489391}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004100367723938422,-0.004643562623513283],"position_m":[0.2747996322760616,-0.12234356262351329,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004315577624715359,-0.0015041136951596968],"position_m":[0.23081557762471536,-0.4107041136951597,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015884761407484516,-0.004108235439983054],"position_m":[0.35101152385925155,0.06189176456001695,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004126711939733811,-0.003367580882060001],"position_m":[0.3380732880602662,0.32053241911794,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"05386d572a0c063a3c8dfa2a5df12644c8974d2405684fefd6877704e5e547c7","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0067.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9215/tex_ceiling_textures_3333/tex_floor_textures_6475/tex_table_textures_8635/tex_wall_textures_817","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4567717128423377828,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4567717128423377828,"visual_seed":4567717128423377828,"scene_id":"lab_003","finished_at":"2026-09-05T04:05:13"}
+{"episode_id":"ep_000055","started_at":"2026-09-05T04:05:17","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[0.23178326987899878,-1.488382752091632,0.71338606911949],"aabb_xy":[[0.22453950383275342,-1.5683827502952343],[0.23902703592524407,-1.4083827538880296]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[0.46954813947272833,-1.1562630959424083,0.71338606911949],"aabb_xy":[[0.40954813861191547,-1.2076895259488942],[0.529548140333541,-1.1048366659359214]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[0.6047755343837149,-0.22727048084086166,0.71338606911949],"aabb_xy":[[0.5858911506152047,-0.24615640562121446],[0.6236599181522251,-0.2083845560605089]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[-0.4458389116070444,0.35490524945850455,0.71338606911949],"aabb_xy":[[-0.45661188552841225,0.3199052512394655],[-0.4350659376856767,0.3899052476775435]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[0.44924535036014435,0.7637098140473211,0.71338606911949],"aabb_xy":[[0.3992453509199487,0.7137418895630047],[0.49924534980033997,0.8136777385316373]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[0.5838734055753787,-1.4243982141046043,0.71338606911949],"aabb_xy":[[0.49387340324135964,-1.5018805686897172],[0.6738734079093978,-1.3469158595194919]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.05050481197184764,0.1442552095749381,0.71338606911949],"aabb_xy":[[-0.08800481054746845,0.13151891391138015],[-0.013004813396226838,0.15699150523849603]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.4267404649993065,-1.5152674705484332,0.71338606911949],"aabb_xy":[[0.40668205338606617,-1.5353325574575905],[0.44679887661254675,-1.4952023836392756]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.38130222643977385,1.3826007037152341,0.71338606911949],"aabb_xy":[[0.34275653361457276,1.3440549326590454],[0.41984791926497483,1.4211464747714229]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[0.020735689159810833,-1.0548510677448832,0.71338606911949],"aabb_xy":[[-0.06426430953226381,-1.086836931139762],[0.10573568785188547,-1.0228652043500044]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.6447451187228568,0.9328265863390799,0.71338606911949],"aabb_xy":[[0.6312985920888136,0.9193567346859887],[0.6581916453569002,0.9462964379921711]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.46520805280859867,-2.5500876091300326,0.71338606911949],"aabb_xy":[[0.45642682566136256,-2.5588673564185633],[0.473989279955835,-2.541307861841503]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[0.05380752011294654,1.5357216847617194,0.71338606911949],"aabb_xy":[[-0.010192478473625921,1.4887147213622105],[0.117807518699519,1.582728648161228]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[-0.3631569695046478,0.8721590569936128,0.71338606911949],"aabb_xy":[[-0.42715696879881604,0.8081729166247587],[-0.2991569702104796,0.936145197362467]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[-0.5305136990969559,1.4240827573358001,0.71338606911949],"aabb_xy":[[-0.5905136993483571,1.3698014322993353],[-0.4705136988455547,1.4783640823722646]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.03693860737416732,1.4238409739325184,0.71338606911949],"aabb_xy":[[-0.04435106291555579,1.4179897635108907],[-0.02952615183277884,1.4296921843541466]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[-0.3509074503070709,0.2823051737657818,0.71338606911949],"aabb_xy":[[-0.3734074505505862,0.27010053910600984],[-0.32840745006355543,0.29450980842555374]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[0.02168965513534915,0.9171042392240745,0.71338606911949],"aabb_xy":[[-0.028309620033087016,0.8671042379481274],[0.07168893030378531,0.9671042405000218]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.4600139823687748,0.5814649269765737,0.71338606911949],"aabb_xy":[[0.4421448746143192,0.5676320189993627],[0.4778830901232302,0.5952978349537845]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[0.653309555688995,1.5142304858620768,0.71338606911949],"aabb_xy":[[0.6468957420458098,1.5078206656144082],[0.6597233693321797,1.5206403061097449]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[-0.5900633953202616,1.1614562876657626,0.71338606911949],"aabb_xy":[[-0.5935040715603189,1.1575948546913981],[-0.5866227190802046,1.165317720640127]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.22475320939534382,1.026082888227319,0.71338606911949],"aabb_xy":[[-0.2887532126139817,0.9793597763283106],[-0.16075320617670597,1.0728060001263273]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[0.1623279283207799,-0.7760750752287797,0.71338606911949],"aabb_xy":[[0.11232792796021383,-0.8260550624383826],[0.21232792868134595,-0.7260950880191767]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_23","position":[-0.6245339146001991,-2.230926985002895,0.71338606911949],"aabb_xy":[[-0.6326616027935125,-2.239840593413603],[-0.616406226406886,-2.2220133765921877]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[0.04965107679448755,-1.4236218527364162,0.71338606911949],"aabb_xy":[[0.0018449091807188965,-1.488621855443475],[0.09745724440825618,-1.358621850029357]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.051990922375726,-2.104453149246393,0.71338606911949],"aabb_xy":[[-0.11599092307919537,-2.150471531719314],[0.012009078327743342,-2.058434766773472]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_26","position":[-0.585591753774087,-1.3927625179202376,0.71338606911949],"aabb_xy":[[-0.5932160218642653,-1.4003957414567816],[-0.5779674856839088,-1.3851292943836941]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_27","position":[0.4386536231166944,-1.8866533288678595,0.71338606911949],"aabb_xy":[[0.37465362285622356,-1.9316621282207873],[0.5026536233771651,-1.8416445295149313]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_28","position":[-0.35810175859451515,-0.14101778347890015,0.71338606911949],"aabb_xy":[[-0.3750124910308568,-0.15448998907151465],[-0.34119102615817326,-0.1275455778862856]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_29","position":[-0.5607491877053454,-2.103585275307489,0.71338606911949],"aabb_xy":[[-0.6107491872816802,-2.153565854259595],[-0.5107491881290107,-2.053604696355383]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_30","position":[0.6449196742282193,1.3221223759264444,0.71338606911949],"aabb_xy":[[0.5749196778182573,1.3016844402747623],[0.7149196706381808,1.3425603115781257]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_31","position":[-0.33700786508709224,-1.2246401190479872,0.71338606911949],"aabb_xy":[[-0.36084408272769736,-1.3146401198564737],[-0.31317164744648723,-1.1346401182395007]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_32","position":[0.31218352428420704,-1.5616026387203403,0.71338606911949],"aabb_xy":[[0.3028899060470564,-1.5991026372084742],[0.32147714252135756,-1.5241026402322064]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_33","position":[0.3495802418319438,1.0840908700354328,0.71338606911949],"aabb_xy":[[0.3377081588204427,0.9990908703417825],[0.3614523248434449,1.1690908697290832]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6927174878319626,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6334.png","name":"6334"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6334.png","name":"6334"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/265.png","name":"265"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9767.png","name":"9767"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6341.png","name":"6341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5834.png","name":"5834"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":542.829966420258,"rotation_z_degrees":10.193553729984615,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010960846794428852,-0.0033716585280808113,-0.006673041112752487]},{"name":"camera_2","offset_m":[0.00987618564868804,0.010032896827640941,-0.012051060517908798]},{"name":"camera_3","offset_m":[-0.00032395881957155565,-0.01022770805787399,-0.0014925967707786238]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014059919096192945,0.0019788949197955645,-0.0010755172459634141],"end_effector_yaw_offset_degrees":0.6615184493778823},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006708824203754513,-0.0005118123406788041,8.958710220374451e-05],"end_effector_yaw_offset_degrees":0.03979301053387885},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008894750291877909,0.001038863441205574,0.001925091928743146],"end_effector_yaw_offset_degrees":0.28328969029354534},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013786572386768779,0.0009920313411485417,0.0013448279083971277],"end_effector_yaw_offset_degrees":-0.7730551259906113}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004748222331346971,0.0024789137871220465],"position_m":[0.28364822233134696,-0.11522108621287795,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023063049662271316,0.0016080958038091429],"position_m":[0.22880630496622714,-0.40759190419619085,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024060730408370246,0.002608887220542683],"position_m":[0.35500607304083703,0.06860888722054269,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001540275983211312,0.0031354817273325846],"position_m":[0.3406597240167887,0.3270354817273326,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8c50a721fc2ebb2972637a2e7be5da4aedebc72bcaa9d613ee8f81d1062a7713","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6334/tex_ceiling_textures_5834/tex_floor_textures_6341/tex_table_textures_265/tex_wall_textures_9767","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2485101559275149813,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2485101559275149813,"visual_seed":2485101559275149813,"scene_id":"lab_003","finished_at":"2026-09-05T04:08:43"}
+{"episode_id":"ep_000056","started_at":"2026-09-05T04:08:47","dimensions":{"distractor":{"count":29,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[-0.3942898616074621,-1.942038354859017,0.71338606911949],"aabb_xy":[[-0.4317898623994575,-1.9484061958172072],[-0.3567898608154666,-1.9356705139008268]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[-0.6595478180959328,0.8407133698788081,0.71338606911949],"aabb_xy":[[-0.6693038076051067,0.8309508358195735],[-0.6497918285867589,0.8504759039380424]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.2897865910801998,-2.2361785886191377,0.71338606911949],"aabb_xy":[[0.19978659166182883,-2.269554085463327],[0.3797865904985706,-2.2028030917749475]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.49166492907847403,1.3041438330612252,0.71338606911949],"aabb_xy":[[0.4541649278936812,1.2997256103651642],[0.5291649302632667,1.3085620557572852]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.5889004079689482,-1.1991895107592596,0.71338606911949],"aabb_xy":[[0.5664004077254329,-1.2113941454190316],[0.6114004082124637,-1.1869848760994877]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.11888935953713387,-0.15250001300799365,0.71338606911949],"aabb_xy":[[-0.14388935946965178,-0.15938268122891697],[-0.093889359604616,-0.14561734478707034]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[0.2594412593674231,-1.8976025546700555,0.71338606911949],"aabb_xy":[[0.2099608381534644,-1.961602552582907],[0.308921680581382,-1.8336025567572034]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[0.424006714958169,1.1372585126714427,0.71338606911949],"aabb_xy":[[0.4152927459082344,1.114758512012254],[0.4327206840081034,1.1597585133306305]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[-0.3042933253597756,-1.5809332498858604,0.71338606911949],"aabb_xy":[[-0.374293327168521,-1.6022870186500477],[-0.2342933235510301,-1.559579481121673]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.04680485142936819,-2.2217487628195993,0.71338606911949],"aabb_xy":[[-0.07728910155639834,-2.2717487626010953],[-0.016320601302338034,-2.1717487630381034]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[-0.3530845168127452,0.6202323803071987,0.71338606911949],"aabb_xy":[[-0.38958033744002396,0.5837484378804411],[-0.3165886961854665,0.6567163227339562]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.5018465425901797,1.6978700180464883,0.71338606911949],"aabb_xy":[[0.47319721022976335,1.6692244587694123],[0.5304958749505958,1.7265155773235639]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.3723646028830198,0.19599833772918585,0.71338606911949],"aabb_xy":[[-0.4363646021771881,0.13201219736033162],[-0.30836460358885165,0.25998447809804004]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[0.26657470904797176,-1.197741410901583,0.71338606911949],"aabb_xy":[[0.1865747104606523,-1.2770570128397436],[0.34657470763529113,-1.1184258089634218]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.26375703766115005,-1.4070677977487618,0.71338606911949],"aabb_xy":[[-0.33375704105271203,-1.4423835714521924],[-0.1937570342695881,-1.3717520240453307]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[0.4773995868775873,-0.9259428279769282,0.71338606911949],"aabb_xy":[[0.4591937632163397,-0.9369682285589199],[0.49560541053883506,-0.9149174273949366]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.2609852792088465,1.3912595579416354,0.71338606911949],"aabb_xy":[[0.20598528003225702,1.3362698831666775],[0.315985278385436,1.4462492327165928]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[0.4766206913900468,-1.4466495316717158,0.71338606911949],"aabb_xy":[[0.3966206881260336,-1.460209563980629],[0.5566206946540599,-1.4330894993628023]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[-0.06912679475005112,1.4727159052807273,0.71338606911949],"aabb_xy":[[-0.0916267945639535,1.4682412889102465],[-0.04662679493614874,1.477190521651208]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[-0.23085447986052526,0.7863876101063414,0.71338606911949],"aabb_xy":[[-0.28848494874779607,0.7263876111796308],[-0.17322401097325438,0.8463876090330519]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.4987671525704827,-1.137792282107524,0.71338606911949],"aabb_xy":[[-0.5043488242046114,-1.1502922819252994],[-0.4931854809363539,-1.1252922822897484]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.26558465867939235,-2.5699009310115346,0.71338606911949],"aabb_xy":[[-0.28345376643384784,-2.5837338389887456],[-0.24771555092493686,-2.5560680230343236]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.6237520742540292,0.4385891674428848,0.71338606911949],"aabb_xy":[[0.5597520738764956,0.38884390059207247],[0.6877520746315628,0.488334434293697]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[-0.15930181897003415,-0.3324482328770868,0.71338606911949],"aabb_xy":[[-0.2064311979718698,-0.39644823392148865],[-0.11217243996819845,-0.26844823183268474]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[0.4190199705918536,-1.5294830874578884,0.71338606911949],"aabb_xy":[[0.34901996846042393,-1.5522450530835838],[0.489019972723283,-1.5067211218321925]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[0.18431435880370417,1.7246460602523936,0.71338606911949],"aabb_xy":[[0.14681435863183218,1.6919453248694865],[0.22181435897557605,1.7573467956353008]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[0.6440968954495068,0.03733295318203522,0.71338606911949],"aabb_xy":[[0.6274197594564112,0.020633029208104947],[0.6607740314426022,0.0540328771559655]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_27","position":[-0.14896241156263124,1.7687904041564813,0.71338606911949],"aabb_xy":[[-0.1989398284278848,1.7187904026672325],[-0.09898499469737763,1.8187904056457296]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_28","position":[-0.0833433889142241,-1.1510230355292959,0.71338606911949],"aabb_xy":[[-0.11925689333921378,-1.1869365437460502],[-0.04742988448923442,-1.115109527312541]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6967502952519208,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4197.png","name":"4197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4197.png","name":"4197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2753.png","name":"2753"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8648.png","name":"8648"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/124.png","name":"124"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7307.png","name":"7307"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":674.8383695832974,"rotation_z_degrees":241.6969476000731,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0019337078844284226,-0.004934784422155251,-0.013081956626677386]},{"name":"camera_2","offset_m":[0.016746670628853228,0.018233988524637226,-0.0029152968008430598]},{"name":"camera_3","offset_m":[0.00013110971962695256,0.003749936695105257,0.005147714827677931]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00027667310744916357,-0.0002741296009252502,0.0008178012246997796],"end_effector_yaw_offset_degrees":-0.5749225507165203},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00050130676624812,-0.001729067863910403,0.0003547199122103115],"end_effector_yaw_offset_degrees":-0.5513599492781389},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00013987180963964674,-0.0008738199180882234,-0.0016216005376767139],"end_effector_yaw_offset_degrees":-0.9503200497453812},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005582427752626052,0.0017368431372954928,0.001384964441252766],"end_effector_yaw_offset_degrees":0.4372627598040739}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002521839720991693,-3.0631988156108736e-05],"position_m":[0.28142183972099166,-0.11773063198815611,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027262537538790934,-0.004697928804874596],"position_m":[0.22377374624612092,-0.4138979288048746,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011831897623946876,-0.003987899843495336],"position_m":[0.3537831897623947,0.06201210015650467,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003080344935674539,0.003041979358711695],"position_m":[0.34528034493567455,0.3269419793587117,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"11561766617858fe1885772240d9f3fdce073415bd1ee141506c62da801f48a3","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4197/tex_ceiling_textures_7307/tex_floor_textures_124/tex_table_textures_2753/tex_wall_textures_8648","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4885442305866731977,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4885442305866731977,"visual_seed":4885442305866731977,"scene_id":"lab_003","finished_at":"2026-09-05T04:12:13"}
+{"episode_id":"ep_000057","started_at":"2026-09-05T04:12:19","dimensions":{"distractor":{"count":31,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.09910117883314162,1.1546471639482316,0.71338606911949],"aabb_xy":[[-0.11197308233408178,1.0746471635343953],[-0.0862292753322015,1.2346471643620676]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.6332774647262713,0.7862852005097922,0.71338606911949],"aabb_xy":[[0.6236458285058417,0.7766478877300832],[0.642909100946701,0.795922513289501]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.13065994110566814,1.0097255961432179,0.71338606911949],"aabb_xy":[[-0.21065994217878847,0.9999475498058332],[-0.05065994003254781,1.019503642480602]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_3","position":[-0.27531314745562485,-0.9940121207856569,0.71338606911949],"aabb_xy":[[-0.33031314663221434,-1.0490017955606148],[-0.22031314827903536,-0.9390224460106994]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[0.7030532016236042,0.8109456464762115,0.71338606911949],"aabb_xy":[[0.6912850148289468,0.7259456465709899],[0.7148213884182618,0.8959456463814331]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[-0.26062982728177286,0.7584027576964405,0.71338606911949],"aabb_xy":[[-0.3033965341611931,0.694402754274638],[-0.21786312040235273,0.822402761118243]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[-0.3421286246124313,1.3143837218546972,0.71338606911949],"aabb_xy":[[-0.3725267357115749,1.2839768198530275],[-0.31173051351328773,1.3447906238563665]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[0.29591342014353283,-1.2635240113580097,0.71338606911949],"aabb_xy":[[0.2359134198921316,-1.317805336394474],[0.35591342039493395,-1.2092426863215446]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.2869177277729785,-1.97258685836595,0.71338606911949],"aabb_xy":[[-0.2913483571278187,-1.9780352301006325],[-0.28248709841813835,-1.9671384866312676]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_9","position":[-0.4150016437891499,-0.24746658036912006,0.71338606911949],"aabb_xy":[[-0.48000164234622267,-0.2772191137830027],[-0.350001645232077,-0.21771404695523744]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[0.4825955235973316,0.4642999285320677,0.71338606911949],"aabb_xy":[[0.3925955199204133,0.4028675219549632],[0.5725955272742497,0.5257323351091719]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[0.07606665809023949,-1.7182601244940097,0.71338606911949],"aabb_xy":[[0.03856665798464653,-1.7250822863469908],[0.11356665819583243,-1.7114379626410285]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[0.4932313676337847,-1.3520614622386946,0.71338606911949],"aabb_xy":[[0.4806045803465884,-1.3616075359402675],[0.5058581549209811,-1.3425153885371217]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[0.3580016913407995,-1.3941643005962463,0.71338606911949],"aabb_xy":[[0.34050169206271264,-1.4115024006625922],[0.3755016906188864,-1.3768262005299003]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[0.4022189949267052,0.801212837054559,0.71338606911949],"aabb_xy":[[0.38975163681696956,0.7887475124212356],[0.41468635303644086,0.8136781616878827]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.4555286611779501,-2.2956861723119455,0.71338606911949],"aabb_xy":[[0.37552865791393697,-2.309246204620859],[0.5355286644419632,-2.282126140003032]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[0.485818761115147,-1.537050292660751,0.71338606911949],"aabb_xy":[[0.4608187619495138,-1.5440025383661076],[0.5108187602807801,-1.5300980469553944]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[0.12348237531484851,-2.2765384484071625,0.71338606911949],"aabb_xy":[[0.05948237390685785,-2.3283273999310867],[0.18748237672283918,-2.2247494968832373]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[0.36958969936222763,1.470949753580951,0.71338606911949],"aabb_xy":[[0.31959486643428603,1.4209497546857077],[0.41958453229016923,1.5209497524761948]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[-0.6484641109771491,-1.5707429598257336,0.71338606911949],"aabb_xy":[[-0.6592370848985168,-1.6057429580447726],[-0.6376911370557813,-1.5357429616066947]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.008836510224135008,-0.3966142301875579,0.71338606911949],"aabb_xy":[[-0.01646077831431325,-0.40424745372410176],[-0.001212242133956763,-0.3889810066510143]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[0.2778426518399496,1.5968226729881354,0.71338606911949],"aabb_xy":[[0.24440247664392997,1.563379047157205],[0.31128282703596916,1.6302662988190653]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[-0.40529834286475375,-0.13293201330741988,0.71338606911949],"aabb_xy":[[-0.4852983433349698,-0.14124272092176826],[-0.32529834239453786,-0.1246213056930715]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[0.008435871914984516,1.4258491345177178,0.71338606911949],"aabb_xy":[[0.0035922771537545434,1.4209974820387339],[0.013279466676214493,1.4307007869967021]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.6410921074213838,-2.0781745183357336,0.71338606911949],"aabb_xy":[[-0.6519978835089465,-2.1581745147345623],[-0.6301863313338211,-1.998174521936904]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[-0.34045675361246275,-1.3351296383762623,0.71338606911949],"aabb_xy":[[-0.39045675225838394,-1.3850491820357247],[-0.29045675496654155,-1.2852100947168]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[0.4401302768708024,1.0015422249063541,0.71338606911949],"aabb_xy":[[0.3851302772490566,0.9465585321188816],[0.49513027649254826,1.056525917693827]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[-0.5412126067449323,1.013221248303715,0.71338606911949],"aabb_xy":[[-0.6212126100027753,0.9332247405117311],[-0.46121260348708937,1.093217756095699]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_28","position":[0.6417118281806995,-1.6457309349772196,0.71338606911949],"aabb_xy":[[0.596719241462249,-1.6907309342516683],[0.6867044148991498,-1.6007309357027708]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[0.6234276269132424,-2.0511300373328694,0.71338606911949],"aabb_xy":[[0.5694120306313423,-2.115130040225126],[0.6774432231951423,-1.9871300344406118]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_30","position":[0.47789021224246575,1.749409414775156,0.71338606911949],"aabb_xy":[[0.47084876129171815,1.7423826630373613],[0.48493166319321335,1.7564361665129502]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6927319342249335,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/926.png","name":"926"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/926.png","name":"926"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5516.png","name":"5516"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/415.png","name":"415"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3017.png","name":"3017"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4583.png","name":"4583"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":557.8301563745107,"rotation_z_degrees":352.6253283776321,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006439329654993662,0.01445863305369011,-0.0017780735644894498]},{"name":"camera_2","offset_m":[0.01871953612400302,-0.01648670087388935,-0.01666286814519573]},{"name":"camera_3","offset_m":[-0.019823652287165518,0.01033407246506958,0.0023752206516378695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009582189312237074,-0.0007898531882288911,0.0010540308994213673],"end_effector_yaw_offset_degrees":0.41991136052860467},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019604542417138724,2.52026881778695e-05,0.0012838661819477232],"end_effector_yaw_offset_degrees":0.12251731961900258},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00039224987359823206,-0.0016016908448836086,0.0018331133162200978],"end_effector_yaw_offset_degrees":0.4078278200404375},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009063146451417322,0.0015681178381594025,0.00044137250817148643],"end_effector_yaw_offset_degrees":0.4934411195001758}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004277610480655132,-0.0044481439747812235],"position_m":[0.27462238951934487,-0.12214814397478123,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000602580264587523,-0.0019144148302759467],"position_m":[0.22710258026458752,-0.41111441483027594,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002084557048951522,0.0012561059518138651],"position_m":[0.35051544295104853,0.06725610595181387,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016507249675551698,-0.002862919618283255],"position_m":[0.3438507249675552,0.32103708038171674,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ead3880844f816a788bbc54787b97a48a2f2b18b4eb0bce1a6d3cd9bc897ddde","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0070.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_926/tex_ceiling_textures_4583/tex_floor_textures_3017/tex_table_textures_5516/tex_wall_textures_415","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4065476851725958810,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4065476851725958810,"visual_seed":4065476851725958810,"scene_id":"lab_003","finished_at":"2026-09-05T04:16:16"}
+{"episode_id":"ep_000058","started_at":"2026-09-05T04:16:20","dimensions":{"distractor":{"count":29,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.5369887018898336,-1.1341345274549732,0.71338606911949],"aabb_xy":[[-0.5744887004654543,-1.146870823118531],[-0.49948870331421275,-1.121398231791415]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[-0.35949294943517573,-1.3474760745786845,0.71338606911949],"aabb_xy":[[-0.3721197367223721,-1.3570221482802574],[-0.3468661621479794,-1.3379300008771116]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.631071757519813,-2.3085158197007,0.71338606911949],"aabb_xy":[[-0.6678663906447193,-2.3454216947972824],[-0.5942771243949068,-2.271609944604118]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_3","position":[0.2913121667502604,-0.5186436706313025,0.71338606911949],"aabb_xy":[[0.27125375513702016,-0.53870875754046],[0.31137057836350074,-0.4985785837221449]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[-0.08725291760182208,-0.6681315952864983,0.71338606911949],"aabb_xy":[[-0.12475291826640077,-0.6838186532867204],[-0.04975291693724337,-0.652444537286276]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[0.40574667797842445,-2.014768355058788,0.71338606911949],"aabb_xy":[[0.40178619420869005,-2.0224362196443084],[0.40970716174815874,-2.007100490473267]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[0.48827240092180935,-2.0299604553366146,0.71338606911949],"aabb_xy":[[0.470772401787442,-2.039840082374202],[0.5057724000561763,-2.0200808282990264]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.1794641387753475,-1.236303513821739,0.71338606911949],"aabb_xy":[[0.1421328622501049,-1.2709565686165913],[0.21679541530059016,-1.2016504590268868]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[0.48885791142396506,0.576910555533467,0.71338606911949],"aabb_xy":[[0.44783996803759424,0.5269105549025097],[0.5298758548103359,0.6269105561644244]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.593822839610209,-1.7842997815825972,0.71338606911949],"aabb_xy":[[-0.6738228381975283,-1.8636153835207583],[-0.5138228410228894,-1.7049841796444365]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[-0.068718295567338,-2.5261697606103453,0.71338606911949],"aabb_xy":[[-0.11871829722883274,-2.576168202866048],[-0.018718293905843227,-2.4761713183546425]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[0.5929242291947099,0.1850816411734164,0.71338606911949],"aabb_xy":[[0.5803215300576335,0.17248624494855094],[0.6055269283317865,0.19767703739828194]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.3374166094934956,-2.200312140413242,0.71338606911949],"aabb_xy":[[0.24741661275788535,-2.2534956037305367],[0.42741660622910577,-2.1471286770959477]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.48349750002260383,-2.138688275213368,0.71338606911949],"aabb_xy":[[-0.5333801969003001,-2.1886882744596425],[-0.43361480314490775,-2.088688275967093]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[-0.39116099977551505,0.9979926582514587,0.71338606911949],"aabb_xy":[[-0.4561609976571629,0.9468689945449178],[-0.32616100189386726,1.0491163219579995]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[0.6542901196828124,-0.423944960849008,0.71338606911949],"aabb_xy":[[0.6364210119283569,-0.4377778688262189],[0.6721592274372679,-0.41011205287179703]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.5001648415213336,0.9399531670560082,0.71338606911949],"aabb_xy":[[0.4913627862123609,0.9321418409010789],[0.5089668968303063,0.947764493210937]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[-0.18790028795117675,1.7478085820515425,0.71338606911949],"aabb_xy":[[-0.1939949158392951,1.7392391874998738],[-0.18180566006305846,1.7563779766032113]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[-0.025297406826487512,-2.081381465817464,0.71338606911949],"aabb_xy":[[-0.06279740711866233,-2.085422941218068],[0.012202593465687306,-2.0773399904168603]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_19","position":[-0.1716210267998035,-0.013398028872483536,0.71338606911949],"aabb_xy":[[-0.17506170303986068,-0.01725946184684802],[-0.16818035055974634,-0.009536595898119064]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_20","position":[-0.636050456743025,0.2286915440994166,0.71338606911949],"aabb_xy":[[-0.6537260873316233,0.2110113278200138],[-0.6183748261544266,0.2463717603788193]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[0.037436750780315164,1.457667969268274,0.71338606911949],"aabb_xy":[[0.032099175114310596,1.4326679683391341],[0.04277432644631973,1.4826679701974137]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.4323140988815686,1.397751036893025,0.71338606911949],"aabb_xy":[[0.4274148065750051,1.3700741175904563],[0.4372133911881321,1.4254279561955938]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.421172269709468,0.33809939016026336,0.71338606911949],"aabb_xy":[[0.3986585778860108,0.2680993895592558],[0.44368596153292517,0.40809939076127083]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_24","position":[-0.07790608241370867,-0.8658022494867281,0.71338606911949],"aabb_xy":[[-0.14190608158347862,-0.9125689366056906],[-0.013906083243938728,-0.8190355623677656]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[0.21322222117882972,-1.6815167197630823,0.71338606911949],"aabb_xy":[[0.20788970652421676,-1.6868410480083178],[0.21855473583344273,-1.6761923915178467]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_26","position":[-0.21156680637349973,-1.9318554381277333,0.71338606911949],"aabb_xy":[[-0.29156680963751286,-1.9454154704366462],[-0.1315668031094866,-1.9182954058188195]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[-0.6675915699109409,-1.3505182336741375,0.71338606911949],"aabb_xy":[[-0.672435164672171,-1.3553698861531216],[-0.6627479751497111,-1.3456665811951534]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_28","position":[-0.2438581890369952,-1.205446448151272,0.71338606911949],"aabb_xy":[[-0.24989520203765994,-1.2114731492202204],[-0.2378211760363305,-1.1994197470823238]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6896292489269374,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3337.png","name":"3337"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3337.png","name":"3337"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1764.png","name":"1764"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/205.png","name":"205"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3942.png","name":"3942"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5630.png","name":"5630"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":747.8255549986404,"rotation_z_degrees":45.34756113971425,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01343653956143049,0.008465496395076894,0.001023962762424252]},{"name":"camera_2","offset_m":[0.013217785014712453,0.008725756450872021,-0.005955080528508181]},{"name":"camera_3","offset_m":[0.013115768137056876,-0.001541743435253852,-0.01213421589611592]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010414630429250256,0.000120131387699343,-0.001760677208429347],"end_effector_yaw_offset_degrees":-0.5114868183917425},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000292254075502509,-0.000960770375884164,0.0011318474985700672],"end_effector_yaw_offset_degrees":0.7442989582391868},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015767314190134564,0.0018789273633041175,-0.0009080064748873946],"end_effector_yaw_offset_degrees":-0.3149001176374149},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001105511311569273,0.0015364318425783135,-0.0013672397123877843],"end_effector_yaw_offset_degrees":-0.18521750923793223}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0049980616850860875,-0.003450694315481455],"position_m":[0.2838980616850861,-0.12115069431548145,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002447084744978513,0.0011678974312570641],"position_m":[0.2240529152550215,-0.40803210256874295,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-3.8225750378372524e-05,-0.0023062314831051654],"position_m":[0.35256177424962165,0.06369376851689484,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023003041915424785,-0.0020136086423425104],"position_m":[0.3398996958084575,0.3218863913576575,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f97d23638f9b8a9660762eec9eed6d0b4395a942c34c910d36a8900b9e8c2f1","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3337/tex_ceiling_textures_5630/tex_floor_textures_3942/tex_table_textures_1764/tex_wall_textures_205","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7023405356722213276,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7023405356722213276,"visual_seed":7023405356722213276,"scene_id":"lab_003","finished_at":"2026-09-05T04:19:46"}
+{"episode_id":"ep_000059","started_at":"2026-09-05T04:22:22","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.5807778756358108,-1.490206072169686,0.71338606911949],"aabb_xy":[[0.5508103187259853,-1.5202060724675717],[0.6107454325456366,-1.4602060718718002]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[-0.2907563069131556,-1.6717132792254197,0.71338606911949],"aabb_xy":[[-0.2963379785472844,-1.6842132790431954],[-0.28517463527902687,-1.6592132794076444]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.2155559239741513,-2.364306120721194,0.71338606911949],"aabb_xy":[[-0.27955592040147326,-2.4114757445432904],[-0.15155592754682942,-2.3171364968990975]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.34034692245125364,-1.272943570694575,0.71338606911949],"aabb_xy":[[0.29034692380533245,-1.3228631143540373],[0.39034692109717484,-1.2230240270351125]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.6335627261913996,0.24951823554444186,0.71338606911949],"aabb_xy":[[0.6254350379980864,0.24060462713373423],[0.6416904143847129,0.2584318439551495]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[-0.41030520518603214,1.0016030440871275,0.71338606911949],"aabb_xy":[[-0.42618969845135724,0.9872501037883035],[-0.39442071192070693,1.0159559843859516]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[-0.6346525807607583,1.1156737584515772,0.71338606911949],"aabb_xy":[[-0.6517546587191264,1.0985669529203075],[-0.6175505028023901,1.132780563982847]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[0.6104385026701007,-1.3028066134259755,0.71338606911949],"aabb_xy":[[0.555438503048355,-1.3577903062134482],[0.6654385022918466,-1.2478229206385028]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[0.3616647932422328,-2.0904168864115698,0.71338606911949],"aabb_xy":[[0.33838295104410143,-2.1754168877087974],[0.3849466354403641,-2.0054168851143412]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[-0.16866106012317728,0.515023990457006,0.71338606911949],"aabb_xy":[[-0.2136536468416277,0.4700239911825572],[-0.12366847340472686,0.5600239897314547]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[-0.1880360893072618,0.7937760257425128,0.71338606911949],"aabb_xy":[[-0.20992583689620256,0.7037760284532636],[-0.16614634171832096,0.8837760230317618]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.2806768233299315,-2.0247141174162184,0.71338606911949],"aabb_xy":[[-0.3258481411781005,-2.088714114560757],[-0.23550550548176258,-1.96071412027168]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[0.1361350737092053,1.1936074506973644,0.71338606911949],"aabb_xy":[[0.046135075114735385,1.1773568643839434],[0.22613507230367527,1.2098580370107854]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.2489462868666129,1.5644641504612644,0.71338606911949],"aabb_xy":[[0.21463000969199497,1.5144641504880867],[0.28326256404123085,1.6144641504344421]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.5177242410839029,0.6522519890649936,0.71338606911949],"aabb_xy":[[-0.5817242434267045,0.6073111378208611],[-0.4537242387411014,0.6971928403091261]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[-0.18294806066046532,1.1231909317376005,0.71338606911949],"aabb_xy":[[-0.20653318412436017,1.0581909294921685],[-0.15936293719657046,1.188190933983032]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[-0.5222886463188497,1.2442813112646194,0.71338606911949],"aabb_xy":[[-0.5772623683551826,1.1892813117003862],[-0.46731492428251686,1.2992813108288526]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.16624075976378383,1.439051578423379,0.71338606911949],"aabb_xy":[[-0.17037661609648405,1.4015515789790223],[-0.16210490343108366,1.4765515778677363]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.1608278058845829,-2.2964984692326014,0.71338606911949],"aabb_xy":[[0.11134738467062413,-2.3604984671454536],[0.21030822709854172,-2.23249847131975]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[-0.6204440970773875,-1.014015274991902,0.71338606911949],"aabb_xy":[[-0.6780745659646582,-1.0740152739186124],[-0.5628136281901165,-0.9540152760651912]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[-0.6454294879649876,-0.00012324319209522372,0.71338606911949],"aabb_xy":[[-0.663062323558515,-0.017746189207718196],[-0.6277966523714599,0.01749970282352775]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.5604865986451306,-2.437363905719062,0.71338606911949],"aabb_xy":[[0.5528623305549525,-2.4449971292556056],[0.568110866735309,-2.429730682182518]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[-0.049607371713347614,1.571757240543962,0.71338606911949],"aabb_xy":[[-0.060458977962223215,1.5608979498163107],[-0.038755765464472014,1.5826165312716127]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[0.31159754496576286,-2.4475857703160373,0.71338606911949],"aabb_xy":[[0.26159754394662765,-2.4840519860538657],[0.3615975459848982,-2.41111955457821]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.4898158660149772,-1.2050942813403929,0.71338606911949],"aabb_xy":[[0.4769439625140371,-1.2850942817542288],[0.5026877695159173,-1.1250942809265565]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[0.1441133554583498,-0.8662205016899167,0.71338606911949],"aabb_xy":[[0.10661335394271806,-0.8774472747060618],[0.18161335697398148,-0.8549937286737717]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[0.689669406270091,0.8096888312629344,0.71338606911949],"aabb_xy":[[0.6788964323487232,0.7746888330438956],[0.7004423801914588,0.8446888294819735]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_27","position":[0.4213431625433446,0.2678964576642504,0.71338606911949],"aabb_xy":[[0.4038431634089774,0.25801683062666253],[0.43884316167771176,0.2777760847018382]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[0.45934687976550226,-2.1450506202090653,0.71338606911949],"aabb_xy":[[0.436833187942045,-2.215050620810073],[0.4818605715889594,-2.075050619608058]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6917047010232121,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7587.png","name":"7587"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7587.png","name":"7587"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1486.png","name":"1486"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5061.png","name":"5061"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5133.png","name":"5133"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4044.png","name":"4044"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":804.7905312289898,"rotation_z_degrees":289.1015567732199,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012512095763762606,-0.011835709729184884,-0.011306338676910386]},{"name":"camera_2","offset_m":[0.012124724850631558,0.019342762054408155,0.0004987738064802516]},{"name":"camera_3","offset_m":[-0.0073805288988583895,-0.005476659488736848,-0.0032263089375344847]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014645181446712096,0.0018704581149396682,-0.0019886497932735947],"end_effector_yaw_offset_degrees":0.38210271898775594},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019650027665643922,-0.0011576054345554272,-0.0017561514673453398],"end_effector_yaw_offset_degrees":-0.7977534920076337},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015185663716045892,0.0012895309459553229,-0.00013189081342211565],"end_effector_yaw_offset_degrees":-0.5516351182670063},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018287178205791147,-0.001119100218215122,-0.001142273424925854],"end_effector_yaw_offset_degrees":0.5076638838707417}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016167595613002907,-0.002976048581613072],"position_m":[0.2772832404386997,-0.12067604858161307,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020544565297972773,-0.0012682541458298759],"position_m":[0.22444554347020274,-0.4104682541458299,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038906932643419266,0.0005217042677206109],"position_m":[0.35649069326434196,0.06652170426772061,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022825624242849185,0.0023761095625552094],"position_m":[0.3399174375757151,0.3262761095625552,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6e40f1179abfcde12d8c401a0c16ba3478f3e65818056063df9d3cde7e79d133","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0073.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7587/tex_ceiling_textures_4044/tex_floor_textures_5133/tex_table_textures_1486/tex_wall_textures_5061","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1394767651799726830,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1394767651799726830,"visual_seed":1394767651799726830,"scene_id":"lab_003","finished_at":"2026-09-05T04:25:56"}
+{"episode_id":"ep_000060","started_at":"2026-09-05T04:26:00","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[0.6569089175637939,-1.371929466991755,0.71338606911949],"aabb_xy":[[0.6482109552730786,-1.3840544412992295],[0.6656068798545092,-1.35980449268428]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.0002805127713996214,-1.0358772685667168,0.71338606911949],"aabb_xy":[[-0.014923918325432606,-1.050535988223501],[0.014362892782633363,-1.0212185489099326]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[-0.6006216945931376,-1.684965481287036,0.71338606911949],"aabb_xy":[[-0.6119834292464237,-1.6963339476933241],[-0.5892599599398514,-1.673597014880748]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[-0.2517519141179284,0.3584401778159121,0.71338606911949],"aabb_xy":[[-0.30674416475343935,0.3034401760725993],[-0.19675966348241747,0.4134401795592249]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.22832152414845347,0.7117615326899829,0.71338606911949],"aabb_xy":[[-0.2337794697854735,0.6317615293823238],[-0.22286357851143337,0.791761535997642]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[0.6729354012756172,-1.8966132984327404,0.71338606911949],"aabb_xy":[[0.6666233017392789,-1.902380237685959],[0.6792475008119556,-1.8908463591795213]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[-0.11354755926280169,0.3151139682250914,0.71338606911949],"aabb_xy":[[-0.12154154784050505,0.30711388813000107],[-0.10555357068509827,0.32311404832018176]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[0.4842589693081636,-0.7542033221922169,0.71338606911949],"aabb_xy":[[0.4292589701315741,-0.8091929969671744],[0.5392589684847531,-0.6992136474172591]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.6225743294775381,0.6691748704316947,0.71338606911949],"aabb_xy":[[0.5725969126122845,0.619174868942446],[0.6725517463427917,0.7191748719209431]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.12162933110276719,-2.5340982867939443,0.71338606911949],"aabb_xy":[[-0.13718510051303245,-2.5496487200383515],[-0.10607356169250193,-2.518547853549537]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.2327670694166763,-0.3296987412616206,0.71338606911949],"aabb_xy":[[-0.26722954742976407,-0.33636241844454334],[-0.19830459140358853,-0.3230350640786977]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.6226307574309382,-1.5265690116168786,0.71338606911949],"aabb_xy":[[0.6133371391937876,-1.5640690101050123],[0.6319243756680888,-1.4890690131287445]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[0.3933429254173959,1.7220855578552183,0.71338606911949],"aabb_xy":[[0.3560116488921533,1.687432503060366],[0.4306742019426385,1.7567386126500706]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.019005414782017116,-1.9851035776101307,0.71338606911949],"aabb_xy":[[0.00640271564494066,-1.9976989738349962],[0.03160811391909357,-1.9725081813852652]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[0.5503678656522326,-0.10844634815242093,0.71338606911949],"aabb_xy":[[0.48636786925665954,-0.1724096365711545],[0.6143678620478057,-0.04448305973368738]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[-0.46676609187827744,1.5030028438724847,0.71338606911949],"aabb_xy":[[-0.4708820419903501,1.4988872888396387],[-0.4626501417662048,1.5071183989053298]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.5896621713059851,-2.469251203204964,0.71338606911949],"aabb_xy":[[0.5397794744282889,-2.5192512024512386],[0.6395448681836813,-2.419251203958689]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[0.5214339902734253,-0.3838210387112353,0.71338606911949],"aabb_xy":[[0.48393399010155325,-0.4165217740941424],[0.5589339904452971,-0.35112030332832805]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[0.5706745856057458,-1.0369520187245103,0.71338606911949],"aabb_xy":[[0.5528810786708294,-1.0547517643203081],[0.5884680925406622,-1.0191522731287128]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.44267718271389467,-2.4935292621810152,0.71338606911949],"aabb_xy":[[-0.4596872800039453,-2.5096637506792887],[-0.425667085423844,-2.477394773682741]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.2744637185726286,-0.9593358073705658,0.71338606911949],"aabb_xy":[[-0.30494796869965873,-1.0093358071520617],[-0.24397946844559842,-0.9093358075890698]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[0.4776986685526434,1.1500056146143822,0.71338606911949],"aabb_xy":[[0.46012036636369663,1.1324311250402772],[0.4952769707415903,1.1675801041884872]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_22","position":[-0.16150845491325416,-0.9613320588265959,0.71338606911949],"aabb_xy":[[-0.16962210958663126,-0.969437875280625],[-0.15339480023987706,-0.9532262423725668]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.3193586422559087,1.449682293137681,0.71338606911949],"aabb_xy":[[0.2643849202195758,1.3946822935734478],[0.3743323642922416,1.5046822927019141]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[-0.19433782656733722,0.9492090510465379,0.71338606911949],"aabb_xy":[[-0.21462212929073596,0.9289264259038289],[-0.17405352384393843,0.9694916761892466]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[-0.6168407930011026,-1.5497492858957544,0.71338606911949],"aabb_xy":[[-0.6543407932932773,-1.553790761296358],[-0.5793407927089277,-1.545707810495151]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[-0.48800481503884174,-2.004265596921819,0.71338606911949],"aabb_xy":[[-0.5105048148527441,-2.008740213292299],[-0.46550481522493936,-1.9997909805513376]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690291142641396,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3432.png","name":"3432"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3432.png","name":"3432"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5232.png","name":"5232"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5307.png","name":"5307"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1538.png","name":"1538"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9045.png","name":"9045"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":557.7985690783366,"rotation_z_degrees":88.62663532246371,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01957120767898821,-0.010173582421424828,0.00734910686818533]},{"name":"camera_2","offset_m":[-0.007576418132026346,0.00823779893646872,-0.012888499234198273]},{"name":"camera_3","offset_m":[0.011884296111321965,0.010789736702987635,-0.016474221845159075]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018148537207307415,-0.0014000940123542348,0.0005245571950192899],"end_effector_yaw_offset_degrees":0.6820613547712322},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016818470735544444,-0.0010175498927356811,-0.0016943312712473025],"end_effector_yaw_offset_degrees":0.7097151945818359},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018053474973786462,-0.00018711980106846278,-0.0004658474175880834],"end_effector_yaw_offset_degrees":0.3247753297996505},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019273674612076573,0.0010155637303074089,0.0013559097485424695],"end_effector_yaw_offset_degrees":0.31925980416869004}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002140618829019596,0.004241445093170635],"position_m":[0.27675938117098037,-0.11345855490682936,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004642282453066615,0.0033447198195310354],"position_m":[0.2218577175469334,-0.40585528018046896,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000450938610075626,0.004023906617731199],"position_m":[0.35305093861007564,0.0700239066177312,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-4.693363922943922e-05,-0.004885154234336341],"position_m":[0.3421530663607706,0.3190148457656637,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ab130262da99e2da8c35c210242badb530db6fea5116c92e3083c586d7bff52d","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3432/tex_ceiling_textures_9045/tex_floor_textures_1538/tex_table_textures_5232/tex_wall_textures_5307","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2113433059439800367,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2113433059439800367,"visual_seed":2113433059439800367,"scene_id":"lab_003","finished_at":"2026-09-05T04:29:28"}
+{"episode_id":"ep_000061","started_at":"2026-09-05T04:29:31","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[-0.1518527876985113,1.6877993226330097,0.71338606911949],"aabb_xy":[[-0.1743492091323754,1.665299322826262],[-0.1293563662646472,1.710299322439757]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.26446660950878903,1.2457031198386046,0.71338606911949],"aabb_xy":[[-0.27250996943474415,1.160703118743238],[-0.2564232495828338,1.3307031209339708]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.3082333315213439,0.5329975755433707,0.71338606911949],"aabb_xy":[[0.253241080885833,0.4779975738000579],[0.3632255821568549,0.5879975772866834]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.6337526937768538,-0.7171094116579106,0.71338606911949],"aabb_xy":[[-0.6637202506866795,-0.7471094119557964],[-0.6037851368670282,-0.6871094113600249]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[-0.5313160647078925,-2.3533862764731355,0.71338606911949],"aabb_xy":[[-0.5688160652052506,-2.357354960021254],[-0.49381606421053414,-2.349417592925017]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[0.42618496612583323,-0.8512212960481942,0.71338606911949],"aabb_xy":[[0.36618496526502037,-0.9026477260546805],[0.486184966986646,-0.7997948660417077]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.2563830885914917,-1.5437776373358267,0.71338606911949],"aabb_xy":[[0.2252361697479086,-1.613777636022634],[0.28753000743507484,-1.4737776386490196]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[0.662391583489194,-0.21153052658342997,0.71338606911949],"aabb_xy":[[0.6124182894859335,-0.2615305271379773],[0.7123648774924544,-0.1615305260288826]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[-0.6174931183073977,1.5246378107832013,0.71338606911949],"aabb_xy":[[-0.6499548191893252,1.4945049786682985],[-0.5850314174254703,1.5547706428981036]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[-0.31917384404985927,-0.36946167113745165,0.71338606911949],"aabb_xy":[[-0.3424556862479906,-0.45446167243467966],[-0.2958920018517279,-0.28446166984022353]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[0.09392228077160525,-0.8687224905360571,0.71338606911949],"aabb_xy":[[0.08663996439494158,-0.9587224941455659],[0.10120459714826889,-0.7787224869265479]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.5625644066969642,0.24500026609146364,0.71338606911949],"aabb_xy":[[0.47756440827954094,0.16012597062917863],[0.6475644051143874,0.3298745615537486]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_12","position":[-0.2574874606941781,-0.7260949131260153,0.71338606911949],"aabb_xy":[[-0.2751202962877056,-0.7437178591416381],[-0.2398546251006505,-0.7084719671103922]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.5650505726239072,-1.6600799380946178,0.71338606911949],"aabb_xy":[[-0.5769226556354083,-1.7450799377882682],[-0.5531784896124061,-1.5750799384009675]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.37819194660056943,1.0985066149278784,0.71338606911949],"aabb_xy":[[0.35319194743493626,1.091554369222522],[0.4031919457662025,1.1054588606332352]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.397081074324507,-2.297388288435113,0.71338606911949],"aabb_xy":[[0.3470810729636198,-2.3473661930105285],[0.44708107568539424,-2.2474103838596973]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.5788906073767187,-0.3275894966348911,0.71338606911949],"aabb_xy":[[-0.6428906097195203,-0.37253034787902356],[-0.5148906050339171,-0.28264864539075857]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[-0.32162320571242287,0.30135803041003406,0.71338606911949],"aabb_xy":[[-0.33717897512268824,0.2858075971656269],[-0.3060674363021577,0.3169084636544413]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[0.47270921328439486,1.7026165000966444,0.71338606911949],"aabb_xy":[[0.4538248295158847,1.6837305753162919],[0.4915935970529051,1.7215024248769975]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.5393830776995157,-1.2257456213266487,0.71338606911949],"aabb_xy":[[-0.6293830771178864,-1.2591211181708384],[-0.44938307828114465,-1.192370124482459]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.43081298673425017,1.079696941904802,0.71338606911949],"aabb_xy":[[-0.4439642327055396,1.0546969421481156],[-0.41766174076296086,1.1046969416614887]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.4757459272272808,-1.556048996880867,0.71338606911949],"aabb_xy":[[0.425767118716965,-1.6060489968865856],[0.5257247357375967,-1.506048996875148]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[-0.24633563857269486,-1.9604688626453504,0.71338606911949],"aabb_xy":[[-0.336335635308305,-2.013652325962645],[-0.1563356418370846,-1.907285399328056]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[-0.5576914237219168,1.164037921252255,0.71338606911949],"aabb_xy":[[-0.5701587818316525,1.1515725966189314],[-0.5452240656121812,1.1765032458855784]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[0.38036954588810024,-1.4474638192530542,0.71338606911949],"aabb_xy":[[0.3453695459920813,-1.455838054764994],[0.41536954578411905,-1.439089583741114]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.24979735781624568,-1.3457378383196972,0.71338606911949],"aabb_xy":[[-0.2562111714594306,-1.352147658567365],[-0.24338354417306074,-1.3393280180720284]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[0.5148823084845193,1.198260059903649,0.71338606911949],"aabb_xy":[[0.4936043003410471,1.1332600575775758],[0.5361603166279916,1.2632600622297219]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_27","position":[0.017053884226786442,-1.9771309534371844,0.71338606911949],"aabb_xy":[[-0.0004460492071969302,-1.9946309533574187],[0.034553817660769814,-1.9596309535169496]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[-0.269278908868649,-1.2286237898069017,0.71338606911949],"aabb_xy":[[-0.3592789085918231,-1.2516971423420813],[-0.17927890914547476,-1.2055504372717216]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6965219014883227,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6357.png","name":"6357"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6357.png","name":"6357"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7896.png","name":"7896"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7276.png","name":"7276"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4146.png","name":"4146"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3260.png","name":"3260"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":611.4817475077027,"rotation_z_degrees":318.8700346062685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019872166947684355,0.014229461894291601,-0.009486692270495586]},{"name":"camera_2","offset_m":[0.013848684093321333,0.01067837293728537,0.004914464491573942]},{"name":"camera_3","offset_m":[0.007017847293771574,0.018546321130270268,0.012135110631341355]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016999877393981894,0.0015399113528209393,0.0008276565048162413],"end_effector_yaw_offset_degrees":0.06279700432998436},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00029483091791869314,-0.0006297216719832867,-0.00013702352942289312],"end_effector_yaw_offset_degrees":0.377777826020846},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005092832042549657,-5.9571478479693166e-05,-0.0007030293774896031],"end_effector_yaw_offset_degrees":-0.603835411666747},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019292527305131988,-0.0011787934902698664,-0.001807921904369279],"end_effector_yaw_offset_degrees":0.0632476680644023}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010541447769099356,-0.0019068716210126966],"position_m":[0.27995414477690994,-0.11960687162101269,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008782269309369432,-0.0009290405062648919],"position_m":[0.22562177306906306,-0.4101290405062649,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003480983175662966,-0.0012388927217728872],"position_m":[0.356080983175663,0.06476110727822712,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003180484854700909,0.0023661565474868617],"position_m":[0.3453804848547009,0.32626615654748686,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"faeee1ab33fa660d842c455e3d78ca2cfd076ac0e3b39439858b5eb7239a8b61","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6357/tex_ceiling_textures_3260/tex_floor_textures_4146/tex_table_textures_7896/tex_wall_textures_7276","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3909416971709779693,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3909416971709779693,"visual_seed":3909416971709779693,"scene_id":"lab_003","finished_at":"2026-09-05T04:33:09"}
+{"episode_id":"ep_000062","started_at":"2026-09-05T04:33:13","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.4591615279334016,1.4134008568063172,0.71338606911949],"aabb_xy":[[-0.4934778051080196,1.3634008568331393],[-0.4248452507587837,1.4634008567794947]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[0.39986553608108566,1.4365902910712358,0.71338606911949],"aabb_xy":[[0.37736553655737826,1.4140943436206148],[0.42236553560479306,1.4590862385218564]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[0.2805391941531109,-1.7404929361758534,0.71338606911949],"aabb_xy":[[0.27327794658270343,-1.753279946439363],[0.28780044172351826,-1.727705925912344]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[-0.2364186696282018,-1.7287485390072679,0.71338606911949],"aabb_xy":[[-0.2437009860048654,-1.8187485426167762],[-0.22913635325153808,-1.6387485353977582]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.39329096838145783,0.32008761156728616,0.71338606911949],"aabb_xy":[[-0.4393760596361893,0.25608761431473104],[-0.34720587712672635,0.3840876088198413]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[0.5058846260269623,0.8131996022007928,0.71338606911949],"aabb_xy":[[0.4559058175166463,0.763199602195074],[0.555863434537278,0.8631996022065116]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.5659638697717516,0.463080312748656,0.71338606911949],"aabb_xy":[[-0.5715455414058803,0.4505803129308805],[-0.5603821981376229,0.4755803125664315]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[-0.037277760976132446,-1.3675230762154065,0.71338606911949],"aabb_xy":[[-0.057562063699531194,-1.387805701358115],[-0.016993458252733674,-1.3472404510726974]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[-0.4623148499817209,0.0021105969916765943,0.71338606911949],"aabb_xy":[[-0.4697273055231094,-0.003740613429951356],[-0.4549023944403324,0.007961807413304545]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[-0.1674021516567732,0.8707611811476346,0.71338606911949],"aabb_xy":[[-0.2123947383752236,0.8257611818731858],[-0.12240956493832278,0.9157611804220833]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[-0.3692838209552904,-2.492769683372001,0.71338606911949],"aabb_xy":[[-0.404283820085246,-2.498514904447665],[-0.33428382182533467,-2.4870244622963367]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[0.12266371375488982,-0.9463655504002433,0.71338606911949],"aabb_xy":[[0.10015002193143262,-1.0163655510012508],[0.14517740557834702,-0.8763655497992359]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.12829351023471636,-0.7470655877412824,0.71338606911949],"aabb_xy":[[-0.1587777603617465,-0.7970655875227783],[-0.0978092601076862,-0.6970655879597865]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[-0.42583648825208664,0.688811567672778,0.71338606911949],"aabb_xy":[[-0.5158364905861057,0.6113292130876653],[-0.3358364859180676,0.7662939222578906]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.598692477898443,-2.203996802381161,0.71338606911949],"aabb_xy":[[0.5874474223278251,-2.2152386001052564],[0.6099375334690608,-2.192755004657066]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.46479351763517474,-2.064148801701509,0.71338606911949],"aabb_xy":[[0.4532245368882382,-2.0891488018184408],[0.47636249838211137,-2.0391488015845773]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[0.03521947047324481,0.7841063257510124,0.71338606911949],"aabb_xy":[[-0.02978052808382803,0.7543537923371297],[0.10021946903031764,0.813858859164895]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[-0.1719218204501699,-1.236873120369458,0.71338606911949],"aabb_xy":[[-0.23591751784526646,-1.3008731186701668],[-0.10792612305507329,-1.1728731220687494]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.09862330855646662,-2.417074875307508,0.71338606911949],"aabb_xy":[[-0.16362330643811443,-2.4681985390140495],[-0.033623310674818836,-2.3659512116009678]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.3033706936527885,1.2849646030458883,0.71338606911949],"aabb_xy":[[-0.3833706906158276,1.207888961402115],[-0.2233706966897493,1.362040244689662]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6944379636035571,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4241.png","name":"4241"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4241.png","name":"4241"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7105.png","name":"7105"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4558.png","name":"4558"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3850.png","name":"3850"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2250.png","name":"2250"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":615.9965236220792,"rotation_z_degrees":115.04115900471905,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006980471991980233,-0.019361862972204786,-0.009148165039648411]},{"name":"camera_2","offset_m":[-0.016495486093340006,-0.006864773034653732,-0.008037453700734507]},{"name":"camera_3","offset_m":[-0.0013711908496731873,0.015685631490002013,-0.011877735913874933]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00039257604641000947,-0.0014239346428978883,-0.0014300089243476167],"end_effector_yaw_offset_degrees":0.19126280823157593},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011258713572208138,-0.0003749354014203328,-0.0016247444134969444],"end_effector_yaw_offset_degrees":-0.34690667867847425},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-4.263158819824749e-05,-0.0014172488411024974,0.0014085499615360516],"end_effector_yaw_offset_degrees":-0.6716625103724438},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018839687625188707,-0.000645567337229795,0.0017486128916870732],"end_effector_yaw_offset_degrees":-0.06152774510370884}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017521330195981732,-0.003990924171395377],"position_m":[0.2806521330195981,-0.12169092417139538,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014799118592588693,0.0030069812011126575],"position_m":[0.22797991185925887,-0.40619301879888736,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002146299985007244,-0.00229270823888589],"position_m":[0.35045370001499276,0.06370729176111412,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005850851897647317,0.0028086033668024623],"position_m":[0.34278508518976475,0.32670860336680246,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4c1e16e56b54dd094726f0d4435387733c69d5280a4c40d2e375173075f6bef9","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4241/tex_ceiling_textures_2250/tex_floor_textures_3850/tex_table_textures_7105/tex_wall_textures_4558","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2327347844894745028,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2327347844894745028,"visual_seed":2327347844894745028,"scene_id":"lab_003","finished_at":"2026-09-05T04:36:44"}
+{"episode_id":"ep_000063","started_at":"2026-09-05T04:36:48","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[0.3493784233344366,0.6002932544703694,0.71338606911949],"aabb_xy":[[0.2853784214220943,0.5443821052123591],[0.413378425246779,0.65620440372838]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[0.6311867836650857,1.212473466554704,0.71338606911949],"aabb_xy":[[0.566186785108013,1.1827209331408213],[0.6961867822221587,1.2422259999685865]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.1261070374360468,-0.7425454507048213,0.71338606911949],"aabb_xy":[[-0.1901070347383932,-0.7869118776726779],[-0.062107040133700386,-0.6981790237369644]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[0.5236331331616253,1.3912063663992287,0.71338606911949],"aabb_xy":[[0.46363313265377243,1.3343596327133074],[0.5836331336694782,1.44805310008515]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.2741760582244572,-0.5912414009410225,0.71338606911949],"aabb_xy":[[-0.29085319421755274,-0.6079413249149529],[-0.2574989222313617,-0.5745414769670923]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[0.08546665276432397,1.5519660922218246,0.71338606911949],"aabb_xy":[[0.02046665460840491,1.5256698476719124],[0.15046665092024303,1.5782623367717368]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.5942932448827934,1.1310428151352103,0.71338606911949],"aabb_xy":[[-0.6441759417604898,1.0810428158889356],[-0.5444105480050974,1.181042814381485]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[0.2688940995183561,1.747793314968328,0.71338606911949],"aabb_xy":[[0.23034840669315498,1.709247543912139],[0.30743979234355706,1.7863390860245165]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.14651558003821974,0.29385516140470047,0.71338606911949],"aabb_xy":[[-0.17151557997073763,0.28697249318377716],[-0.12151558010570185,0.3007378296256238]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[-0.32291246276229724,-1.3538835577865376,0.71338606911949],"aabb_xy":[[-0.4029124660263103,-1.367443590095451],[-0.24291245949828405,-1.3403235254776242]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[-0.04510779294995093,-0.9891412492311835,0.71338606911949],"aabb_xy":[[-0.09510779159587213,-1.0390607928906457],[0.004892205695970264,-0.939221705571721]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.15473122934104733,-1.3508426395280169,0.71338606911949],"aabb_xy":[[0.10473122898048128,-1.4008226267376198],[0.2047312297016134,-1.300862652318414]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[0.31519998769367197,-1.8841608776311471,0.71338606911949],"aabb_xy":[[0.3064187605464358,-1.8929406249196774],[0.32398121484090825,-1.8753811303426173]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.16705680976872472,-1.6808824090010641,0.71338606911949],"aabb_xy":[[-0.18050333640276806,-1.6943522606541552],[-0.1536102831346814,-1.6674125573479726]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[-0.4887392409767971,-1.2445326343085201,0.71338606911949],"aabb_xy":[[-0.4960004885472046,-1.2573196445720296],[-0.48147799340638975,-1.2317456240450106]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[0.10047309060769771,0.8573965574085549,0.71338606911949],"aabb_xy":[[0.09501514497067763,0.7773965541008957],[0.10593103624471777,0.9373965607162139]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.026415670275802716,1.2496287204869563,0.71338606911949],"aabb_xy":[[-0.07639862046328204,1.1996287208443954],[0.023567279911676616,1.2996287201295162]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[0.6512771493360217,-2.375282280632613,0.71338606911949],"aabb_xy":[[0.640504175414654,-2.410282278851652],[0.6620501232573895,-2.340282282413574]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[-0.372107956089292,1.7889677352185083,0.71338606911949],"aabb_xy":[[-0.45210795324886716,1.7774201342606912],[-0.2921079589297166,1.8005153361763253]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.3503768153806597,-0.5179350887749163,0.71338606911949],"aabb_xy":[[-0.35533283556554085,-0.540435088977038],[-0.3454207951957785,-0.4954350885727947]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.04931862124285258,-0.7050067600332155,0.71338606911949],"aabb_xy":[[0.03807356567223475,-0.7162485577573108],[0.06056367681347042,-0.6937649623091202]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.0571154694294318,-1.3538017502632353,0.71338606911949],"aabb_xy":[[-0.10710858153862371,-1.403801750937431],[-0.0071223573202399085,-1.3038017495890397]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[0.5260557641181673,0.951861272138832,0.71338606911949],"aabb_xy":[[0.4620557638576965,0.906852472785904],[0.590055764378638,0.99687007149176]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[0.25968412315050227,-0.7543513100201591,0.71338606911949],"aabb_xy":[[0.18968412134175688,-0.7757050787843466],[0.32968412495924776,-0.7329975412559718]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[0.6703889587355967,-0.9719166008853897,0.71338606911949],"aabb_xy":[[0.6478889589216943,-0.9763912172558702],[0.6928889585494991,-0.9674419845149087]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_25","position":[-0.30794648139174485,0.9760347288195685,0.71338606911949],"aabb_xy":[[-0.325048559350113,0.9589279232882988],[-0.2908444034333767,0.9931415343508383]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[0.24711623061053634,-1.2081203999152088,0.71338606911949],"aabb_xy":[[0.19729945114570158,-1.2581203983995122],[0.2969330100753711,-1.1581204014309054]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_27","position":[0.5205572474029332,-0.6298482837281827,0.71338606911949],"aabb_xy":[[0.5112636291657826,-0.6673482822163165],[0.5298508656400838,-0.5923482852400487]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[0.5622025998710751,-1.3924199444957355,0.71338606911949],"aabb_xy":[[0.4822025994008593,-1.4007306521100842],[0.6422026003412912,-1.3841092368813872]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_29","position":[-0.560281878928836,-1.8540510438579134,0.71338606911949],"aabb_xy":[[-0.5952818780587916,-1.859796264933577],[-0.5252818797988803,-1.8483058227822489]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_30","position":[0.05470801877693643,-1.5686468698614964,0.71338606911949],"aabb_xy":[[0.024223768649906267,-1.6186468696429923],[0.08519226890396658,-1.5186468700800004]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_31","position":[0.13055016148338106,-0.8899933154748436,0.71338606911949],"aabb_xy":[[0.09555016321326115,-0.8970674431698317],[0.16555015975350096,-0.8829191877798553]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_32","position":[-0.6296018150243206,-1.3724606882755837,0.71338606911949],"aabb_xy":[[-0.6660976356515992,-1.4089446307023412],[-0.5931059943970417,-1.335976745848826]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964971210010108,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6845.png","name":"6845"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6845.png","name":"6845"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5349.png","name":"5349"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5359.png","name":"5359"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6036.png","name":"6036"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8254.png","name":"8254"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":836.2206500185273,"rotation_z_degrees":119.0627404691748,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004060335751387433,-0.014044724970971211,-0.017303949972124602]},{"name":"camera_2","offset_m":[0.0117194760569287,-0.017917223278010916,-0.011712141525122713]},{"name":"camera_3","offset_m":[0.011095700843878897,-0.01512702454941869,-0.005791753246258588]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015880777709543744,0.00014208453517114807,0.001224088188580245],"end_effector_yaw_offset_degrees":-0.40959630447660356},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006436277164257724,-0.0015107548028529326,0.0012019934780760676],"end_effector_yaw_offset_degrees":-0.2088922232096424},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001073173647534551,-0.00011683855651600122,-0.0006245931744311077],"end_effector_yaw_offset_degrees":0.3984100468474139},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00021878278525231222,0.0017374730227792652,0.0014955495711282407],"end_effector_yaw_offset_degrees":0.175550888466536}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007128761914127011,0.0008005439070629221],"position_m":[0.2781871238085873,-0.11689945609293707,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007899860023746798,0.0011247409250960752],"position_m":[0.22728998600237468,-0.40807525907490394,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003904811389068485,-0.0024987967551434874],"position_m":[0.3522095188610932,0.06350120324485652,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004253126659211519,0.0002816912892053278],"position_m":[0.3464531266592115,0.3241816912892054,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d4e72a501b2178ba97c7a4795282affcb38217de4484db4b5cbbd9f74d75cf53","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6845/tex_ceiling_textures_8254/tex_floor_textures_6036/tex_table_textures_5349/tex_wall_textures_5359","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1083336480663980424,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1083336480663980424,"visual_seed":1083336480663980424,"scene_id":"lab_003","finished_at":"2026-09-05T04:40:25"}
+{"episode_id":"ep_000064","started_at":"2026-09-05T04:40:28","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.34531931615222217,-0.8889901404971932,0.71338606911949],"aabb_xy":[[-0.36087508556248743,-0.9045405737416006],[-0.3297635467419569,-0.8734397072527862]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[0.19957723350402445,1.3595282866985938,0.71338606911949],"aabb_xy":[[0.19348260561590616,1.350958892146925],[0.2056718613921428,1.3680976812502625]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.22614541293251478,-1.9288677941649506,0.71338606911949],"aabb_xy":[[0.21299416696122542,-1.9538677939216371],[0.23929665890380414,-1.903867794408264]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.5218511134395003,0.9159728650393739,0.71338606911949],"aabb_xy":[[0.4578511131655222,0.8659067648420858],[0.5858511137134786,0.9660389652366618]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.1764087060512125,-1.636655022593898,0.71338606911949],"aabb_xy":[[-0.21373998257645513,-1.6713080773887505],[-0.13907742952596988,-1.602001967799046]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.5319839533403361,-2.4187027825405596,0.71338606911949],"aabb_xy":[[0.5144056511513893,-2.4362772721146646],[0.549562255529283,-2.4011282929664546]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[0.6180638815150832,-1.004707045147669,0.71338606911949],"aabb_xy":[[0.5955638819913757,-1.0272029925982895],[0.6405638810387905,-0.9822110976970481]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[-0.5465296606010752,-0.4614929929289766,0.71338606911949],"aabb_xy":[[-0.6105296577131809,-0.5105253627233872],[-0.48252966348896953,-0.412460623134566]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.4713447724674878,-1.8567484256871483,0.71338606911949],"aabb_xy":[[-0.4904570798254667,-1.8758832045643903],[-0.452232465109509,-1.8376136468099062]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.4503411778446269,1.6240840594294075,0.71338606911949],"aabb_xy":[[0.39632558156272685,1.56008405653715],[0.5043567741265269,1.6880840623216644]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.3606342317310046,1.1906772703319959,0.71338606911949],"aabb_xy":[[-0.3941133989920456,1.157198156960889],[-0.32715506446996373,1.2241563837031029]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[-0.6099104973192747,1.0750632197709815,0.71338606911949],"aabb_xy":[[-0.6192041155564252,1.0375632212828474],[-0.600616879082124,1.1125632182591152]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.05669266910580173,-1.3170656028977898,0.71338606911949],"aabb_xy":[[-0.004898090118191083,-1.3810656010068367],[0.11828342832979455,-1.253065604788743]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.1758310330104983,-0.6170159106538524,0.71338606911949],"aabb_xy":[[0.14083103474037836,-0.6240900383488405],[0.21083103128061817,-0.6099417829588641]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[0.06890217019283584,1.1801916907042358,0.71338606911949],"aabb_xy":[[0.05199143775649407,1.1667194851116212],[0.08581290262917762,1.1936638962968504]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[-0.011961677595334286,1.136155743942873,0.71338606911949],"aabb_xy":[[-0.01607762770740695,1.1320401889100273],[-0.00784572748326162,1.1402712989757184]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[0.24047179446405087,0.9923559368584303,0.71338606911949],"aabb_xy":[[0.2029717946470173,0.9877177255472882],[0.27797179428108443,0.9969941481695719]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[0.17216745542851053,1.1082710391192832,0.71338606911949],"aabb_xy":[[0.1421757926946402,1.0782710397824826],[0.20215911816238086,1.1382710384560837]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.2853465973775402,1.1897522739113922,0.71338606911949],"aabb_xy":[[0.2652881857642999,1.1696871870022347],[0.3054050089907805,1.2098173608205496]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.15696555312091554,-1.7239759712765124,0.71338606911949],"aabb_xy":[[0.14885189844753843,-1.7320817877305412],[0.16507920779429264,-1.715870154822483]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930556978306005,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2620.png","name":"2620"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2620.png","name":"2620"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7189.png","name":"7189"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5603.png","name":"5603"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3316.png","name":"3316"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1389.png","name":"1389"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":620.4372057495775,"rotation_z_degrees":83.73852896495319,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009342100298189757,-0.011550150623699622,-0.014332155716463478]},{"name":"camera_2","offset_m":[0.001871997126834283,-0.008182967971643333,-0.012925548952280552]},{"name":"camera_3","offset_m":[0.0008556272006013145,0.007591809096274743,-0.019117805059687826]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019500750633517413,-0.00014246410619941008,0.0015204363838732262],"end_effector_yaw_offset_degrees":-0.9821192526981555},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001277764065631242,-0.0013157800325507433,-0.001047026214919025],"end_effector_yaw_offset_degrees":-0.7807116779463767},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007211477494786828,-0.001807630185180495,0.00161639114349863],"end_effector_yaw_offset_degrees":-0.8537519746188036},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00124716187565175,-4.9810003563573874e-05,-0.0003591392928704246],"end_effector_yaw_offset_degrees":0.9655770966130168}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004151399627443355,-0.000305521472641704],"position_m":[0.2747486003725566,-0.1180055214726417,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006546812382424759,7.379517248084794e-05],"position_m":[0.22715468123824248,-0.40912620482751916,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034318095328368737,-0.004850802501359543],"position_m":[0.34916819046716313,0.06114919749864046,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00024838115145126276,0.000496620788057239],"position_m":[0.34244838115145126,0.32439662078805725,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"caf45807140bdd290cfd77711a07365b0037274f28c32df795ed536a40b0798d","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0078.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2620/tex_ceiling_textures_1389/tex_floor_textures_3316/tex_table_textures_7189/tex_wall_textures_5603","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7135876204368270542,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7135876204368270542,"visual_seed":7135876204368270542,"scene_id":"lab_003","finished_at":"2026-09-05T04:44:02"}
+{"episode_id":"ep_000065","started_at":"2026-09-05T04:44:06","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[0.11219899741056438,1.1945644403308346,0.71338606911949],"aabb_xy":[[0.10416266270927954,1.1865263210264176],[0.12023533211184922,1.2026025596352512]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.5204126037984533,-0.8653503301059002,0.71338606911949],"aabb_xy":[[-0.5291265728483876,-0.8878503307650885],[-0.5116986347485186,-0.842850329446712]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[-0.6051092677622427,-1.541763905035279,0.71338606911949],"aabb_xy":[[-0.6691092694402401,-1.590281296514593],[-0.5411092660842454,-1.4932465135559645]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.5670989003856515,0.2010521504465541,0.71338606911949],"aabb_xy":[[0.5295989000374237,0.18926075486547056],[0.6045989007338792,0.21284354602763766]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.47027111241761466,-0.7749038748362789,0.71338606911949],"aabb_xy":[[0.46227762262233274,-0.7829020067767546],[0.4782646022128968,-0.7669057428958034]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[0.45517763735498784,-0.21535909256806507,0.71338606911949],"aabb_xy":[[0.43754480176146027,-0.23298203858368802],[0.4728104729485154,-0.19773614655244207]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.28748330349557505,1.278723631077535,0.71338606911949],"aabb_xy":[[-0.32096247075661605,1.2452445177064282],[-0.25400413623453416,1.3122027444486422]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.642936713092026,-1.40456829780723,0.71338606911949],"aabb_xy":[[0.6356929470457807,-1.4845682960108324],[0.6501804791382714,-1.3245682996036277]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.2941554828440334,-0.8551349790717813,0.71338606911949],"aabb_xy":[[-0.2987905979962668,-0.8590023141489298],[-0.28952036769179995,-0.8512676439946325]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[0.40354061297871713,1.1818949558918082,0.71338606911949],"aabb_xy":[[0.3660406126865423,1.1778534804912046],[0.44104061327089195,1.1859364312924117]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[-0.16422250779592673,0.7140100984402324,0.71338606911949],"aabb_xy":[[-0.21420674350410393,0.6640100996267367],[-0.11423827208774948,0.7640100972537279]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.12932937561356161,0.9751349166380403,0.71338606911949],"aabb_xy":[[-0.17932438657301364,0.9251349176024487],[-0.07933436465410958,1.025134915673632]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.29952032576685017,-0.9611733946160739,0.71338606911949],"aabb_xy":[[0.268373406923267,-1.0311733933028808],[0.33066724461043323,-0.8911733959292665]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[0.07895112566842011,-1.5491628672443083,0.71338606911949],"aabb_xy":[[0.0339585389499697,-1.594162866518757],[0.12394371238687052,-1.5041628679698595]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[-0.34921765260297416,-0.13457429976591717,0.71338606911949],"aabb_xy":[[-0.40421765222472006,-0.18955799255338993],[-0.2942176529812284,-0.07959060697844447]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.2642408599521093,-1.5592756645282382,0.71338606911949],"aabb_xy":[[-0.31424085939230484,-1.6092435890125543],[-0.2142408605119136,-1.5093077400439217]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[0.34804450211832294,-1.897875051667493,0.71338606911949],"aabb_xy":[[0.32445937865442814,-1.9628750539129252],[0.37162962558221785,-1.8328750494220616]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[-0.29529680886397963,-0.426474754144742,0.71338606911949],"aabb_xy":[[-0.3040780360112159,-0.4352545014332722],[-0.28651558171674346,-0.4176950068562119]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[-0.5104083577574273,-1.1187464407207484,0.71338606911949],"aabb_xy":[[-0.5329083575713297,-1.123221057091229],[-0.48790835794352494,-1.1142718243502676]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.6398924201939002,-2.11025546566101,0.71338606911949],"aabb_xy":[[0.579892419942499,-2.164536790697474],[0.6998924204453013,-2.0559741406245453]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[0.4005558485344327,-0.35784106987101927,0.71338606911949],"aabb_xy":[[0.3944612206463145,-0.366410464422688],[0.40665047642255114,-0.34927167531935055]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[0.45073103548395443,0.790598517791826,0.71338606911949],"aabb_xy":[[0.3707310322261115,0.710602009999842],[0.5307310387417974,0.87059502558381]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_22","position":[-0.6009890036868414,0.50906155973344,0.71338606911949],"aabb_xy":[[-0.6187825106217578,0.49126181413764236],[-0.583195496751925,0.5268613053292377]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[0.45379357591735836,-2.2275498513556347,0.71338606911949],"aabb_xy":[[0.38879357496023115,-2.2794980632893402],[0.5187935768744856,-2.175601639421929]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[-0.028334501149617664,1.601530432040612,0.71338606911949],"aabb_xy":[[-0.07815128061445242,1.5515304335563087],[0.021482278315217096,1.6515304305249154]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937219703065044,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6305.png","name":"6305"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6305.png","name":"6305"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5679.png","name":"5679"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6506.png","name":"6506"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5540.png","name":"5540"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3954.png","name":"3954"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":633.3981942386913,"rotation_z_degrees":76.54723950735547,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014872198856876403,-0.009593061513619534,0.017172794549782936]},{"name":"camera_2","offset_m":[-0.0011806270920748235,0.009604269393540345,-0.014556421302331098]},{"name":"camera_3","offset_m":[0.003725801099947055,0.004114953220271819,0.018832162369180148]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019465251592031426,0.001808329396715797,-0.0019732183319935274],"end_effector_yaw_offset_degrees":-0.7324064492889018},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017160178785568087,0.000549036263488826,0.0019684859794366627],"end_effector_yaw_offset_degrees":-0.9947542103086082},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001778005587661436,0.001522216656656522,-0.000714398681579504],"end_effector_yaw_offset_degrees":0.9708731770772758},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006905527727527165,-0.00137451789908053,0.0011069768583430372],"end_effector_yaw_offset_degrees":0.6419625366714818}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004148497607642898,-0.00395853178369292],"position_m":[0.2830484976076429,-0.12165853178369292,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002965014804137511,0.0017899578124065743],"position_m":[0.22946501480413753,-0.4074100421875934,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004559383850835764,0.004187513683030727],"position_m":[0.3571593838508358,0.07018751368303074,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003829892567379892,-0.004905751884468433],"position_m":[0.34602989256737987,0.31899424811553156,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ab0dec91b9248dbf9ab8361dc959ebe8328fe20ffaa02566af35647a3f594820","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6305/tex_ceiling_textures_3954/tex_floor_textures_5540/tex_table_textures_5679/tex_wall_textures_6506","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":837924107006935769,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":837924107006935769,"visual_seed":837924107006935769,"scene_id":"lab_003","finished_at":"2026-09-05T04:47:52"}
+{"episode_id":"ep_000066","started_at":"2026-09-05T04:47:55","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.6075307482321999,0.6574733116680433,0.71338606911949],"aabb_xy":[[-0.657530023400636,0.6074733103920963],[-0.5575314730637637,0.7074733129439906]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.07648881838284793,-0.9608122699625723,0.71338606911949],"aabb_xy":[[0.058910516193901086,-0.9783867595366772],[0.09406712057179478,-0.9432377803884674]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[0.17972757284852292,-1.29058044471728,0.71338606911949],"aabb_xy":[[0.11572757642120104,-1.3377500685393766],[0.24372756927584485,-1.2434108208951837]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.39886907345616945,-1.0699768668888754,0.71338606911949],"aabb_xy":[[-0.4048356123969052,-1.0759380115482395],[-0.3929025345154336,-1.0640157222295112]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[-0.2016016761386183,-0.5961131704126468,0.71338606911949],"aabb_xy":[[-0.25158591184679546,-0.6461131692261424],[-0.15161744043044104,-0.5461131715991512]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.6987484670205277,-2.3996144747629335,0.71338606911949],"aabb_xy":[[0.6831926976102624,-2.415164908007341],[0.7143042364307929,-2.384064041518527]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[-0.05282643147133015,0.6727416315766872,0.71338606911949],"aabb_xy":[[-0.06407148704194798,0.6614998338525919],[-0.041581375900712314,0.6839834293007825]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[-0.06027615095728156,-1.0491243012020302,0.71338606911949],"aabb_xy":[[-0.12427615300701356,-1.089218784291338],[0.0037238510924504364,-1.009029818112722]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[0.5862109844592793,0.42919755286884165,0.71338606911949],"aabb_xy":[[0.4962109877236691,0.3760140895515471],[0.6762109811948895,0.4823810161861361]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.5214823323928723,-0.8810088148658761,0.71338606911949],"aabb_xy":[[-0.5255982825049449,-0.8851243698987217],[-0.5173663822807996,-0.8768932598330306]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.3158831808049929,-2.1491308828150593,0.71338606911949],"aabb_xy":[[-0.32835053891472854,-2.1615962074483828],[-0.30341582269525724,-2.1366655581817358]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[0.6397665849236287,0.7471998751408546,0.71338606911949],"aabb_xy":[[0.5597665875200353,0.6672073039426718],[0.7197665823272221,0.8271924463390374]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[0.5649008480738493,1.1643299245353624,0.71338606911949],"aabb_xy":[[0.5149277825413339,1.1143299247228295],[0.6148739136063648,1.2143299243478953]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[0.37951017371622586,-1.402959374974934,0.71338606911949],"aabb_xy":[[0.37417259805022135,-1.4279593759040738],[0.3848477493822305,-1.3779593740457943]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.10252563817189542,0.8336146329135223,0.71338606911949],"aabb_xy":[[-0.11215727439232503,0.8239773201338133],[-0.0928940019514658,0.8432519456932311]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.3715146797456537,0.2948760996001476,0.71338606911949],"aabb_xy":[[-0.38901461317963704,0.277376099679913],[-0.3540147463116703,0.3123760995203821]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.6801116796180346,1.1991775052243407,0.71338606911949],"aabb_xy":[[0.6721181898227526,1.1911793732838654],[0.6881051694133167,1.2071756371648166]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.07133180563513164,0.01480881014534452,0.71338606911949],"aabb_xy":[[-0.12132681659458368,-0.0351911888902472],[-0.021336794675679605,0.06480880918093625]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.6140440844264365,-0.31478044245465675,0.71338606911949],"aabb_xy":[[0.6070037744928997,-0.39478044185432826],[0.6210843943599736,-0.2347804430549854]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.31631255400020586,-1.0299565603619565,0.71338606911949],"aabb_xy":[[0.278812552815413,-1.0343747830580168],[0.3538125551849986,-1.0255383376658957]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[-0.561097377478776,0.9062167127476326,0.71338606911949],"aabb_xy":[[-0.6109800743564722,0.856216713501358],[-0.5112146806010798,0.9562167119939075]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[-0.3409980319281187,-0.7396683324197251,0.71338606911949],"aabb_xy":[[-0.40499803218858943,-0.784677131772653],[-0.2769980316676478,-0.694659533066797]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[-0.5709014046355112,-0.5402884062553159,0.71338606911949],"aabb_xy":[[-0.6209014059963983,-0.5902663108307314],[-0.5209014032746239,-0.49031050167990026]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[-0.22348842485854242,1.733578484392304,0.71338606911949],"aabb_xy":[[-0.2784816361956792,1.6785784840535107],[-0.16849521352140567,1.788578484731098]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.39786079337997915,0.6564938064455053,0.71338606911949],"aabb_xy":[[0.3278607915712337,0.6351400376813178],[0.4678607951887246,0.6778475752096925]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_25","position":[0.5334254948915358,-1.3354916828251697,0.71338606911949],"aabb_xy":[[0.5228580152334367,-1.3460367129381783],[0.5439929745496347,-1.3249466527121612]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[0.18578862019100184,-1.8539381014733138,0.71338606911949],"aabb_xy":[[0.14828862001912987,-1.8866388368562208],[0.22328862036287375,-1.8212373660904064]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_27","position":[-0.0210785834415399,1.393591678801278,0.71338606911949],"aabb_xy":[[-0.033681282578616356,1.3809962825764128],[-0.008475884304463444,1.4061870750261438]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_28","position":[-0.39429530890990844,-1.7628302799813291,0.71338606911949],"aabb_xy":[[-0.45929530894421117,-1.8095309566616564],[-0.3292953088756057,-1.7161296033010018]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_29","position":[-0.3916148720010346,1.6909842729817908,0.71338606911949],"aabb_xy":[[-0.39651416430759806,1.6633073536792216],[-0.38671557969447107,1.718661192284359]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879885943209848,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8924.png","name":"8924"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8924.png","name":"8924"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6880.png","name":"6880"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8074.png","name":"8074"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1338.png","name":"1338"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/72.png","name":"72"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":789.4644301539372,"rotation_z_degrees":148.4716286773576,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016419830189442316,-0.013580444165645926,-0.011096729495481435]},{"name":"camera_2","offset_m":[0.013229094107678623,0.019980330629388723,-0.018216734252570893]},{"name":"camera_3","offset_m":[-0.0007726228415153753,0.011055477672234377,-0.0013593661314144773]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014257919553211846,0.0017671760006056783,0.001534765052628001],"end_effector_yaw_offset_degrees":-0.9304557639422883},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017901912512593315,-0.0006673456335958515,-2.02986056263817e-05],"end_effector_yaw_offset_degrees":0.5084740001351473},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008804565377936381,-0.0017473143876727618,0.0007189302338403395],"end_effector_yaw_offset_degrees":-0.33247951475544224},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007527328968998208,-0.0015420516595424684,0.0005511173583117399],"end_effector_yaw_offset_degrees":0.16629440093209968}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003966439294994028,0.00032321055171977055],"position_m":[0.27493356070500596,-0.11737678944828023,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004921254470569561,-0.004855514466805741],"position_m":[0.22600787455294305,-0.4140555144668058,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00467761551074949,0.0044366299299168814],"position_m":[0.3572776155107495,0.07043662992991688,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003728330989523369,-0.0028228739524040316],"position_m":[0.33847166901047665,0.321077126047596,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62bd0d51c499d4282dc2f3ea9832f1448846b99bef5a871e50eb041bda6bf0d5","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8924/tex_ceiling_textures_72/tex_floor_textures_1338/tex_table_textures_6880/tex_wall_textures_8074","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2987007504313414206,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2987007504313414206,"visual_seed":2987007504313414206,"scene_id":"lab_003","finished_at":"2026-09-05T04:51:19"}
+{"episode_id":"ep_000067","started_at":"2026-09-05T04:51:23","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[-0.4787504303913736,-1.4885767656878666,0.71338606911949],"aabb_xy":[[-0.5287504317522609,-1.538554670263282],[-0.42875042903048644,-1.4385988611124507]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.12320970660789443,-2.114098527479767,0.71338606911949],"aabb_xy":[[0.10804683363095736,-2.1292639847748855],[0.1383725795848315,-2.098933070184648]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[-0.2645479486043745,-2.4807126627238825,0.71338606911949],"aabb_xy":[[-0.2870470843306015,-2.503212663502145],[-0.24204881287814756,-2.4582126619456197]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[-0.5469423303612504,-1.140459241227612,0.71338606911949],"aabb_xy":[[-0.6269423336190934,-1.2204557490195957],[-0.46694232710340744,-1.0604627334356278]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[-0.1119605975308593,-1.1077658599562719,0.71338606911949],"aabb_xy":[[-0.19696059594828252,-1.1926401554185566],[-0.026960599113436054,-1.0228915644939867]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.509653692756717,1.150790402487964,0.71338606911949],"aabb_xy":[[0.47215369196472157,1.1444225615297738],[0.5471536935487125,1.1571582434461543]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.19445006742088067,-0.6464912669142455,0.71338606911949],"aabb_xy":[[-0.21202836960982752,-0.6640657564883504],[-0.17687176523193382,-0.6289167773401406]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.5896166875348111,-2.504851518688399,0.71338606911949],"aabb_xy":[[-0.6536166861213836,-2.5518584820879076],[-0.5256166889482387,-2.45784455528889]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.21763397339170054,-2.1698634006138615,0.71338606911949],"aabb_xy":[[-0.2246742833252376,-2.2498634000135334],[-0.2105936634581636,-2.0898634012141906]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.32462560055137535,0.9421577289884842,0.71338606911949],"aabb_xy":[[-0.3886255969469484,0.8781944405697507],[-0.26062560415580227,1.0061210174072177]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.06977486197158467,-2.306539790785633,0.71338606911949],"aabb_xy":[[-0.15977486564850282,-2.3679721973627363],[0.020225141705333512,-2.2451073842085276]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[0.6167258116257837,-1.7745910756930083,0.71338606911949],"aabb_xy":[[0.5367258146627444,-1.8516667173367818],[0.6967258085888227,-1.6975154340492349]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[0.6343074943002911,1.3347397142250657,0.71338606911949],"aabb_xy":[[0.6168074940409546,1.3206481720362933],[0.6518074945596278,1.3488312564138385]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[-0.3506540126279234,-0.6032104989152589,0.71338606911949],"aabb_xy":[[-0.43065401003151677,-0.6832030701134416],[-0.2706540152243299,-0.523217927717076]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.5426542298650368,0.6979201491127509,0.71338606911949],"aabb_xy":[[0.5051542300480032,0.6932819378016091],[0.5801542296820703,0.7025583604238927]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[0.5281038237094293,-2.426094099782308,0.71338606911949],"aabb_xy":[[0.5227713090548164,-2.431418428027544],[0.5334363383640425,-2.4207697715370724]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[0.13709257947205988,-0.9270626257588859,0.71338606911949],"aabb_xy":[[0.12733658996288597,-0.9368251598181203],[0.14684856898123375,-0.9173000916996514]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.349580780130847,0.3998528935322878,0.71338606911949],"aabb_xy":[[-0.413580782180579,0.3597584104429799],[-0.285580778081115,0.43994737662159583]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[0.10950745815014862,-1.4879378551551945,0.71338606911949],"aabb_xy":[[0.09865585190127302,-1.4987971458828455],[0.12035906439902422,-1.4770785644275435]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[-0.09976089773792396,-2.0122289958270034,0.71338606911949],"aabb_xy":[[-0.1062625342459286,-2.021996817853313],[-0.09325926122991936,-2.0024611738006937]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.5457378556725564,1.4276918441033328,0.71338606911949],"aabb_xy":[[-0.6257378528321317,1.4161442431455156],[-0.4657378585129811,1.4392394450611496]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[0.5317973154949982,0.521655270633731,0.71338606911949],"aabb_xy":[[0.4817973160548026,0.47168734614941465],[0.5817973149351938,0.5716231951180473]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[0.4030111746649703,-2.341778643256328,0.71338606911949],"aabb_xy":[[0.3530111760190491,-2.3916981869157903],[0.45301117331089147,-2.2918590995968655]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[0.6078077262238228,-0.2605994690271527,0.71338606911949],"aabb_xy":[[0.597396167543339,-0.26594520236305114],[0.6182192849043064,-0.25525373569125415]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[-0.3488075424842329,-2.032159731733361,0.71338606911949],"aabb_xy":[[-0.39878495934948643,-2.082159733222609],[-0.29883012561897926,-1.9821597302441123]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[-0.2899850465167113,0.5651088770305059,0.71338606911949],"aabb_xy":[[-0.29607967440482963,0.5565394824788372],[-0.283890418628593,0.5736782715821747]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[-0.6203460453520684,1.8118286188275445,0.71338606911949],"aabb_xy":[[-0.6276072929224759,1.7990416085640353],[-0.6130847977816609,1.8246156290910542]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[-0.5138651157949675,0.6532982791665716,0.71338606911949],"aabb_xy":[[-0.5788651136766154,0.6021746154600307],[-0.44886511791331984,0.7044219428731124]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6942229361327241,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9681.png","name":"9681"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9681.png","name":"9681"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6717.png","name":"6717"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3570.png","name":"3570"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7241.png","name":"7241"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7163.png","name":"7163"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":625.1630974996746,"rotation_z_degrees":223.02777740078213,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0027778584775718373,-0.00046678511880736753,-0.010638377826674721]},{"name":"camera_2","offset_m":[0.010582074297121678,-0.005265032731681192,0.0001680719098148438]},{"name":"camera_3","offset_m":[-0.01063832492411171,-0.01768690952899619,-0.019484109181907384]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003136351471430708,0.0012205208366535786,0.001204835112335705],"end_effector_yaw_offset_degrees":-0.5009006152334539},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016240823049711106,-0.0010245618407247708,-0.001697686646719486],"end_effector_yaw_offset_degrees":0.23033286701899214},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012308713804411175,0.001785196232077574,-0.00040045834956177234],"end_effector_yaw_offset_degrees":-0.7951797959618647},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00024766623044745464,-0.001394847932057974,-0.00012917894766780076],"end_effector_yaw_offset_degrees":-0.1913157960414098}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029213532801890723,-0.004131274942726295],"position_m":[0.28182135328018904,-0.12183127494272629,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00017640648537872294,0.004109579944555924],"position_m":[0.22632359351462128,-0.4050904200554441,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008032744138530964,-0.004989023931174706],"position_m":[0.35179672558614694,0.061010976068825294,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003625993970646612,-0.0034256375486284643],"position_m":[0.3458259939706466,0.32047436245137156,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"180183ba7b15aea6c165e63e333f9ac0c2cd603570f71bbe48791b22894ace01","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0081.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9681/tex_ceiling_textures_7163/tex_floor_textures_7241/tex_table_textures_6717/tex_wall_textures_3570","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2192102802249840041,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2192102802249840041,"visual_seed":2192102802249840041,"scene_id":"lab_003","finished_at":"2026-09-05T04:54:52"}
+{"episode_id":"ep_000068","started_at":"2026-09-05T04:54:55","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.29693610159624256,0.3601620138356467,0.71338606911949],"aabb_xy":[[-0.3313984489943843,0.3256681314378239],[-0.2624737541981007,0.3946558962334693]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[0.4917381517037469,-0.13865802150207918,0.71338606911949],"aabb_xy":[[0.4542381518867134,-0.14329623281322104],[0.5292381515207805,-0.1340198101909373]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[-0.45687041181353893,0.17769707292417447,0.71338606911949],"aabb_xy":[[-0.5208704137258813,0.12178592366616403],[-0.39287040990119665,0.2336082221821849]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.6263036414250278,1.5218903553687242,0.71338606911949],"aabb_xy":[[0.609293544134977,1.5057558668704503],[0.6433137387150784,1.5380248438669981]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.46979217372779725,1.1245813826281204,0.71338606911949],"aabb_xy":[[0.4515863500665496,1.1135559820461287],[0.487997997389045,1.135606783210112]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[0.16192446260438287,0.6581637754075556,0.71338606911949],"aabb_xy":[[0.14586253514586522,0.5731637735949637],[0.1779863900629005,0.7431637772201474]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.4371285377013962,-0.3397633015596968,0.71338606911949],"aabb_xy":[[-0.48712354866084834,-0.3897633005952886],[-0.3871335267419443,-0.2897633025241051]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[0.5337966677898658,-1.9637600349125757,0.71338606911949],"aabb_xy":[[0.5112966672778251,-1.9862518932779738],[0.5562966683019063,-1.941268176547177]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[0.12242280121046079,-0.781258496736974,0.71338606911949],"aabb_xy":[[0.10979601392326445,-0.7908045704385469],[0.13504958849765714,-0.7717124230354011]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.28849024406674073,-0.5746958550594083,0.71338606911949],"aabb_xy":[[0.2334979934312298,-0.6296958568027212],[0.3434824947022517,-0.5196958533160957]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[-0.48673090712286593,-0.8307342506658706,0.71338606911949],"aabb_xy":[[-0.5320095220040151,-0.8947342500140542],[-0.4414522922417166,-0.7667342513176868]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.5482269955299253,-2.21591456793189,0.71338606911949],"aabb_xy":[[0.5427690498929051,-2.295914571239549],[0.5536849411669452,-2.1359145646242306]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.6787614068298076,1.6450796071820037,0.71338606911949],"aabb_xy":[[0.6377434634434367,1.5950796065510466],[0.7197793502161784,1.6950796078129613]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.42812459656759,1.2371848849128098,0.71338606911949],"aabb_xy":[[-0.4830983186039229,1.1821848853485766],[-0.3731508745312571,1.292184884477043]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[-0.17349850820339818,-1.0704057285676474,0.71338606911949],"aabb_xy":[[-0.2084985095548799,-1.0907654645244682],[-0.13849850685191642,-1.0500459926108265]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.12391323031831047,1.5622001942559014,0.71338606911949],"aabb_xy":[[-0.18791322743041616,1.5131678244614908],[-0.059913233206204786,1.611232564050312]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[-0.020819616014387754,-0.8616889713315348,0.71338606911949],"aabb_xy":[[-0.055819615144343415,-0.8674341924071988],[0.014180383115567907,-0.8559437502558706]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[0.33543561755837525,1.429152108767623,0.71338606911949],"aabb_xy":[[0.3313196674463026,1.4250365537347773],[0.3395515676704479,1.4332676638004684]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[-0.13975622298716972,-2.467812991152914,0.71338606911949],"aabb_xy":[[-0.20375192038226625,-2.5318129894536225],[-0.07576052559207308,-2.403812992852205]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[-0.5922183074500276,1.080703718683889,0.71338606911949],"aabb_xy":[[-0.6035800421033136,1.0693352522776007],[-0.5808565727967413,1.092072185090177]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.6891008733463775,-2.415352499304246,0.71338606911949],"aabb_xy":[[0.6541008733698817,-2.4248171153518627],[0.7241008733228733,-2.40588788325663]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[-0.16437840901015444,-1.4167049527649338,0.71338606911949],"aabb_xy":[[-0.2283784075967269,-1.4637119161644425],[-0.10037841042358198,-1.369697989365425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962067729311244,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8468.png","name":"8468"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8468.png","name":"8468"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9627.png","name":"9627"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7443.png","name":"7443"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2908.png","name":"2908"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4406.png","name":"4406"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":562.6801099247947,"rotation_z_degrees":40.841575583123536,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007485217310926719,-0.009654741385971128,0.016464380747306207]},{"name":"camera_2","offset_m":[0.016201188782002527,0.005154297295585728,0.018252275783925447]},{"name":"camera_3","offset_m":[0.015705168318409766,0.01683870170725039,0.008070894451170693]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014028471917802107,-0.0013784426630031174,0.0007577324726076363],"end_effector_yaw_offset_degrees":0.9573032966235906},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006355460516674252,-0.0007159600446719093,0.0016405618752964386],"end_effector_yaw_offset_degrees":0.6174746188447082},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004892911365326086,0.00110568007911226,0.0001506844300544017],"end_effector_yaw_offset_degrees":-0.05442186573265073},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008596463308337518,0.00012221995482671315,-0.0007816642540729552],"end_effector_yaw_offset_degrees":-0.15858424904285995}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004273685018293036,0.0021640351749621775],"position_m":[0.28317368501829304,-0.11553596482503782,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002521029175642875,-0.0012222746032871678],"position_m":[0.22397897082435714,-0.4104222746032872,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002577732440714994,0.0001494803501765193],"position_m":[0.35517773244071504,0.06614948035017652,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038613244700197143,0.00040279361759018237],"position_m":[0.3460613244700197,0.3243027936175902,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1d5fbd201b6ac014745e8286f61db08ae6810c3221331584f18f0544f0a84b94","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8468/tex_ceiling_textures_4406/tex_floor_textures_2908/tex_table_textures_9627/tex_wall_textures_7443","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7651468034049596189,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7651468034049596189,"visual_seed":7651468034049596189,"scene_id":"lab_003","finished_at":"2026-09-05T04:58:22"}
+{"episode_id":"ep_000069","started_at":"2026-09-05T05:02:30","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[0.6509394177939944,-1.3781359669315703,0.71338606911949],"aabb_xy":[[0.5909394172861414,-1.4349827006174913],[0.7109394183018473,-1.3212892332456487]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.41783281819064394,0.4877954769813879,0.71338606911949],"aabb_xy":[[-0.45533281970627554,0.47656870396524276],[-0.3803328166750121,0.49902224999753286]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[0.34421128652136246,-1.3979838324047995,0.71338606911949],"aabb_xy":[[0.28421128566054954,-1.4494102624112857],[0.40421128738217516,-1.346557402398313]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[0.43361481693479687,0.9656099748508984,0.71338606911949],"aabb_xy":[[0.3536148155046697,0.8860928198382888],[0.5136148183649241,1.0451271298635079]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[-0.05370649482731571,-2.4104650136010703,0.71338606911949],"aabb_xy":[[-0.14370649156292592,-2.4636484769183644],[0.03629350190829451,-2.3572815502837754]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.2550508950242381,1.6222513002039745,0.71338606911949],"aabb_xy":[[-0.29635543808797404,1.5582513006358574],[-0.21374635196050207,1.6862512997720915]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.43851917467036794,0.34849003101647424,0.71338606911949],"aabb_xy":[[-0.49351917429211384,0.2935063382290015],[-0.38351917504862215,0.40347372380394697]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.6117997027405234,-2.3728162257983945,0.71338606911949],"aabb_xy":[[-0.6233686834874601,-2.3978162259153266],[-0.600230721993587,-2.347816225681463]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[-0.4417987431712309,-1.8538796953372436,0.71338606911949],"aabb_xy":[[-0.45613316829739436,-1.8659399108917825],[-0.42746431804506746,-1.8418194797827048]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.41978295344455835,1.5575825385363253,0.71338606911949],"aabb_xy":[[-0.4242135827993985,1.5521341668016433],[-0.4153523240897182,1.5630309102710083]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[0.056341331525813665,-1.435409011219645,0.71338606911949],"aabb_xy":[[0.047560104378577446,-1.4441887585081754],[0.06512255867304989,-1.4266292639311153]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.24248906467579812,1.251842105007888,0.71338606911949],"aabb_xy":[[-0.2924621302083136,1.2018421051953554],[-0.19251599914328268,1.3018421048204212]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[0.06417182004326416,-1.0256310836083613,0.71338606911949],"aabb_xy":[[-0.0008281810626791231,-1.0505964566764896],[0.12917182114920744,-1.000665710540233]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[-0.3016157659653087,0.2159484715068376,0.71338606911949],"aabb_xy":[[-0.31297750061859475,0.2045800051005495],[-0.29025403131202243,0.22731693791312566]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.18791563934247124,-1.9974565787635719,0.71338606911949],"aabb_xy":[[0.13791563976613655,-2.0474371577156774],[0.237915638918806,-1.9474759998114657]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.5478488647898427,-1.6262763481507196,0.71338606911949],"aabb_xy":[[0.5401456741157658,-1.6339857188494575],[0.5555520554639197,-1.6185669774519813]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.2467489248633607,-1.627341565352653,0.71338606911949],"aabb_xy":[[-0.29672634172861423,-1.6773415668419014],[-0.19677150799810708,-1.5773415638634043]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.07805632299907961,0.7661095067524601,0.71338606911949],"aabb_xy":[[-0.00694367541834362,0.6812352112901751],[0.16305632141650284,0.850983802214745]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.2302595323125366,1.430150468390209,0.71338606911949],"aabb_xy":[[0.18025953095164937,1.3801725638147935],[0.2802595336734238,1.4801283729656247]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[-0.5635756840472272,-0.8471266527806822,0.71338606911949],"aabb_xy":[[-0.6133924635120619,-0.8971266512649856],[-0.5137589045823924,-0.7971266542963789]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.10306849515702654,-1.8108248539763725,0.71338606911949],"aabb_xy":[[0.05306849571683091,-1.8607927784606884],[0.15306849459722216,-1.7608569294920557]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.18846381927185096,-1.8459720407329456,0.71338606911949],"aabb_xy":[[-0.22346381924834682,-1.8554366567805622],[-0.15346381929535516,-1.836507424685329]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[-0.08629690714272242,1.1870348690992265,0.71338606911949],"aabb_xy":[[-0.0922634460834582,1.1810737244398621],[-0.08033036820198662,1.1929960137585904]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[0.3848852165929091,-2.510929613606752,0.71338606911949],"aabb_xy":[[0.38118195526377013,-2.5146316319154693],[0.3885884779220479,-2.507227595298034]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[-0.12240555300654377,-2.120361969918256,0.71338606911949],"aabb_xy":[[-0.12850018089466209,-2.128931364469925],[-0.11631092511842546,-2.1117925753665876]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.6336487695853721,-2.4377683541274884,0.71338606911949],"aabb_xy":[[0.6107330567003223,-2.460672651263912],[0.6565644824704221,-2.414864056991065]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6908435029894783,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3690.png","name":"3690"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3690.png","name":"3690"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6215.png","name":"6215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5733.png","name":"5733"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5222.png","name":"5222"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9310.png","name":"9310"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":507.84596254347963,"rotation_z_degrees":129.5537676745561,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008192109789355865,0.010523454509838756,0.008694509566790208]},{"name":"camera_2","offset_m":[-0.0012186473818906751,0.00040596853275385453,0.008816930626379768]},{"name":"camera_3","offset_m":[-0.005115072337857112,-0.013478859455882217,-0.013611840238049698]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008043326980142602,0.001803705002962847,-0.0010546210789050448],"end_effector_yaw_offset_degrees":0.36776559405666664},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011664715661004743,-0.0012767537314988201,-0.001982842002114282],"end_effector_yaw_offset_degrees":0.8507531215884656},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017249564379138108,-0.00024982038813168477,-6.359971729292938e-05],"end_effector_yaw_offset_degrees":-0.5809687296099655},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004236517325948341,-0.000897907244828526,0.0013795589913154008],"end_effector_yaw_offset_degrees":0.38287308161727474}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033513464868486975,0.000881189563533352],"position_m":[0.2822513464868487,-0.11681881043646665,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010760993320468844,0.0031198782396108645],"position_m":[0.2275760993320469,-0.40608012176038916,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028167536876600443,0.0010361293354727106],"position_m":[0.34978324631234,0.06703612933547272,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[1.3093279584712632e-05,-0.0038064810041480704],"position_m":[0.3422130932795847,0.320093518995852,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f19014d57b90df1e6c26ab7a52ccbf6b3cd59e581d5e9e61b04e3d4193e6db53","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0084.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3690/tex_ceiling_textures_9310/tex_floor_textures_5222/tex_table_textures_6215/tex_wall_textures_5733","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7568186224622536410,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7568186224622536410,"visual_seed":7568186224622536410,"scene_id":"lab_003","finished_at":"2026-09-05T05:06:08"}
+{"episode_id":"ep_000070","started_at":"2026-09-05T05:06:13","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.4645485395472045,0.7469895214878415,0.71338606911949],"aabb_xy":[[-0.505797350577119,0.6919895219756238],[-0.4232997285172897,0.8019895210000587]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[0.6503371784296454,-0.510640564082073,0.71338606911949],"aabb_xy":[[0.6128371784858789,-0.5189336541169096],[0.6878371783734117,-0.5023474740472365]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[-0.6287334591258207,0.9766429431351002,0.71338606911949],"aabb_xy":[[-0.658725121859691,0.9466429437982997],[-0.5987417963919504,1.0066429424719008]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[0.5259407076734743,-1.0387358639871163,0.71338606911949],"aabb_xy":[[0.4619407074130036,-1.083744663340044],[0.5899407079339452,-0.9937270646341881]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_4","position":[-0.029825754348790312,-0.3491890806114988,0.71338606911949],"aabb_xy":[[-0.04740405653773716,-0.3667635701856037],[-0.012247452159843464,-0.3316145910373939]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[-0.20928848652541854,-1.5837781474922497,0.71338606911949],"aabb_xy":[[-0.2141320812866485,-1.588629799971234],[-0.20444489176418856,-1.5789264950132658]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.14135387591161253,0.990128535621877,0.71338606911949],"aabb_xy":[[0.09607526103046327,0.9261285362736932],[0.18663249079276178,1.0541285349700606]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[-0.11413906253509698,1.7189167285348979,0.71338606911949],"aabb_xy":[[-0.13419747414833727,1.6988516416257404],[-0.09408065092185669,1.7389818154440553]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.30627370001169085,1.2445705108442295,0.71338606911949],"aabb_xy":[[0.251299977975358,1.1895705112799964],[0.3612474220480238,1.2995705104084627]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[0.6509004618863357,0.27354385150037475,0.71338606911949],"aabb_xy":[[0.6204162117593055,0.22354385171887875],[0.6813847120133658,0.32354385128187063]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[-0.25936165529126964,1.7073474438821008,0.71338606911949],"aabb_xy":[[-0.2880109876516858,1.678701884605025],[-0.23071232293085336,1.7359930031591766]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[-0.6427299201695506,-1.9296593982702892,0.71338606911949],"aabb_xy":[[-0.6777299184396705,-1.9367335259652774],[-0.6077299218994306,-1.922585270575301]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.41731992164682424,1.2178164226425068,0.71338606911949],"aabb_xy":[[-0.4519110045008694,1.1528164223574755],[-0.38272883879277897,1.2828164229275376]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[0.6218880343340525,-0.9218734244043438,0.71338606911949],"aabb_xy":[[0.5418880373198044,-0.942007976077755],[0.7018880313483004,-0.9017388727309325]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[-0.06725294396350623,0.06035388889042759,0.71338606911949],"aabb_xy":[[-0.10475294431173399,0.04856249330934403],[-0.02975294361527847,0.07214528447151114]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[0.524514674443816,-2.2340529157863607,0.71338606911949],"aabb_xy":[[0.4545146718072296,-2.2541577807822257],[0.5945146770804023,-2.2139480507904947]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[-0.09508927238340759,-2.090352090428162,0.71338606911949],"aabb_xy":[[-0.17508927036419264,-2.097953631390014],[-0.015089274402622544,-2.08275054946631]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[-0.07817397081528732,-1.1232235129513057,0.71338606911949],"aabb_xy":[[-0.11567397110746214,-1.1272649883519092],[-0.0406739705231125,-1.1191820375507022]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.2996851352506208,-2.0526522240585137,0.71338606911949],"aabb_xy":[[-0.3546806130712801,-2.1076522254924206],[-0.24468965742996135,-1.9976522226246067]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.15356103956843525,-0.8752075906566714,0.71338606911949],"aabb_xy":[[0.12727221524799456,-0.9014790243113225],[0.1798498638888759,-0.8489361570020201]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[-0.18003974113258703,-1.3424582475612359,0.71338606911949],"aabb_xy":[[-0.1951420425936051,-1.3575597691922974],[-0.1649374396715689,-1.327356725930174]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.2623404670147807,-2.25381000577611,0.71338606911949],"aabb_xy":[[-0.27822496028010585,-2.268162946074934],[-0.24645597374945555,-2.2394570654772856]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6865962728651676,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4343.png","name":"4343"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4343.png","name":"4343"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6207.png","name":"6207"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7560.png","name":"7560"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4905.png","name":"4905"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8741.png","name":"8741"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":748.5456253177019,"rotation_z_degrees":204.82525331366935,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0017696335485310986,0.011209657252517782,0.019927031363208506]},{"name":"camera_2","offset_m":[0.0003216778354381139,-0.017638134534856027,0.009842728872618136]},{"name":"camera_3","offset_m":[-0.006063557431661631,0.00820079575031242,-0.004929249872155853]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012367071574438029,-0.0013587246893533957,-0.00038692853941259524],"end_effector_yaw_offset_degrees":0.47819099375484986},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[2.1358328834882468e-05,0.0017929209874528282,-0.0010641848786317682],"end_effector_yaw_offset_degrees":0.0965272975278284},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008743712519353021,0.0004502620417931695,-0.0011235027560014185],"end_effector_yaw_offset_degrees":0.9121395098062925},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015302075534418856,-0.001755579335952901,0.0008338117641346274],"end_effector_yaw_offset_degrees":0.21800654538248687}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002004427519029032,-0.0028756857512494574],"position_m":[0.280904427519029,-0.12057568575124945,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004621043566850106,0.000313253707499718],"position_m":[0.2218789564331499,-0.40888674629250027,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004117303751344846,0.0047073171641894345],"position_m":[0.35671730375134486,0.07070731716418943,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0048911236028560965,-0.0036027044601479275],"position_m":[0.3373088763971439,0.3202972955398521,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"11759d91e4c49bc1fdcb4458b390833427da7659224844bb2e5779a9f1500a47","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4343/tex_ceiling_textures_8741/tex_floor_textures_4905/tex_table_textures_6207/tex_wall_textures_7560","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4723458136485333073,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4723458136485333073,"visual_seed":4723458136485333073,"scene_id":"lab_003","finished_at":"2026-09-05T05:09:53"}
+{"episode_id":"ep_000071","started_at":"2026-09-05T05:09:57","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[-0.29516832442260027,1.0616228561099486,0.71338606911949],"aabb_xy":[[-0.3326683242396339,1.0569846447988067],[-0.25766832460556677,1.0662610674210904]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[0.2856015289669477,-1.4279738194553837,0.71338606911949],"aabb_xy":[[0.20560153031006173,-1.4424786783796466],[0.36560152762383374,-1.4134689605311208]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.6296857200971512,1.038039576424739,0.71338606911949],"aabb_xy":[[-0.6655992245221407,1.0021260682079844],[-0.5937722156721614,1.0739530846414935]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.119812695325196,0.7843976393911256,0.71338606911949],"aabb_xy":[[0.1065817497905147,0.7711702203691261],[0.1330436408598773,0.7976250584131249]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[0.5655478716255256,-1.9353550806828435,0.71338606911949],"aabb_xy":[[0.4758607953174101,-2.0253550809372944],[0.655234947933641,-1.8453550804283931]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.17828059059203638,-2.1254202115154746,0.71338606911949],"aabb_xy":[[0.15199176627159572,-2.1516916451701253],[0.20456941491247704,-2.099148777860823]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.4876949182016267,0.9035869559788199,0.71338606911949],"aabb_xy":[[-0.505194918446676,0.886087168139253],[-0.4701949179565773,0.9210867438183867]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[-0.26513432715806096,1.1645687371362263,0.71338606911949],"aabb_xy":[[-0.2714464266943994,1.1588017978830074],[-0.2588222276217225,1.1703356763894452]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[0.6100339560742372,-2.3080474648445986,0.71338606911949],"aabb_xy":[[0.5599364920931635,-2.3720474653544104],[0.6601314200553108,-2.2440474643347867]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[0.29302761322458337,-1.5509066518489278,0.71338606911949],"aabb_xy":[[0.22902761181659267,-1.6026956033728526],[0.357027614632574,-1.4991177003250031]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.43482099506815014,-2.0686107543432626,0.71338606911949],"aabb_xy":[[-0.489794717104483,-2.123610753907496],[-0.37984727303181726,-2.01361075477903]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.247605765473295,0.491090599605446,0.71338606911949],"aabb_xy":[[-0.3376057648916658,0.45771510276125627],[-0.15760576605492407,0.5244660964496357]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[0.5003521743918944,-0.5467302705479105,0.71338606911949],"aabb_xy":[[0.47844349225254335,-0.5686309373680012],[0.5222608565312454,-0.5248296037278197]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.5301003802727002,-1.316673339431482,0.71338606911949],"aabb_xy":[[-0.5800953912321524,-1.366673338467074],[-0.4801053693132483,-1.2666733403958905]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.27075864856634035,0.718040022051174,0.71338606911949],"aabb_xy":[[0.2254800336851911,0.6540400227029903],[0.3160372634474896,0.7820400213993577]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.16327870257998445,0.954434667427905,0.71338606911949],"aabb_xy":[[-0.18107220951490088,0.9366349218321074],[-0.145485195645068,0.9722344130237027]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.5718657141613432,0.07708525293082769,0.71338606911949],"aabb_xy":[[0.564241446071165,0.06945202939428397],[0.5794899822515215,0.0847184764673714]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[0.45812483262194603,-1.584369852737354,0.71338606911949],"aabb_xy":[[0.423808555447328,-1.6343698527105317],[0.49244110979656386,-1.5343698527641763]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.5165101600605876,-0.8382134255518394,0.71338606911949],"aabb_xy":[[-0.5265918671391611,-0.918213423443954],[-0.5064284529820141,-0.7582134276597247]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.4520134629979528,-1.4645775035835147,0.71338606911949],"aabb_xy":[[-0.5120134635058058,-1.521424237269436],[-0.3920134624900999,-1.4077307698975934]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[-0.601500801118555,-0.12153768204025583,0.71338606911949],"aabb_xy":[[-0.6715008027208346,-0.1349704752419134],[-0.5315007995162756,-0.10810488883859826]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[0.24642445927724654,-2.218762362517961,0.71338606911949],"aabb_xy":[[0.1764244628672847,-2.2392002981696417],[0.31642445568720823,-2.1983244268662783]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[0.5515076754564316,-1.163434242680677,0.71338606911949],"aabb_xy":[[0.4875076737784343,-1.2119516341599912],[0.615507677134429,-1.1149168512013627]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.175946893899384,0.6290825340563573,0.71338606911949],"aabb_xy":[[-0.18365008457346102,0.6213731633576192],[-0.16824370322530693,0.6367919047550952]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_24","position":[0.415987570884091,1.689403244067193,0.71338606911949],"aabb_xy":[[0.3659875696002509,1.6394243896765708],[0.46598757216793085,1.739382098457815]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[0.5651399767642815,-2.426134208247176,0.71338606911949],"aabb_xy":[[0.5569254316485974,-2.4348107985448166],[0.5733545218799654,-2.417457617949534]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[-0.5197245210654406,1.456216373459172,0.71338606911949],"aabb_xy":[[-0.5837245231151728,1.416121890369864],[-0.45572451901570876,1.49631085654848]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_27","position":[0.545212930987311,-0.36458439706552115,0.71338606911949],"aabb_xy":[[0.46521910740875283,-0.4445843996583627],[0.6252067545658693,-0.2845843944726796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951382830683488,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1511.png","name":"1511"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1511.png","name":"1511"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6226.png","name":"6226"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2934.png","name":"2934"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2608.png","name":"2608"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5836.png","name":"5836"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":568.0092836525303,"rotation_z_degrees":348.0301986895204,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019948492302677905,-0.0012689539819913907,-0.015450609546136144]},{"name":"camera_2","offset_m":[-0.012534928262881492,0.011520434404138188,0.013350143187828841]},{"name":"camera_3","offset_m":[-0.009364874880587673,-0.005615520835226371,0.011750532086297918]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000803259799259238,-0.0012778790040900586,0.0014631159886532232],"end_effector_yaw_offset_degrees":0.6188745824341237},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003138016360200208,0.0006244936119156131,0.0017180793403075829],"end_effector_yaw_offset_degrees":-0.3501214212352828},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016625817504895056,0.0008059960268481624,0.0014603052325098957],"end_effector_yaw_offset_degrees":-0.33040464441986406},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006943892380771967,0.0016821833899678092,-0.0002003138538331907],"end_effector_yaw_offset_degrees":0.8946077093621214}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028202546366494995,0.0048084714208349874],"position_m":[0.2760797453633505,-0.11289152857916501,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004066144428256494,-0.0019035476884494374],"position_m":[0.2224338555717435,-0.4111035476884494,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004482954224546314,-0.0030380063609535893],"position_m":[0.35708295422454633,0.06296199363904642,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003976015514022136,-0.002116940671556824],"position_m":[0.34617601551402216,0.3217830593284432,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9f3ce387f4018b53b4fcd7b2d29fed3c15a8777fe31eb68af7b31d4781495551","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0086.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1511/tex_ceiling_textures_5836/tex_floor_textures_2608/tex_table_textures_6226/tex_wall_textures_2934","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2924846788497575035,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2924846788497575035,"visual_seed":2924846788497575035,"scene_id":"lab_003","finished_at":"2026-09-05T05:13:27"}
+{"episode_id":"ep_000072","started_at":"2026-09-05T05:13:31","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[-0.6009237936319733,-1.3449316625215049,0.71338606911949],"aabb_xy":[[-0.6114912732900724,-1.3554766926345134],[-0.5903563139738743,-1.3343866324084963]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[-0.5772553895475975,0.4688354435297959,0.71338606911949],"aabb_xy":[[-0.6158010823727985,0.4302896724736072],[-0.5387096967223964,0.5073812145859845]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.3632050656125392,1.5921812945117986,0.71338606911949],"aabb_xy":[[0.35723852667180334,1.5862201498524344],[0.3691716045532749,1.5981424391711627]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[0.5442739413023561,-2.454187277821919,0.71338606911949],"aabb_xy":[[0.5268432262233494,-2.471459392485769],[0.5617046563813625,-2.436915163158068]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[-0.5362078177595645,1.8057604153619091,0.71338606911949],"aabb_xy":[[-0.5581164998989155,1.7838597485418184],[-0.5142991356202135,1.8276610821819999]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.6182112803928372,1.7982493920666038,0.71338606911949],"aabb_xy":[[0.580711279895479,1.7942807085184853],[0.6557112808901955,1.8022180756147224]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.5738871427875927,0.6735461486973926,0.71338606911949],"aabb_xy":[[-0.6038546996974183,0.6435461483995069],[-0.543919585877767,0.7035461489952783]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[0.4334386052300512,1.0341901568444847,0.71338606911949],"aabb_xy":[[0.3834556550425718,0.9841901572019244],[0.48342155541753046,1.084190156487045]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.10841542241495983,0.5235596025175293,0.71338606911949],"aabb_xy":[[-0.19841542100942977,0.5073090162041084],[-0.0184154238204899,0.5398101888309504]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.24921356322525068,-1.0413864890160092,0.71338606911949],"aabb_xy":[[-0.28421356241806894,-1.0523535350136715],[-0.21421356403243239,-1.0304194430183464]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[0.5995167778912895,-0.03383743069015832,0.71338606911949],"aabb_xy":[[0.5879477971443531,-0.05883743080709003],[0.6110857586382262,-0.008837430573226612]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[0.3172103657055514,-0.8259605344676686,0.71338606911949],"aabb_xy":[[0.26721036434466416,-0.8759384390430843],[0.3672103670664386,-0.7759826298922531]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.25348007784161675,-2.518785772394888,0.71338606911949],"aabb_xy":[[0.2391456527154533,-2.5308459879494265],[0.2678145029677802,-2.5067255568403493]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.6664021660044273,1.4052402106364008,0.71338606911949],"aabb_xy":[[-0.6790289532916235,1.3956941369348277],[-0.6537753787172308,1.4147862843379735]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[0.05743598850586329,-1.44180697620444,0.71338606911949],"aabb_xy":[[-0.027564010186211345,-1.473792839599319],[0.14243598719793793,-1.4098211128095612]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.6137734309576003,-0.6061921204776293,0.71338606911949],"aabb_xy":[[-0.6231204385398955,-0.6204957426952733],[-0.604426423375305,-0.5918884982599852]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[-0.5838211624008484,-1.4893747404211242,0.71338606911949],"aabb_xy":[[-0.6388211606025931,-1.529896707047562],[-0.5288211641991034,-1.4488527737946868]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.3689313014031883,-1.9341008736476204,0.71338606911949],"aabb_xy":[[0.3189313027572671,-1.9840204173070828],[0.4189313000491095,-1.884181329988158]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[0.36898104125287357,-1.2454771793362758,0.71338606911949],"aabb_xy":[[0.33148103973724186,-1.2567039523524206],[0.4064810427685053,-1.2342504063201305]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.1471107312725125,1.6201734031436321,0.71338606911949],"aabb_xy":[[-0.15957808938224818,1.607708078510309],[-0.13464337316277689,1.632638727776956]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[0.5825112187789661,-2.154279575473914,0.71338606911949],"aabb_xy":[[0.5636268350104559,-2.173165500254267],[0.6013956025474763,-2.1353936506935614]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.5374074366310962,1.5049293246585997,0.71338606911949],"aabb_xy":[[-0.6174074352879824,1.4904244657343368],[-0.45740743797421035,1.5194341835828626]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[-0.3965579767921762,1.3936450355746177,0.71338606911949],"aabb_xy":[[-0.4041822448823545,1.386011812038074],[-0.388933708701998,1.4012782591111614]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[-0.3002129141688582,-0.17378514587647853,0.71338606911949],"aabb_xy":[[-0.34521291563508705,-0.21878500273795923],[-0.25521291270262936,-0.12878528901499786]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_24","position":[-0.5976250754349942,-0.16953343026313084,0.71338606911949],"aabb_xy":[[-0.6526250750567401,-0.2245171230506036],[-0.5426250758132484,-0.11454973747565814]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[-0.2393747967382414,-0.34210623544086927,0.71338606911949],"aabb_xy":[[-0.2806236077681561,-0.39710623495308667],[-0.19812598570832662,-0.28710623592865175]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_26","position":[-0.31341780114195783,1.6659645158125636,0.71338606911949],"aabb_xy":[[-0.3477340783165757,1.6159645158393858],[-0.27910152396733984,1.7159645157857413]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_27","position":[-0.15783849126382776,0.08258538828902973,0.71338606911949],"aabb_xy":[[-0.1928384903937834,0.0768401672133656],[-0.12283849213387207,0.08833060936469382]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[-0.4233880449158455,-1.5131955082761588,0.71338606911949],"aabb_xy":[[-0.4873880435024179,-1.5602024716756675],[-0.35938804632927296,-1.46618854487665]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_29","position":[0.0026820176029244136,1.7590604165212418,0.71338606911949],"aabb_xy":[[-0.0007586586371327593,1.7551989835468773],[0.0061226938429815875,1.7629218494956063]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6942618506544002,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7127.png","name":"7127"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7127.png","name":"7127"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5045.png","name":"5045"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2973.png","name":"2973"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8460.png","name":"8460"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4587.png","name":"4587"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":521.9508235243968,"rotation_z_degrees":259.152702351024,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012240567505565774,0.012791056041145884,-0.0054652902251068804]},{"name":"camera_2","offset_m":[0.004982118550434258,0.003980942859430282,0.01887335750493287]},{"name":"camera_3","offset_m":[-0.011959681470549297,0.018983154824976183,0.000900961405470517]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003473739954105476,0.0016911942303893123,0.001990518200719213],"end_effector_yaw_offset_degrees":0.48120118591739947},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016835944211628898,0.0004901499021539636,0.0012651534130589176],"end_effector_yaw_offset_degrees":-0.3041027223629267},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013831434450884339,0.00013766948071022725,0.001987501634161652],"end_effector_yaw_offset_degrees":-0.404609297400216},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009414229557603072,0.0017874977773602676,-3.078072681261682e-05],"end_effector_yaw_offset_degrees":0.7685147012273177}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004623124961241592,-0.0026254611075843502],"position_m":[0.28352312496124155,-0.12032546110758435,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001738953387030894,-0.0010923198256656231],"position_m":[0.2282389533870309,-0.4102923198256656,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026440994274690892,0.0038679303528856212],"position_m":[0.3552440994274691,0.06986793035288562,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00030784644192786113,0.0029541604112629663],"position_m":[0.3425078464419279,0.326854160411263,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"82a181ad6eaa83e4dbddb3b609f667e07f65a4f9e5089cd457c2128064f90fb5","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0087.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7127/tex_ceiling_textures_4587/tex_floor_textures_8460/tex_table_textures_5045/tex_wall_textures_2973","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":915136538781450919,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":915136538781450919,"visual_seed":915136538781450919,"scene_id":"lab_003","finished_at":"2026-09-05T05:17:06"}
+{"episode_id":"ep_000073","started_at":"2026-09-05T05:17:12","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.3952513495798352,0.9130674333940374,0.71338606911949],"aabb_xy":[[-0.41113584284516036,0.8987144930952135],[-0.37936685631451006,0.9274203736928616]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[0.5984960058925834,-0.985671702627466,0.71338606911949],"aabb_xy":[[0.5084960064742126,-1.0190471994716557],[0.6884960053109543,-0.9522962057832761]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[-0.31858711895458924,0.43550980925631455,0.71338606911949],"aabb_xy":[[-0.3985871222124322,0.3555133014643305],[-0.2385871156967463,0.5155063170482985]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[-0.015934982190202285,0.9396088014544968,0.71338606911949],"aabb_xy":[[-0.10593497869107403,0.8936971590360385],[0.07406501431066946,0.985520443872955]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.4793880801010534,-1.1632091710969177,0.71338606911949],"aabb_xy":[[-0.484725655767058,-1.1882091720260575],[-0.47405050443504887,-1.138209170167778]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.5792043511221838,-1.7963242227035152,0.71338606911949],"aabb_xy":[[0.49548212562210137,-1.8863242262382112],[0.6629265766222663,-1.7063242191688193]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.636969292634336,0.3770203709660369,0.71338606911949],"aabb_xy":[[-0.691969292256082,0.3220366781785642],[-0.5819692930125903,0.43200406375350964]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.31964358354732975,1.4427000609909464,0.71338606911949],"aabb_xy":[[-0.3321109416570654,1.4302347363576229],[-0.3071762254375941,1.45516538562427]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.02505345362115574,1.4560991317694962,0.71338606911949],"aabb_xy":[[-0.07218283262299141,1.3920991307250943],[0.022075925380679932,1.5200991328138982]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[0.1832213120913152,-2.3772193013685925,0.71338606911949],"aabb_xy":[[0.1734653225821413,-2.386981835427827],[0.1929773016004891,-2.367456767309358]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.5467977067749809,0.9532288903945267,0.71338606911949],"aabb_xy":[[-0.6017714288113137,0.8982288908302937],[-0.49182398473864797,1.00822888995876]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[0.3936246035256621,-0.9979949089804712,0.71338606911949],"aabb_xy":[[0.385410058409978,-1.006671499278112],[0.40183914864134596,-0.9893183186828296]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[0.1709690484448977,-1.4438088451662638,0.71338606911949],"aabb_xy":[[0.16293271374361282,-1.4518469644706804],[0.1790053831461825,-1.4357707258618468]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.3193191506563893,-2.5143241430566956,0.71338606911949],"aabb_xy":[[0.25431914801859584,-2.5658037417561426],[0.3843191532941828,-2.4628445443572486]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[0.2941133407159413,-1.9693525890856431,0.71338606911949],"aabb_xy":[[0.25965099331779945,-2.0038464714834654],[0.32857568811408305,-1.9348587066878202]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[0.5991545186272356,0.8191897590092592,0.71338606911949],"aabb_xy":[[0.5739336817673958,0.7939660081563723],[0.6243753554870751,0.8444135098621458]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.14826823799503186,1.591378704557736,0.71338606911949],"aabb_xy":[[-0.1718533614589267,1.526378702312304],[-0.12468311453113701,1.6563787068031677]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[0.020298843014239454,-0.6647878675460139,0.71338606911949],"aabb_xy":[[0.01622068510718971,-0.6688688477942772],[0.02437700092128919,-0.6607068872977506]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.3066588258871359,-1.4072856297916287,0.71338606911949],"aabb_xy":[[0.28964872859708524,-1.423420118289903],[0.32366892317718654,-1.391151141293355]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.1699174760327511,-2.538192515253054,0.71338606911949],"aabb_xy":[[-0.18682820846909287,-2.551664720845668],[-0.1530067435964093,-2.524720309660439]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[0.5169865488886893,0.38940125633576494,0.71338606911949],"aabb_xy":[[0.5081844935797165,0.38158993018083587],[0.5257886041976619,0.397212582490694]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.39287283528897876,-0.2853174920521617,0.71338606911949],"aabb_xy":[[-0.4173864593859847,-0.3095820853541982],[-0.36835921119197296,-0.2610528987501253]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[-0.4738214275470256,0.37677679686533727,0.71338606911949],"aabb_xy":[[-0.4959939545236764,0.3546011297092141],[-0.4516489005703747,0.3989524640214604]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.5325010198924427,-0.6250372212966266,0.71338606911949],"aabb_xy":[[-0.541198982183158,-0.6371621956041014],[-0.5238030576017274,-0.6129122469891519]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[-0.14790623406569214,-1.7808341601943412,0.71338606911949],"aabb_xy":[[-0.23790623266016211,-1.797084746507762],[-0.05790623547122223,-1.76458357388092]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[-0.28019401460731264,-1.231722172350925,0.71338606911949],"aabb_xy":[[-0.3051940145398305,-1.2386048405718486],[-0.25519401467479474,-1.224839504130002]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[0.526224382327827,-2.4824776050680097,0.71338606911949],"aabb_xy":[[0.4767439611138682,-2.546477602980862],[0.5757048035417858,-2.4184776071551584]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915668758934347,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2243.png","name":"2243"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2243.png","name":"2243"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6827.png","name":"6827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7283.png","name":"7283"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3377.png","name":"3377"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9983.png","name":"9983"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":796.1679279163382,"rotation_z_degrees":291.2049117949978,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006105346883573098,0.0038559076118825225,-0.00811839483263661]},{"name":"camera_2","offset_m":[-0.002081809758180918,-0.008587332124439144,-0.010754290442284705]},{"name":"camera_3","offset_m":[-0.015738250107836436,-0.013392560777952173,-0.0016536089626952508]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-4.608121499790783e-05,-0.0006698352574356972,-0.0018068885652418132],"end_effector_yaw_offset_degrees":-0.28933930573168753},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011440149661744634,-0.0003004769599290692,0.0009949514469871057],"end_effector_yaw_offset_degrees":0.09336436796550784},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001000985337293793,-0.00019961256258811482,0.0017658680772516893],"end_effector_yaw_offset_degrees":0.3230998761091457},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00037338468188324566,-0.0016226837749716044,0.00022257581966847852],"end_effector_yaw_offset_degrees":-0.7354052704304574}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001993205407672908,-0.004800826813300645],"position_m":[0.2808932054076729,-0.12250082681330064,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00329376225881431,-0.0041698925964876975],"position_m":[0.22979376225881432,-0.4133698925964877,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001886654267798018,0.0033038970255158525],"position_m":[0.3524113345732202,0.06930389702551586,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006458950028932512,-0.0009970619959219695],"position_m":[0.34155410499710676,0.32290293800407804,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e0ff43a862fcb427dc8c8eb5db323e6a862df0e9c7700ef3112aef11ebd616d","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0088.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2243/tex_ceiling_textures_9983/tex_floor_textures_3377/tex_table_textures_6827/tex_wall_textures_7283","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3488796594130104355,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3488796594130104355,"visual_seed":3488796594130104355,"scene_id":"lab_003","finished_at":"2026-09-05T05:20:50"}
+{"episode_id":"ep_000074","started_at":"2026-09-05T05:24:54","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[0.5734280091240225,1.6968078442055012,0.71338606911949],"aabb_xy":[[0.5471391848035817,1.6705364105508498],[0.599716833444463,1.7230792778601522]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.22582456369470044,-0.5213484053296074,0.71338606911949],"aabb_xy":[[-0.2958245658261299,-0.5441103709553029],[-0.15582456156327087,-0.4985864397039116]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[-0.5355479162957064,-0.8408602730511232,0.71338606911949],"aabb_xy":[[-0.5530479154300735,-0.8507399000887109],[-0.5180479171613391,-0.8309806460135353]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[0.2915086972239167,-1.0462632286826083,0.71338606911949],"aabb_xy":[[0.206508698531842,-1.0782490920774872],[0.3765086959159913,-1.0142773652877295]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[0.6924098880598071,-0.9618418689106247,0.71338606911949],"aabb_xy":[[0.6889692118197499,-0.9657033018849893],[0.6958505642998642,-0.9579804359362604]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[-0.2505137303632422,1.6246037378530604,0.71338606911949],"aabb_xy":[[-0.28551373171472394,1.6042440018962394],[-0.2155137290117605,1.644963473809881]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.4309968428615383,-1.0951424079891172,0.71338606911949],"aabb_xy":[[0.4229534829355831,-1.1801424090844836],[0.43904020278749345,-1.0101424068937508]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[0.47203716824558195,-0.8332326714110161,0.71338606911949],"aabb_xy":[[0.44845204478168715,-0.898232673656448],[0.49562229170947686,-0.7682326691655844]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[0.30846178364163324,0.6906739063953209,0.71338606911949],"aabb_xy":[[0.28596178382773085,0.6861992900248401],[0.3309617834555356,0.6951485227658016]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.329637666901861,-0.9985322387414028,0.71338606911949],"aabb_xy":[[-0.3996376695384473,-1.0186371037372681],[-0.2596376642652746,-0.9784273737455371]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[0.17440628355150412,1.1896786024781698,0.71338606911949],"aabb_xy":[[0.1635546773026285,1.1788193117505188],[0.1852578898003797,1.2005378932058208]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[0.08352231544164557,1.2688208767711648,0.71338606911949],"aabb_xy":[[0.0035223167847595743,1.2543160178469022],[0.16352231409853157,1.283325735695428]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[-0.5619041703192512,1.4662534159340281,0.71338606911949],"aabb_xy":[[-0.6168778923555842,1.411253416369795],[-0.5069304482829184,1.5212534154982613]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.5518908583639521,-0.09873641168746872,0.71338606911949],"aabb_xy":[[0.5470472636027223,-0.10358806416645285],[0.5567344531251822,-0.09388475920848462]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[0.19131123119119242,-2.4733029669121205,0.71338606911949],"aabb_xy":[[0.15684875317810462,-2.4799666440950427],[0.22577370920428017,-2.4666392897291973]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.6401025322790652,-2.4836380354524006,0.71338606911949],"aabb_xy":[[0.6249396593021281,-2.4988034927475193],[0.6552654052560023,-2.468472578157282]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[0.5859456555279563,1.545029540178548,0.71338606911949],"aabb_xy":[[0.57334295639088,1.5324341439536828],[0.5985483546650329,1.5576249364034138]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[0.551276478568596,0.3140869868628724,0.71338606911949],"aabb_xy":[[0.5137764783967239,0.28138625147996515],[0.5887764787404678,0.34678772224577953]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[-0.6315948961747704,0.7889626742094742,0.71338606911949],"aabb_xy":[[-0.6915948978176922,0.73696252491753],[-0.5715948945318485,0.8409628235014184]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.5706534825736564,-1.2994087889380197,0.71338606911949],"aabb_xy":[[0.5156612319381455,-1.3544087906813325],[0.6256457332091674,-1.244408787194707]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.48028614060920116,-0.09553251069406166,0.71338606911949],"aabb_xy":[[-0.49105911453056894,-0.13053250891310064],[-0.4695131666878334,-0.06053251247502267]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.4487295342262403,-1.318532363090064,0.71338606911949],"aabb_xy":[[0.42350869736640046,-1.3437561139429506],[0.4739503710860798,-1.293308612237177]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[0.17605256715479034,1.6414129104617676,0.71338606911949],"aabb_xy":[[0.139257934029884,1.6045070353651854],[0.21284720027969656,1.67831878555835]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[0.39926376458384394,-1.6679611935148009,0.71338606911949],"aabb_xy":[[0.3929516650475055,-1.6737281327680198],[0.40557586412018237,-1.662194254261582]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_24","position":[0.46921512418555644,-1.9346601200733522,0.71338606911949],"aabb_xy":[[0.3892151271713084,-1.9547946717467635],[0.5492151211998044,-1.914525568399941]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[-0.5533721935561833,-0.2601008193795442,0.71338606911949],"aabb_xy":[[-0.6433721902917934,-0.3132842826968387],[-0.46337219682057296,-0.2069173560622497]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6925625648599336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1351.png","name":"1351"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1351.png","name":"1351"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/388.png","name":"388"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9531.png","name":"9531"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4584.png","name":"4584"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7427.png","name":"7427"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":576.9673836506051,"rotation_z_degrees":350.1909071631563,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016376173199408782,-0.0013152817070276705,0.01965089235042145]},{"name":"camera_2","offset_m":[-0.0031029409138009917,0.01699243893577623,-0.018466629258858433]},{"name":"camera_3","offset_m":[-0.012471893593564345,0.008841071215570588,-0.012581906036393812]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015497077644996931,-0.001756910421952926,-0.00027076528085817077],"end_effector_yaw_offset_degrees":0.8720742331573694},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00105704575413224,0.0007934813885593999,-0.0001049552348365043],"end_effector_yaw_offset_degrees":-0.5961981901217672},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001646719197297166,-5.4491151703400104e-05,-0.00044690604386201965],"end_effector_yaw_offset_degrees":-0.5681096366962302},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001666864012285772,-0.0018131991978404286,-0.001128858386422584],"end_effector_yaw_offset_degrees":0.12356674081786312}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004546219668226564,0.002275684487343088],"position_m":[0.27435378033177343,-0.11542431551265692,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008736034167655896,0.004309396060288558],"position_m":[0.2256263965832344,-0.40489060393971144,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009043440194491685,-0.004933499227964162],"position_m":[0.35169565598055086,0.06106650077203584,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006583388201984001,0.001153364487368272],"position_m":[0.3415416611798016,0.32505336448736827,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"637ff3efeafcad20d5f189ffaf192cfca559134124e312878c630a29753ef60d","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1351/tex_ceiling_textures_7427/tex_floor_textures_4584/tex_table_textures_388/tex_wall_textures_9531","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4765594112021772575,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4765594112021772575,"visual_seed":4765594112021772575,"scene_id":"lab_003","finished_at":"2026-09-05T05:28:24"}
+{"episode_id":"ep_000075","started_at":"2026-09-05T05:28:28","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[0.4410681776251437,0.3289794600463378,0.71338606911949],"aabb_xy":[[0.4323702153344285,0.3168544857388631],[0.44976613991585906,0.34110443435381255]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[-0.48954833573903445,1.295942413157476,0.71338606911949],"aabb_xy":[[-0.5051041051492998,1.280391979913069],[-0.4739925663287693,1.3114928464018833]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.01790845119021678,0.9421563919140596,0.71338606911949],"aabb_xy":[[-0.022044307522916973,0.9046563924697029],[-0.013772594857516585,0.9796563913584169]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.3607747973995079,-0.918162906473555,0.71338606911949],"aabb_xy":[[-0.3740057429341892,-0.9313903254955544],[-0.3475438518648266,-0.9049354874515556]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.6360439727144052,0.4352168902981557,0.71338606911949],"aabb_xy":[[0.6185439724693557,0.4177171024585888],[0.6535439729594544,0.4527166781377225]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[-0.6538659283348188,1.395348635152943,0.71338606911949],"aabb_xy":[[-0.684350178461849,1.345348635371447],[-0.6233816782077887,1.4453486349344389]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[0.07961933463970894,-2.3741607158819913,0.71338606911949],"aabb_xy":[[0.021988865752438077,-2.4341607148087014],[0.13724980352697977,-2.3141607169552803]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.6309549882537488,-0.43992550201659375,0.71338606911949],"aabb_xy":[[0.540954991752877,-0.48583714443505194],[0.7209549847546205,-0.39401385959813545]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.12605913743550012,1.224834893488084,0.71338606911949],"aabb_xy":[[-0.2160591371586743,1.2017615409529039],[-0.03605913771232596,1.2479082460232636]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.02040456168605609,-0.87111766789435,0.71338606911949],"aabb_xy":[[-0.09040456507761806,-0.9064334415977808],[0.04959544170550588,-0.8358018941909191]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[0.5124792087797634,1.1929799480487744,0.71338606911949],"aabb_xy":[[0.5033193298358868,1.1864487300052373],[0.52163908772364,1.1995111660923115]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.03867136988574349,1.025745200018739,0.71338606911949],"aabb_xy":[[0.031047101795565246,1.0181119764821953],[0.04629563797592173,1.0333784235552828]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[0.5430027159406201,1.4348242692299622,0.71338606911949],"aabb_xy":[[0.4790070185455235,1.3708242709292535],[0.6069984133357167,1.4988242675306709]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.28567203036102745,1.135659019512032,0.71338606911949],"aabb_xy":[[-0.2976047647228555,1.1232768667041726],[-0.2737392959991994,1.1480411723198913]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[0.2767928185292011,-1.7007519824508144,0.71338606911949],"aabb_xy":[[0.22179281890745534,-1.7557356752382873],[0.331792818150947,-1.6457682896633419]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.2512739216804576,0.6769622843644214,0.71338606911949],"aabb_xy":[[-0.286273919991153,0.6692472694408758],[-0.2162739233697621,0.6846772992879671]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[0.4838925690742282,-1.572659349953361,0.71338606911949],"aabb_xy":[[0.4223018098502354,-1.6366593480624079],[0.545483328298221,-1.508659351844314]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.4168413839237981,0.6496730875142585,0.71338606911949],"aabb_xy":[[0.3707562926690666,0.5856730902617033],[0.4629264751785296,0.7136730847668136]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.6008227914975124,-1.3954171764266703,0.71338606911949],"aabb_xy":[[-0.6808227884605516,-1.4724928180704437],[-0.5208227945344732,-1.3183415347828968]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[0.3787964938844346,1.1455261302471182,0.71338606911949],"aabb_xy":[[0.3147964945902663,1.081539989878264],[0.44279649317860276,1.2095122706159724]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[-0.1512986236199263,-2.269163625727978,0.71338606911949],"aabb_xy":[[-0.18576110163301407,-2.275827302910901],[-0.11683614560683853,-2.2624999485450554]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[0.012831593645751593,-0.760038255981146,0.71338606911949],"aabb_xy":[[-0.004961913289164843,-0.7778380015769436],[0.03062510058066803,-0.7422385103853483]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[-0.11435169409721457,-1.1473386083236958,0.71338606911949],"aabb_xy":[[-0.17835169268378703,-1.1943455717232045],[-0.0503516955106421,-1.1003316449241871]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.42085559384404614,0.7067428818532893,0.71338606911949],"aabb_xy":[[-0.4324245745909827,0.6817428817363576],[-0.40928661309710956,0.731742881970221]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[-0.5016853947870765,-0.9246832470732516,0.71338606911949],"aabb_xy":[[-0.5125258730135914,-0.9418695283639004],[-0.4908449165605616,-0.9074969657826027]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.1850808116949303,-1.9745366225211973,0.71338606911949],"aabb_xy":[[-0.24908081491356815,-2.021259734420206],[-0.12108080847629243,-1.9278135106221892]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[-0.3338534532654438,-2.2870170895518473,0.71338606911949],"aabb_xy":[[-0.3412659088068323,-2.292868299973475],[-0.3264409977240553,-2.281165879130219]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[-0.5951874830177539,-0.9865731563293914,0.71338606911949],"aabb_xy":[[-0.6325187595429966,-1.0212262111242436],[-0.5578562064925114,-0.9519201015345391]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_28","position":[0.48133715148952705,-2.518704210366037,0.71338606911949],"aabb_xy":[[0.47363396081545,-2.526413581064775],[0.4890403421636041,-2.510994839667299]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[0.23697034115527238,1.6757748340688514,0.71338606911949],"aabb_xy":[[0.22619736723390457,1.6407748358498124],[0.24774331507664013,1.7107748322878904]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_30","position":[-0.1793223822970047,1.6842446071786807,0.71338606911949],"aabb_xy":[[-0.2018223828090453,1.6617527488132822],[-0.1568223817849641,1.7067364655440789]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_31","position":[-0.19263985524722538,0.5069255973784443,0.71338606911949],"aabb_xy":[[-0.1982215268813541,0.4944255975606688],[-0.1870581836130966,0.5194255971962197]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_32","position":[0.510239288955465,-0.9561475281776015,0.71338606911949],"aabb_xy":[[0.4923701812010095,-0.9699804361548123],[0.5281083967099205,-0.9423146202003905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911215224128888,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6046.png","name":"6046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6046.png","name":"6046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2463.png","name":"2463"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/75.png","name":"75"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7978.png","name":"7978"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5936.png","name":"5936"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":775.915484865496,"rotation_z_degrees":182.14490221466636,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014074178325040043,-0.003201860149004934,0.010527912439725551]},{"name":"camera_2","offset_m":[-0.01648388926592841,-0.0031124999674611506,0.0061640020613508185]},{"name":"camera_3","offset_m":[-0.01840928317949788,-0.0010184496215766697,-0.00866322922341571]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010156462847175141,-2.287207013076248e-05,0.0016734865762893397],"end_effector_yaw_offset_degrees":0.5557123391975036},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007096056130015127,0.00127451197174731,-0.0006065784229176523],"end_effector_yaw_offset_degrees":-0.9085277614863139},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017230750196950213,0.0011034636140413879,-0.0008182620695201068],"end_effector_yaw_offset_degrees":0.18130499491457175},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012637081877212193,0.001546099730326538,-0.000635574241231208],"end_effector_yaw_offset_degrees":0.40577036279669065}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004344172385052371,-0.003161367128268471],"position_m":[0.28324417238505234,-0.12086136712826848,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001858527305839448,-0.004626020106147971],"position_m":[0.22464147269416057,-0.413826020106148,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024476728122653792,0.00021175148902741626],"position_m":[0.35015232718773465,0.06621175148902742,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000470781354915825,-0.004082146730710033],"position_m":[0.34267078135491585,0.31981785326928996,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10f861e626f88fdaddbf2f70690380a88b77552224e67e4df46af750f9ca5ebc","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0091.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6046/tex_ceiling_textures_5936/tex_floor_textures_7978/tex_table_textures_2463/tex_wall_textures_75","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3847908168805582736,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3847908168805582736,"visual_seed":3847908168805582736,"scene_id":"lab_003","finished_at":"2026-09-05T05:32:01"}
+{"episode_id":"ep_000076","started_at":"2026-09-05T05:32:05","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[0.4506073113219966,-2.3472344857767027,0.71338606911949],"aabb_xy":[[0.39548210569240577,-2.40723448721799],[0.5057325169515873,-2.2872344843354155]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.011177520441117639,1.3579431461061748,0.71338606911949],"aabb_xy":[[-0.01917101023639967,1.3499450141656995],[-0.0031840306458356124,1.3659412780466507]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.31992096436078543,-1.1611478645268665,0.71338606911949],"aabb_xy":[[0.297420964837078,-1.183643811977487],[0.3424209638844928,-1.1386519170762455]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[0.47344510780040117,1.3821800804848783,0.71338606911949],"aabb_xy":[[0.43659455986341356,1.3446800796618446],[0.5102956557373888,1.419680081307912]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[-0.29033262186236897,-1.4243296909576693,0.71338606911949],"aabb_xy":[[-0.3166214461828096,-1.4506011246123203],[-0.26404379754192825,-1.3980582573030178]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.05529239651510931,-2.5175104947725737,0.71338606911949],"aabb_xy":[[-0.0927923976999021,-2.521928717468634],[-0.01779239533031651,-2.5130922720765128]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[0.7015031034086059,1.4001806498606735,0.71338606911949],"aabb_xy":[[0.683956408492487,1.3626806482964222],[0.7190497983247248,1.4376806514249247]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[-0.6687420717729248,-2.459249325362558,0.71338606911949],"aabb_xy":[[-0.6839142410545581,-2.474418182290761],[-0.6535699024912914,-2.444080468434355]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.5057365295906077,-1.6323813619953529,0.71338606911949],"aabb_xy":[[-0.5165095035119754,-1.6673813602143919],[-0.4949635556692399,-1.597381363776314]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[0.06766752308990653,-1.6330609408815282,0.71338606911949],"aabb_xy":[[0.062209577452886466,-1.7130609441891873],[0.0731254687269266,-1.553060937573869]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.054045314250035004,-2.0985041167836336,0.71338606911949],"aabb_xy":[[-0.09154531267343535,-2.111668330751464],[-0.016545315826634648,-2.0853399028158024]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.09307580754942979,1.7044983109203558,0.71338606911949],"aabb_xy":[[-0.1180758074819477,1.6976156426994324],[-0.06807580761691191,1.711380979141279]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.3511563765823007,0.2996523741322217,0.71338606911949],"aabb_xy":[[-0.3989625441960693,0.23465237142516265],[-0.30335020896853204,0.3646523768392806]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[-0.6357963718250378,-0.4566558696035128,0.71338606911949],"aabb_xy":[[-0.6438327065263225,-0.4646939889079295],[-0.6277600371237528,-0.44861775029909595]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[0.29606176104710435,-0.9471842521461613,0.71338606911949],"aabb_xy":[[0.21106176262968113,-1.0320585476084463],[0.3810617594645276,-0.8623099566838763]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[-0.45984210088892963,-0.2226919953042099,0.71338606911949],"aabb_xy":[[-0.5098421012494956,-0.2726719825138128],[-0.40984210052836345,-0.17271200809460693]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.4355417983760481,-1.399894622957825,0.71338606911949],"aabb_xy":[[0.3980417978786898,-1.4038633065059434],[0.4730417988734063,-1.3959259394097063]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[0.5054926093691887,-1.030055232547951,0.71338606911949],"aabb_xy":[[0.5015321255994544,-1.0377230971334717],[0.5094530931389231,-1.0223873679624305]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[0.5066809887435877,-2.1303332279132747,0.71338606911949],"aabb_xy":[[0.48847516508234,-2.1413586284952664],[0.5248868124048354,-2.119307827331283]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[-0.49587319766155463,-1.459620176305904,0.71338606911949],"aabb_xy":[[-0.5197094153021597,-1.549620177114391],[-0.4720369800209496,-1.3696201754974178]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_20","position":[0.5303131848257774,-1.8274525528026815,0.71338606911949],"aabb_xy":[[0.44031318623130744,-1.8437031391161025],[0.6203131834202473,-1.8112019664892605]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[-0.600997037649035,-1.1640863145325417,0.71338606911949],"aabb_xy":[[-0.6384970391646668,-1.1753130875486868],[-0.5634970361334034,-1.1528595415163967]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[-0.29929546579791255,1.3001104344848096,0.71338606911949],"aabb_xy":[[-0.3632954674759099,1.2515930430054953],[-0.2352954641199152,1.3486278259641238]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_23","position":[0.20847649679058622,-1.8459615496813009,0.71338606911949],"aabb_xy":[[0.14347649675628346,-1.8926622263616282],[0.27347649682488895,-1.7992608730009736]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[-0.2169460220821423,0.8142439565104591,0.71338606911949],"aabb_xy":[[-0.26676280154697707,0.7642439580261557],[-0.16712924261730752,0.8642439549947625]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_25","position":[-0.3393782331723655,1.6933719542631391,0.71338606911949],"aabb_xy":[[-0.40437823417286606,1.6425855891084642],[-0.274378232171865,1.744158319417814]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_26","position":[-0.5722989395224706,-1.7250978453078734,0.71338606911949],"aabb_xy":[[-0.5809969018131859,-1.7372228196153479],[-0.5636009772317553,-1.7129728710003984]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_27","position":[0.33980030054017774,-1.5985982268121393,0.71338606911949],"aabb_xy":[[0.3239158072748526,-1.6129511671109633],[0.3556847938055029,-1.5842452865133152]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[0.028557276812507193,1.188792438227221,0.71338606911949],"aabb_xy":[[0.011880140819411685,1.172092514253291],[0.0452344128056027,1.2054923622011515]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_29","position":[-0.28417596008061596,1.478581643453143,0.71338606911949],"aabb_xy":[[-0.34817595650793787,1.4314120196310465],[-0.22017596365329406,1.5257512672752394]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_30","position":[-0.17770837955399543,1.0897317472739818,0.71338606911949],"aabb_xy":[[-0.2577083775347805,1.0821302063121299],[-0.09770838157321039,1.0973332882358338]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_31","position":[-0.4679419168098895,0.5131553382437759,0.71338606911949],"aabb_xy":[[-0.5379419186186349,0.49180156947958853],[-0.3979419150011441,0.5345091070079633]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_32","position":[0.3814276935629859,-1.2827194073835595,0.71338606911949],"aabb_xy":[[0.3760951789083729,-1.288043735628795],[0.3867602082175989,-1.277395079138324]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_33","position":[-0.522219049383048,-2.4676692812323298,0.71338606911949],"aabb_xy":[[-0.5281855883237838,-2.473630425891694],[-0.5162525104423121,-2.4617081365729656]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_34","position":[-0.19484242553074593,-0.07063074465762842,0.71338606911949],"aabb_xy":[[-0.22268746231135306,-0.1014152433959401],[-0.1669973887501388,-0.039846245919316736]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915149312386085,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/28.png","name":"28"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/28.png","name":"28"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7840.png","name":"7840"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6281.png","name":"6281"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9800.png","name":"9800"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4669.png","name":"4669"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":658.2629826768256,"rotation_z_degrees":355.93461000237534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[9.328095606345524e-05,-0.01837924028452679,-0.014630274203620112]},{"name":"camera_2","offset_m":[-0.0018297027875306057,0.00822794981932395,-0.011533816494330452]},{"name":"camera_3","offset_m":[5.310379807937568e-05,0.010791653632685326,0.0030889016309814006]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00024144949778910564,0.0010827641616139977,-0.0005383811029701664],"end_effector_yaw_offset_degrees":0.09072966861106413},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014909009053162225,-0.0015698913566662399,-0.001893777755440028],"end_effector_yaw_offset_degrees":-0.040907834765598894},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.940323343798032e-05,-0.001757311732217323,-0.001205120081400779],"end_effector_yaw_offset_degrees":-0.15857292165471204},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000600444831270651,0.0011128604884212746,-0.0006230622392265532],"end_effector_yaw_offset_degrees":-0.24171714118792997}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00109831374826565,0.0015407048213978277],"position_m":[0.27780168625173435,-0.11615929517860217,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008344970800659088,0.00400390916350555],"position_m":[0.2256655029199341,-0.40519609083649444,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036636370814021662,-0.0018676322869213748],"position_m":[0.3562636370814022,0.06413236771307863,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015077106316004987,0.0005191959916759862],"position_m":[0.3406922893683995,0.324419195991676,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5299a3f7248dd46cec38ee2155fe95744ff85f20a4ef795541a7e61f08647d00","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_28/tex_ceiling_textures_4669/tex_floor_textures_9800/tex_table_textures_7840/tex_wall_textures_6281","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7200959359669496014,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7200959359669496014,"visual_seed":7200959359669496014,"scene_id":"lab_003","finished_at":"2026-09-05T05:35:41"}
+{"episode_id":"ep_000077","started_at":"2026-09-05T05:35:46","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.5311329345800175,-0.3356809368288962,0.71338606911949],"aabb_xy":[[0.49363293339522457,-0.3400991595249567],[0.5686329357648101,-0.33126271413283565]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[0.4798051457546373,-1.8348182098747796,0.71338606911949],"aabb_xy":[[0.42480514657804785,-1.889807884649737],[0.5348051449312268,-1.7798285350998218]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.44271569054678794,0.7228125485648165,0.71338606911949],"aabb_xy":[[0.37871568886879053,0.6742951570855023],[0.5067156922247853,0.7713299400441307]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.6784223750991418,0.7090460426957241,0.71338606911949],"aabb_xy":[[0.6668533943522054,0.6840460425787924],[0.6899913558460785,0.7340460428126558]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[0.3478400713922658,-0.9666084920270877,0.71338606911949],"aabb_xy":[[0.29802329192743104,-1.016608490511391],[0.39765685085710056,-0.9166084935427843]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[0.6338907178538706,-1.022265497906991,0.71338606911949],"aabb_xy":[[0.5982615619539109,-1.057898164663844],[0.6695198737538304,-0.986632831150138]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.5231222682863714,1.3946730038319934,0.71338606911949],"aabb_xy":[[-0.5599169014112777,1.357767128735411],[-0.48632763516146515,1.4315788789285755]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.605946706904616,-1.1164164325244257,0.71338606911949],"aabb_xy":[[-0.6163582655850997,-1.121762165860324],[-0.5955351482241322,-1.1110706991885273]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[-0.5055008079230462,-1.879452908130927,0.71338606911949],"aabb_xy":[[-0.5604745299593791,-1.9344529076951602],[-0.4505270858867133,-1.8244529085666938]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.5096580310356764,-0.7680093496213745,0.71338606911949],"aabb_xy":[[0.4646580295694476,-0.8130092064828552],[0.5546580325019053,-0.7230094927598938]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[-0.33333238871331206,-2.3090744685042077,0.71338606911949],"aabb_xy":[[-0.3386649033679251,-2.3143987967494435],[-0.3279998740586991,-2.303750140258972]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.592624516869666,-2.0919653739260746,0.71338606911949],"aabb_xy":[[-0.6526245174656822,-2.146777846471298],[-0.5326245162736498,-2.037152901380851]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.6347844171209659,-0.09179514231742969,0.71338606911949],"aabb_xy":[[-0.641824727054503,-0.1717951417171011],[-0.627744107187429,-0.011795142917758298]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.31959733023104,-0.6847661950833293,0.71338606911949],"aabb_xy":[[0.2555973298535063,-0.7345114619341414],[0.38359733060857354,-0.6350209282325169]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[0.428501643735282,-0.5427648080725489,0.71338606911949],"aabb_xy":[[0.35850164192653655,-0.5641185768367363],[0.4985016455440274,-0.5214110393083615]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.5143783583197785,0.7295707211793698,0.71338606911949],"aabb_xy":[[-0.6043783569142485,0.7133201348659488],[-0.4243783597253086,0.7458213074927909]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[0.29135140482679245,-1.80149802194888,0.71338606911949],"aabb_xy":[[0.2273514077146867,-1.850530391743291],[0.3553514019388981,-1.7524656521544697]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.4664556289817128,1.2434711454169425,0.71338606911949],"aabb_xy":[[-0.4889520504155769,1.220971145610195],[-0.4439592075478487,1.26597114522369]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[-0.09239161024163978,0.014386378045771586,0.71338606911949],"aabb_xy":[[-0.13767022512278904,-0.04961362130241209],[-0.04711299536049052,0.07838637739395526]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[0.4524441634862342,1.358750976821745,0.71338606911949],"aabb_xy":[[0.38844416431646417,1.3119842897027825],[0.516444162656004,1.4055176639407074]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[-0.20972723246852126,-0.5496277676537296,0.71338606911949],"aabb_xy":[[-0.2462230530958,-0.5861117100804871],[-0.17323141184124252,-0.513143825226972]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.6200395952425006,0.513318062043354,0.71338606911949],"aabb_xy":[[0.6071676917415605,0.43331806162951786],[0.6329114987434408,0.5933180624571901]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[0.10373067857483809,-0.7165988551810074,0.71338606911949],"aabb_xy":[[0.05873809185638766,-0.7615988544554562],[0.1487232652932885,-0.6715988559065587]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[0.15393442705770366,-2.019247744077633,0.71338606911949],"aabb_xy":[[0.12049425186168404,-2.0526913699085623],[0.18737460225372324,-1.9858041182467026]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[-0.6274665818064511,-2.5449137986987656,0.71338606911949],"aabb_xy":[[-0.6624665809364068,-2.550659019774429],[-0.5924665826764954,-2.539168577623101]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.6556939078614035,1.2648791953937333,0.71338606911949],"aabb_xy":[[-0.6707962093224213,1.249777673762671],[-0.6405916064003851,1.2799807170247948]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[-0.08761472433915374,-0.70183815908725,0.71338606911949],"aabb_xy":[[-0.12511472444474667,-0.7086603209402311],[-0.050114724233560774,-0.6950159972342689]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.4249260208207126,-0.4170400177105167,0.71338606911949],"aabb_xy":[[0.3904635428076249,-0.4237036948934395],[0.45938849883380045,-0.41037634052759386]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6947871626828354,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8029.png","name":"8029"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8029.png","name":"8029"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8214.png","name":"8214"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5683.png","name":"5683"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/452.png","name":"452"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7574.png","name":"7574"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":823.2838710117671,"rotation_z_degrees":197.11645158152862,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014288872984165004,0.006925359596741138,-0.0072166721750982]},{"name":"camera_2","offset_m":[-0.006130150600072852,-0.00959232340720333,0.008696661248192558]},{"name":"camera_3","offset_m":[-0.019437307343978468,0.0111945857772105,-0.0021657750976886887]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018712392996672214,-0.0007078017899701794,0.0016244854191982561],"end_effector_yaw_offset_degrees":-0.0735634545672359},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00167202860514142,0.0016740897381842027,0.0007990800322251108],"end_effector_yaw_offset_degrees":-0.5037451421147907},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008987887074284077,5.793371673999768e-05,0.0011582032090513713],"end_effector_yaw_offset_degrees":0.6713002247764022},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013163935942605422,-0.0019849561645250324,0.0011111001131084365],"end_effector_yaw_offset_degrees":0.29865967257996906}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012964953534827786,-0.004027417194169159],"position_m":[0.28019649535348273,-0.12172741719416916,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023645151423476417,0.0041393587723525084],"position_m":[0.22413548485765236,-0.4050606412276475,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001813895169511779,-0.004054972394505867],"position_m":[0.3507861048304882,0.061945027605494134,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004499250621786302,-0.0038824653578157986],"position_m":[0.3466992506217863,0.32001753464218424,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3d7b2ce4af04155596cb96b27992d212c5a66de8c901333d2f83dbaf83ab9599","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8029/tex_ceiling_textures_7574/tex_floor_textures_452/tex_table_textures_8214/tex_wall_textures_5683","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4839454382268515023,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4839454382268515023,"visual_seed":4839454382268515023,"scene_id":"lab_003","finished_at":"2026-09-05T05:39:15"}
+{"episode_id":"ep_000078","started_at":"2026-09-05T05:39:18","dimensions":{"distractor":{"count":25,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.5924502468258088,-0.2133302978693159,0.71338606911949],"aabb_xy":[[0.5024502431488905,-0.27476270444642026],[0.6824502505027269,-0.15189789129221154]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_1","position":[0.13926906965937536,-0.6818633924116362,0.71338606911949],"aabb_xy":[[0.11737932207043457,-0.7718633897008853],[0.16115881724831616,-0.5918633951223871]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[0.12451688073872058,1.353393160992661,0.71338606911949],"aabb_xy":[[0.0886033763137309,1.3174796527759065],[0.16043038516371028,1.3893066692094156]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[-0.10173004335744984,-0.6159872184088262,0.71338606911949],"aabb_xy":[[-0.11329902410438643,-0.6409872185257579],[-0.09016106261051328,-0.5909872182918945]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[0.05275300995363419,-1.8806473825570538,0.71338606911949],"aabb_xy":[[-0.017246992177795357,-1.9034093481827494],[0.12275301208506373,-1.8578854169313581]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.45868196435751374,0.7364388369594872,0.71338606911949],"aabb_xy":[[0.4086826891890777,0.68643883568354],[0.50868123952595,0.7864388382354344]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[0.27758241058476907,-1.1954507076652165,0.71338606911949],"aabb_xy":[[0.22810198937081028,-1.2594507055780686],[0.32706283179872786,-1.131450709752365]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[-0.4375672249141617,-0.962982009677706,0.71338606911949],"aabb_xy":[[-0.44719886113459134,-0.972619322457415],[-0.4279355886937321,-0.9533446968979972]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.4845491957397299,0.372402565848585,0.71338606911949],"aabb_xy":[[0.3948621194316145,0.2824025655941345],[0.5742362720478453,0.4624025661030356]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.19802815561768883,0.8699002256509685,0.71338606911949],"aabb_xy":[[-0.2480231665771409,0.8199002266153768],[-0.14803314465823683,0.9199002246865602]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[0.22047305239319437,-2.4870322859702014,0.71338606911949],"aabb_xy":[[0.21284878430301615,-2.494665509506745],[0.22809732048337264,-2.4793990624336577]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.4532649682705626,1.6276821001614281,0.71338606911949],"aabb_xy":[[-0.4640379421919304,1.5926821019423891],[-0.44249199434919484,1.662682098380467]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[-0.28159459735412123,1.7061374394050408,0.71338606911949],"aabb_xy":[[-0.32261254074049206,1.6561374387740835],[-0.2405766539677503,1.7561374400359981]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[0.3750371123036498,1.6794011919459355,0.71338606911949],"aabb_xy":[[0.3521213994185999,1.6564968948095122],[0.39795282518869973,1.7023054890823592]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.1194417849298256,0.0031648743185992423,0.71338606911949],"aabb_xy":[[-0.18344178684216794,-0.0527462749394112],[-0.05544178301748326,0.05907602357660968]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.40021955325779546,-1.4465125618958565,0.71338606911949],"aabb_xy":[[0.38706830728650615,-1.471512561652543],[0.4133707992290849,-1.42151256213917]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[-0.09754765783884223,-1.6431959760610018,0.71338606911949],"aabb_xy":[[-0.14754765950033696,-1.693194418316704],[-0.04754765617734746,-1.5931975338052986]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[-0.405428076664359,-1.6098721158219138,0.71338606911949],"aabb_xy":[[-0.4173608110261871,-1.622254268629773],[-0.39349534230253097,-1.5974899630140542]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.5308838228730932,1.4449476769592944,0.71338606911949],"aabb_xy":[[0.4708838230265263,1.3881290547662555],[0.5908838227196599,1.5017662991523328]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.14554545492490134,-1.9053376486221505,0.71338606911949],"aabb_xy":[[-0.15801281303463702,-1.9178029732554744],[-0.13307809681516572,-1.8928723239888274]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.6310773606965129,-0.996849986245421,0.71338606911949],"aabb_xy":[[-0.6667065165964726,-1.032482653002274],[-0.5954482047965531,-0.961217319488568]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.32855000668334156,0.41480785310109036,0.71338606911949],"aabb_xy":[[0.311872870690246,0.3981079291271601],[0.345227142676437,0.43150777707502064]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[0.4372005737201121,-0.8838266280787208,0.71338606911949],"aabb_xy":[[0.34720057698450185,-0.9370100913960152],[0.5272005704557223,-0.8306431647614262]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[0.6118573862779491,1.0595283114774037,0.71338606911949],"aabb_xy":[[0.599985303266448,0.9745283117837533],[0.6237294692894502,1.144528311171054]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[0.533969524139545,-1.8188664431892332,0.71338606911949],"aabb_xy":[[0.48397641203035313,-1.868866443863429],[0.5839626362487369,-1.7688664425150378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937150654138106,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6492.png","name":"6492"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6492.png","name":"6492"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/263.png","name":"263"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7113.png","name":"7113"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6624.png","name":"6624"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6463.png","name":"6463"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":841.3627459382126,"rotation_z_degrees":259.28342726821825,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006875681043185637,-0.019159167117254277,-0.010179722648880478]},{"name":"camera_2","offset_m":[0.01234327147906501,-0.019180398890365363,0.01775844273149155]},{"name":"camera_3","offset_m":[-0.01529696332382825,0.0013111355981084705,-0.0005806766496857865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014227407357743304,-0.0007602626138706605,-0.00115473957962073],"end_effector_yaw_offset_degrees":0.20305643636883297},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018132334504479496,0.0010092226092358095,-0.0015639136511785045],"end_effector_yaw_offset_degrees":-0.9511777752948236},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005614445003161972,0.0008014557389378774,0.0004468757785803493],"end_effector_yaw_offset_degrees":-0.8020390164863906},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016012324302350704,0.0003218813700649821,0.0011366357853782602],"end_effector_yaw_offset_degrees":0.014811814091249431}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004475655150048463,-0.004687772463293184],"position_m":[0.2833756551500484,-0.12238777246329319,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003761866830920333,0.0012019195153852788],"position_m":[0.22273813316907967,-0.4079980804846147,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009385322493626171,0.0029337489503244276],"position_m":[0.3516614677506374,0.06893374895032443,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002028547201327665,-0.0014657111826985314],"position_m":[0.3442285472013277,0.3224342888173015,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cf1bf2f8d03987bd94cf709aa99fc8174a3d80df8a3c48d26d6876e7a8e0ea88","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6492/tex_ceiling_textures_6463/tex_floor_textures_6624/tex_table_textures_263/tex_wall_textures_7113","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":333667221513619940,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":333667221513619940,"visual_seed":333667221513619940,"scene_id":"lab_003","finished_at":"2026-09-05T05:42:58"}
+{"episode_id":"ep_000079","started_at":"2026-09-05T05:43:01","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[-0.5603612721815927,-2.5321249663435585,0.71338606911949],"aabb_xy":[[-0.5683976068828774,-2.540163085647975],[-0.5523249374803078,-2.524086847039141]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.5104942695713472,-1.0187879785766685,0.71338606911949],"aabb_xy":[[0.5070535933312901,-1.0226494115510332],[0.5139349458114044,-1.0149265456023042]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[-0.45652500208839303,0.9592012423066696,0.71338606911949],"aabb_xy":[[-0.49402500203215943,0.9509081522718329],[-0.4190250021446266,0.9674943323415061]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.2821449015554781,0.7668662865269367,0.71338606911949],"aabb_xy":[[0.2271449033537333,0.726344319900499],[0.33714489975722295,0.8073882531533741]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[0.46374379588327996,-0.3777251567072084,0.71338606911949],"aabb_xy":[[0.45931316652843984,-0.383173528441891],[0.4681744252381202,-0.3722767849725258]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[-0.30569382158320346,1.5327589496438532,0.71338606911949],"aabb_xy":[[-0.3161053802636871,1.5274132163079546],[-0.2952822629027197,1.5381046829797513]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.3188605129327091,-1.613409102253874,0.71338606911949],"aabb_xy":[[0.3147823550256593,-1.6174900825021372],[0.3229386708397588,-1.6093281220056106]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[-0.40584422124840874,-1.0106427939104365,0.71338606911949],"aabb_xy":[[-0.470844222354352,-1.035608166978565],[-0.34084422014246546,-0.9856774208423085]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[-0.07407169425924698,-2.14187386111313,0.71338606911949],"aabb_xy":[[-0.09929253111908663,-2.167097611966016],[-0.0488508573994073,-2.116650110260243]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[0.07264827874549595,-1.7137654931045667,0.71338606911949],"aabb_xy":[[0.012648278898929152,-1.7705841152976054],[0.13264827859206274,-1.656946870911528]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[-0.0979261199847038,1.8082235216360583,0.71338606911949],"aabb_xy":[[-0.11381061325002895,1.7938705813372344],[-0.08204162671937865,1.8225764619348825]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.06073598115993495,1.2517283791778975,0.71338606911949],"aabb_xy":[[0.03823684543370797,1.2292283783996345],[0.08323511688616192,1.2742283799561605]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.2086423547686569,-1.5287450300915995,0.71338606911949],"aabb_xy":[[0.20051466657534367,-1.5376586385023072],[0.2167700429619701,-1.5198314216808921]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[-0.32903843476127087,-1.1675760939697584,0.71338606911949],"aabb_xy":[[-0.39303843667361327,-1.2234872432277688],[-0.2650384328489286,-1.111664944711748]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[-0.4198320887563415,-0.778133487393476,0.71338606911949],"aabb_xy":[[-0.48483208731341426,-0.8078860208073586],[-0.3548320901992686,-0.7483809539795934]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.3230925988414444,0.674205038620797,0.71338606911949],"aabb_xy":[[-0.3729752957191406,0.6242050393745222],[-0.2732099019637482,0.7242050378670717]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[0.4483385861404505,-0.7453431872263381,0.71338606911949],"aabb_xy":[[0.39334310831979113,-0.8003431886602449],[0.5033340639611099,-0.690343185792431]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[-0.3340718059600827,-1.3426913389299595,0.71338606911949],"aabb_xy":[[-0.3456407867070193,-1.3676913390468912],[-0.32250282521314616,-1.3176913388130278]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.4606728341611839,-1.8304784679770467,0.71338606911949],"aabb_xy":[[0.39667283687553523,-1.8719851869298905],[0.5246728314468325,-1.7889717490242025]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.6175534837584633,-2.1853306977431743,0.71338606911949],"aabb_xy":[[-0.6875534853607429,-2.198763490944832],[-0.5475534821561839,-2.1718979045415168]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[-0.6567985627675667,1.7697100229136598,0.71338606911949],"aabb_xy":[[-0.6854478951279828,1.741064463636584],[-0.6281492304071503,1.7983555821907355]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_21","position":[0.34055813109063404,1.4243991289790725,0.71338606911949],"aabb_xy":[[0.2605581325033146,1.3450835270409116],[0.4205581296779535,1.5037147309172334]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[-0.4840415904465902,-2.074805998742593,0.71338606911949],"aabb_xy":[[-0.5540415930831766,-2.094910863738458],[-0.41404158781000383,-2.054701133746727]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6916310989742509,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9616.png","name":"9616"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9616.png","name":"9616"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8738.png","name":"8738"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4807.png","name":"4807"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8273.png","name":"8273"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9880.png","name":"9880"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":612.4571986931506,"rotation_z_degrees":128.94978279081502,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024734280937859857,0.01902440817932664,-0.015700024884486907]},{"name":"camera_2","offset_m":[-0.010830371458903648,0.007889031644004844,-0.004943182331372005]},{"name":"camera_3","offset_m":[0.014384874296196396,0.0015098266687191102,-0.015396896836218935]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004416428811167914,-0.0013255268392044829,0.0018203940215410484],"end_effector_yaw_offset_degrees":-0.03371162668800598},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00012498421096251858,-0.001737888300325837,0.0005664825564709874],"end_effector_yaw_offset_degrees":-0.14224749838356066},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009051969540906373,-0.000592308983172944,0.0006953416687864315],"end_effector_yaw_offset_degrees":0.40734479088778097},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.897101083578849e-05,0.0004334752568396485,0.0018589112520429663],"end_effector_yaw_offset_degrees":-0.23598370621275588}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022253649326180666,0.0012528524620392077],"position_m":[0.281125364932618,-0.11644714753796079,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002707174938668102,0.00210972452823444],"position_m":[0.2237928250613319,-0.4070902754717656,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023048523592584013,-0.002989778774727241],"position_m":[0.3502951476407416,0.06301022122527276,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007888373763505563,-0.003590385459620423],"position_m":[0.34298883737635055,0.3203096145403796,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f66b9619ff600a3abbf5fd931d0c680c09205bd604e9a5769f47f26db67949ec","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9616/tex_ceiling_textures_9880/tex_floor_textures_8273/tex_table_textures_8738/tex_wall_textures_4807","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5210373634000962785,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5210373634000962785,"visual_seed":5210373634000962785,"scene_id":"lab_003","finished_at":"2026-09-05T05:46:31"}
+{"episode_id":"ep_000080","started_at":"2026-09-05T05:46:35","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[0.5454561592116709,1.4334230701695483,0.71338606911949],"aabb_xy":[[0.49563937974683603,1.3834230716852447],[0.5952729386765055,1.4834230686538514]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.1690426502621334,-1.8584335824356173,0.71338606911949],"aabb_xy":[[0.14776464211866114,-1.9234335847616901],[0.19032065840560564,-1.793433580109544]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.28759881860857955,-1.0609975911253462,0.71338606911949],"aabb_xy":[[-0.33259140532702997,-1.105997590399795],[-0.24260623189012914,-1.0159975918508974]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.6052061903617498,-1.1475720737408013,0.71338606911949],"aabb_xy":[[0.5987045538537452,-1.1573398957671113],[0.6117078268697544,-1.1378042517144917]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.24663969862332136,-1.9920746385339787,0.71338606911949],"aabb_xy":[[0.2425038422906212,-2.029574637978336],[0.25077555495602155,-1.954574639089622]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[0.5409847160608776,1.1793154090225397,0.71338606911949],"aabb_xy":[[0.5184855803346505,1.1568154082442765],[0.5634838517871045,1.2018154098008025]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[-0.17032824647331068,0.735161926399448,0.71338606911949],"aabb_xy":[[-0.2603282432089209,0.6819784630821534],[-0.08032824973770045,0.7883453897167424]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[-0.3175414307127551,-1.7155077283912243,0.71338606911949],"aabb_xy":[[-0.3229993763497751,-1.7955077316988832],[-0.31208348507573497,-1.635507725083565]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.14022368356724468,1.3030464723846813,0.71338606911949],"aabb_xy":[[0.10342905044233841,1.266140597288099],[0.17701831669215096,1.3399523474812636]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[-0.43391595871302263,-1.2525067686948843,0.71338606911949],"aabb_xy":[[-0.4584295828100285,-1.2767713619969208],[-0.40940233461601677,-1.2282421753928479]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[0.5948426198364527,0.7979102844978141,0.71338606911949],"aabb_xy":[[0.5148426184063255,0.7183931294852046],[0.6748426212665799,0.8774274395104236]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[0.39749302658023744,-1.097412662707729,0.71338606911949],"aabb_xy":[[0.39259373427367394,-1.1250895820102975],[0.40239231888680094,-1.06973574340516]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.2989462295544516,1.058895692074866,0.71338606911949],"aabb_xy":[[0.2814462304200844,1.049016065037278],[0.3164462286888187,1.0687753191124536]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.03492697659163557,-1.5061150948438828,0.71338606911949],"aabb_xy":[[-0.06836715178765516,-1.5395587206748125],[-0.0014868013956159663,-1.4726714690129523]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.4926937746141493,0.8532431491108925,0.71338606911949],"aabb_xy":[[-0.5426937749747154,0.8032631619012893],[-0.44269377425358325,0.9032231363204952]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[0.5981668416868531,0.13705173942552085,0.71338606911949],"aabb_xy":[[0.540536372799582,0.07705174049881024],[0.6557973105741237,0.1970517383522314]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.32869159924541713,-1.410971499304254,0.71338606911949],"aabb_xy":[[0.31828004056493336,-1.416317232640152],[0.3391031579259008,-1.4056257659683553]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.6085718185556164,1.0177062022078518,0.71338606911949],"aabb_xy":[[0.5285779949770582,0.9377061996150102],[0.6885656421341746,1.0977062048006934]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.24026701763393632,-2.386874805160908,0.71338606911949],"aabb_xy":[[-0.24490213278616968,-2.390742140238056],[-0.2356319024817029,-2.3830074700837587]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.423950963415783,-0.7302201525744785,0.71338606911949],"aabb_xy":[[0.359950961366051,-0.7703146356637864],[0.487950965465515,-0.6901256694851705]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.6090503941670781,0.4442007486213484,0.71338606911949],"aabb_xy":[[-0.6730503927536505,0.3971937852218397],[-0.5450503955805056,0.4912077120208571]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.14423188296086542,-2.5041384178480244,0.71338606911949],"aabb_xy":[[0.11968566733811468,-2.5343873143970614],[0.16877809858361612,-2.4738895212989873]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.6515929512047965,0.18613949540684382,0.71338606911949],"aabb_xy":[[-0.689092951996792,0.17977165444865373],[-0.6140929504128011,0.19250733636503392]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915442990866805,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4410.png","name":"4410"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4410.png","name":"4410"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6678.png","name":"6678"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8012.png","name":"8012"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8577.png","name":"8577"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2607.png","name":"2607"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":705.6855008712681,"rotation_z_degrees":105.58119219558348,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009733939842074414,-0.012461135892201994,-0.01353701406440503]},{"name":"camera_2","offset_m":[-0.007295828462190847,-0.019060397682719867,-0.007968420089007866]},{"name":"camera_3","offset_m":[-0.01277075861835687,0.004306649164456493,0.011168480704955228]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012429585272923176,0.0019089547752711902,0.0005147946123997844],"end_effector_yaw_offset_degrees":0.3044517876768571},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00017082265727193756,0.0005753954843020497,0.0015165321638433366],"end_effector_yaw_offset_degrees":0.09327236259427618},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010130988889565195,0.0018335004127717361,0.001507772631261743],"end_effector_yaw_offset_degrees":0.7268207639984892},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006612238466043451,-0.001856940831004936,-0.0018354764445102521],"end_effector_yaw_offset_degrees":-0.3989641749075328}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002250828199772963,-0.0006252565803301609],"position_m":[0.28115082819977294,-0.11832525658033016,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018410409724639587,0.003159703323876822],"position_m":[0.22834104097246397,-0.4060402966761232,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002428840931632115,-0.0025856208681731643],"position_m":[0.3550288409316321,0.06341437913182683,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034208872378832934,0.004157154168104534],"position_m":[0.3387791127621167,0.32805715416810455,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cdc0487eba9c56d5116f39e1c4a3a77601e3f6cb24133ca41e92ad5f307ec3d4","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4410/tex_ceiling_textures_2607/tex_floor_textures_8577/tex_table_textures_6678/tex_wall_textures_8012","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":342650537482183784,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":342650537482183784,"visual_seed":342650537482183784,"scene_id":"lab_003","finished_at":"2026-09-05T05:50:15"}
+{"episode_id":"ep_000081","started_at":"2026-09-05T05:52:44","dimensions":{"distractor":{"count":28,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.0370889634033853,1.6494980740181222,0.71338606911949],"aabb_xy":[[-0.11708896056296059,1.6379504730603054],[0.04291103375618999,1.6610456749759395]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[0.5653655729499509,-2.0735712785604363,0.71338606911949],"aabb_xy":[[0.4753655706159319,-2.151053633145549],[0.65536557528397,-1.9960889239753237]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[0.3285578595006793,1.6978273882081392,0.71338606911949],"aabb_xy":[[0.26696710027668646,1.6338273900990925],[0.3901486187246721,1.7618273863171863]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[0.5962917408590054,-0.7612197860301484,0.71338606911949],"aabb_xy":[[0.5587917422833846,-0.7739560816937063],[0.6337917394346262,-0.7484834903665905]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.21368014497593613,-0.9145958089624588,0.71338606911949],"aabb_xy":[[0.14968014786383044,-0.9636281787568696],[0.2776801420880418,-0.8655634391680483]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.13415638217603165,-1.2903519388366271,0.71338606911949],"aabb_xy":[[-0.14046848171237009,-1.296118878089846],[-0.12784428263969322,-1.2845849995834082]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.030758102348669047,1.03811850530716,0.71338606911949],"aabb_xy":[[-0.01905867711616572,0.9881185068228566],[0.08057488181350381,1.0881185037914634]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[0.0364941551103144,1.2812676759292905,0.71338606911949],"aabb_xy":[[0.023263209575633104,1.2680402569072908],[0.04972510064499569,1.2944950949512897]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[-0.6282061791621331,1.1437995407603276,0.71338606911949],"aabb_xy":[[-0.662522456336751,1.09379954078715],[-0.5938899019875151,1.1937995407335054]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[0.004836562453934712,0.8606877358693676,0.71338606911949],"aabb_xy":[[-0.01766343755621358,0.8465915162297644],[0.027336562464083003,0.8747839555089709]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.23208333222392874,0.15597654579463738,0.71338606911949],"aabb_xy":[[-0.2670833322004246,0.14651192974702076],[-0.19708333224743294,0.165441161842254]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.31308143512292497,-0.8957194653858125,0.71338606911949],"aabb_xy":[[-0.38308143153288665,-0.9161574010374939],[-0.2430814387129631,-0.8752815297341304]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.555949098885169,-1.0771252719637783,0.71338606911949],"aabb_xy":[[0.5254648487581388,-1.127125271745274],[0.5864333490121991,-1.0271252721822821]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.646579673528652,-1.8506220554889103,0.71338606911949],"aabb_xy":[[0.5825839761335554,-1.9146220537896188],[0.7105753709237486,-1.7866220571882014]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[0.6531383795387544,-0.5900590667489862,0.71338606911949],"aabb_xy":[[0.5891383788352852,-0.6360774492219072],[0.7171383802422239,-0.5440406842760652]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[0.5445894883128735,0.724273796473649,0.71338606911949],"aabb_xy":[[0.5077389403758858,0.6867737956506151],[0.5814400362498611,0.7617737972966826]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.05241081974669681,0.6241154066823342,0.71338606911949],"aabb_xy":[[-0.05969313612336046,0.534115403072825],[-0.04512850337003315,0.714115410291843]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[-0.40607914287570906,-0.9989330839530206,0.71338606911949],"aabb_xy":[[-0.42357914313504574,-1.0130246261417934],[-0.3885791426163725,-0.9848415417642482]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.5595476049034352,0.2506529082132367,0.71338606911949],"aabb_xy":[[-0.594010082916523,0.2439892310303139],[-0.5250851268903475,0.25731658539615954]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[-0.5145578699793805,-2.376880286651305,0.71338606911949],"aabb_xy":[[-0.5646553339604542,-2.4408802871611166],[-0.46446040599830696,-2.312880286141493]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[-0.011224879476563032,-2.1760242171199495,0.71338606911949],"aabb_xy":[[-0.07622487951086576,-2.2227248938002764],[0.0537751205577397,-2.129323540439622]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[0.1622632305367816,-1.804326125147076,0.71338606911949],"aabb_xy":[[0.08226323357374243,-1.8814017667908491],[0.24226322749982077,-1.7272504835033022]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[-0.5995716481710406,1.4871961331110612,0.71338606911949],"aabb_xy":[[-0.6366057575991002,1.4528189257773516],[-0.5625375387429807,1.5215733404447704]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[0.5333456672333903,-2.3802534339946138,0.71338606911949],"aabb_xy":[[0.4999054920373705,-2.413697059825543],[0.5667858424294097,-2.3468098081636835]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[0.495671245219343,-1.313430187297668,0.71338606911949],"aabb_xy":[[0.43567124357642123,-1.365430336589612],[0.5556712468622649,-1.2614300380057237]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[0.6011580966865113,0.607940330497577,0.71338606911949],"aabb_xy":[[0.5836114017703924,0.5704403289333257],[0.6187047916026303,0.6454403320618283]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[-0.549213312841592,0.822507637799935,0.71338606911949],"aabb_xy":[[-0.5643156143026099,0.8074061161688729],[-0.5341110113805737,0.8376091594309966]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[-0.24208691483149825,-1.8261704755992874,0.71338606911949],"aabb_xy":[[-0.26460060665495544,-1.8961704762002944],[-0.21957322300804102,-1.7561704749982794]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6903944358985058,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4558.png","name":"4558"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4558.png","name":"4558"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6069.png","name":"6069"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/106.png","name":"106"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8103.png","name":"8103"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7357.png","name":"7357"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":644.8771485957708,"rotation_z_degrees":116.02804979031285,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019176507125666608,-0.002831820261556959,0.01652664004341996]},{"name":"camera_2","offset_m":[-0.013528782783059752,0.003082039088582754,0.0016053733331260027]},{"name":"camera_3","offset_m":[-0.0051005133127861955,0.016275838001356274,-0.004442299335949605]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018721204536263757,2.8388517576740865e-05,-0.0011628405393716798],"end_effector_yaw_offset_degrees":0.4698484531142668},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008600172886957485,-0.0013833912573919336,-0.0010861494041017887],"end_effector_yaw_offset_degrees":-0.7292589198922332},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018538738587367957,0.0018519145700933493,-0.0015506540644427123],"end_effector_yaw_offset_degrees":0.30943871249813304},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001328456555523811,-0.0006473351732234165,-0.0009472015558047026],"end_effector_yaw_offset_degrees":-0.1823322358486419}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002786441206252742,-0.0007774252919688371],"position_m":[0.28168644120625275,-0.11847742529196884,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002512621721057897,-0.0010775109012025677],"position_m":[0.2239873782789421,-0.41027751090120257,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032515576358389192,-0.0009760285438812069],"position_m":[0.3558515576358389,0.0650239714561188,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004675587032492516,0.004061204614267864],"position_m":[0.3375244129675075,0.32796120461426786,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"928b23f2a5dd399f18bbe78e6077294206c8e83642716ed02c34e0978c2445aa","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4558/tex_ceiling_textures_7357/tex_floor_textures_8103/tex_table_textures_6069/tex_wall_textures_106","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2878055753197137152,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2878055753197137152,"visual_seed":2878055753197137152,"scene_id":"lab_003","finished_at":"2026-09-05T05:56:23"}
+{"episode_id":"ep_000082","started_at":"2026-09-05T05:56:27","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[-0.1790959553022229,-2.1863115701754063,0.71338606911949],"aabb_xy":[[-0.1871322900035077,-2.194349689479823],[-0.17105962060093802,-2.178273450870989]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.6117363842611605,0.8967030481192615,0.71338606911949],"aabb_xy":[[0.5467363833040334,0.8447548361855559],[0.6767363852182878,0.9486512600529671]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.5602663449275013,-2.2528389959985313,0.71338606911949],"aabb_xy":[[-0.6502663486044192,-2.3142714025756352],[-0.47026634125058286,-2.1914065894214265]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[0.5517423692400285,-1.251559553895893,0.71338606911949],"aabb_xy":[[0.5409018910135135,-1.2687458351865415],[0.5625828474665433,-1.234373272605244]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[-0.6575852035199617,-1.072111717435001,0.71338606911949],"aabb_xy":[[-0.6669322111022571,-1.0864153396526448],[-0.6482381959376666,-1.0578080952173567]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[0.37036536526816044,-0.9740369682636456,0.71338606911949],"aabb_xy":[[0.30536536263036695,-1.0255165669630926],[0.4353653679059539,-0.9225573695641988]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[-0.020441545012302553,1.301418659107998,0.71338606911949],"aabb_xy":[[-0.05475782218692049,1.2514186591348202],[0.013874732162315384,1.3514186590811756]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[-0.5087356813908055,0.24605537726736815,0.71338606911949],"aabb_xy":[[-0.5437356805207612,0.240310156191704],[-0.47373568226084983,0.25180059834303226]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[0.5677954079239729,0.10478341090477361,0.71338606911949],"aabb_xy":[[0.5177954083476383,0.05480283195266766],[0.6177954075003077,0.15476398985687956]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[-0.5323299626055854,0.16099037360170199,0.71338606911949],"aabb_xy":[[-0.5691245957304917,0.12408449850511968],[-0.49553532948067913,0.19789624869828423]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[0.3212435980230586,-2.163149805210652,0.71338606911949],"aabb_xy":[[0.29624359809054074,-2.1700324734315757],[0.3462435979555765,-2.1562671369897286]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[0.4004784876619134,0.7677928633014925,0.71338606911949],"aabb_xy":[[0.34535328203232263,0.7077928618602052],[0.4556036932915042,0.8277928647427795]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.4704615972302811,-7.362971788493766e-05,0.71338606911949],"aabb_xy":[[-0.5280920661175519,-0.06007362864459552],[-0.41283112834301017,0.059926369208825644]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[-0.24935317838629767,-0.6239334703025918,0.71338606911949],"aabb_xy":[[-0.2682375621548079,-0.6428193950829446],[-0.2304687946177875,-0.605047545522239]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.19439566569391564,1.0449791121252372,0.71338606911949],"aabb_xy":[[-0.20089730220192029,1.0352112900989277],[-0.18789402918591105,1.0547469341515472]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[0.25750033443448694,-1.3333700730547517,0.71338606911949],"aabb_xy":[[0.24928578931880294,-1.3420466633523929],[0.26571487955017087,-1.3246934827571102]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[0.10271454894076426,-0.8341659543897662,0.71338606911949],"aabb_xy":[[0.07642572462032358,-0.8604373880444173],[0.1290033732612049,-0.8078945207351148]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.30462478972245915,-2.280720978983007,0.71338606911949],"aabb_xy":[[-0.34212478982805206,-2.2875431408359885],[-0.26712478961686614,-2.273898817130026]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[-0.5311391868607156,-0.3647597743184616,0.71338606911949],"aabb_xy":[[-0.5478163228538111,-0.3814596982923919],[-0.5144620508676201,-0.34805985034453135]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[0.17357186480347575,1.749177538844331,0.71338606911949],"aabb_xy":[[0.08857186611140108,1.7171916754494516],[0.2585718634955504,1.7811634022392093]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[-0.08205115908942451,-2.1046351647361723,0.71338606911949],"aabb_xy":[[-0.09381934588408206,-2.1896351646413943],[-0.070282972294767,-2.019635164830951]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.536026371052442,1.6942051601358616,0.71338606911949],"aabb_xy":[[-0.5735263708694756,1.6895669488247198],[-0.49852637123540844,1.6988433714470035]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.24145875169312508,1.344023928817479,0.71338606911949],"aabb_xy":[[-0.3064587495747729,1.292900265110938],[-0.17645875381147733,1.3951475925240198]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_23","position":[-0.4205955360466432,1.3808041155835142,0.71338606911949],"aabb_xy":[[-0.45809553462226393,1.3680678199199563],[-0.3830955374710223,1.3935404112470722]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.36056670679671465,-1.4924296304867857,0.71338606911949],"aabb_xy":[[0.2905667049879692,-1.513783399250973],[0.4305667086054601,-1.4710758617225983]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[-0.3469994570015444,-1.4587575841056493,0.71338606911949],"aabb_xy":[[-0.3753291669500846,-1.4632183262993663],[-0.31866974705300416,-1.4542968419119322]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[0.0920195820228007,1.128395719860324,0.71338606911949],"aabb_xy":[[0.04201958036130594,1.0783972776046211],[0.14201958368429546,1.1783941621160265]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_27","position":[0.4993229400817756,1.7335484569389155,0.71338606911949],"aabb_xy":[[0.46473185722773025,1.6685484566538842],[0.5339140229358206,1.7985484572239463]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_28","position":[-0.07377523362051186,0.39017851554727034,0.71338606911949],"aabb_xy":[[-0.0966909465055618,0.3672742184108469],[-0.05085952073546199,0.41308281268369396]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_29","position":[0.32815741644060736,-2.239290922265006,0.71338606911949],"aabb_xy":[[0.3211159654898598,-2.2463176740028006],[0.335198867391355,-2.2322641705272117]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_30","position":[0.6300652050979527,-0.13852690660817357,0.71338606911949],"aabb_xy":[[0.5600652024613664,-0.15863177160403905],[0.7000652077345391,-0.11842204161230804]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_31","position":[-0.5125930493318406,-2.0009213681388545,0.71338606911949],"aabb_xy":[[-0.5251957484689171,-2.01351676436372],[-0.49999035019476423,-1.988325971913989]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6901312472248512,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6476.png","name":"6476"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6476.png","name":"6476"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8350.png","name":"8350"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6662.png","name":"6662"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8985.png","name":"8985"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5472.png","name":"5472"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":598.4962686708014,"rotation_z_degrees":42.235694263081974,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0035217003346214686,-0.01180052620345918,0.014124369482668323]},{"name":"camera_2","offset_m":[0.017416194699116355,-0.012982237636782638,-0.017316546796135826]},{"name":"camera_3","offset_m":[0.011710065505224635,-0.010210142212256735,0.008264795528691984]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.843148855387212e-05,-0.00040902855045927785,-0.00013030858992229004],"end_effector_yaw_offset_degrees":-0.3323086903413919},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019275603812013362,-0.0016637888128892948,0.0005373744485136366],"end_effector_yaw_offset_degrees":-0.5950691384177242},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021624980854263818,-0.0011940560661493275,0.0008284721894195862],"end_effector_yaw_offset_degrees":-0.4828874445684863},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004388394026440634,0.0013005201637855328,-0.0010683290923822713],"end_effector_yaw_offset_degrees":0.5269171446902765}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002713512985903664,-0.0014655488494892035],"position_m":[0.27917135129859033,-0.1191655488494892,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003446021884615462,-0.0005838322799920784],"position_m":[0.22994602188461546,-0.4097838322799921,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003623684148874966,0.003526492319464167],"position_m":[0.34897631585112504,0.06952649231946417,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004876314471095191,0.0038789901137105095],"position_m":[0.3373236855289048,0.32777899011371053,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9217f07159734c9e1d2f23909aff95637f17314d557e81b507a6cf00a9d8c88b","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0099.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6476/tex_ceiling_textures_5472/tex_floor_textures_8985/tex_table_textures_8350/tex_wall_textures_6662","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3519686612247522595,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3519686612247522595,"visual_seed":3519686612247522595,"scene_id":"lab_003","finished_at":"2026-09-05T06:00:06"}
+{"episode_id":"ep_000083","started_at":"2026-09-05T06:04:22","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[0.37453123962798873,-1.3527013905475564,0.71338606911949],"aabb_xy":[[0.32453124098206754,-1.4026209342070186],[0.4245312382739099,-1.3027818468880938]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[0.41340149109426294,-1.9514549853797227,0.71338606911949],"aabb_xy":[[0.3584082797571262,-2.0064549857185163],[0.46839470243139975,-1.8964549850409291]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[-0.13832602670135952,-1.327786073686237,0.71338606911949],"aabb_xy":[[-0.218326028864122,-1.4077412573123804],[-0.05832602453859703,-1.2478308900600932]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.22137668482719486,-0.9715681106989054,0.71338606911949],"aabb_xy":[[-0.2248173610672521,-0.9754295436732701],[-0.21793600858713774,-0.9677066777245411]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[-0.4499614234837329,1.4621456929260206,0.71338606911949],"aabb_xy":[[-0.45795491327901505,1.4541475609855452],[-0.441967933688451,1.4701438248664964]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.5025588393190448,-2.3550775965921993,0.71338606911949],"aabb_xy":[[-0.5400588394246377,-2.3618997584451806],[-0.46505883921345187,-2.348255434739218]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[-0.6065974661915634,-1.6967632598541509,0.71338606911949],"aabb_xy":[[-0.6146237368221895,-1.7055147548315035],[-0.5985711955609375,-1.6880117648767983]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.39172997233578244,1.1987151401549974,0.71338606911949],"aabb_xy":[[-0.41695080919562205,1.1734913893021104],[-0.3665091354759427,1.223938891007884]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.13226571120528352,0.5917634665633296,0.71338606911949],"aabb_xy":[[-0.17725829792373393,0.5467634672888808],[-0.08727312448683311,0.6367634658377783]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[-0.48634967297607323,1.5928199228887254,0.71338606911949],"aabb_xy":[[-0.5208120203742148,1.5583260404909023],[-0.4518873255779313,1.6273138052865477]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.3017500863256559,-0.6195920753181028,0.71338606911949],"aabb_xy":[[0.24175008647908908,-0.6764106975111414],[0.36175008617222265,-0.562773453125064]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[0.4858739624320494,-1.7527512929238418,0.71338606911949],"aabb_xy":[[0.42087396143154887,-1.8035376580785167],[0.5508739634325499,-1.7019649277691669]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.10573022076578897,-0.3243109181210593,0.71338606911949],"aabb_xy":[[-0.16973021806813537,-0.368677345088916],[-0.04173022346344256,-0.27994449115320247]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[0.6257490858561987,-1.2177849939067975,0.71338606911949],"aabb_xy":[[0.6175345407405145,-1.2264615842044384],[0.6339636309718825,-1.2091084036091557]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[0.04175450435381911,-2.401840802260066,0.71338606911949],"aabb_xy":[[-0.04824549238179111,-2.4550242655773604],[0.13175450108942932,-2.3486573389427714]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.5540258822726227,-1.1840796200517902,0.71338606911949],"aabb_xy":[[0.5495952529177827,-1.1895279917864732],[0.558456511627463,-1.1786312483171077]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.5148309580634398,-0.2077977400248594,0.71338606911949],"aabb_xy":[[0.4508309561510975,-0.26370888928286984],[0.5788309599757822,-0.15188659076684896]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[-0.11049257160380477,0.4556740426638899,0.71338606911949],"aabb_xy":[[-0.14799257239580021,0.4493062017056998],[-0.07299257081180933,0.46204188362208]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[-0.5842245812458635,-0.6664807874891809,0.71338606911949],"aabb_xy":[[-0.6024304049071113,-0.6775061880711727],[-0.566018757584616,-0.6554553869071894]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.41611851883341844,-1.5040201926638863,0.71338606911949],"aabb_xy":[[-0.4711185184551643,-1.559003885451359],[-0.3611185192116726,-1.4490364998764136]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[0.0066274021688400575,-1.538309074925837,0.71338606911949],"aabb_xy":[[-0.01791881345391066,-1.568557971474874],[0.031173617791590776,-1.5080601783768]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[0.28015992525039435,1.2211504803827808,0.71338606911949],"aabb_xy":[[0.2721165653244392,1.1361504792874144],[0.2882032851763495,1.3061504814781473]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.00734021494912962,0.9920314825693226,0.71338606911949],"aabb_xy":[[-0.07134021520960042,0.9470226832163946],[0.056659785311341186,1.0370402819222506]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.27792972985973435,-2.498221224085748,0.71338606911949],"aabb_xy":[[-0.30421855418017496,-2.524492657740399],[-0.25164090553929364,-2.4719497904310965]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[0.15980147030712,-1.9035886354562883,0.71338606911949],"aabb_xy":[[0.07480147188969677,-1.9884629309185733],[0.24480146872454323,-1.8187143399940033]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[0.07873050175773122,-1.2269870767726636,0.71338606911949],"aabb_xy":[[0.0401848089325302,-1.2655328478288523],[0.11727619458293227,-1.1884413057164749]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[0.2405885999976507,-1.02575646427143,0.71338606911949],"aabb_xy":[[0.17058859818890526,-1.0471102330356175],[0.31058860180639614,-1.0044026955072427]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[0.4860216697228199,-0.6040230942608582,0.71338606911949],"aabb_xy":[[0.4220216690193506,-0.6500414767337793],[0.5500216704262892,-0.5580047117879373]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_28","position":[-0.5714524463887474,0.4220034697100421,0.71338606911949],"aabb_xy":[[-0.6089524467369751,0.4102120741289585],[-0.5339524460405196,0.4337948652911256]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_29","position":[-0.615775150552747,0.30134802829813045,0.71338606911949],"aabb_xy":[[-0.6348874579107259,0.28221324942088843],[-0.5966628431947681,0.3204828071753725]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_30","position":[-0.37498827258563583,0.9311377958567073,0.71338606911949],"aabb_xy":[[-0.379124128918336,0.8936377964123504],[-0.37085241625293563,0.9686377953010644]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_31","position":[-0.639392164163338,1.4450234153016948,0.71338606911949],"aabb_xy":[[-0.6592832040436782,1.432367604016998],[-0.6195011242829978,1.4576792265863916]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_32","position":[-0.45964924741332064,-1.1406716656046738,0.71338606911949],"aabb_xy":[[-0.4656157863540564,-1.146632810264038],[-0.45368270847258485,-1.1347105209453097]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_33","position":[0.5671846852640079,-2.3243309384949096,0.71338606911949],"aabb_xy":[[0.49718468187244585,-2.35964671219834],[0.6371846886555698,-2.2890151647914783]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_34","position":[-0.2804928867551806,0.4961511019038407,0.71338606911949],"aabb_xy":[[-0.31799288741975923,0.4804640439036185],[-0.24299288609060185,0.5118381599040629]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6894344003686976,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5664.png","name":"5664"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5664.png","name":"5664"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6144.png","name":"6144"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3510.png","name":"3510"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8621.png","name":"8621"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8296.png","name":"8296"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":844.9992948249458,"rotation_z_degrees":268.6081516683592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010595481364983748,0.0009363550302511243,-0.011585204543572557]},{"name":"camera_2","offset_m":[0.01646458977433155,0.0032607722250618844,0.006915355963293707]},{"name":"camera_3","offset_m":[-0.017240818701978574,0.017939173706435347,-0.011568878693582226]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00023546409466767182,0.00032850075483128235,5.765633941364487e-05],"end_effector_yaw_offset_degrees":0.3908856087760473},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00178812780438333,-0.0018460601091643371,0.0012589946885895056],"end_effector_yaw_offset_degrees":0.1390401030868531},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008912713644969577,-0.001502907799567843,0.0005777405163159524],"end_effector_yaw_offset_degrees":0.5064890914257363},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019833998302480845,0.0006053152304521512,0.0016858400006855056],"end_effector_yaw_offset_degrees":0.21977285825025739}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004372204762125285,-0.0009614068143473107],"position_m":[0.2745277952378747,-0.11866140681434731,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004807044485430395,0.004430341529998368],"position_m":[0.2216929555145696,-0.4047696584700016,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-5.732135031773309e-05,-0.0016453822354756042],"position_m":[0.3525426786496823,0.0643546177645244,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004979110185271115,0.0026004905889233454],"position_m":[0.33722088981472886,0.3265004905889234,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8c28c310058851a0de56a5dd50fecc341c9ebd35e260c1495684d2c2226216e5","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0101.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5664/tex_ceiling_textures_8296/tex_floor_textures_8621/tex_table_textures_6144/tex_wall_textures_3510","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":525413991751639144,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":525413991751639144,"visual_seed":525413991751639144,"scene_id":"lab_003","finished_at":"2026-09-05T06:08:13"}
+{"episode_id":"ep_000084","started_at":"2026-09-05T06:08:19","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[0.22453979238518895,-2.2722946429244697,0.71338606911949],"aabb_xy":[[0.15953979142806177,-2.324242854858175],[0.28953979334231617,-2.2203464309907637]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.44391051260056885,-1.0433173508500582,0.71338606911949],"aabb_xy":[[-0.4621163362618166,-1.0543427514320496],[-0.42570468893932123,-1.0322919502680663]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[0.4345265354819894,-1.3240956045827477,0.71338606911949],"aabb_xy":[[0.41689369988846176,-1.3417185505983706],[0.4521593710755169,-1.3064726585671247]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[-0.3344446266528122,-1.4560092662582427,0.71338606911949],"aabb_xy":[[-0.39844462582258217,-1.5027759533772054],[-0.27044462748304227,-1.4092425791392804]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.3923626717902269,-0.932076868857936,0.71338606911949],"aabb_xy":[[0.3548626712928686,-0.9360455524060544],[0.42986267228758507,-0.9281081853098175]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[-0.28631533298096656,0.821192776397957,0.71338606911949],"aabb_xy":[[-0.3238153336455452,0.8055057183977347],[-0.24881533231638783,0.836879834398179]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[0.4968293544609177,-2.1076748977562927,0.71338606911949],"aabb_xy":[[0.4068293579600458,-2.153586540174751],[0.5868293509617892,-2.0617632553378344]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[-0.31304959259874476,1.5582697915636134,0.71338606911949],"aabb_xy":[[-0.37804959370468805,1.5333044184954852],[-0.24804959149280148,1.5832351646317417]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[0.5701192339093706,-0.713594697611913,0.71338606911949],"aabb_xy":[[0.561405264859436,-0.7360946982711011],[0.578833202959305,-0.6910946969527246]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.0891140358285405,-2.263463341379059,0.71338606911949],"aabb_xy":[[-0.10654475090754699,-2.28073545604291],[-0.07168332074953397,-2.246191226715208]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[0.025845376801821862,-0.7367538305048791,0.71338606911949],"aabb_xy":[[0.014939600714259146,-0.8167538269037081],[0.036751152889384575,-0.6567538341060498]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.3232642740209657,0.9140008363787397,0.71338606911949],"aabb_xy":[[0.30809210473933235,0.8988319794505365],[0.33843644330259903,0.9291696933069432]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[-0.46310126835728893,0.12006704471529295,0.71338606911949],"aabb_xy":[[-0.4718824955045253,0.11128729742676281],[-0.45432004121005287,0.1288467920038231]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.5464369603487893,-0.43739159834024255,0.71338606911949],"aabb_xy":[[-0.6264369575083645,-0.4489391992980596],[-0.4664369631892139,-0.4258439973824255]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.17671879387447276,-1.832079579206793,0.71338606911949],"aabb_xy":[[0.1455718750308896,-1.9020795778936004],[0.20786571271805585,-1.762079580519986]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.1691234072735256,-1.576089788278807,0.71338606911949],"aabb_xy":[[-0.17396700203475557,-1.5809414407577913],[-0.16427981251229562,-1.571238135799823]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.10009230474172215,-1.3106850930835436,0.71338606911949],"aabb_xy":[[0.06154661191652112,-1.3492308641397326],[0.1386379975669232,-1.2721393220273551]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_17","position":[-0.4359812002503635,-0.872290214959669,0.71338606911949],"aabb_xy":[[-0.4859542657828791,-0.9222902147722021],[-0.3860081347178482,-0.8222902151471363]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[-0.1406682085583396,-0.7007624284241951,0.71338606911949],"aabb_xy":[[-0.1956614198954764,-0.7557624287629888],[-0.08567499722120285,-0.6457624280854015]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[-0.27691297198451376,-1.7695390587081352,0.71338606911949],"aabb_xy":[[-0.34091297127868203,-1.8335251990769894],[-0.2129129726903456,-1.705552918339281]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[-0.47053661816135456,-2.017541079334193,0.71338606911949],"aabb_xy":[[-0.5115545615477255,-2.0675410799651504],[-0.42951867477498373,-1.9675410787032357]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[-0.09250276412521208,-1.0937279579068155,0.71338606911949],"aabb_xy":[[-0.11256117573845235,-1.113793044815973],[-0.07244435251197177,-1.0736628709976581]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[0.18244572913899426,-0.9054972719592245,0.71338606911949],"aabb_xy":[[0.17874246780985537,-0.9091992902679422],[0.1861489904681331,-0.9017952536505065]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[-0.06899695000993256,-1.4443298250203298,0.71338606911949],"aabb_xy":[[-0.08244347664397589,-1.4577996766734211],[-0.055550423375889224,-1.430859973367239]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6875210603012394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/799.png","name":"799"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/799.png","name":"799"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3443.png","name":"3443"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8641.png","name":"8641"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4087.png","name":"4087"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6900.png","name":"6900"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":631.0388912639703,"rotation_z_degrees":297.52969463562755,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014175784752246732,-0.017047992262045168,-0.006422412874517619]},{"name":"camera_2","offset_m":[0.004786612973115827,0.01385554114529899,-0.007075931209379603]},{"name":"camera_3","offset_m":[-0.01024838973389,0.0031838714006913495,0.0021014772186648684]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013408806142900117,-0.0013002249565334562,-0.0005901043505538897],"end_effector_yaw_offset_degrees":0.30166599087738444},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015749540258921443,8.920796561861632e-05,-0.000634139183688148],"end_effector_yaw_offset_degrees":0.7928648959648557},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006420267598265888,-0.00023536972178205408,-0.0003610561448903935],"end_effector_yaw_offset_degrees":-0.3839629091891157},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00026271682071562184,0.0012941684465487672,-0.0013947529588418824],"end_effector_yaw_offset_degrees":-0.9222517527674905}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002689672907701041,0.0032010954317456203],"position_m":[0.2762103270922989,-0.11449890456825437,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004446109682032602,0.0047784332192662956],"position_m":[0.2309461096820326,-0.4044215667807337,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013448775088464506,0.004656076804609618],"position_m":[0.35394487750884646,0.07065607680460963,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004328284152590204,-0.0026879635085973476],"position_m":[0.3378717158474098,0.3212120364914027,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b203031b711893b15c2330d5538c847aaf8d5a3e3695d858461a1246b32fb32c","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0102.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_799/tex_ceiling_textures_6900/tex_floor_textures_4087/tex_table_textures_3443/tex_wall_textures_8641","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":176546080187923864,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":176546080187923864,"visual_seed":176546080187923864,"scene_id":"lab_003","finished_at":"2026-09-05T06:11:48"}
+{"episode_id":"ep_000085","started_at":"2026-09-05T06:11:52","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[-0.3708350850867917,1.3080498011263462,0.71338606911949],"aabb_xy":[[-0.4408350872182212,1.2852878355006503],[-0.3008350829553621,1.3308117667520416]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.19990375282837536,-1.941937131653638,0.71338606911949],"aabb_xy":[[0.19179009815499826,-1.950042948107667],[0.20801740750175246,-1.933831315199609]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[-0.5100342067148236,0.19823908309981775,0.71338606911949],"aabb_xy":[[-0.5213959413681096,0.1868706166935296],[-0.4986724720615373,0.20960754950610577]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.12476718556910371,1.2617728040880825,0.71338606911949],"aabb_xy":[[-0.18876718885881177,1.2184378850841646],[-0.06076718227939557,1.3051077230919998]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[-0.10320554993943964,0.8453007545548381,0.71338606911949],"aabb_xy":[[-0.19320555361635777,0.7838683479777334],[-0.013205546262521458,0.9067331611319421]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.4880758966648614,-1.017099405839445,0.71338606911949],"aabb_xy":[[-0.5341609879195929,-1.0810994030919998],[-0.44199080541012997,-0.9530994085868897]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.6654631313124546,0.434438480908784,0.71338606911949],"aabb_xy":[[0.6546226530859397,0.41725219961813514],[0.6763036095389695,0.45162476219943276]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[0.6249016282627988,-0.17310348445247214,0.71338606911949],"aabb_xy":[[0.6176193118861351,-0.26310348806198103],[0.6321839446394624,-0.08310348084296311]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.48232337956824944,0.610640168715979,0.71338606911949],"aabb_xy":[[-0.5473233774498973,0.5595165050094382],[-0.41732338168660177,0.6617638324225199]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.5333434918145125,-0.7521132512978834,0.71338606911949],"aabb_xy":[[-0.5441950980633881,-0.7629725420255344],[-0.5224918855656369,-0.7412539605702324]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.039462843668121805,0.9146329977096066,0.71338606911949],"aabb_xy":[[0.028689869746754026,0.8796329994905678],[0.050235817589489584,0.9496329959286458]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.22439411729005898,0.24861272271797263,0.71338606911949],"aabb_xy":[[-0.2285100674021316,0.24449716768512714],[-0.22027816717798626,0.25272827775081813]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[0.39228983888506574,0.47570643598590845,0.71338606911949],"aabb_xy":[[0.3282898397152958,0.42893974886694597],[0.4562898380548357,0.5224731231048709]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[-0.13152776914762587,-1.4425281101850802,0.71338606911949],"aabb_xy":[[-0.1955277714904274,-1.4874689614292127],[-0.0675277668048243,-1.3975872589409477]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.5810203103492462,-0.8692393113163783,0.71338606911949],"aabb_xy":[[0.5260203111726567,-0.9242289860913359],[0.6360203095258357,-0.8142496365414206]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[-0.3467146952314466,-1.9379311429609989,0.71338606911949],"aabb_xy":[[-0.38404597175668925,-1.9725841977558511],[-0.30938341870620406,-1.9032780881661466]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[-0.006319568740561166,-1.9207979673993374,0.71338606911949],"aabb_xy":[[-0.013943836830739412,-1.9284311909358811],[0.0013046993496170789,-1.9131647438627937]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[0.24647304545480975,0.5123524745304167,0.71338606911949],"aabb_xy":[[0.22147304590307126,0.5022099906652818],[0.27147304500654823,0.5224949583955513]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[0.48693513413461265,1.6553849165896568,0.71338606911949],"aabb_xy":[[0.40693513386100566,1.5824353687639399],[0.5669351344082196,1.7283344644153733]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.382687566198953,-0.040365672186869705,0.71338606911949],"aabb_xy":[[-0.3914015352488874,-0.06286567284605792],[-0.3739735971490184,-0.017865671527681478]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[0.06078444416013795,-0.7116006490656157,0.71338606911949],"aabb_xy":[[0.005659238530547186,-0.7716006505069027],[0.11590964978972873,-0.6516006476243285]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.18274055590721772,-2.3197191670382247,0.71338606911949],"aabb_xy":[[-0.2240450989709537,-2.3837191666063418],[-0.14143601284348173,-2.2557191674701076]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[0.6308814595824668,-1.7729216577634732,0.71338606911949],"aabb_xy":[[0.5708814590746139,-1.8297683914493945],[0.6908814600903197,-1.716074924077552]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921384778000508,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/926.png","name":"926"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/926.png","name":"926"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1163.png","name":"1163"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6324.png","name":"6324"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6087.png","name":"6087"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6739.png","name":"6739"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":825.9820485137798,"rotation_z_degrees":86.76577444391391,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011051851910806869,0.0005999138046932743,-0.00010163196656393439]},{"name":"camera_2","offset_m":[0.01786249092706783,-0.0005674133038404382,-0.01719347499809873]},{"name":"camera_3","offset_m":[-0.018342911786969278,0.006038699220942911,0.015570305816287554]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.849912828171996e-05,0.0008275435362101106,0.0008522332841585977],"end_effector_yaw_offset_degrees":0.5348203788229102},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007937222660296325,0.0008362780631829946,-0.0017048348747415885],"end_effector_yaw_offset_degrees":-0.2506981516586506},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00013012533807008671,0.0017803062335418657,-0.00018037032196170795],"end_effector_yaw_offset_degrees":0.21669254239028346},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017418269871919234,0.000765439572300641,0.00020857691332747466],"end_effector_yaw_offset_degrees":0.6767260987290231}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003744827541281098,-0.004844027878473999],"position_m":[0.2751551724587189,-0.122544027878474,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001504076932887284,0.0011597217707657271],"position_m":[0.22499592306711272,-0.4080402782292343,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004958316901352971,0.0015129469365104406],"position_m":[0.34764168309864707,0.06751294693651044,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017696006383718954,0.002336703772213714],"position_m":[0.3404303993616281,0.32623670377221375,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"236c36ccd67f71bd454017c11ab8ff9ab348056063277ba6fcf1a93bc9143e4d","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0103.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_926/tex_ceiling_textures_6739/tex_floor_textures_6087/tex_table_textures_1163/tex_wall_textures_6324","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":7162590161239950633,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":7162590161239950633,"visual_seed":7162590161239950633,"scene_id":"lab_003","finished_at":"2026-09-05T06:15:27"}
+{"episode_id":"ep_000086","started_at":"2026-09-05T06:15:31","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_0","position":[-0.3151329179272227,-1.6529464178111604,0.71338606911949],"aabb_xy":[[-0.32455039249708545,-1.6623625949488794],[-0.30571544335735995,-1.6435302406734413]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_1","position":[0.334769758798694,0.966095079566919,0.71338606911949],"aabb_xy":[[0.3235247032280761,0.9548532818428236],[0.34601481436931175,0.9773368772910141]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.2975216823946998,-1.1926877025134608,0.71338606911949],"aabb_xy":[[0.27252168322906667,-1.1996399482188174],[0.3225216815603329,-1.1857354568081042]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[0.6239030932913514,-1.257225188672383,0.71338606911949],"aabb_xy":[[0.543903096131776,-1.2687727896302001],[0.7039030904509266,-1.245677587714566]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.2770973947757702,0.5920381100790801,0.71338606911949],"aabb_xy":[[0.2395973944275424,0.5802467144979965],[0.3145973951239979,0.6038295056601636]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[-0.5692544099106779,-2.0479195501213097,0.71338606911949],"aabb_xy":[[-0.5779523722013932,-2.060044524428785],[-0.5605564476199626,-2.0357945758138354]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[-0.5330501292487626,-0.749314115941732,0.71338606911949],"aabb_xy":[[-0.5531085408620029,-0.7693792028508896],[-0.5129917176355223,-0.7292490290325745]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[0.37823559320697564,-1.4118886080913136,0.71338606911949],"aabb_xy":[[0.3569575850635034,-1.4768886104173866],[0.3995136013504479,-1.3468886057652405]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[-0.0016077110151685448,1.5406827587739556,0.71338606911949],"aabb_xy":[[-0.06160771161118472,1.485870286228732],[0.058392289580847634,1.595495231319179]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.1274851390642575,1.7476688426251923,0.71338606911949],"aabb_xy":[[-0.1914851397677269,1.7016504601522717],[-0.06348513836078819,1.7936872250981137]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[0.11498388056887365,-0.994579574669586,0.71338606911949],"aabb_xy":[[0.04998387793108018,-1.046059173369033],[0.17998388320666714,-0.9430999759701392]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[0.6670953070883026,-0.5442489791327567,0.71338606911949],"aabb_xy":[[0.6472042672079624,-0.5569047904174537],[0.6869863469686429,-0.53159316784806]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.10156990110013564,0.9678391532146149,0.71338606911949],"aabb_xy":[[-0.16656989965720848,0.9380866198007323],[-0.03656990254306279,0.9975916866284975]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[-0.19837345301215897,-0.8138111859597439,0.71338606911949],"aabb_xy":[[-0.21443538047067662,-0.8988111877723357],[-0.18231152555364133,-0.7288111841471521]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[0.30984568576297744,-1.7210526561260993,0.71338606911949],"aabb_xy":[[0.24584568538544382,-1.7707979229769115],[0.37384568614051106,-1.671307389275287]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.40237182842753894,-2.2094687892788882,0.71338606911949],"aabb_xy":[[-0.4522545253052352,-2.259468788525163],[-0.35248913154984274,-2.1594687900326135]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[-0.5656395035136766,-1.679728135329683,0.71338606911949],"aabb_xy":[[-0.5726798134472137,-1.7597281347293545],[-0.5585991935801398,-1.5997281359300117]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[0.5167468671516153,-2.466641980913036,0.71338606911949],"aabb_xy":[[0.47544232408787923,-2.5306419804811533],[0.5580514102153512,-2.402641981344919]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.22056289859302897,-2.1804348529496873,0.71338606911949],"aabb_xy":[[-0.27053619259628936,-2.2304348535042346],[-0.17058960458976846,-2.13043485239514]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[-0.4999867805453925,-0.23578696375809782,0.71338606911949],"aabb_xy":[[-0.5370208899734522,-0.2701641710918073],[-0.46295267111733274,-0.20140975642438838]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[-0.531313805854657,-1.1019038926471967,0.71338606911949],"aabb_xy":[[-0.5953138031403057,-1.1434106116000406],[-0.4673138085690084,-1.0603971736943527]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.6509903904738281,1.0140213133206424,0.71338606911949],"aabb_xy":[[0.600990389189988,0.9640424589300202],[0.700990391757668,1.0640001677112643]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.2125819419087725,0.5977155706700024,0.71338606911949],"aabb_xy":[[-0.22518464104584898,0.5851201744451368],[-0.19997924277169607,0.6103109668948677]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.21269792420184735,-1.7181516037564193,0.71338606911949],"aabb_xy":[[-0.2296086566381891,-1.7316238093490337],[-0.19578719176550555,-1.7046793981638044]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[-0.3437958599894101,-0.9416233396037754,0.71338606911949],"aabb_xy":[[-0.4077958602498809,-0.9866321389567033],[-0.2797958597289393,-0.8966145402508473]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_25","position":[-0.1653496024952028,1.4120178263256333,0.71338606911949],"aabb_xy":[[-0.2153446134546549,1.3620178272900416],[-0.11535459153575081,1.462017825361225]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6952418685202961,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3829.png","name":"3829"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3829.png","name":"3829"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3804.png","name":"3804"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3930.png","name":"3930"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5372.png","name":"5372"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/350.png","name":"350"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":651.5160658429768,"rotation_z_degrees":138.23170385517744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016365777664710614,0.00021070704998568668,0.011158095150225238]},{"name":"camera_2","offset_m":[0.011772699746097567,-0.006626524049987519,-0.016832896629502842]},{"name":"camera_3","offset_m":[-0.009683127859942147,0.007976815185031686,0.0032365583398596756]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013398240093863067,-0.00017894286518837133,-0.0005133624316712316],"end_effector_yaw_offset_degrees":0.3396405117507497},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009472006851465285,-0.0017846702980847317,0.00014392137306853915],"end_effector_yaw_offset_degrees":-0.15880559856453558},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012453489856472152,-0.0002255284644157177,0.000177355321689855],"end_effector_yaw_offset_degrees":0.89180152768716},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000853653354548743,-0.0002638679224594375,-0.0005899840472712472],"end_effector_yaw_offset_degrees":-0.3523748069029369}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002109899196279077,-0.004850956527765438],"position_m":[0.2767901008037209,-0.12255095652776543,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000577992987338319,-0.00436823427267452],"position_m":[0.22707799298733833,-0.41356823427267453,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003207344489260496,0.004690368390658906],"position_m":[0.352279265551074,0.07069036839065891,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026179181677299544,0.0006923136042038622],"position_m":[0.34481791816772994,0.3245923136042039,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"932fe14feeac28cb2d9230294cd4e0cf60d5d9cc774f6007e71a7babb3acc1ac","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0104.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3829/tex_ceiling_textures_350/tex_floor_textures_5372/tex_table_textures_3804/tex_wall_textures_3930","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3020713043067123692,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3020713043067123692,"visual_seed":3020713043067123692,"scene_id":"lab_003","finished_at":"2026-09-05T06:18:59"}
+{"episode_id":"ep_000087","started_at":"2026-09-05T06:19:02","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_0","position":[0.41321350137408985,-1.6913307476162147,0.71338606911949],"aabb_xy":[[0.3757134998584581,-1.70255752063236],[0.4507135028897215,-1.6801039746000699]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[0.5164177174549023,1.1591213680756125,0.71338606911949],"aabb_xy":[[0.44641772104494043,1.1386834324239303],[0.586417713864864,1.1795593037272938]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.47558596210424997,0.23183654030432965,0.71338606911949],"aabb_xy":[[0.4675496274029651,0.22379842099991282],[0.48362229680553476,0.23987465960874638]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[-0.27655046686863444,0.5550193345478913,0.71338606911949],"aabb_xy":[[-0.29171333984557163,0.5398538772527726],[-0.26138759389169747,0.5701847918430101]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.5639169165654013,0.6688630372345865,0.71338606911949],"aabb_xy":[[-0.5985079994194464,0.6038630369495553],[-0.529325833711356,0.7338630375196175]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.4938407991376048,0.12104643202735543,0.71338606911949],"aabb_xy":[[-0.501968487330918,0.11213282361664778],[-0.4857131109442916,0.12996004043806308]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[-0.14495080649749437,0.9917513536272513,0.71338606911949],"aabb_xy":[[-0.16252910868644121,0.9741768640531463],[-0.12737250430854752,1.0093258432013563]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.4987532299060057,-2.2447354123893057,0.71338606911949],"aabb_xy":[[-0.5627532321264127,-2.2891084965145936],[-0.43475322768559865,-2.200362328264017]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[0.4280936657195258,-2.4497489707337685,0.71338606911949],"aabb_xy":[[0.41546687843232943,-2.4592950444353416],[0.44072045300672213,-2.4402028970321954]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.1917144346967874,-1.396519317764648,0.71338606911949],"aabb_xy":[[-0.23699304957793663,-1.4605193171128317],[-0.1464358198156381,-1.3325193184164643]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.1277058071402768,1.4742882389189922,0.71338606911949],"aabb_xy":[[-0.19170580425238248,1.4252558691245816],[-0.0637058100281711,1.5233206087134028]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[0.16466029829388085,-2.143691200813989,0.71338606911949],"aabb_xy":[[0.1006602966158835,-2.1922085922933032],[0.2286602999718782,-2.095173809334675]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[-0.38475534422140045,0.6970219073609312,0.71338606911949],"aabb_xy":[[-0.42225534279702126,0.6842856116973732],[-0.34725534564577965,0.7097582030244891]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.029837178890383398,-0.9360672844900058,0.71338606911949],"aabb_xy":[[-0.05980473580020906,-0.9660672847878915],[0.00013037801944226768,-0.90606728419212]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.624285534125401,-1.0794124873210538,0.71338606911949],"aabb_xy":[[0.6129237994721147,-1.0907809537273419],[0.635647268778687,-1.0680440209147657]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[-0.13912766957683753,0.03537154921789032,0.71338606911949],"aabb_xy":[[-0.15667436449295646,-0.002128452346360943],[-0.1215809746607186,0.07287155078214158]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[0.51285900873478,-2.1445536601397626,0.71338606911949],"aabb_xy":[[0.5002563095977035,-2.157149056364628],[0.5254617078718564,-2.131958263914897]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.6543357196205055,1.412799253136185,0.71338606911949],"aabb_xy":[[0.6264906828398985,1.3820147543978734],[0.6821807564011128,1.4435837518744967]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[-0.08849968200381297,-1.3242428594025515,0.71338606911949],"aabb_xy":[[-0.09446622094454876,-1.3302040040619154],[-0.08253314306307719,-1.3182817147431876]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.02027662073883707,-1.656583465219994,0.71338606911949],"aabb_xy":[[-0.0016320614005139768,-1.6784841320400847],[0.04218530287818811,-1.6346827983999033]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[-0.3186704035252929,-1.7901929383816646,0.71338606911949],"aabb_xy":[[-0.3280878780951556,-1.7996091155193836],[-0.3092529289554301,-1.7807767612439456]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[-0.2378546536723578,0.19638949217122592,0.71338606911949],"aabb_xy":[[-0.25535465391740714,0.1788897043316591],[-0.2203546534273084,0.2138892800107928]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.12743174708964755,-2.561444602979941,0.71338606911949],"aabb_xy":[[0.10493174684613216,-2.573649237639713],[0.14993174733316295,-2.549239968320169]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.5593314491487347,0.6967676021728706,0.71338606911949],"aabb_xy":[[0.5426543131556392,0.6800676781989403],[0.5760085851418302,0.7134675261468009]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[-0.015393369424787084,-0.049342268281241886,0.71338606911949],"aabb_xy":[[-0.023386859220069115,-0.057340400221717554],[-0.007399879629505059,-0.041344136340766224]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.41578070349789054,-0.8476891251200436,0.71338606911949],"aabb_xy":[[-0.4313364729081559,-0.8632395583644509],[-0.4002249340876254,-0.8321386918756365]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6986538824703193,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/809.png","name":"809"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/809.png","name":"809"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2521.png","name":"2521"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1568.png","name":"1568"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5245.png","name":"5245"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9777.png","name":"9777"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":635.5811510114227,"rotation_z_degrees":332.624676645468,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002681852812680744,0.005005670684993319,-0.016049991961999206]},{"name":"camera_2","offset_m":[0.009113900782820147,-0.015242463933374886,0.00021313980394682339]},{"name":"camera_3","offset_m":[-0.015855627069746775,0.01675507470941177,0.01741949380743028]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018583713261476503,0.0009842879613628027,-0.0011014603889143463],"end_effector_yaw_offset_degrees":-0.5304812134046861},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00038410186842411384,-0.0004054861351052571,0.0009967474800389934],"end_effector_yaw_offset_degrees":-0.14494925408507586},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016841576162934186,-0.00039663887037097727,-0.0018638842691792489],"end_effector_yaw_offset_degrees":-0.6086239795605033},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004329828946663737,-0.001069388830012907,-0.0009535808304870087],"end_effector_yaw_offset_degrees":-0.5977558903010882}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00340278281018742,-0.0031276826193597116],"position_m":[0.2823027828101874,-0.12082768261935971,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036348684873502802,-0.002197051949860589],"position_m":[0.2301348684873503,-0.4113970519498606,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004596804505638,-0.0006039879460656627],"position_m":[0.34800319549436204,0.06539601205393435,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004886180269512986,0.0037001837148443522],"position_m":[0.347086180269513,0.3276001837148444,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"58912a29bc80bd1442cc2aef21dfe1d7cde5b42d51c451197e7ef6c84e0fbde7","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0105.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_809/tex_ceiling_textures_9777/tex_floor_textures_5245/tex_table_textures_2521/tex_wall_textures_1568","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":1193328519196636586,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":1193328519196636586,"visual_seed":1193328519196636586,"scene_id":"lab_003","finished_at":"2026-09-05T06:22:39"}
+{"episode_id":"ep_000088","started_at":"2026-09-05T06:25:10","dimensions":{"distractor":{"count":32,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[0.524346363104387,-1.0910270118441234,0.71338606911949],"aabb_xy":[[0.48580067027918605,-1.1295727829003122],[0.5628920559295881,-1.0524812407879347]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[-0.15537845686130114,-1.4823266049601116,0.71338606911949],"aabb_xy":[[-0.16350614505461436,-1.4912402133708191],[-0.14725076866798792,-1.473412996549404]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.22969337616856567,-1.7433293685876614,0.71338606911949],"aabb_xy":[[-0.23977508324713911,-1.8233293664797758],[-0.21961166908999216,-1.6633293706955465]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.007606803227264036,0.8449263769435551,0.71338606911949],"aabb_xy":[[-0.05757986875977951,0.7949263771310223],[0.04236626230525143,0.8949263767560881]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[-0.5763500459562481,-1.4305507226980647,0.71338606911949],"aabb_xy":[[-0.5882221289677492,-1.515550722391715],[-0.564477962944747,-1.3455507230044144]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.6199308950786366,1.5360208341674881,0.71338606911949],"aabb_xy":[[-0.6269712050121736,1.4560208347678165],[-0.6128905851450996,1.6160208335671595]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.1783379017781621,-0.6854008179596363,0.71338606911949],"aabb_xy":[[-0.2423379021556957,-0.7351460848104484],[-0.11433790140062847,-0.6356555511088239]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[0.016060133474689042,1.6904007459508867,0.71338606911949],"aabb_xy":[[-0.03893307786244772,1.6354007456120934],[0.0710533448118258,1.7454007462896806]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.5366280295950774,-2.2691571495472185,0.71338606911949],"aabb_xy":[[-0.6166280265581165,-2.346232791190992],[-0.4566280326320382,-2.192081507903445]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[0.42435661254570034,0.9772830245253865,0.71338606911949],"aabb_xy":[[0.4005203949050954,0.8872830237169002],[0.4481928301863055,1.067283025333873]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[0.6062565280442647,0.7666296295298896,0.71338606911949],"aabb_xy":[[0.5712565297335692,0.7589146146063438],[0.6412565263549601,0.7743446444534351]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.5268432306402078,1.4059468020925987,0.71338606911949],"aabb_xy":[[-0.5338846815909554,1.3989200503548043],[-0.5198017796894602,1.4129735538303931]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.6277063800640166,-0.8069373276146867,0.71338606911949],"aabb_xy":[[0.5917928756390268,-0.8428508358314413],[0.6636198844890061,-0.771023819397932]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[0.47825121682543914,-0.8180424712831589,0.71338606911949],"aabb_xy":[[0.44325121763262076,-0.8290095172808213],[0.5132512160182573,-0.807075425285496]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[-0.16124492755851205,1.060842733259172,0.71338606911949],"aabb_xy":[[-0.2512449298925311,0.9833603786740592],[-0.071244925224493,1.1383250878442845]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[-0.1619700541925153,-1.9133720948395228,0.71338606911949],"aabb_xy":[[-0.16996354398779737,-1.9213702267799986],[-0.1539765643972333,-1.9053739628990474]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.17698520474529644,-2.488622243439459,0.71338606911949],"aabb_xy":[[-0.240980902140393,-2.5526222417401674],[-0.11298950735019983,-2.42462224513875]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[-0.5126140952952442,1.736920226235418,0.71338606911949],"aabb_xy":[[-0.5494087284201504,1.7000143511388357],[-0.4758194621703379,1.7738261013320002]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[0.45641489664807566,-1.5073025531447497,0.71338606911949],"aabb_xy":[[0.41891489585608027,-1.51367039410294],[0.49391489744007117,-1.5009347121865595]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[-0.32768619200546,0.6494642673241593,0.71338606911949],"aabb_xy":[[-0.4176861917286341,0.6263909147889793],[-0.23768619228228574,0.672537619859339]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[-0.6566127581300985,0.8553164845253982,0.71338606911949],"aabb_xy":[[-0.6603160194592373,0.8516144662166804],[-0.6529094968009596,0.8590185028341161]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[0.4915946667891129,-1.7159067145786913,0.71338606911949],"aabb_xy":[[0.4115946696295376,-1.727454315536508],[0.5715946639486882,-1.704359113620874]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[0.08912114457941467,-1.3173478958066844,0.71338606911949],"aabb_xy":[[0.06079143463087444,-1.3218086380004015],[0.1174508545279549,-1.3128871536129674]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[-0.38696888942364416,-0.5684091506298046,0.71338606911949],"aabb_xy":[[-0.4030308168821618,-0.6534091524423963],[-0.3709069619651265,-0.4834091488172127]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[0.38672462707451194,-1.8661733734172399,0.71338606911949],"aabb_xy":[[0.3806876140738473,-1.8722000744861884],[0.3927616400751768,-1.8601466723482918]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[-0.5336232958756738,-0.3860404012447267,0.71338606911949],"aabb_xy":[[-0.5487954651573071,-0.40120925817293],[-0.5184511265940405,-0.3708715443165233]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[-0.265098645320274,-0.13934386425830514,0.71338606911949],"aabb_xy":[[-0.31507606218552753,-0.18934386574755366],[-0.21512122845502038,-0.08934386276905658]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[-0.4112554641460076,-0.871632779953019,0.71338606911949],"aabb_xy":[[-0.4487554644942353,-0.8834241755341025],[-0.3737554637977798,-0.8598413843719354]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[-0.6652829617053577,0.0028423846168879052,0.71338606911949],"aabb_xy":[[-0.6819600976984532,-0.01385753935704237],[-0.6486058257122622,0.01954230859081818]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[-0.07102935697793966,-0.15371348545176478,0.71338606911949],"aabb_xy":[[-0.08567276253197265,-0.16837220510854906],[-0.05638595142390668,-0.1390547657949805]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_30","position":[0.7143576921013917,-0.5130113851621441,0.71338606911949],"aabb_xy":[[0.7051978131575152,-0.5195426032056811],[0.7235175710452684,-0.506480167118607]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_31","position":[0.5319750247389328,1.6845364581995361,0.71338606911949],"aabb_xy":[[0.506754187879093,1.6593127073466487],[0.5571958615987723,1.7097602090524222]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898880107895968,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8141.png","name":"8141"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8141.png","name":"8141"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1006.png","name":"1006"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2183.png","name":"2183"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1183.png","name":"1183"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7859.png","name":"7859"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":819.0610133064242,"rotation_z_degrees":198.34886209405028,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010023176855187544,-0.011010435759578274,-0.003746555534079179]},{"name":"camera_2","offset_m":[0.01650031932331199,0.014200096634119846,-0.012440514379885671]},{"name":"camera_3","offset_m":[-0.012642343466647214,-0.018542205757851937,0.012828130512482248]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.857326562797078e-05,-0.0016773438339433957,0.0002968148541301675],"end_effector_yaw_offset_degrees":-0.5071289068044271},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007912069189298723,-0.000412915379299816,-6.308980740994652e-05],"end_effector_yaw_offset_degrees":-0.0760571152438323},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015457767685699815,0.0006998442325465565,0.0017819523747084078],"end_effector_yaw_offset_degrees":-0.12337826263683915},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007304968779248779,0.0019735004399425316,-0.00045864873929855237],"end_effector_yaw_offset_degrees":-0.6981119445297339}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00024318256767984908,-0.004135694433259125],"position_m":[0.27914318256767984,-0.12183569443325912,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008212906828431385,-0.004350085274471256],"position_m":[0.22567870931715686,-0.4135500852744713,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023605538612852207,-0.00413088640875529],"position_m":[0.3502394461387148,0.06186911359124471,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015875191599400741,-0.0028114568047438926],"position_m":[0.3406124808400599,0.32108854319525615,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"844a7f7936a5859f909d81e78d08d71d767e2661d1bea0cfd2f84ea5718d2380","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0107.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8141/tex_ceiling_textures_7859/tex_floor_textures_1183/tex_table_textures_1006/tex_wall_textures_2183","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":5617510205746242741,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":5617510205746242741,"visual_seed":5617510205746242741,"scene_id":"lab_003","finished_at":"2026-09-05T06:28:32"}
+{"episode_id":"ep_000089","started_at":"2026-09-05T06:28:36","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_0","position":[0.06434341853550496,-2.1641353938889027,0.71338606911949],"aabb_xy":[[-0.0006565824649955587,-2.2149217590435777],[0.12934341953600548,-2.113349028734228]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.6123619612880518,-1.7672911597826901,0.71338606911949],"aabb_xy":[[-0.6763619616655853,-1.8170364266335022],[-0.548361960910518,-1.7175458929318776]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.31007685472843005,-0.0921607858358291,0.71338606911949],"aabb_xy":[[-0.3900768558015503,-0.10193883217321353],[-0.23007685365530967,-0.08238273949844466]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[0.26817012624500136,-1.1284695357134498,0.71338606911949],"aabb_xy":[[0.23113601681694165,-1.1628467430471592],[0.3052042356730611,-1.0940923283797404]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[-0.3672361262507535,-0.7521405797695022,0.71338606911949],"aabb_xy":[[-0.3716667556055937,-0.7575889515041849],[-0.36280549689591335,-0.7466922080348197]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[0.6400237871448105,0.07942872435670623,0.71338606911949],"aabb_xy":[[0.5750237892631628,0.028305060650165352],[0.7050237850264583,0.1305523880632471]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[0.5333069211763526,-0.49346926115121637,0.71338606911949],"aabb_xy":[[0.5220618656057348,-0.5047110588753116],[0.5445519767469704,-0.48222746342712103]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.19047941371483668,-1.7590802000411663,0.71338606911949],"aabb_xy":[[-0.20811224930836422,-1.776703146056789],[-0.17284657812130907,-1.741457254025543]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[-0.11301058421629906,-2.108547947260719,0.71338606911949],"aabb_xy":[[-0.1486397401162588,-2.144180614017572],[-0.07738142831633933,-2.072915280503866]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[0.43954827390077034,-1.1553288367243157,0.71338606911949],"aabb_xy":[[0.3943769560526014,-1.2193288338688542],[0.48471959174893936,-1.0913288395797773]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.5338496221730615,-2.089525039583767,0.71338606911949],"aabb_xy":[[-0.5713496205964619,-2.1026892535515973],[-0.4963496237496612,-2.076360825615936]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.580112328082134,0.19473540387466093,0.71338606911949],"aabb_xy":[[-0.5878155187562111,0.1870260331759229],[-0.5724091374080569,0.2024447745733989]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.5080307424516645,-0.4624048836362866,0.71338606911949],"aabb_xy":[[-0.5232029117332979,-0.47757374056449],[-0.49285857317003123,-0.44723602670808327]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_13","position":[-0.06000622009592438,-0.017264804261286848,0.71338606911949],"aabb_xy":[[-0.08251991191938157,-0.08726480486229438],[-0.037492528272467185,0.05273519633972068]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[0.622811532608055,-2.113184501447218,0.71338606911949],"aabb_xy":[[0.6076486596311179,-2.1283499587423367],[0.6379744055849921,-2.098019044152099]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[0.4263776963059436,-1.4651568734015765,0.71338606911949],"aabb_xy":[[0.4088776971715764,-1.4750365004391641],[0.44387769544031075,-1.4552772463639885]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.6774447227631726,-1.6977464172321284,0.71338606911949],"aabb_xy":[[0.6573863111499323,-1.7178115041412858],[0.6975031343764129,-1.677681330322971]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.492713633201181,-1.68687007887846,0.71338606911949],"aabb_xy":[[0.48187315497466604,-1.7040563601691086],[0.5035541114276958,-1.6696837975878112]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[-0.23769610024362564,-2.5006312912009756,0.71338606911949],"aabb_xy":[[-0.247849115797775,-2.5367008327737155],[-0.22754308468947623,-2.464561749628235]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[0.37342564469837125,-0.75231031464823,0.71338606911949],"aabb_xy":[[0.36614332832170743,-0.8423103182577387],[0.38070796107503474,-0.6623103110387207]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.29182024050583816,-0.9122292066344486,0.71338606911949],"aabb_xy":[[-0.3223044906328683,-0.9622292064159446],[-0.261335990378808,-0.8622292068529527]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[0.5030989253491087,-0.7907089959960782,0.71338606911949],"aabb_xy":[[0.46559892500088096,-0.8025003915771616],[0.5405989256973365,-0.7789176004149945]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[-0.12211290690463072,-0.5760051191758984,0.71338606911949],"aabb_xy":[[-0.13912300419468138,-0.5921396076741722],[-0.10510280961458007,-0.5598706306776243]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_23","position":[-0.23244000347534471,-0.5896999546406176,0.71338606911949],"aabb_xy":[[-0.2802461710891133,-0.6546999573476766],[-0.18463383586157606,-0.5246999519335587]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_24","position":[0.3125785368899612,1.280131072647512,0.71338606911949],"aabb_xy":[[0.2781160588768734,1.2734673954645892],[0.34704101490304895,1.2867947498304346]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883290114369389,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6664.png","name":"6664"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6664.png","name":"6664"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4705.png","name":"4705"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2841.png","name":"2841"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1875.png","name":"1875"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4014.png","name":"4014"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":515.4636528452515,"rotation_z_degrees":292.3972489642813,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01585685143887174,0.0003022265349152328,-0.009085890523914127]},{"name":"camera_2","offset_m":[-0.01909774069079993,0.0032994411405015654,0.007038626526679623]},{"name":"camera_3","offset_m":[-0.008044322188238704,-0.0020135273352881317,-0.005218497304213537]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009375105737706676,-0.0005354318624470565,-0.0016591239812656965],"end_effector_yaw_offset_degrees":-0.5566579682693322},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018584088936724487,-0.0016604649590522694,-0.0017578343946423472],"end_effector_yaw_offset_degrees":0.8627679478711319},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001647584485977322,-0.0006575319043436018,0.0002803611113068251],"end_effector_yaw_offset_degrees":-0.7850935986331884},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017527567396318994,-0.001109120302101885,-0.00029565275257036126],"end_effector_yaw_offset_degrees":-0.4975742702706363}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036348337079429825,-0.0049652775090296185],"position_m":[0.275265166292057,-0.12266527750902961,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016001337898096449,-0.003120227769550531],"position_m":[0.22810013378980964,-0.4123202277695505,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010011781954439945,-0.0006655489535375312],"position_m":[0.35159882180455604,0.06533445104646247,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004820609721995442,-0.00390608899622518],"position_m":[0.33737939027800457,0.31999391100377483,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"68eb7d34928c61b7af79f77d2f342272fad2538f33d09b551b3f466a906e47cf","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0108.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6664/tex_ceiling_textures_4014/tex_floor_textures_1875/tex_table_textures_4705/tex_wall_textures_2841","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":620289570830328547,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":620289570830328547,"visual_seed":620289570830328547,"scene_id":"lab_003","finished_at":"2026-09-05T06:32:21"}
+{"episode_id":"ep_000090","started_at":"2026-09-05T06:32:24","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.06216635262233017,-1.2197555348321185,0.71338606911949],"aabb_xy":[[-0.08466635313437076,-1.2422473931975166],[-0.039666352110289564,-1.19726367646672]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.4053244102523444,-0.9279978937033253,0.71338606911949],"aabb_xy":[[-0.4693244105263227,-0.9780639939006133],[-0.3413244099783662,-0.8779317935060373]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.49087767886088396,1.2619389592512347,0.71338606911949],"aabb_xy":[[-0.49697230674900233,1.253369564699566],[-0.4847830509727657,1.2705083538029034]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.6602368633373762,-0.610468597554743,0.71338606911949],"aabb_xy":[[-0.6946993413504639,-0.6171322747376657],[-0.6257743853242883,-0.6038049203718201]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[0.6525740324339524,0.01986365042534155,0.71338606911949],"aabb_xy":[[0.5875740314768252,-0.03208456150836403],[0.7175740333910796,0.07181186235904712]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[-0.26781317565373275,1.0460823615505452,0.71338606911949],"aabb_xy":[[-0.27244829080596605,1.0422150264733963],[-0.26317806050149933,1.0499496966276938]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[0.5361905917306904,0.33916581403621393,0.71338606911949],"aabb_xy":[[0.5186905914713538,0.3250742718474413],[0.553690591990027,0.35325735622498655]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[-0.04399685743063997,0.7607544786995875,0.71338606911949],"aabb_xy":[[-0.10899685843114049,0.7099681135449125],[0.02100314356986055,0.8115408438542624]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.11568086017932089,-1.0690470168662731,0.71338606911949],"aabb_xy":[[0.0931671683558637,-1.1390470174672804],[0.13819455200277808,-0.9990470162652654]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.5800300101141198,-2.2441350273750245,0.71338606911949],"aabb_xy":[[0.5751864153528898,-2.248986679854009],[0.5848736048753498,-2.239283374896041]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[-0.6012567321407438,-2.3779669300374637,0.71338606911949],"aabb_xy":[[-0.6082970420742808,-2.457966929437135],[-0.5942164222072068,-2.2979669306377923]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[0.6273419103386724,-0.6272977316878059,0.71338606911949],"aabb_xy":[[0.5673419098308193,-0.6841444653737271],[0.6873419108465252,-0.5704509980018845]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.23345559023637308,-1.4874808494054168,0.71338606911949],"aabb_xy":[[0.1784555906146272,-1.5424645421928895],[0.2884555898581189,-1.432497156617944]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.17564564016802997,-2.3510801313784144,0.71338606911949],"aabb_xy":[[-0.18648611839454488,-2.3682664126690627],[-0.16480516194151507,-2.3338938500877653]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.345472985114575,-0.1242207635253827,0.71338606911949],"aabb_xy":[[-0.35862423108586444,-0.14922076328206924],[-0.3323217391432857,-0.09922076376869615]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.36699656505194106,1.1358539384074575,0.71338606911949],"aabb_xy":[[-0.38949298648580516,1.1133539386007103],[-0.34450014361807696,1.1583539382142052]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.3592999160640644,-1.8154849338673142,0.71338606911949],"aabb_xy":[[-0.4232999152338343,-1.8622516209862767],[-0.2952999168942944,-1.7687182467483518]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.44776115640056435,-0.15845703360346963,0.71338606911949],"aabb_xy":[[0.43342673127440084,-0.17051724915800848],[0.46209558152672775,-0.1463968180489308]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.35968452146920593,-0.7098594683954051,0.71338606911949],"aabb_xy":[[0.2956845241835573,-0.7513661873482491],[0.4236845187548546,-0.6683527494425612]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.5987799079305471,0.8519004147438807,0.71338606911949],"aabb_xy":[[-0.6487529734630627,0.801900414931348],[-0.5488068423980318,0.9019004145564138]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_20","position":[0.40712277330721935,-2.499642370181439,0.71338606911949],"aabb_xy":[[0.3621301865887689,-2.5446423694558877],[0.4521153600256697,-2.4546423709069902]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[-0.3212411065740368,0.4881392361602308,0.71338606911949],"aabb_xy":[[-0.37623658439469615,0.4331392347263239],[-0.2662456287533774,0.5431392375941377]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.6489807813515478,0.4472564322130288,0.71338606911949],"aabb_xy":[[0.6440814890449842,0.41957951291046003],[0.6538800736581112,0.47493335151559757]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[0.14582308063055283,1.5246917034504972,0.71338606911949],"aabb_xy":[[0.09582307926966559,1.4747137988750816],[0.19582308199144002,1.5746696080259128]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[-0.6267206658327972,-2.0489342332326164,0.71338606911949],"aabb_xy":[[-0.6488931928094479,-2.0711099003887394],[-0.6045481388561462,-2.0267585660764933]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[0.5829707610384274,0.9565932620038113,0.71338606911949],"aabb_xy":[[0.5189707578197895,0.909870150104803],[0.6469707642570652,1.0033163739028197]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.49723061283969805,-0.5854926060503289,0.71338606911949],"aabb_xy":[[-0.5149062434282963,-0.6031728223297316],[-0.4795549822510997,-0.5678123897709261]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_27","position":[-0.44612513431500217,-1.642173463235927,0.71338606911949],"aabb_xy":[[-0.496125135598842,-1.6921523176265492],[-0.3961251330311621,-1.592194608845305]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[0.38408034809005387,-1.9774682813096307,0.71338606911949],"aabb_xy":[[0.34674907156481133,-2.012121336104483],[0.4214116246152965,-1.9428152265147784]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[0.6365457343629282,-0.9416780023849105,0.71338606911949],"aabb_xy":[[0.6259782547048292,-0.952223032497919],[0.6471132140210272,-0.9311329722719018]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_30","position":[-0.4477996251622405,1.5819648136867293,0.71338606911949],"aabb_xy":[[-0.46296249813917756,1.5667993563916107],[-0.4326367521853034,1.5971302709818482]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_31","position":[0.40435836700147454,1.6387599336012175,0.71338606911949],"aabb_xy":[[0.38547398323296433,1.6198740088208647],[0.42324275076998474,1.6576458583815703]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_32","position":[0.0680932049507631,-1.6023055193234788,0.71338606911949],"aabb_xy":[[0.05673147029747694,-1.6136739857297666],[0.07945493960404926,-1.5909370529171905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6925615187898613,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/541.png","name":"541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/541.png","name":"541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8832.png","name":"8832"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5781.png","name":"5781"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1887.png","name":"1887"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9924.png","name":"9924"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":780.5611174885635,"rotation_z_degrees":333.4339860761453,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008353261189414672,-0.013261099159365606,0.008372325411902568]},{"name":"camera_2","offset_m":[-0.0005307878655279423,-0.01702217182579504,0.005916142125870702]},{"name":"camera_3","offset_m":[0.004418774918001415,0.00950234365174494,0.01322184078941301]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005034917659907641,-0.000935495982015937,0.0015868786045411263],"end_effector_yaw_offset_degrees":-0.6076726812018547},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-2.6407864131930067e-05,0.0004113602680013524,0.0014102832642752415],"end_effector_yaw_offset_degrees":0.008978792651290979},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004992312493371045,-0.001241842495727704,0.0009122317595847943],"end_effector_yaw_offset_degrees":0.41721123337714117},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.722047312319448e-05,0.001192659619505081,0.0011943077903131863],"end_effector_yaw_offset_degrees":-0.5253105315823392}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001824808038403695,-0.002781216635663606],"position_m":[0.28072480803840366,-0.12048121663566361,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0016479713495531866,0.002234137998698417],"position_m":[0.2281479713495532,-0.4069658620013016,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028697207835495344,0.0011645021928270837],"position_m":[0.3497302792164505,0.06716450219282709,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002233520919243429,-0.00434892036641804],"position_m":[0.34443352091924345,0.319551079633582,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a2cef02b60470b78d378f4f846e090907b574b4e41f9878675a020186d88b434","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0109.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_541/tex_ceiling_textures_9924/tex_floor_textures_1887/tex_table_textures_8832/tex_wall_textures_5781","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2129502116455432043,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2129502116455432043,"visual_seed":2129502116455432043,"scene_id":"lab_003","finished_at":"2026-09-05T06:35:57"}
+{"episode_id":"ep_000091","started_at":"2026-09-05T06:38:25","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.26960139300431185,-1.4172271654742403,0.71338606911949],"aabb_xy":[[0.21460139480256699,-1.457749132100678],[0.32460139120605663,-1.3767051988478027]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[0.3689699534726687,0.5905811301254422,0.71338606911949],"aabb_xy":[[0.359676335235518,0.5530811316373083],[0.37826357170981917,0.6280811286135761]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.620224043666574,-0.2987253378910877,0.71338606911949],"aabb_xy":[[-0.6702240446171067,-0.3302744848946091],[-0.5702240427160411,-0.2671761908875663]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.29505699034724425,0.8791585749169535,0.71338606911949],"aabb_xy":[[-0.32951946836033197,0.8724948977340304],[-0.2605945123341564,0.8858222520998761]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.07773991147018144,-2.357064220844438,0.71338606911949],"aabb_xy":[[-0.15773991005750088,-2.436379822782599],[0.0022600871171379734,-2.2777486189062772]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[-0.44506881960220324,-0.31178350005297517,0.71338606911949],"aabb_xy":[[-0.4570015539640313,-0.3241656528608346],[-0.43313608524037517,-0.29940134724511586]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[0.37786074499736766,-0.688520952611861,0.71338606911949],"aabb_xy":[[0.3326894271491987,-0.7525209497563995],[0.4230320628455367,-0.6245209554673226]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.4597599506820483,1.5127905200620995,0.71338606911949],"aabb_xy":[[-0.47582187814056587,1.4277905182495074],[-0.4436980232235306,1.597790521874691]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[0.033999067791399606,1.0613149138503544,0.71338606911949],"aabb_xy":[[-0.03100093224290313,1.014614237170027],[0.09899906782570234,1.1080155905306817]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[-0.6480559767259476,0.664185483224919,0.71338606911949],"aabb_xy":[[-0.6705559762496548,0.641689535774298],[-0.62555597720224,0.6866814306755396]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[-0.23612374273015413,-2.165431570488464,0.71338606911949],"aabb_xy":[[-0.2543295663914018,-2.176456971070456],[-0.21791791906890648,-2.1544061699064727]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.1531235406385626,-1.0092619190842322,0.71338606911949],"aabb_xy":[[-0.23312354091216958,-1.0822114669099487],[-0.07312354036495562,-0.9363123712585154]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[-0.2372683972598561,-1.3955255556580417,0.71338606911949],"aabb_xy":[[-0.24604962440709235,-1.4043053029465717],[-0.2284871701126199,-1.3867458083695117]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.522027747825629,-1.2735302222103164,0.71338606911949],"aabb_xy":[[0.4580277474480954,-1.3232754890611287],[0.5860277482031626,-1.2237849553595042]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.3781904047944571,0.2876371513495788,0.71338606911949],"aabb_xy":[[-0.4431904029503762,0.2613409067996666],[-0.3131904066385381,0.313933395899491]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[0.500141700294052,-1.9632191735747435,0.71338606911949],"aabb_xy":[[0.43514169918810874,-1.988184546642872],[0.5651417013999953,-1.9382538005066154]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[0.6310286884581229,-0.1640222354492522,0.71338606911949],"aabb_xy":[[0.6229150337847458,-0.1721280519032813],[0.6391423431315,-0.15591641899522313]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.48332021637166006,1.1446571988777499,0.71338606911949],"aabb_xy":[[-0.520820216477253,1.1378350370247685],[-0.44582021626606705,1.1514793607307308]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[0.4751782734616259,1.7760664034820146,0.71338606911949],"aabb_xy":[[0.47033467870039597,1.7712147510030307],[0.4800218682228559,1.780918055960999]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.42775756202279147,0.9157819962843141,0.71338606911949],"aabb_xy":[[-0.4402249201325271,0.9033166716509906],[-0.4152902039130558,0.9282473209176376]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[0.4592413836577869,-2.475653725483392,0.71338606911949],"aabb_xy":[[0.434727759560781,-2.4999183187854284],[0.48375500775479274,-2.4513891321813555]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[-0.4996137944372168,-0.6210391941618074,0.71338606911949],"aabb_xy":[[-0.509766809991366,-0.6571087357345476],[-0.4894607788830673,-0.584969652589067]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[-0.6502336972901255,-0.6287593914256433,0.71338606911949],"aabb_xy":[[-0.6887793901153264,-0.6673051624818319],[-0.6116880044649243,-0.5902136203694547]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[0.11905560326992348,-0.7754575480690149,0.71338606911949],"aabb_xy":[[0.03905560611034818,-0.7870051490268318],[0.19905560042949877,-0.7639099471111978]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.6007266238535384,0.40641782146308136,0.71338606911949],"aabb_xy":[[-0.6079878714239457,0.3936308111995719],[-0.593465376283131,0.41920483172659084]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[-0.41622155665147204,0.5516835604181862,0.71338606911949],"aabb_xy":[[-0.423924747325549,0.5439741897194482],[-0.40851836597739494,0.5593929311169242]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_26","position":[0.6424390317235769,0.8330678332658792,0.71338606911949],"aabb_xy":[[0.592445919614385,0.7830678325916838],[0.6924321438327687,0.883067833940075]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_27","position":[-0.09169746082018049,1.7011689102925138,0.71338606911949],"aabb_xy":[[-0.10430015995725696,1.688573514067648],[-0.07909476168310405,1.713764306517379]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_28","position":[0.17783812725586468,1.238503040599444,0.71338606911949],"aabb_xy":[[0.16004462032094824,1.2207032950036463],[0.1956316341907811,1.2563027861952416]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[0.4788307798635887,1.1157991593549177,0.71338606911949],"aabb_xy":[[0.4682633002054897,1.1052541292419091],[0.4893982595216877,1.1263441894679262]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930752668650239,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4814.png","name":"4814"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4814.png","name":"4814"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4573.png","name":"4573"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8028.png","name":"8028"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3727.png","name":"3727"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4831.png","name":"4831"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":524.2524835284713,"rotation_z_degrees":200.5192357351365,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018921541067039586,0.0024354537925132293,0.0020276851237994997]},{"name":"camera_2","offset_m":[-0.015809694465204197,0.004952565780141801,-0.016187086497439728]},{"name":"camera_3","offset_m":[-0.0019012631265719546,0.01671783856295644,-0.010172085304324976]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005914161341968622,-0.00042649898774334673,-0.0008180417718779203],"end_effector_yaw_offset_degrees":0.2868379056238093},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00034377073207677005,-0.0014328915468012028,-0.0001248451804347374],"end_effector_yaw_offset_degrees":0.5716246930794746},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001206279550988683,-0.0007870436553470831,0.0006849129776404163],"end_effector_yaw_offset_degrees":0.3147411404243472},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006590119016758873,0.0003361369459354241,0.0009930275172975829],"end_effector_yaw_offset_degrees":-0.48004102716565833}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002861782396138198,0.0006756977042360586],"position_m":[0.2817617823961382,-0.11702430229576394,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006813523184930883,-0.0014730693060697455],"position_m":[0.2271813523184931,-0.4106730693060697,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004685630137636323,0.00034886081214656646],"position_m":[0.3479143698623637,0.06634886081214657,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000387965716257389,0.0002747933676053964],"position_m":[0.3425879657162574,0.3241747933676054,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"51fd3432630189b0ddaa83880be81f2bd489f85a0d78acda871bb2b902697762","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0111.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4814/tex_ceiling_textures_4831/tex_floor_textures_3727/tex_table_textures_4573/tex_wall_textures_8028","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4150223992599905534,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4150223992599905534,"visual_seed":4150223992599905534,"scene_id":"lab_003","finished_at":"2026-09-05T06:41:53"}
+{"episode_id":"ep_000092","started_at":"2026-09-05T06:41:56","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[0.12248957290416174,-2.424634638691393,0.71338606911949],"aabb_xy":[[0.11332969396028514,-2.43116585673493],[0.13164945184803833,-2.4181034206478564]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.3052977675056252,-2.3064944572442596,0.71338606911949],"aabb_xy":[[0.2965998052149099,-2.3186194315517343],[0.3139957297963405,-2.294369482936785]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[-0.11458080811024007,-0.16935120509269463,0.71338606911949],"aabb_xy":[[-0.11901143746508025,-0.17479957682737723],[-0.1101501787553999,-0.16390283335801203]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_3","position":[-0.5369029732986328,1.392360403330129,0.71338606911949],"aabb_xy":[[-0.5818955600170831,1.3473604040556801],[-0.49191038658018227,1.4373604026045776]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.6420538176816513,-1.613792491424371,0.71338606911949],"aabb_xy":[[-0.6645502391155154,-1.6362924912311185],[-0.6195573962477872,-1.5912924916176237]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.5834417891481936,0.5720403083239041,0.71338606911949],"aabb_xy":[[0.5334684951449331,0.5220403077693566],[0.633415083151454,0.6220403088784513]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_6","position":[-0.6659467798925747,1.0432743499987973,0.71338606911949],"aabb_xy":[[-0.6707903746538046,1.0384226975198132],[-0.6611031851313447,1.0481260024777814]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[0.3402514179658285,-1.1689645235139121,0.71338606911949],"aabb_xy":[[0.26025141937850904,-1.248280125452073],[0.4202514165531479,-1.0896489215757512]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.06952022429378213,0.4756544730519634,0.71338606911949],"aabb_xy":[[-0.11952022373397773,0.42568654856764715],[-0.019520224853586496,0.5256223975362797]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[0.14954578770747906,0.9917026931889508,0.71338606911949],"aabb_xy":[[0.09955077674802706,0.9417026941533593],[0.19954079866693114,1.0417026922245427]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.026222727934927303,1.0827892661266505,0.71338606911949],"aabb_xy":[[-0.08122272613667213,1.0422672995002127],[0.028777270266817527,1.1233112327530879]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[-0.43122632920322634,0.3495702413133315,0.71338606911949],"aabb_xy":[[-0.45414204208827635,0.32666594417690803],[-0.40831061631817656,0.37247453844975503]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[0.37451914789000806,-2.0452631527874137,0.71338606911949],"aabb_xy":[[0.3593469786083747,-2.0604320097156172],[0.3896913171716414,-2.03009429585921]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.2976379275766166,0.6382766210743434,0.71338606911949],"aabb_xy":[[-0.3592286868006095,0.5742766229652965],[-0.23604716835262385,0.7022766191833902]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[-0.06742939170037576,-0.9873359017207204,0.71338606911949],"aabb_xy":[[-0.10090855896141672,-1.0208150150918274],[-0.03395022443933484,-0.9538567883496134]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.39718430471795707,0.6144915914237004,0.71338606911949],"aabb_xy":[[0.38634382649144217,0.5973053101330515],[0.408024782944472,0.6316778727143492]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.32544435994425647,1.018833998023037,0.71338606911949],"aabb_xy":[[-0.3629443585198772,1.006097702359479],[-0.2879443613686356,1.031570293686595]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.18891620216907823,-0.8126036469492774,0.71338606911949],"aabb_xy":[[-0.2529162045118798,-0.8575444981934099],[-0.12491619982627668,-0.767662795705145]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[0.14468073219411826,0.741212321303053,0.71338606911949],"aabb_xy":[[0.12218159646789128,0.71871232052479],[0.16717986792034523,0.7637123220813159]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.6861248541098275,-1.2633319371066487,0.71338606911949],"aabb_xy":[[0.6781313643145455,-1.2713300690471243],[0.6941183439051095,-1.255333805166173]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.4059358825948345,-0.3596898200327314,0.71338606911949],"aabb_xy":[[0.37093588340201616,-0.37065686603039405],[0.4409358817876527,-0.3487227740350688]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.4774264753741184,0.40828628513357845,0.71338606911949],"aabb_xy":[[0.41342647826201273,0.35925391533916784],[0.5414264724862241,0.45731865492798907]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.24549149353068356,1.5967360265616848,0.71338606911949],"aabb_xy":[[0.2041869504669476,1.5327360269935675],[0.28679603659441955,1.6607360261298016]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[-0.6009356494437096,-0.6813938374630486,0.71338606911949],"aabb_xy":[[-0.6421844604736241,-0.736393836975266],[-0.5596868384137946,-0.626393837950831]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.18299016847608318,1.488141389116533,0.71338606911949],"aabb_xy":[[-0.19545752658581886,1.4756760644832094],[-0.17052281036634756,1.5006067137498564]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_25","position":[0.13058990298900297,1.7884810772358075,0.71338606911949],"aabb_xy":[[0.09308990232442425,1.772794019235585],[0.16808990365358165,1.8041681352360295]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_26","position":[0.6513623789188574,-0.4848209758516333,0.71338606911949],"aabb_xy":[[0.6431478338031732,-0.4934975661492745],[0.6595769240345412,-0.4761443855539919]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_27","position":[-0.07057357555828458,0.2716463606609856,0.71338606911949],"aabb_xy":[[-0.13557357819607807,0.22016676196153862],[-0.005573572920491085,0.32312595936043254]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[-0.025603450753827528,-2.0668212278395792,0.71338606911949],"aabb_xy":[[-0.032847216800072854,-2.1468212260431816],[-0.0183596847075822,-1.9868212296359768]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_29","position":[0.530453588275074,1.7334843632061827,0.71338606911949],"aabb_xy":[[0.5228293201848958,1.7258511396696392],[0.5380778563652523,1.7411175867427267]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931138178052235,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/429.png","name":"429"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/429.png","name":"429"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/337.png","name":"337"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9809.png","name":"9809"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/686.png","name":"686"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1528.png","name":"1528"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":687.0785785667646,"rotation_z_degrees":219.21044528605714,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032826084712742655,0.0003742739423235088,0.008485372945871834]},{"name":"camera_2","offset_m":[-0.003871855581218178,0.009484671564764562,-0.007022654137818156]},{"name":"camera_3","offset_m":[-0.0061803428456783886,0.002978063114567421,0.008008475933791899]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007182111268077139,-0.001399251734393379,0.001853083789354809],"end_effector_yaw_offset_degrees":0.3487988705730807},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012340407824204449,0.0015466566895521892,-0.0017649162535646897],"end_effector_yaw_offset_degrees":-0.35829049368010213},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010948863766300325,-0.001710836151167668,0.0008084540058766036],"end_effector_yaw_offset_degrees":-0.0024710630032596104},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001948745280792332,0.0012781351433956666,-0.0004306693750301899],"end_effector_yaw_offset_degrees":-0.48176436673643974}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003811466005045199,0.002936611866740639],"position_m":[0.28271146600504515,-0.11476338813325936,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002157574622872795,-0.0044073436625778895],"position_m":[0.2286575746228728,-0.4136073436625779,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003408155788983851,-0.0018633032712151378],"position_m":[0.35600815578898387,0.06413669672878486,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[1.1199009887117098e-05,0.0010679970439886246],"position_m":[0.3422111990098871,0.32496799704398865,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"19d00f1d6eb3c091acfbaf457089ffda69722927a8e75e95230d011f78c4563e","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0112.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_429/tex_ceiling_textures_1528/tex_floor_textures_686/tex_table_textures_337/tex_wall_textures_9809","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":362408366675755192,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":362408366675755192,"visual_seed":362408366675755192,"scene_id":"lab_003","finished_at":"2026-09-05T06:45:25"}
+{"episode_id":"ep_000093","started_at":"2026-09-05T06:45:29","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.33539062278099385,-0.9962256404099676,0.71338606911949],"aabb_xy":[[-0.3969813820049867,-1.0602256385190145],[-0.2737998635570011,-0.9322256423009206]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.45010685349310964,0.7103389679585876,0.71338606911949],"aabb_xy":[[0.4419791652997964,0.70142535954788],[0.45823454168642286,0.7192525763692953]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[0.04605422405083237,1.5669596625568842,0.71338606911949],"aabb_xy":[[0.04191836771813218,1.5294596631125275],[0.050190080383532565,1.6044596620012415]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[-0.23510322563014346,0.3997136866552644,0.71338606911949],"aabb_xy":[[-0.2589394432707486,0.309713685846778],[-0.21126700798953846,0.489713687463751]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[-0.301907080565967,-0.25584252754961456,0.71338606911949],"aabb_xy":[[-0.39190708289998605,-0.3333248821347272],[-0.21190707823194793,-0.1783601729645019]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_5","position":[0.5920061235462608,-0.24228239869254908,0.71338606911949],"aabb_xy":[[0.528006120327623,-0.28900551059155744],[0.6560061267648987,-0.19555928679354076]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[-0.25533564876129944,1.188409478372098,0.71338606911949],"aabb_xy":[[-0.3051524282261342,1.1384094798877944],[-0.20551886929646468,1.2384094768564011]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[0.33427630207981407,-1.0335744905206978,0.71338606911949],"aabb_xy":[[0.2842933518923347,-1.083574490163258],[0.38425925226729335,-0.9835744908781373]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[0.4217734776017523,-2.4449177837489384,0.71338606911949],"aabb_xy":[[0.4124264700194571,-2.4592214059665825],[0.43112048518404755,-2.4306141615312944]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[0.502496608066074,1.1761121008516509,0.71338606911949],"aabb_xy":[[0.47999660854236664,1.1536161534010299],[0.5249966075897814,1.1986080483022714]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[0.20032192670001125,-0.9264383824566462,0.71338606911949],"aabb_xy":[[0.12032192343599812,-0.9399984147655595],[0.2803219299640244,-0.9128783501477328]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.6896332147448407,-1.5308285316599575,0.71338606911949],"aabb_xy":[[0.6646332151931021,-1.5409710155250922],[0.7146332142965791,-1.5206860477948227]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[-0.5406749775310797,1.01497674778131,0.71338606911949],"aabb_xy":[[-0.5446354613008141,1.0073088831957897],[-0.5367144937613454,1.022644612366831]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.4726655841552976,-0.5034868288943346,0.71338606911949],"aabb_xy":[[-0.5366655848587669,-0.5495052113672557],[-0.40866558345182824,-0.4574684464214137]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[0.38283183627534134,-1.5170254550052544,0.71338606911949],"aabb_xy":[[0.34851555910072335,-1.5670254549784324],[0.4171481134499592,-1.467025455032077]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.2258396136812475,0.8073660923880186,0.71338606911949],"aabb_xy":[[-0.2898396140587811,0.7576208255372062],[-0.16183961330371385,0.8571113592388308]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[-0.5791962705380018,-0.04559208846916407,0.71338606911949],"aabb_xy":[[-0.587189760333284,-0.05359022040963975],[-0.5712027807427199,-0.03759395652868842]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[-0.42632519630029014,-1.5942459663299702,0.71338606911949],"aabb_xy":[[-0.4636564728255328,-1.6288990211248224],[-0.3889939197750475,-1.559592911535118]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.1996778965900441,-1.7918457088863673,0.71338606911949],"aabb_xy":[[0.18379340332471894,-1.8061986491851916],[0.21556238985536924,-1.7774927685875435]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[-0.4799049807707244,1.163482441331241,0.71338606911949],"aabb_xy":[[-0.4933515074047677,1.1500125896781497],[-0.466458454136681,1.1769522929843323]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[0.3237252998601292,0.8422578504190676,0.71338606911949],"aabb_xy":[[0.2862252983444975,0.8310310774029225],[0.3612253013757609,0.8534846234352126]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[-0.6170783350081117,0.35573555432281756,0.71338606911949],"aabb_xy":[[-0.625072323585815,0.34773547422772716],[-0.6090843464304082,0.36373563441790785]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[0.33358590428835666,1.2964707032120453,0.71338606911949],"aabb_xy":[[0.29140149012752586,1.2324707029348343],[0.37577031844918735,1.3604707034892567]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.5232919038525043,-0.4316178825290571,0.71338606911949],"aabb_xy":[[0.4336048275443888,-0.5216178827835076],[0.6129789801606197,-0.3416178822746065]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[-0.6209497363655803,0.6567044018321648,0.71338606911949],"aabb_xy":[[-0.6849497356597485,0.5927182614633105],[-0.556949737071412,0.7206905422010189]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[0.17143596360054025,-1.2344418891271167,0.71338606911949],"aabb_xy":[[0.10744026620544364,-1.2984418874278254],[0.2354316609956368,-1.170441890826408]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[0.48291710740334604,-1.9011141260182849,0.71338606911949],"aabb_xy":[[0.4329178322349099,-1.951114127294232],[0.5329163825717822,-1.8511141247423377]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.5475914438614475,1.324162569848379,0.71338606911949],"aabb_xy":[[0.5368184699400798,1.2891625716293398],[0.5583644177828153,1.3591625680674178]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_28","position":[0.07944989294293447,-1.4224687893299541,0.71338606911949],"aabb_xy":[[0.07537173503588472,-1.4265497695782172],[0.0835280508499842,-1.4183878090816906]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[-0.24299187629922797,-2.3418649274206587,0.71338606911949],"aabb_xy":[[-0.3079918772997285,-2.3926512925753336],[-0.17799187529872745,-2.2910785622659837]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_30","position":[0.29623695137220163,-2.04320102466821,0.71338606911949],"aabb_xy":[[0.27617853975896134,-2.0632661115773674],[0.3162953629854419,-2.0231359377590525]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_31","position":[-0.08559929728142368,-1.0474421902792599,0.71338606911949],"aabb_xy":[[-0.09044289204265367,-1.052293842758244],[-0.08075570252019372,-1.0425905378002758]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_32","position":[0.44630969023155553,1.4333983507482713,0.71338606911949],"aabb_xy":[[0.43999759069521716,1.4276314114950523],[0.452621789767894,1.4391652900014902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692136270028443,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7858.png","name":"7858"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7858.png","name":"7858"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1523.png","name":"1523"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8509.png","name":"8509"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2332.png","name":"2332"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":569.6045829732889,"rotation_z_degrees":189.2827051462379,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0008966489040582552,-0.012515642310474986,0.015352679240992383]},{"name":"camera_2","offset_m":[0.0024861277562980844,0.006418367252968172,0.008108539100349664]},{"name":"camera_3","offset_m":[-0.01173491675690538,0.0016641379784976956,-0.003546443774123751]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000659758488903222,-0.0009379603319967509,0.0014066201039041283],"end_effector_yaw_offset_degrees":-0.9998037770528128},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017663363873117617,0.0002255554912977925,-0.0007436345851652662],"end_effector_yaw_offset_degrees":-0.6252925490372445},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00020684819703891506,-0.0008929020164066945,9.863483068375941e-05],"end_effector_yaw_offset_degrees":0.35994854196337545},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00041095736547497406,-0.00034233727154632564,0.0019830671769508826],"end_effector_yaw_offset_degrees":0.6063537533378052}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029909637762518516,0.002411728499540842],"position_m":[0.2759090362237481,-0.11528827150045916,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014322177740053654,0.0007250634914523837],"position_m":[0.22793221777400538,-0.4084749365085476,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003828664234839738,-8.873205323440235e-05],"position_m":[0.35642866423483976,0.0659112679467656,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022795204466394847,0.0032843697715565683],"position_m":[0.3399204795533605,0.32718436977155657,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dbedd2880d86ca03d7874106dcf840cca31cd948af9091207d605b8e94e0f4ce","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0113.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7858/tex_ceiling_textures_2332/tex_floor_textures_8509/tex_table_textures_1523/tex_wall_textures_9281","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":3458176719944055574,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":3458176719944055574,"visual_seed":3458176719944055574,"scene_id":"lab_003","finished_at":"2026-09-05T06:48:59"}
+{"episode_id":"ep_000094","started_at":"2026-09-05T06:52:37","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.010674602465632455,-2.326987256942861,0.71338606911949],"aabb_xy":[[0.0034133548952250403,-2.3397742672063706],[0.01793585003603987,-2.3142002466793516]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[0.44904057045160606,-0.6407031861825072,0.71338606911949],"aabb_xy":[[0.40773602738787,-0.7047031857506243],[0.490345113515342,-0.5767031866143901]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[-0.24522125190885313,-1.4794555986724942,0.71338606911949],"aabb_xy":[[-0.25402330721782573,-1.487266924827423],[-0.23641919659988037,-1.471644272517565]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[0.20973824302302468,-1.7772795910026313,0.71338606911949],"aabb_xy":[[0.11973824628741447,-1.8304630543199256],[0.2997382397586349,-1.7240961276853366]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.19358468886611102,-2.255399784860268,0.71338606911949],"aabb_xy":[[0.18617223332472252,-2.261250995281896],[0.20099714440749947,-2.24954857443864]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[0.26408629125787286,-1.0066282432501286,0.71338606911949],"aabb_xy":[[0.20408629141130608,-1.0634468654431672],[0.32408629110443965,-0.9498096210570899]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_6","position":[-0.5020014979441305,-2.3057217211935024,0.71338606911949],"aabb_xy":[[-0.5195014970784976,-2.3156013482310898],[-0.4845014988097633,-2.295842094155914]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[0.14584925861230125,-1.2600148750190052,0.71338606911949],"aabb_xy":[[0.06584925995541524,-1.2745197339432681],[0.22584925726918725,-1.2455100160947423]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[0.2766169367068436,-2.0578542946214036,0.71338606911949],"aabb_xy":[[0.2684892485135304,-2.0667679030321113],[0.28474462490015684,-2.048940686210696]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[0.49675435111684485,0.09106009493177503,0.71338606911949],"aabb_xy":[[0.4888310708780965,0.06856009469377165],[0.5046776313555932,0.11356009516977837]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[-0.09659426684352002,-1.0159071818151741,0.71338606911949],"aabb_xy":[[-0.14159426830974886,-1.0609070386766548],[-0.05159426537729116,-0.9709073249536935]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.2035259975521757,0.28645905802040783,0.71338606911949],"aabb_xy":[[-0.21958792501069332,0.20145905620781598],[-0.18746407009365804,0.3714590598329996]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.09985464981751191,-2.3967533272722683,0.71338606911949],"aabb_xy":[[0.0897729427389384,-2.4767533251643825],[0.10993635689608536,-2.316753329380153]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.12934054641921067,0.7483673124879924,0.71338606911949],"aabb_xy":[[-0.16363745743695127,0.714070426278051],[-0.09504363540147001,0.7826641986979336]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[-0.5627640713145807,-1.1761685408603884,0.71338606911949],"aabb_xy":[[-0.6227640715659819,-1.2304498658968528],[-0.5027640710631796,-1.1218872158239235]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[0.5100630750178394,-1.9067269890994956,0.71338606911949],"aabb_xy":[[0.4817333650692992,-1.9111877312932128],[0.5383927849663797,-1.9022662469057787]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.5131671956738819,-0.7572449905566985,0.71338606911949],"aabb_xy":[[-0.5360829085589318,-0.7801492876931221],[-0.490251482788832,-0.734340693420275]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.6901785220346266,1.7923005846864632,0.71338606911949],"aabb_xy":[[0.6731684247445759,1.7761660961881893],[0.7071886193246772,1.8084350731847372]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.6198509898545579,-0.1393542767895597,0.71338606911949],"aabb_xy":[[-0.6838509905580273,-0.18537265926248073],[-0.5558509891510887,-0.0933358943166387]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[0.5809617218531233,0.09272166957286299,0.71338606911949],"aabb_xy":[[0.5504774717260932,0.042721669791367045],[0.6114459719801535,0.14272166935435893]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[0.29630654505739673,1.6666785756865585,0.71338606911949],"aabb_xy":[[0.28553357113602895,1.6316785774675195],[0.3070795189787645,1.7016785739055975]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.4283534663203577,1.5561558371276623,0.71338606911949],"aabb_xy":[[-0.437134693467594,1.5473760898391322],[-0.41957223917312153,1.5649355844161927]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[-0.3238055304435252,-0.4410478037112071,0.71338606911949],"aabb_xy":[[-0.3462703004149303,-0.4635478045900676],[-0.30134076047212005,-0.4185478028323466]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[0.4008076758893693,-2.1620294060064684,0.71338606911949],"aabb_xy":[[0.3755868390295296,-2.1872531568593545],[0.42602851274920894,-2.1368056551535815]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[-0.599672633011795,1.2523875014130552,0.71338606911949],"aabb_xy":[[-0.6796726351745573,1.1724323177869114],[-0.5196726308490324,1.3323426850391986]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[0.5444488716505038,1.0259283132025545,0.71338606911949],"aabb_xy":[[0.4983637803957724,0.9619283159499995],[0.5905339629052353,1.0899283104551096]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_26","position":[-0.3083082062976321,-2.042382209049198,0.71338606911949],"aabb_xy":[[-0.3783082089342184,-2.062487074045063],[-0.23830820366104571,-2.022277344053332]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_27","position":[-0.278696992614006,-1.1140763409280465,0.71338606911949],"aabb_xy":[[-0.31971493600037687,-1.164076341559004],[-0.2376790492276351,-1.0640763402970894]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.694058515499779,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/133.png","name":"133"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/133.png","name":"133"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5648.png","name":"5648"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5615.png","name":"5615"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1800.png","name":"1800"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7404.png","name":"7404"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":822.3785854414343,"rotation_z_degrees":128.02023350136844,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010143926967997704,0.001298499939594494,0.0014002490066855264]},{"name":"camera_2","offset_m":[-0.01437535121461242,-0.015284683831577368,0.014253253252054916]},{"name":"camera_3","offset_m":[0.01964022524751097,0.01303720422022096,-0.006133755950535615]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004076070584189586,7.229540020086767e-05,-0.0009538872467130491],"end_effector_yaw_offset_degrees":-0.00877414976127655},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019285834916170832,-0.0006124684333426807,-0.0006402446183433619],"end_effector_yaw_offset_degrees":-0.6421206697042465},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009003116943357451,0.0013616765218348527,0.0009173065487532981],"end_effector_yaw_offset_degrees":0.22508989999940732},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007786932227300375,-0.0016229784854663932,0.00042460554774574914],"end_effector_yaw_offset_degrees":-0.7660495326866228}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009355732438961449,8.372957211808061e-05],"position_m":[0.27796442675610383,-0.11761627042788192,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005726003719268855,-0.0012063497410573377],"position_m":[0.2270726003719269,-0.41040634974105733,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013352030856539376,-0.0021998706982567597],"position_m":[0.3512647969143461,0.06380012930174324,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007805075153237539,0.0016335730625615498],"position_m":[0.3429805075153238,0.3255335730625616,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7bdaa60d725ef5a0164a5df8f0acf454d1beddc3cbbd38886161ab64080ffac5","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0115.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_133/tex_ceiling_textures_7404/tex_floor_textures_1800/tex_table_textures_5648/tex_wall_textures_5615","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":2393060720135015789,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":2393060720135015789,"visual_seed":2393060720135015789,"scene_id":"lab_003","finished_at":"2026-09-05T06:56:04"}
+{"episode_id":"ep_000095","started_at":"2026-09-05T06:56:07","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_0","position":[-0.28874250972298177,-0.8283722345627402,0.71338606911949],"aabb_xy":[[-0.3255930576599694,-0.8658722353857738],[-0.25189196178599416,-0.7908722337397064]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.20878271810458993,1.5863664361530758,0.71338606911949],"aabb_xy":[[-0.23128271791849228,1.581891819782595],[-0.18628271829068752,1.5908410525235566]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[-0.4946430545374345,1.3053569114991568,0.71338606911949],"aabb_xy":[[-0.4987590046495071,1.3012413564663108],[-0.4905271044253618,1.3094724665320019]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.2045643050867434,0.9421047882190909,0.71338606911949],"aabb_xy":[[0.16956430519072452,0.9337305527071509],[0.23956430498276227,0.9504790237310308]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[0.4326796324872133,-0.8117030474938027,0.71338606911949],"aabb_xy":[[0.3676796324529106,-0.85840372417413],[0.49767963252151604,-0.7650023708134754]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[-0.4108687767516194,-1.6919703665663042,0.71338606911949],"aabb_xy":[[-0.46086378771107156,-1.741970365601896],[-0.36087376579216746,-1.6419703675307127]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[0.6151090306799074,0.8187945366096909,0.71338606911949],"aabb_xy":[[0.5808121196621667,0.7844976503997495],[0.6494059416976479,0.8530914228196321]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.03495552534572399,-1.7649550642957106,0.71338606911949],"aabb_xy":[[0.017455525100674597,-1.7824548521352774],[0.052455525590773364,-1.7474552764561437]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.21078960408069425,-1.7226822720427457,0.71338606911949],"aabb_xy":[[0.16130918286673546,-1.7866822699555975],[0.26027002529465304,-1.6586822741298939]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[0.4604711729021207,-1.9243204206382485,0.71338606911949],"aabb_xy":[[0.4379711728919724,-1.9384166402778518],[0.482971172912269,-1.9102242009986452]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[0.20294082707778993,1.1232068852874137,0.71338606911949],"aabb_xy":[[0.16847834906470216,1.116543208104491],[0.2374033050908777,1.1298705624703365]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[0.16616372720053663,1.5898091461007957,0.71338606911949],"aabb_xy":[[0.15423099283870859,1.5774269932929361],[0.17809646156236472,1.6021912989086549]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.024624548591528073,1.4655797980783958,0.71338606911949],"aabb_xy":[[-0.005859701535502082,1.4155797982968998],[0.05510879871855823,1.5155797978598917]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.044976288007137044,-1.3306194804336617,0.71338606911949],"aabb_xy":[[-0.015023711839429743,-1.3874381026267002],[0.10497628785370383,-1.2738008582406228]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[-0.08653604163341133,-0.7884633213466783,0.71338606911949],"aabb_xy":[[-0.0904965254031457,-0.7961311859321989],[-0.08257555786367696,-0.7807954567611577]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[0.4019946259954099,-1.1371605921839039,0.71338606911949],"aabb_xy":[[0.3859326985368923,-1.2221605939964955],[0.4180565534539276,-1.0521605903713118]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[-0.14754874800758855,-1.4575877884821724,0.71338606911949],"aabb_xy":[[-0.18504874811318148,-1.4644099503351535],[-0.11004874790199558,-1.4507656266291913]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.33570929498847085,0.3658578848408447,0.71338606911949],"aabb_xy":[[-0.34167583392920664,0.35989674018148066],[-0.32974275604773506,0.37181902950020873]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[0.47318609758669306,-0.24537885782338975,0.71338606911949],"aabb_xy":[[0.458023224609756,-0.2605443151185085],[0.48834897056363014,-0.230213400528271]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.03862793068398662,-1.5474769966388764,0.71338606911949],"aabb_xy":[[-0.0730902780821284,-1.5819708790366986],[-0.004165583285844813,-1.5129831142410533]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.12314301484873369,-0.3612310569786863,0.71338606911949],"aabb_xy":[[-0.18714301689846569,-0.4013255400679942],[-0.05914301279900169,-0.3211365738893783]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[0.2671171536546373,-0.7055999682386802,0.71338606911949],"aabb_xy":[[0.26080505411829885,-0.7113669074918989],[0.2734292531909757,-0.6998330289854613]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.5045717420930937,-2.280719447093308,0.71338606911949],"aabb_xy":[[0.44057174569752067,-2.3446827355120416],[0.5685717384886668,-2.2167561586745745]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[0.4214401637497587,-1.521460016407963,0.71338606911949],"aabb_xy":[[0.39644016419802014,-1.531602500273098],[0.4464401633014971,-1.5113175325428285]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.09765951194735445,1.1650519549825837,0.71338606911949],"aabb_xy":[[-0.14765951138755007,1.1150840304982674],[-0.047659512507158816,1.2150198794669]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_25","position":[0.5409781629344044,-1.9000088859657311,0.71338606911949],"aabb_xy":[[0.5360221427495232,-1.922508886167853],[0.5459341831192855,-1.8775088857636097]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_26","position":[-0.09378572795844942,0.7879113291081206,0.71338606911949],"aabb_xy":[[-0.10200027307413338,0.7792347388104791],[-0.08557118284276542,0.7965879194057618]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_27","position":[0.36696532726334063,0.7619429674259672,0.71338606911949],"aabb_xy":[[0.3406765029428999,0.7356715337713158],[0.39325415158378124,0.7882144010806182]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[0.10460278853644767,-2.25826871600114,0.71338606911949],"aabb_xy":[[0.04060278815891405,-2.308013982851952],[0.16860278891398128,-2.2085234491503276]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[0.17377683076507855,1.3229976473904221,0.71338606911949],"aabb_xy":[[0.10977683050460775,1.2779888480374941],[0.23777683102554936,1.3680064467433501]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[0.5732813512453738,-0.0919554044370603,0.71338606911949],"aabb_xy":[[0.5556057206567754,-0.10963562071646303],[0.590956981833972,-0.07427518815765753]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6967242746187825,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4813.png","name":"4813"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4813.png","name":"4813"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4134.png","name":"4134"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3576.png","name":"3576"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7828.png","name":"7828"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8986.png","name":"8986"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":531.9835462612924,"rotation_z_degrees":95.17793913397185,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012952605732508077,0.013374059426011674,0.014266124855784896]},{"name":"camera_2","offset_m":[-0.002524431280250542,0.01562746178365663,-0.004027262899040984]},{"name":"camera_3","offset_m":[-0.002311246618929577,0.015901818679296544,-0.0137859296019644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013970557460979763,-0.0013669724126143742,0.0015020266342032182],"end_effector_yaw_offset_degrees":0.7669502340979186},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001848543293281595,0.0011994846560361163,-3.986590453100873e-05],"end_effector_yaw_offset_degrees":-0.9813488274633064},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00039843755360834034,-0.0017868860390294029,-0.0017292642953302263],"end_effector_yaw_offset_degrees":0.8367395904725476},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014588505905183573,0.0007722921102663156,0.0015975037528578426],"end_effector_yaw_offset_degrees":0.4906237601181387}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001933996840966322,0.0010499781257673237],"position_m":[0.2808339968409663,-0.11665002187423268,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002861738857264086,-0.001871737490596952],"position_m":[0.2293617388572641,-0.41107173749059694,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036379353216495335,-0.0027628424482749594],"position_m":[0.3489620646783505,0.06323715755172504,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034658741341046803,0.0022598274757341464],"position_m":[0.3456658741341047,0.3261598274757342,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"597bbbf2e5828862671b92e7247afbe20f2a6ff9ea2a06aac2ef9d3b744a0c7b","episode_index":116,"episode_name":"episode_0116"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0116.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4813/tex_ceiling_textures_8986/tex_floor_textures_7828/tex_table_textures_4134/tex_wall_textures_3576","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":4626893156945337750,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":4626893156945337750,"visual_seed":4626893156945337750,"scene_id":"lab_003","finished_at":"2026-09-05T06:59:41"}
+{"episode_id":"ep_000096","started_at":"2026-09-05T06:59:45","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.34339071147771383,-0.8627594385133186,0.71338606911949],"aabb_xy":[[-0.36793692710046455,-0.8930083350623557],[-0.3188444958549631,-0.8325105419642815]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[0.2736259935147649,0.6225225036104489,0.71338606911949],"aabb_xy":[[0.2237432966370687,0.5725225043641742],[0.3235086903924611,0.6725225028567237]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.533636638213284,-0.634583044365554,0.71338606911949],"aabb_xy":[[0.4865072592114482,-0.6985830454099559],[0.5807660172151196,-0.570583043321152]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[0.13396039569065255,-0.8563181989751671,0.71338606911949],"aabb_xy":[[0.12786576780253422,-0.864887593526836],[0.14005502357877087,-0.8477488044234985]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[-0.3606912606286489,1.0996147071377687,0.71338606911949],"aabb_xy":[[-0.440691263892662,1.0860546748288553],[-0.28069125736463574,1.113174739446682]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.12400311234100914,1.023213062056433,0.71338606911949],"aabb_xy":[[-0.18400311218757592,0.9663944398633943],[-0.06400311249444235,1.0800316842494717]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.03957461415215091,-0.9114916046698052,0.71338606911949],"aabb_xy":[[-0.06085262229562315,-0.976491606995878],[-0.018296606008678655,-0.8464916023437319]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[-0.5967192579096505,-1.7299344374134697,0.71338606911949],"aabb_xy":[[-0.634219258701646,-1.7363022783716595],[-0.5592192571176551,-1.7235665964552795]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.3477516295308809,-0.45866871313016677,0.71338606911949],"aabb_xy":[[0.3407101785801333,-0.46569546486796126],[0.3547930804816285,-0.45164196139237217]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.1814292793402088,-0.5730934277963109,0.71338606911949],"aabb_xy":[[-0.23142927798612997,-0.6230129714557733],[-0.13142928069428758,-0.5231738841368485]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[0.6026402406943185,1.4788394158199343,0.71338606911949],"aabb_xy":[[0.5226402374364755,1.39884290802795],[0.6826402439521614,1.558835923611918]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[-0.37860640300947856,1.44947096228382,0.71338606911949],"aabb_xy":[[-0.4287038669905522,1.3854709617740084],[-0.32850893902840494,1.513470962793632]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.1856917743590477,1.4542601625660256,0.71338606911949],"aabb_xy":[[-0.24969177365321593,1.3902740221971714],[-0.12169177506487949,1.5182463029348798]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[-0.4954091121413623,-0.4758710196801199,0.71338606911949],"aabb_xy":[[-0.5504013627768733,-0.5308710214234327],[-0.44041686150585146,-0.4208710179368072]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.5801700800804742,-0.07813253076596194,0.71338606911949],"aabb_xy":[[-0.6040062977210794,-0.16813253157444843],[-0.5563338624398693,0.011867470042524534]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[0.011632746729827281,0.6839051281366446,0.71338606911949],"aabb_xy":[[-0.020828954152100176,0.6537722960217418],[0.04409444761175473,0.714037960251547]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.2926615416877463,-0.5914000517073996,0.71338606911949],"aabb_xy":[[0.24318112047378754,-0.6554000496202514],[0.3421419629017051,-0.5274000537945478]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.035134333189590694,1.0199856247214907,0.71338606911949],"aabb_xy":[[-0.01986566643215515,0.965001931934018],[0.09013433281133654,1.0749693175089634]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.1559777144811234,-2.1518992045283594,0.71338606911949],"aabb_xy":[[-0.16155938611525217,-2.164399204346135],[-0.15039604284699465,-2.1393992047105836]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.07173157295565957,-1.1775501759199156,0.71338606911949],"aabb_xy":[[-0.1357315733331932,-1.2272954427707279],[-0.007731572578125942,-1.1278049090691034]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[0.16797359888513663,-0.7070855816579777,0.71338606911949],"aabb_xy":[[0.13800604197531097,-0.7370855819558635],[0.1979411557949623,-0.677085581360092]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[0.3123686690046006,1.2746839023715744,0.71338606911949],"aabb_xy":[[0.2777775861505553,1.209683902086543],[0.34695975185864575,1.3396839026566052]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[0.4024945094585948,-2.3802884495905547,0.71338606911949],"aabb_xy":[[0.3649945110351944,-2.393452663558385],[0.4399945078819951,-2.3671242356227236]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.2947707883272903,1.6676857133366094,0.71338606911949],"aabb_xy":[[0.2867767997495869,1.6596856332415189],[0.3027647769049937,1.6756857934316995]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[0.3488518262186613,-2.141514397436893,0.71338606911949],"aabb_xy":[[0.3411486355445842,-2.149223768135631],[0.3565550168927383,-2.133805026738155]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.6220484715323216,-0.9608115160190782,0.71338606911949],"aabb_xy":[[-0.6590825809603813,-0.9951887233527875],[-0.5850143621042618,-0.9264343086853687]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_26","position":[0.47106921796282175,0.543863554127463,0.71338606911949],"aabb_xy":[[0.38138214165470624,0.45386355387301247],[0.5607562942709372,0.6338635543819136]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[-0.5231624433312915,0.7810574623506947,0.71338606911949],"aabb_xy":[[-0.5871624406169401,0.7395507433978508],[-0.4591624460456428,0.8225641813035387]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_28","position":[-0.3913525801808267,1.006906742413023,0.71338606911949],"aabb_xy":[[-0.42726608460581633,0.970993234196268],[-0.35543907575583694,1.0428202506297772]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_29","position":[0.169587016616351,0.995971975550372,0.71338606911949],"aabb_xy":[[0.16468772430978748,0.9682950562478031],[0.17448630892291447,1.0236488948529407]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_30","position":[0.26851693762239714,0.927120439685515,0.71338606911949],"aabb_xy":[[0.24222811330195645,0.9008490060308637],[0.29480576194283775,0.9533918733401662]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934244806587541,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5312.png","name":"5312"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5312.png","name":"5312"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4703.png","name":"4703"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4994.png","name":"4994"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3874.png","name":"3874"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5670.png","name":"5670"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":729.622772410658,"rotation_z_degrees":157.9578792543163,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0004583235143825401,0.012669210826626625,-0.017918248461438937]},{"name":"camera_2","offset_m":[0.01628996100117978,-0.006171587533654148,0.008966131694702152]},{"name":"camera_3","offset_m":[0.018015279424230878,-0.008219184058341504,-0.018648498912824604]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00019120097150046307,0.00025017658604751906,0.0019702758951369885],"end_effector_yaw_offset_degrees":0.06421755908000448},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017533142657521678,-0.0008584953699901519,0.001109069161230766],"end_effector_yaw_offset_degrees":0.3268399317886608},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011634359770034126,-0.0007308972737560654,0.0015027174061260557],"end_effector_yaw_offset_degrees":0.6882833229313008},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001700965788882244,0.0003614728866029567,-0.00017561216263538922],"end_effector_yaw_offset_degrees":-0.018566221636996394}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017438064289038747,0.0007067985583490179],"position_m":[0.2771561935710961,-0.11699320144165098,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004012871279543938,0.0005083432524918222],"position_m":[0.22248712872045606,-0.4086916567475082,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00027881252518750094,-0.0025480892347079366],"position_m":[0.3523211874748125,0.06345191076529207,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012539069103402146,-0.000617149681568255],"position_m":[0.3434539069103402,0.3232828503184318,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7023f8d7079830923b6f447530991e454662b7005bb0b935710b70e64bfc30ac","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0117.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5312/tex_ceiling_textures_5670/tex_floor_textures_3874/tex_table_textures_4703/tex_wall_textures_4994","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":346205132215820553,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":346205132215820553,"visual_seed":346205132215820553,"scene_id":"lab_003","finished_at":"2026-09-05T07:03:14"}
+{"episode_id":"ep_000097","started_at":"2026-09-05T07:03:18","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.06583245127239123,0.40387680305962537,0.71338606911949],"aabb_xy":[[-0.07287390222313883,0.39685005132183077],[-0.05879100032164364,0.41090355479741986]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[-0.5158849689921337,0.42458837518757964,0.71338606911949],"aabb_xy":[[-0.5470318878357167,0.35458837650077246],[-0.4847380501485504,0.4945883738743868]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[-0.6010312574342669,-1.4513688401294071,0.71338606911949],"aabb_xy":[[-0.6910312597682859,-1.5288511947145196],[-0.5110312551002478,-1.3738864855442943]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[0.6757574476095474,-0.6865545859347855,0.71338606911949],"aabb_xy":[[0.6304788327283981,-0.7505545852829691],[0.7210360624906966,-0.6225545865866018]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[-0.5854959929861923,1.55062094909183,0.71338606911949],"aabb_xy":[[-0.5998304181123557,1.538560733537291],[-0.5711615678600288,1.5626811646463687]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[0.034819835287965506,-1.7962899790893379,0.71338606911949],"aabb_xy":[[-0.045180167976047625,-1.809850011398251],[0.11481983855197864,-1.7827299467804243]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.24447392007927649,-1.3939082596276988,0.71338606911949],"aabb_xy":[[0.1944739197187104,-1.4438882468373018],[0.2944739204398425,-1.3439282724180959]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[0.36501394825702427,-0.9892681343668988,0.71338606911949],"aabb_xy":[[0.3050139466141024,-1.041268283658843],[0.4250139498999461,-0.9372679850749546]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[-0.0970723022371035,1.6408461459884118,0.71338606911949],"aabb_xy":[[-0.16107230251108173,1.590780045791124],[-0.03307230196312527,1.6909122461857]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[0.4133721846929106,0.7410547702074806,0.71338606911949],"aabb_xy":[[0.34337218130134856,0.7057389965040497],[0.4833721880844725,0.7763705439109114]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.10367158956837852,-1.1948855634488709,0.71338606911949],"aabb_xy":[[0.013671593067506758,-1.240797205867329],[0.19367158606925025,-1.1489739210304124]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.06191558787534912,-1.5193344252653382,0.71338606911949],"aabb_xy":[[-0.06788212681608491,-1.5252955699247022],[-0.055949048934613325,-1.5133732806059739]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.2775851261933727,1.297986322078064,0.71338606911949],"aabb_xy":[[-0.28482889223961805,1.2179863238744617],[-0.2703413601471274,1.3779863202816665]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[0.396171679264979,-2.3065798205048904,0.71338606911949],"aabb_xy":[[0.34617666830552696,-2.356579819540482],[0.44616669022443106,-2.2565798214692987]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.33587162697799733,0.887135879107618,0.71338606911949],"aabb_xy":[[0.31800251922354184,0.8733029711304071],[0.3537407347324528,0.900968787084829]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[-0.532783649705459,1.4422522886554048,0.71338606911949],"aabb_xy":[[-0.5407776382831623,1.4342522085603142],[-0.5247896611277555,1.450252368750495]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[-0.28124304362353636,0.8853209397308461,0.71338606911949],"aabb_xy":[[-0.2981537760598781,0.8718487341382315],[-0.2643323111871945,0.8987931453234606]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.3223561312330844,-2.0076543748349485,0.71338606911949],"aabb_xy":[[-0.37235612987900557,-2.0575739184944104],[-0.2723561325871632,-1.9577348311754856]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[-0.1550943658502988,0.7724768618916928,0.71338606911949],"aabb_xy":[[-0.17264106076641772,0.7349768603274416],[-0.13754767093417986,0.8099768634559441]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.25527996442066836,1.1896298624709734,0.71338606911949],"aabb_xy":[[0.21777996424879642,1.1569291270880662],[0.2927799645925403,1.2223305978538805]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[-0.10102057046807711,-2.047412683375484,0.71338606911949],"aabb_xy":[[-0.13751639109535585,-2.0838966258022418],[-0.06452474984079837,-2.0109287409487266]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[0.6288985675540899,-1.9965039946505372,0.71338606911949],"aabb_xy":[[0.6216373199836823,-2.0092910049140467],[0.6361598151244973,-1.9837169843870277]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.4787008673573445,1.7317921542697756,0.71338606911949],"aabb_xy":[[0.4537008681917114,1.724839908564419],[0.5037008665229776,1.7387443999751322]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[0.19344047996541536,-0.8397126504341583,0.71338606911949],"aabb_xy":[[0.18640017003187836,-0.9197126498338298],[0.20048078989895238,-0.759712651034487]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[-0.5784282664323914,1.1005011570683596,0.71338606911949],"aabb_xy":[[-0.6283109633100877,1.0505011578220849],[-0.5285455695546953,1.1505011563146343]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_25","position":[-0.3895373457348879,0.6254290587161053,0.71338606911949],"aabb_xy":[[-0.42453734400500776,0.618354931021117],[-0.35453734746476795,0.6325031864110934]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_26","position":[-0.5310250020247187,-0.7640448097977803,0.71338606911949],"aabb_xy":[[-0.5653412791993365,-0.8140448097709579],[-0.49670872485010065,-0.7140448098246025]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_27","position":[-0.33946756201469236,-1.8087714246243514,0.71338606911949],"aabb_xy":[[-0.4094675638234378,-1.8301251933885387],[-0.2694675602059469,-1.787417655860164]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_28","position":[-0.6028965489880611,-1.700564636873398,0.71338606911949],"aabb_xy":[[-0.6828965459511002,-1.7776402785171712],[-0.5228965520250218,-1.6234889952296243]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_29","position":[-0.3787592167033652,-0.6223713586835815,0.71338606911949],"aabb_xy":[[-0.41375921583332087,-0.6281165797592456],[-0.34375921757340955,-0.6166261376079174]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872481093016762,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6790.png","name":"6790"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6790.png","name":"6790"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6878.png","name":"6878"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8503.png","name":"8503"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8496.png","name":"8496"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6201.png","name":"6201"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":682.9935425891546,"rotation_z_degrees":49.50259973836449,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0049392674610584525,-0.019865202423102305,0.017651778391557547]},{"name":"camera_2","offset_m":[0.014818578230285716,-0.01015257320516791,0.005019482554485193]},{"name":"camera_3","offset_m":[-0.01634903607396143,0.0044571312830391785,0.004452090261266965]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006633658555727302,-0.0004752609402463848,-0.000506278793382259],"end_effector_yaw_offset_degrees":0.7585142218462693},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001314896540983499,0.0003490787428381318,0.0013206280070675292],"end_effector_yaw_offset_degrees":-0.0990642119093208},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003929044667180918,0.0015634168914033992,-0.001490335657961333],"end_effector_yaw_offset_degrees":0.3461723108118173},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018899076822848962,-0.0018590557004155572,-0.0006738087160276965],"end_effector_yaw_offset_degrees":-0.7631608036874495}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00410806575404712,0.0031815232450475546],"position_m":[0.2747919342459529,-0.11451847675495244,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002400417787596182,0.0005962482528428835],"position_m":[0.22890041778759618,-0.40860375174715713,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004845838923605564,-0.004788686434243997],"position_m":[0.3574458389236056,0.06121131356575601,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0042426152156767065,-0.0034350737138546606],"position_m":[0.3379573847843233,0.32046492628614537,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9a2e08faf610386ab705ea4a92322928e02535aa2d261db719eea16a216e0602","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0118.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6790/tex_ceiling_textures_6201/tex_floor_textures_8496/tex_table_textures_6878/tex_wall_textures_8503","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":131833658909385044,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":131833658909385044,"visual_seed":131833658909385044,"scene_id":"lab_003","finished_at":"2026-09-05T07:07:00"}
+{"episode_id":"ep_000098","started_at":"2026-09-05T07:09:20","dimensions":{"distractor":{"count":35,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.5836940297095682,1.4697279703790485,0.71338606911949],"aabb_xy":[[-0.6174695889002612,1.4556894751658833],[-0.5499184705188752,1.4837664655922131]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[-0.29444955433132763,-1.5274951157594472,0.71338606911949],"aabb_xy":[[-0.3594495552884548,-1.5794433276931525],[-0.2294495533742004,-1.4755469038257414]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_2","position":[-0.602388024151653,-0.839687775468265,0.71338606911949],"aabb_xy":[[-0.6573617461879859,-0.8946877750324982],[-0.5474143021153202,-0.7846877759040318]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[-0.5829641395817559,-0.6964109162886662,0.71338606911949],"aabb_xy":[[-0.6018485233502661,-0.715296841069019],[-0.5640797558132457,-0.6775249915083135]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[0.24325272194923375,-1.8147099933464208,0.71338606911949],"aabb_xy":[[0.15325271827231554,-1.876142399923525],[0.3332527256261519,-1.7532775867693162]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.4222388508941147,0.7506087172138454,0.71338606911949],"aabb_xy":[[-0.4762544471760146,0.6866087143215882],[-0.3682232546122146,0.8146087201061025]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[-0.5757284008998746,-0.06441697815906,0.71338606911949],"aabb_xy":[[-0.6057200636337449,-0.09441697749586053],[-0.5457367381660042,-0.03441697882225947]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[-0.2831030867008189,-2.4684263680144225,0.71338606911949],"aabb_xy":[[-0.3049928342897597,-2.5584263653036716],[-0.2612133391118781,-2.3784263707251734]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[0.5911437772251027,-0.7415232906831246,0.71338606911949],"aabb_xy":[[0.5661437776733642,-0.7516657745482593],[0.6161437767768412,-0.7313808068179899]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[0.15663250878203272,-0.6298831773939435,0.71338606911949],"aabb_xy":[[0.13634820605863393,-0.6501658025366522],[0.17691681150543145,-0.6096005522512346]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.4820142711570776,-2.33420658027912,0.71338606911949],"aabb_xy":[[-0.5470142697141505,-2.3639591136930025],[-0.41701427260000473,-2.3044540468652372]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.6806810820002425,-0.5717724345067081,0.71338606911949],"aabb_xy":[[0.6651253125899774,-0.5873228677511154],[0.696236851410508,-0.556222001262301]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[-0.4380991166953951,1.1263644107653454,0.71338606911949],"aabb_xy":[[-0.45577474728399336,1.1086841944859422],[-0.4204234861067967,1.1440446270447477]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[0.5590729703110822,-1.4008717585921948,0.71338606911949],"aabb_xy":[[0.5340729710391199,-1.417217122188357],[0.5840729695830444,-1.3845263949960323]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_14","position":[-0.09458152136850217,-2.2933938063371517,0.71338606911949],"aabb_xy":[[-0.15858152328084452,-2.3493049555951626],[-0.030581519456159847,-2.2374826570791417]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.329153410363322,-2.4901140958165193,0.71338606911949],"aabb_xy":[[0.24915341334907404,-2.5102486474899304],[0.40915340737757,-2.4699795441431074]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[-0.45690159489664234,-2.0147585260621206,0.71338606911949],"aabb_xy":[[-0.4944015953940005,-2.018727209610239],[-0.41940159439928404,-2.010789842514002]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.6344967121934995,-0.8465402978371368,0.71338606911949],"aabb_xy":[[0.5444967156926276,-0.892451940255595],[0.7244967086943711,-0.8006286554186786]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[-0.4849774278522586,1.439274713792265,0.71338606911949],"aabb_xy":[[-0.5016545638453542,1.4225747898183347],[-0.46830029185916316,1.4559746377661953]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[0.2914567051431196,1.2693800684315564,0.71338606911949],"aabb_xy":[[0.2564567068729997,1.262305940736568],[0.3264567034132395,1.2764541961265443]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.3264409596955091,-0.7121306035452215,0.71338606911949],"aabb_xy":[[0.30260474205490406,-0.8021306043537081],[0.3502771773361142,-0.622130602736735]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[-0.3280881431047697,-0.2290205628696822,0.71338606911949],"aabb_xy":[[-0.3456348380208886,-0.26652056443393346],[-0.31054144818865076,-0.19152056130543096]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[-0.052609861036665095,0.5180497853447514,0.71338606911949],"aabb_xy":[[-0.07004057611567159,0.5007776706809004],[-0.03517914595765858,0.535321900008602]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[0.06661325233556004,1.1279634725207854,0.71338606911949],"aabb_xy":[[0.036215141236416455,1.0975565705191157],[0.09701136343470362,1.1583703745224547]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[-0.6068061018330457,0.5354227143767369,0.71338606911949],"aabb_xy":[[-0.6379530206766287,0.46542271568992966],[-0.5756591829894625,0.605422713063544]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[0.1879477989907945,-2.5401178874424537,0.71338606911949],"aabb_xy":[[0.17548044088105885,-2.5525832120757777],[0.20041515710053015,-2.5276525628091306]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_26","position":[0.5133003594126884,0.48472285806499027,0.71338606911949],"aabb_xy":[[0.4533003591612872,0.4304415330285255],[0.5733003596640895,0.5390041831014548]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_27","position":[-0.23345476070008686,-0.6198352832429368,0.71338606911949],"aabb_xy":[[-0.29845476333788035,-0.6713148819423838],[-0.16845475806229337,-0.5683556845434898]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_28","position":[0.40893303629514244,-0.24190734370831857,0.71338606911949],"aabb_xy":[[0.404297921142909,-0.24577467878546716],[0.41356815144737574,-0.23804000863116986]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_29","position":[0.5596727258480201,-0.3548346322014644,0.71338606911949],"aabb_xy":[[0.4796727284444266,-0.43482720339964714],[0.6396727232516134,-0.2748420610032815]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_30","position":[0.2819810864146637,-2.1655825570015907,0.71338606911949],"aabb_xy":[[0.2409631430282928,-2.215582557632548],[0.32299902980103457,-2.1155825563706334]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_31","position":[-0.5782133237107644,0.6898733089641897,0.71338606911949],"aabb_xy":[[-0.6068626560711805,0.6612277496871138],[-0.5495639913503481,0.7185188682412654]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_32","position":[0.12596559466881352,1.4436775534996626,0.71338606911949],"aabb_xy":[[0.04596559608149411,1.3643619515615015],[0.20596559325613295,1.5229931554378233]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_33","position":[-0.4267163483707272,-1.6440139599237806,0.71338606911949],"aabb_xy":[[-0.4617163483472231,-1.6534785759713975],[-0.3917163483942314,-1.6345493438761642]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_34","position":[-0.16128221116109254,-1.1856789919659565,0.71338606911949],"aabb_xy":[[-0.18628221109361046,-1.19256166018688],[-0.13628221122857467,-1.1787963237450334]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931326029963811,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1419.png","name":"1419"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1419.png","name":"1419"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7418.png","name":"7418"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5650.png","name":"5650"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2556.png","name":"2556"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/743.png","name":"743"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":517.4622961424247,"rotation_z_degrees":285.7743443392556,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0038508742409144696,-0.013544929249687062,0.0008061298568723119]},{"name":"camera_2","offset_m":[0.012355881499866005,-0.002823096164100307,0.01069439314208525]},{"name":"camera_3","offset_m":[0.015273353766104083,0.007084365964012459,0.011598622486918207]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00026165858247623793,-0.001704251487578603,0.0015037548646896289],"end_effector_yaw_offset_degrees":0.7055927597854952},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010284829627343435,-0.0015117387202699306,0.00139198525385483],"end_effector_yaw_offset_degrees":-0.46778124251812114},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010229407533463859,0.0012907308219807833,0.0003515335262140218],"end_effector_yaw_offset_degrees":-0.12839019847467714},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011596520614362785,-0.001444279703538076,0.000496602818682058],"end_effector_yaw_offset_degrees":0.6558683947756365}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018112722052351228,-0.002012611516834725],"position_m":[0.27708872779476484,-0.11971261151683472,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004633542269888222,0.0031044699296738356],"position_m":[0.2218664577301118,-0.40609553007032617,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008239215366353672,0.004210960192396924],"position_m":[0.3534239215366354,0.07021096019239692,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007113183327832453,-0.00021418312743707972],"position_m":[0.34291131833278327,0.3236858168725629,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6fce788d7b2b68c71a2765ae6bb1372785655da9c893768f8d302cce549b20b0","episode_index":120,"episode_name":"episode_0120"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0120.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1419/tex_ceiling_textures_743/tex_floor_textures_2556/tex_table_textures_7418/tex_wall_textures_5650","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":268949959796415257,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":268949959796415257,"visual_seed":268949959796415257,"scene_id":"lab_003","finished_at":"2026-09-05T07:12:54"}
+{"episode_id":"ep_000099","started_at":"2026-09-05T07:12:57","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.3493425881563619,0.7419249224458664,0.71338606911949],"aabb_xy":[[0.2693425848923487,0.728364890136953],[0.42934259142037495,0.7554849547547797]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.22122300680677198,1.4103704918350668,0.71338606911949],"aabb_xy":[[0.21106999125262257,1.374300950262326],[0.23137602236092134,1.4464400334078067]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[0.22861715852278996,-1.82795445151999,0.71338606911949],"aabb_xy":[[0.17851969454171634,-1.8919544520298015],[0.2787146225038636,-1.763954451010178]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_3","position":[0.35695724079110724,-1.8161568416008929,0.71338606911949],"aabb_xy":[[0.3461842668697394,-1.851156839819932],[0.36773021471247497,-1.781156843381854]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.35655410607604954,0.7198039966121956,0.71338606911949],"aabb_xy":[[-0.40155410754227844,0.674804139750715],[-0.3115541046098207,0.7648038534736764]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.20020090123279022,1.6554084271099696,0.71338606911949],"aabb_xy":[[0.17770447979892615,1.632908427303222],[0.22269732266665435,1.6779084269167168]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[0.6169768974935235,0.45758714600962813,0.71338606911949],"aabb_xy":[[0.536976898906204,0.3782715440714672],[0.6969768960808429,0.5369027479477889]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.007722954875553745,-1.6905299506065932,0.71338606911949],"aabb_xy":[[-0.05289427272372273,-1.7545299477511318],[0.03744836297261523,-1.626529953462055]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.27775256619557687,1.769730344233492,0.71338606911949],"aabb_xy":[[-0.30275256574731535,1.759587860368357],[-0.2527525666438384,1.7798728280986265]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.6443565964993554,1.114280587882956,0.71338606911949],"aabb_xy":[[0.5943565948378605,1.064282145627253],[0.69435659816085,1.1642790301386585]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.0004945176119433015,-2.303936893391042,0.71338606911949],"aabb_xy":[[-0.035494517588439134,-2.3134015094386586],[0.03450548236455253,-2.294472277343426]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[-0.43745502078775583,-1.9840437724767517,0.71338606911949],"aabb_xy":[[-0.487455022148643,-2.0340216770521673],[-0.38745501942686855,-1.9340658679013363]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[-0.3893265230569643,-0.9358043272527237,0.71338606911949],"aabb_xy":[[-0.400232299144527,-1.0158043236515526],[-0.3784207469694016,-0.8558043308538943]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_13","position":[0.5237519680105736,0.838007567117423,0.71338606911949],"aabb_xy":[[0.5076900405520558,0.7530075653048312],[0.5398138954690911,0.9230075689300148]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.503073667479893,0.05892972719877676,0.71338606911949],"aabb_xy":[[-0.5730736708714549,0.023613953495345907],[-0.433073664088331,0.09424550090220762]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[-0.21022740128641132,-1.7989853569527274,0.71338606911949],"aabb_xy":[[-0.29022739824945043,-1.8760609985965009],[-0.13022740432337213,-1.721909715308954]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[0.09127902707788305,-2.4808019113957847,0.71338606911949],"aabb_xy":[[0.07460189108478754,-2.4975018353697145],[0.10795616307097855,-2.464101987421854]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.3459877441973346,-1.123498535495826,0.71338606911949],"aabb_xy":[[-0.38729228726107057,-1.1874985350639429],[-0.3046832011335986,-1.0594985359277087]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[-0.6014277025743764,-2.0588484651291648,0.71338606911949],"aabb_xy":[[-0.6264277025068943,-2.065731133350088],[-0.5764277026418585,-2.0519657969082417]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[-0.5461956419101583,-0.76771816708249,0.71338606911949],"aabb_xy":[[-0.6101956439598903,-0.8078126501717978],[-0.48219563986042635,-0.7276236839931819]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[-0.44322218066305186,1.110442037270209,0.71338606911949],"aabb_xy":[[-0.4525691882453472,1.096138415052565],[-0.43387517308075674,1.124745659487853]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929421494625773,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4636.png","name":"4636"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4636.png","name":"4636"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2325.png","name":"2325"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1136.png","name":"1136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/756.png","name":"756"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6739.png","name":"6739"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":525.588146327234,"rotation_z_degrees":91.58579819585377,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0072843717512318835,0.009653127645620225,0.009149178384255947]},{"name":"camera_2","offset_m":[0.005200155206665752,-0.007945732079717969,-0.015109230794801781]},{"name":"camera_3","offset_m":[-0.014574438655308924,-0.015591670265518505,-0.005102521770676525]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014301873985341845,0.0016349067771458808,0.0007353758366568405],"end_effector_yaw_offset_degrees":-0.2064914049227835},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004161986955349044,0.0018089605074069165,-0.0016174140799893393],"end_effector_yaw_offset_degrees":0.7838078672519055},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017728166016018343,0.0014477239053596346,-0.0012256817918961712],"end_effector_yaw_offset_degrees":-0.2770283730263907},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001267329465606324,-0.0014880861474941822,0.0002735040639589054],"end_effector_yaw_offset_degrees":-0.8840215312968942}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00030","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004672400142123911,-0.0038422265540410203],"position_m":[0.28357240014212387,-0.12154222655404102,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004164445762545563,0.004294583171721724],"position_m":[0.22233555423745444,-0.4049054168282783,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013752922197220506,0.0021249527341163513],"position_m":[0.35397529221972207,0.06812495273411635,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002063513557473321,0.00458482053403374],"position_m":[0.3401364864425267,0.3284848205340338,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db2037ba6f4387b801c927b7902017c7b0fb239f72770ebf9234a38bfe04cfe3","episode_index":121,"episode_name":"episode_0121"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/dataset/episode_0121.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4636/tex_ceiling_textures_6739/tex_floor_textures_756/tex_table_textures_2325/tex_wall_textures_1136","seeds":{"action_seed":6658796726011171620,"physical_seed":2487175486347543466,"visual_seed":9167371253686282286,"layout_id":"layout_00030","physical_randomization_enabled":true},"episode_seed":9167371253686282286,"visual_seed":9167371253686282286,"scene_id":"lab_003","finished_at":"2026-09-05T07:16:48"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..18eb07b5a0b612e06073c6003f5d061b7bd162ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00030
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00030
+  reproducibility:
+    enabled: true
+    layout_id: layout_00030
+    action_seed: 6658796726011171620
+    step_seeds:
+    - 3188608099509189937
+    - 4949622282959698655
+    - 6590206372818194557
+    - 3957288070049760871
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2789
+      - 0.2789
+      'y':
+      - -0.1177
+      - -0.1177
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3526
+      - 0.3526
+      'y':
+      - 0.066
+      - 0.066
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3422
+      - 0.3422
+      'y':
+      - 0.3239
+      - 0.3239
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2265
+      - 0.2265
+      'y':
+      - -0.4092
+      - -0.4092
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4312f52ecd55ff7aee5092a9d548a16b649fefbd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.306979281537877,
+              -0.11669610375394994,
+              1.0525322222119589
+            ],
+            "current_z": 1.0525322222119589,
+            "required_z": 0.8611066074599341,
+            "initial_z": 0.7611066074599341,
+            "lift_margin": 0.1914256147520248,
+            "gripper_z": 1.0555386517962297,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3028348234950783,
+              -0.12101167963045649,
+              1.0555386517962297
+            ],
+            "object_minus_gripper": [
+              0.0041444580427987265,
+              0.00431557587650655,
+              -0.0030064295842708866
+            ],
+            "object_to_gripper_xy": 0.005983370924019698,
+            "object_to_gripper_z": -0.0030064295842708866,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.306979281537877,
+              -0.14051003844230248,
+              1.0525322222119589
+            ],
+            "finger_b": [
+              0.29608957006179215,
+              -0.11669610375394994,
+              1.0525322222119589
+            ],
+            "finger_midpoint": [
+              0.3015344257998346,
+              -0.12860307109812621,
+              1.0525322222119589
+            ],
+            "object_minus_finger_midpoint": [
+              0.005444855738042431,
+              0.011906967344176275,
+              0.0
+            ],
+            "finger_gap": 0.02618566977133666,
+            "fingertip_max_gap": 0.09232339219787358,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013092834885668337,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525322222119589,
+            "object_top_z": 1.1026341102334931,
+            "finger_top_clearance": 0.05010188802153426,
+            "fingertip_min_top_clearance": 0.015030566406460277,
+            "object_projection_between_fingers": 0.8270560503206966,
+            "object_to_finger_line_xy": 0.00990338914876074,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048661696098936794,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5209068889601869,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30685803181395327,
+              -0.12160182995870898,
+              1.2490405745585318
+            ],
+            "held_position": [
+              0.31131607526171834,
+              -0.11759115013335442,
+              1.246007395960806
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006720109853965852,
+            "max_held_gripper_dist": 0.006729632093166832,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003033178597725783,
+            "max_held_gripper_z_dist": 0.003042900917104685,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08609400073397505,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31131607526171834,
+              -0.1425257916771497,
+              1.246007395960806
+            ],
+            "held_grasp_finger_b": [
+              0.3028408802186986,
+              -0.11759115013335442,
+              1.246007395960806
+            ],
+            "held_grasp_midpoint": [
+              0.30707847774020847,
+              -0.13005847090525208,
+              1.246007395960806
+            ],
+            "held_grasp_object_position": [
+              0.31131607526171834,
+              -0.11759115013335442,
+              1.246007395960806
+            ],
+            "held_grasp_finger_gap": 0.026335627578145705,
+            "held_grasp_max_gap": 0.12498322635889053,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024316527150764527,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06557195551000855,
+              -0.9974982884505611,
+              -0.026409907019804946
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003427179212314795,
+            "held_grasp_line_xy_max_dist": 0.047491613179445266,
+            "held_grasp_object_top_z": 0.049720730632543564,
+            "held_grasp_top_clearance": 0.037006731944861766,
+            "held_grasp_min_top_clearance": 0.014916219189763068
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2819621024164231,
+              -0.4054115455272491,
+              0.8515395284379078
+            ],
+            "target_position": [
+              0.27622335846651347,
+              -0.4066423173469906,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005869240274080984,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849140807622576,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395284379078,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757898787118202,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08679982147587635,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15240422421212144,
+            "release_required_pad_clearance": 0.05339991073793818,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8148263833984264,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00850754976272583,
+            "max_z_decrease": 0.00850754976272583,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500673044767099,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00850754976272583,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020978216865060524,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00850754976272583,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008507818732365289,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13192328810691833,
+              -0.46290376782417286,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13192328810691833,
+              -0.46290376782417286,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1310309084592466,
+              -0.46409012014602224,
+              0.8035547356583718
+            ],
+            "closest_button": [
+              0.131968155503273,
+              -0.46287581324577326,
+              0.7685816287994385
+            ],
+            "closest_ee_minus_button": [
+              -0.0009372470440264236,
+              -0.0012143069002489848,
+              0.03497310685893329
+            ],
+            "button_min_z_position": [
+              0.13197897374629972,
+              -0.4628653526306152,
+              0.7683013081550598
+            ],
+            "min_active_finger_to_button": 0.1465514966582443,
+            "closest_active_finger": [
+              -0.00978647917509079,
+              -0.4483085572719574,
+              0.8109551668167114
+            ],
+            "closest_active_finger_button": [
+              0.13192389905452728,
+              -0.4629022181034087,
+              0.7765671610832214
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14171037822961807,
+              0.014593660831451305,
+              0.03438800573348999
+            ],
+            "min_contact_pad_to_button": 0.020978216865060524,
+            "closest_contact_pad": [
+              0.13197897374629972,
+              -0.46524769200365645,
+              0.7891438138093512
+            ],
+            "closest_contact_pad_button": [
+              0.13197897374629972,
+              -0.4628653526306152,
+              0.7683013081550598
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023823393730412756,
+              0.020842505654291354
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11d0b7b8b954667b6c8f7ab8cf725b805a2e2c97185f50205b14b5b6b43df8b9",
+    "visual_seed": 7123886026872123847,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e50bc031bd6afb3808fdba750cead0d4eca5647
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2977097841984684,
+              -0.11594641817355182,
+              1.050878440115274
+            ],
+            "current_z": 1.050878440115274,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1897719917051528,
+            "gripper_z": 1.0542233766157916,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2933930723145233,
+              -0.12036971777390987,
+              1.0542233766157916
+            ],
+            "object_minus_gripper": [
+              0.004316711883945112,
+              0.004423299600358047,
+              -0.0033449365005175924
+            ],
+            "object_to_gripper_xy": 0.006180580947089086,
+            "object_to_gripper_z": -0.0033449365005175924,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2977097841984684,
+              -0.1398329541456531,
+              1.050878440115274
+            ],
+            "finger_b": [
+              0.2866355059647899,
+              -0.11594641817355182,
+              1.050878440115274
+            ],
+            "finger_midpoint": [
+              0.29217264508162916,
+              -0.12788968615960247,
+              1.050878440115274
+            ],
+            "object_minus_finger_midpoint": [
+              0.005537139116839229,
+              0.011943267986050651,
+              0.0
+            ],
+            "finger_gap": 0.026328810059389567,
+            "fingertip_max_gap": 0.09622946225605053,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01316440502969479,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050878440115274,
+            "object_top_z": 1.1030443982965752,
+            "finger_top_clearance": 0.05216595818130121,
+            "fingertip_min_top_clearance": 0.015649787454390347,
+            "object_projection_between_fingers": 0.8230834757799227,
+            "object_to_finger_line_xy": 0.010047022436529832,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05061473112802527,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4082077383121727,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29653569686271836,
+              -0.1209785295280087,
+              1.247799248463195
+            ],
+            "held_position": [
+              0.3011688864069805,
+              -0.11683855080351752,
+              1.2444597535282547
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007053941849263547,
+            "max_held_gripper_dist": 0.007062854746957696,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033394949349403458,
+            "max_held_gripper_z_dist": 0.003352645535484422,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0869318706315146,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3011688864069805,
+              -0.14174865496087297,
+              1.2444597535282547
+            ],
+            "held_grasp_finger_b": [
+              0.29239454318373725,
+              -0.11683855080351752,
+              1.2444597535282547
+            ],
+            "held_grasp_midpoint": [
+              0.29678171479535886,
+              -0.12929360288219524,
+              1.2444597535282547
+            ],
+            "held_grasp_object_position": [
+              0.3011688864069805,
+              -0.11683855080351752,
+              1.2444597535282547
+            ],
+            "held_grasp_finger_gap": 0.026410270504664875,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02439114399215211,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.054712871576198564,
+              -0.9984387599899673,
+              -0.011249188129942798
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037018521502055327,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03704460856008021,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27814572031849694,
+              -0.40476448992017255,
+              0.8515395733148143
+            ],
+            "target_position": [
+              0.27475740863930215,
+              -0.4047774727863205,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003388336552082928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18078526301160225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395733148143,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757026635209425,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08742891754372296,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14839491064033966,
+            "release_required_pad_clearance": 0.053714458771861484,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4383348809095,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008644402027130127,
+            "max_z_decrease": 0.008644402027130127,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035047275111989504,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008644402027130127,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020874442414111648,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008644402027130127,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008644646002473158,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13045734167099,
+              -0.46103891730308527,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13045734167099,
+              -0.46103891730308527,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12822003767504572,
+              -0.46048526355946107,
+              0.8035903587863088
+            ],
+            "closest_button": [
+              0.13049207627773285,
+              -0.46101301908493036,
+              0.7686207890510559
+            ],
+            "closest_ee_minus_button": [
+              -0.0022720386026871264,
+              0.0005277555254692978,
+              0.03496956973525289
+            ],
+            "button_min_z_position": [
+              0.13051438331604004,
+              -0.4610078632831573,
+              0.7681644558906555
+            ],
+            "min_active_finger_to_button": 0.14764736399797407,
+            "closest_active_finger": [
+              0.0015258565545082092,
+              -0.5242722630500793,
+              0.8105143308639526
+            ],
+            "closest_active_finger_button": [
+              0.13045482337474823,
+              -0.4610384106636047,
+              0.7761843800544739
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12892896682024002,
+              -0.06323385238647466,
+              0.03432995080947876
+            ],
+            "min_contact_pad_to_button": 0.020874442414111648,
+            "closest_contact_pad": [
+              0.13051438331604004,
+              -0.4615897857822181,
+              0.7890307855225086
+            ],
+            "closest_contact_pad_button": [
+              0.13051438331604004,
+              -0.4610078632831573,
+              0.7681644558906555
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005819224990608052,
+              0.020866329631853087
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c28c310058851a0de56a5dd50fecc341c9ebd35e260c1495684d2c2226216e5",
+    "visual_seed": 525413991751639144,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd6d1b34332fcf39f323acc5a2e8724784b619dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2995514964803756,
+              -0.11331416392249341,
+              1.0499298908766967
+            ],
+            "current_z": 1.0499298908766967,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1888233828619308,
+            "gripper_z": 1.0533115436130687,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2951985848200265,
+              -0.11774488460568924,
+              1.0533115436130687
+            ],
+            "object_minus_gripper": [
+              0.004352911660349124,
+              0.004430720683195832,
+              -0.0033816527363719207
+            ],
+            "object_to_gripper_xy": 0.006211209680513347,
+            "object_to_gripper_z": -0.0033816527363719207,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2995514964803756,
+              -0.1372492967875803,
+              1.0499298908766967
+            ],
+            "finger_b": [
+              0.288480916120909,
+              -0.11331416392249341,
+              1.0499298908766967
+            ],
+            "finger_midpoint": [
+              0.2940162063006423,
+              -0.12528173035503687,
+              1.0499298908766967
+            ],
+            "object_minus_finger_midpoint": [
+              0.00553529017973331,
+              0.011967566432543458,
+              0.0
+            ],
+            "finger_gap": 0.026371354435538015,
+            "fingertip_max_gap": 0.0929215192012958,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01318567721776902,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499298908766967,
+            "object_top_z": 1.100067903886821,
+            "finger_top_clearance": 0.05013801301012433,
+            "fingertip_min_top_clearance": 0.015041403903037298,
+            "object_projection_between_fingers": 0.8237715968694322,
+            "object_to_finger_line_xy": 0.010047865097151524,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0489607596006479,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0911789033280916,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29863997421129806,
+              -0.11809443024203135,
+              1.24480535545045
+            ],
+            "held_position": [
+              0.3032809415717516,
+              -0.11392406211958027,
+              1.2414126147733628
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00710219949167246,
+            "max_held_gripper_dist": 0.007111146239045524,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033927406770870583,
+            "max_held_gripper_z_dist": 0.003403966393109803,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670725625698143,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3032809415717516,
+              -0.1388123880652489,
+              1.2414126147733628
+            ],
+            "held_grasp_finger_b": [
+              0.2944642326052543,
+              -0.11392406211958027,
+              1.2414126147733628
+            ],
+            "held_grasp_midpoint": [
+              0.29887258708850295,
+              -0.12636822509241458,
+              1.2414126147733628
+            ],
+            "held_grasp_object_position": [
+              0.3032809415717516,
+              -0.11392406211958027,
+              1.2414126147733628
+            ],
+            "held_grasp_finger_gap": 0.026403846791287,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024412387016730812,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04909946163847622,
+              -0.998270543974969,
+              -0.03232899470647865
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003813686699975586,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708116089805151,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29007692453632467,
+              -0.4031729264240117,
+              0.8515395877255236
+            ],
+            "target_position": [
+              0.2840105628067652,
+              -0.40442938109705256,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006195112830229181,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18376055069517122,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395877255236,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534828886758647,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632428979166538,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522661795164204,
+            "release_required_pad_clearance": 0.053162144895832694,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3486934499399987,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008575201034545898,
+            "max_z_decrease": 0.008575201034545898,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501982473178944,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008575201034545898,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020838404955007245,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008575201034545898,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008575240579529329,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13971048593521118,
+              -0.460690826177597,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13971048593521118,
+              -0.460690826177597,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1393178585837594,
+              -0.4593360398564684,
+              0.8032260102195924
+            ],
+            "closest_button": [
+              0.13971418142318726,
+              -0.46066504716873163,
+              0.7682336568832397
+            ],
+            "closest_ee_minus_button": [
+              -0.00039632283942786506,
+              0.0013290073122632085,
+              0.034992353336352644
+            ],
+            "button_min_z_position": [
+              0.13971418142318726,
+              -0.46066504716873163,
+              0.7682336568832397
+            ],
+            "min_active_finger_to_button": 0.14560840588820897,
+            "closest_active_finger": [
+              0.011458702385425568,
+              -0.5205726623535156,
+              0.810548722743988
+            ],
+            "closest_active_finger_button": [
+              0.13970991969108582,
+              -0.4606900811195373,
+              0.7763798832893372
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12825121730566025,
+              -0.05988258123397833,
+              0.03416883945465088
+            ],
+            "min_contact_pad_to_button": 0.020838404955007245,
+            "closest_contact_pad": [
+              0.13971418142318726,
+              -0.4606867793996906,
+              0.7890720505060459
+            ],
+            "closest_contact_pad_button": [
+              0.13971418142318726,
+              -0.46066504716873163,
+              0.7682336568832397
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -2.17322309589707e-05,
+              0.02083839362280615
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b203031b711893b15c2330d5538c847aaf8d5a3e3695d858461a1246b32fb32c",
+    "visual_seed": 176546080187923864,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66bb9eaa6b7c7e8ac492496b1ad9767bb6475dda
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29828189477652123,
+              -0.11955137304584396,
+              1.051626098717866
+            ],
+            "current_z": 1.051626098717866,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1905195310984552,
+            "gripper_z": 1.0548111117970291,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29398182584503685,
+              -0.12398766746511831,
+              1.0548111117970291
+            ],
+            "object_minus_gripper": [
+              0.00430006893148438,
+              0.004436294419274359,
+              -0.0031850130791630793
+            ],
+            "object_to_gripper_xy": 0.006178292724531757,
+            "object_to_gripper_z": -0.0031850130791630793,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29828189477652123,
+              -0.1433958354141429,
+              1.051626098717866
+            ],
+            "finger_b": [
+              0.287154423920465,
+              -0.11955137304584396,
+              1.051626098717866
+            ],
+            "finger_midpoint": [
+              0.2927181593484931,
+              -0.13147360422999343,
+              1.051626098717866
+            ],
+            "object_minus_finger_midpoint": [
+              0.005563735428028127,
+              0.011922231184149479,
+              0.0
+            ],
+            "finger_gap": 0.026313095471373307,
+            "fingertip_max_gap": 0.09316505359245744,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013156547735686653,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051626098717866,
+            "object_top_z": 1.102733835026461,
+            "finger_top_clearance": 0.051107736308595,
+            "fingertip_min_top_clearance": 0.015332320892578466,
+            "object_projection_between_fingers": 0.8211664292921359,
+            "object_to_finger_line_xy": 0.010083517553844432,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04908252679622872,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.128606806935153,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29717786021464665,
+              -0.12512406068025855,
+              1.2452362082061246
+            ],
+            "held_position": [
+              0.3018202492955241,
+              -0.12099516762219273,
+              1.2420496389211688
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006982389137753471,
+            "max_held_gripper_dist": 0.006992117723949423,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031865692849557536,
+            "max_held_gripper_z_dist": 0.003195791909667456,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086977046366126,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3018202492955241,
+              -0.14591354346694366,
+              1.2420496389211688
+            ],
+            "held_grasp_finger_b": [
+              0.2933135387207632,
+              -0.12099516762219273,
+              1.2420496389211688
+            ],
+            "held_grasp_midpoint": [
+              0.2975668940081436,
+              -0.1334543555445682,
+              1.2420496389211688
+            ],
+            "held_grasp_object_position": [
+              0.3018202492955241,
+              -0.12099516762219273,
+              1.2420496389211688
+            ],
+            "held_grasp_finger_gap": 0.026330392696331268,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024089158546889637,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08557156041158905,
+              -0.9959353370123208,
+              -0.02811249791250603
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0031914476241725483,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03694773829879819,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2824949108470813,
+              -0.40773304005421085,
+              0.8515395772080985
+            ],
+            "target_position": [
+              0.27806037619184526,
+              -0.40804809254555313,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004445712055541862,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18165684649735336,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395772080985,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558104906542587,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08565746557546781,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14949021253575345,
+            "release_required_pad_clearance": 0.05282873278773391,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7022045417990666,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008666276931762695,
+            "max_z_decrease": 0.008666276931762695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504558024365524,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008666276931762695,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020902713532121094,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008666276931762695,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00866637839267684,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13376030325889587,
+              -0.4643095433712005,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13376030325889587,
+              -0.4643095433712005,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1352070774896284,
+              -0.4635354362015705,
+              0.8031502277074661
+            ],
+            "closest_button": [
+              0.13375112414360044,
+              -0.46426862478256226,
+              0.768142580986023
+            ],
+            "closest_ee_minus_button": [
+              0.0014559533460279661,
+              0.0007331885809917504,
+              0.035007646721443186
+            ],
+            "button_min_z_position": [
+              0.13375112414360044,
+              -0.46426862478256226,
+              0.768142580986023
+            ],
+            "min_active_finger_to_button": 0.1443324674243617,
+            "closest_active_finger": [
+              0.00907374918460846,
+              -0.5283879637718201,
+              0.8107770681381226
+            ],
+            "closest_active_finger_button": [
+              0.13376106321811673,
+              -0.46430703997612,
+              0.7764467597007751
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12468731403350827,
+              -0.06408092379570007,
+              0.03433030843734741
+            ],
+            "min_contact_pad_to_button": 0.020902713532121094,
+            "closest_contact_pad": [
+              0.13375112414360044,
+              -0.464538791599669,
+              0.7890435484970463
+            ],
+            "closest_contact_pad_button": [
+              0.13375112414360044,
+              -0.46426862478256226,
+              0.768142580986023
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00027016681710673174,
+              0.020900967511023327
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "236c36ccd67f71bd454017c11ab8ff9ab348056063277ba6fcf1a93bc9143e4d",
+    "visual_seed": 7162590161239950633,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..20e79aac1a1f360e025a6e489cf47a9a6e6ef1f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2998258413582373,
+              -0.1205128459285077,
+              1.05026293747622
+            ],
+            "current_z": 1.05026293747622,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18915636985680917,
+            "gripper_z": 1.0534046574501756,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2956699785849215,
+              -0.12483700719216535,
+              1.0534046574501756
+            ],
+            "object_minus_gripper": [
+              0.0041558627733158104,
+              0.004324161263657658,
+              -0.0031417199739556256
+            ],
+            "object_to_gripper_xy": 0.0059974632991582014,
+            "object_to_gripper_z": -0.0031417199739556256,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2998258413582373,
+              -0.14431996466223143,
+              1.05026293747622
+            ],
+            "finger_b": [
+              0.2889401179531934,
+              -0.1205128459285077,
+              1.05026293747622
+            ],
+            "finger_midpoint": [
+              0.29438297965571536,
+              -0.13241640529536958,
+              1.05026293747622
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054428617025219506,
+              0.011903559366861882,
+              0.0
+            ],
+            "finger_gap": 0.026177812675102177,
+            "fingertip_max_gap": 0.09288157165971153,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013088906337551102,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05026293747622,
+            "object_top_z": 1.1005794505296693,
+            "finger_top_clearance": 0.05031651305344931,
+            "fingertip_min_top_clearance": 0.015094953916034775,
+            "object_projection_between_fingers": 0.8270789439978473,
+            "object_to_finger_line_xy": 0.00989989930873186,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04894078582985577,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7145579865990899,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2988858353825822,
+              -0.12547096708584632,
+              1.245540336983817
+            ],
+            "held_position": [
+              0.30334536883193525,
+              -0.12141069687767199,
+              1.2424044361657358
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006797580943992414,
+            "max_held_gripper_dist": 0.006807170219897869,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031359008180811276,
+            "max_held_gripper_z_dist": 0.0031478870650212265,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867668879528516,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30334536883193525,
+              -0.14621698001657316,
+              1.2424044361657358
+            ],
+            "held_grasp_finger_b": [
+              0.2948173209609864,
+              -0.12141069687767199,
+              1.2424044361657358
+            ],
+            "held_grasp_midpoint": [
+              0.2990813448964608,
+              -0.13381383844712258,
+              1.2424044361657358
+            ],
+            "held_grasp_object_position": [
+              0.30334536883193525,
+              -0.12141069687767199,
+              1.2424044361657358
+            ],
+            "held_grasp_finger_gap": 0.026231265384203784,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02422627519253356,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06090398728719063,
+              -0.9975564325009365,
+              -0.03423256210870362
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003526898624015467,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708772035471146,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2853241654361607,
+              -0.41267911763284515,
+              0.8515395699651498
+            ],
+            "target_position": [
+              0.2801424461120709,
+              -0.4135760485889934,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005258773649221125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18379435734316146,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395699651498,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586807108185749,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08709219041265807,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15098898219304321,
+            "release_required_pad_clearance": 0.05354609520632904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.103665480965487,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008891463279724121,
+            "max_z_decrease": 0.008891463279724121,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500775701857859,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008891463279724121,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020936352664389056,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008891463279724121,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008891700252180362,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13584236800670618,
+              -0.46983751654624933,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13584236800670618,
+              -0.46983751654624933,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1364807087519257,
+              -0.4700869982927723,
+              0.803290950790268
+            ],
+            "closest_button": [
+              0.13581411540508265,
+              -0.4697880148887633,
+              0.7682908177375793
+            ],
+            "closest_ee_minus_button": [
+              0.0006665933468430474,
+              -0.00029898340400896783,
+              0.035000133052688676
+            ],
+            "button_min_z_position": [
+              0.1358043253421783,
+              -0.469784915447235,
+              0.7679173946380615
+            ],
+            "min_active_finger_to_button": 0.1451249779416358,
+            "closest_active_finger": [
+              -0.004210084676742554,
+              -0.4534718692302704,
+              0.8110475540161133
+            ],
+            "closest_active_finger_button": [
+              0.13584610819816584,
+              -0.4698334336280822,
+              0.7767281532287598
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1400561928749084,
+              0.016361564397811834,
+              0.034319400787353516
+            ],
+            "min_contact_pad_to_button": 0.020936352664389056,
+            "closest_contact_pad": [
+              0.1358043253421783,
+              -0.4713152201287026,
+              0.7887977449816154
+            ],
+            "closest_contact_pad_button": [
+              0.1358043253421783,
+              -0.469784915447235,
+              0.7679173946380615
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001530304681467587,
+              0.020880350343553844
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "932fe14feeac28cb2d9230294cd4e0cf60d5d9cc774f6007e71a7babb3acc1ac",
+    "visual_seed": 3020713043067123692,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c17f231d092b1e5fe28cd6019401b887abb1827c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_105_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3057498237137737,
+              -0.11733467157903477,
+              1.0495459320603429
+            ],
+            "current_z": 1.0495459320603429,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.18843954325486667,
+            "gripper_z": 1.052909606359481,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3014701457866993,
+              -0.1216212959017276,
+              1.052909606359481
+            ],
+            "object_minus_gripper": [
+              0.004279677927074399,
+              0.0042866243226928336,
+              -0.0033636742991380864
+            ],
+            "object_to_gripper_xy": 0.0060572924020051745,
+            "object_to_gripper_z": -0.0033636742991380864,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3057498237137737,
+              -0.1414427563232451,
+              1.0495459320603429
+            ],
+            "finger_b": [
+              0.2951469290302404,
+              -0.11733467157903477,
+              1.0495459320603429
+            ],
+            "finger_midpoint": [
+              0.30044837637200705,
+              -0.12938871395113993,
+              1.0495459320603429
+            ],
+            "object_minus_finger_midpoint": [
+              0.00530144734176663,
+              0.012054042372105167,
+              0.0
+            ],
+            "finger_gap": 0.026336687827138112,
+            "fingertip_max_gap": 0.09443726938899341,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013168343913569056,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495459320603429,
+            "object_top_z": 1.1008064536357134,
+            "finger_top_clearance": 0.05126052157537053,
+            "fingertip_min_top_clearance": 0.015378156472611176,
+            "object_projection_between_fingers": 0.8379210616516705,
+            "object_to_finger_line_xy": 0.009705680731088838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04971863469449671,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9056364955431528,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3051156905249316,
+              -0.12161625144873724,
+              1.2453341440125056
+            ],
+            "held_position": [
+              0.30960911785920864,
+              -0.11751368673379624,
+              1.2419641794512692
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006955471773553267,
+            "max_held_gripper_dist": 0.006964772451341145,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033699645612363938,
+            "max_held_gripper_z_dist": 0.003380301284376941,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08675656935231393,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30960911785920864,
+              -0.14232877205081926,
+              1.2419641794512692
+            ],
+            "held_grasp_finger_b": [
+              0.3008102341856526,
+              -0.11751368673379624,
+              1.2419641794512692
+            ],
+            "held_grasp_midpoint": [
+              0.30520967602243065,
+              -0.12992122939230774,
+              1.2419641794512692
+            ],
+            "held_grasp_object_position": [
+              0.30960911785920864,
+              -0.11751368673379624,
+              1.2419641794512692
+            ],
+            "held_grasp_finger_gap": 0.02632885894207917,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024474451596894434,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03642716218667701,
+              -0.9991893899523909,
+              -0.01713548544962595
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039503499696479285,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03716250590900951,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28764529305277187,
+              -0.4108414087166318,
+              0.8515395627002994
+            ],
+            "target_position": [
+              0.28319932161208283,
+              -0.41140486626617945,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044815339406909325,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1795964534908021,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395627002994,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526456971186579,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08674370373913946,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14834513134477037,
+            "release_required_pad_clearance": 0.053371851869569734,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7596451162836462,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008887231349945068,
+            "max_z_decrease": 0.008887231349945068,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500635006155369,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008887231349945068,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02098316805280193,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008887231349945068,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008887502255481105,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1388992518186569,
+              -0.4676663279533385,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1388992518186569,
+              -0.4676663279533385,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13923995435477549,
+              -0.4687434853112767,
+              0.8034937217075437
+            ],
+            "closest_button": [
+              0.13894210755825037,
+              -0.4676357805728912,
+              0.7685061693191528
+            ],
+            "closest_ee_minus_button": [
+              0.00029784679652511414,
+              -0.0011077047383855065,
+              0.03498755238839091
+            ],
+            "button_min_z_position": [
+              0.13894370198249814,
+              -0.46761304140090937,
+              0.7679216265678406
+            ],
+            "min_active_finger_to_button": 0.14537533888755688,
+            "closest_active_finger": [
+              -0.0014400407671928406,
+              -0.4514530897140503,
+              0.810962975025177
+            ],
+            "closest_active_finger_button": [
+              0.138900876045227,
+              -0.4676644206047057,
+              0.776675820350647
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14034091681241984,
+              0.016211330890655407,
+              0.03428715467453003
+            ],
+            "min_contact_pad_to_button": 0.02098316805280193,
+            "closest_contact_pad": [
+              0.13894370198249814,
+              -0.4700179163239454,
+              0.7887665280580535
+            ],
+            "closest_contact_pad_button": [
+              0.13894370198249814,
+              -0.46761304140090937,
+              0.7679216265678406
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024048749230360378,
+              0.020844901490212897
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58912a29bc80bd1442cc2aef21dfe1d7cde5b42d51c451197e7ef6c84e0fbde7",
+    "visual_seed": 1193328519196636586,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf3c6f6eb9f24e56e8c650af7e3706874b60d7f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30281461601656523,
+              -0.12099389840265451,
+              1.0507906255585455
+            ],
+            "current_z": 1.0507906255585455,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.1896842367530689,
+            "gripper_z": 1.0544288295846527,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29828866860049735,
+              -0.12542501305920598,
+              1.0544288295846527
+            ],
+            "object_minus_gripper": [
+              0.004525947416067877,
+              0.004431114656551466,
+              -0.00363820402610715
+            ],
+            "object_to_gripper_xy": 0.006333954303001934,
+            "object_to_gripper_z": -0.00363820402610715,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30281461601656523,
+              -0.1452353513967885,
+              1.0507906255585455
+            ],
+            "finger_b": [
+              0.29195893107453774,
+              -0.12099389840265451,
+              1.0507906255585455
+            ],
+            "finger_midpoint": [
+              0.2973867735455515,
+              -0.1331146248997215,
+              1.0507906255585455
+            ],
+            "object_minus_finger_midpoint": [
+              0.005427842471013744,
+              0.012120726497066997,
+              0.0
+            ],
+            "finger_gap": 0.026561135872311077,
+            "fingertip_max_gap": 0.09465059999137695,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013280567936155539,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507906255585455,
+            "object_top_z": 1.101914889543119,
+            "finger_top_clearance": 0.05112426398457348,
+            "fingertip_min_top_clearance": 0.015337279195372061,
+            "object_projection_between_fingers": 0.8329597334933327,
+            "object_to_finger_line_xy": 0.009907617562230017,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04982529999568848,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3790680358063847,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3018082967370761,
+              -0.1260585308249606,
+              1.2461582366157915
+            ],
+            "held_position": [
+              0.3065784348110011,
+              -0.12183879124152919,
+              1.242526024871232
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007331669765722067,
+            "max_held_gripper_dist": 0.007341316689055258,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036322117445595214,
+            "max_held_gripper_z_dist": 0.003648943410850647,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08699912669322793,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3065784348110011,
+              -0.14683329950082724,
+              1.242526024871232
+            ],
+            "held_grasp_finger_b": [
+              0.29775589758617077,
+              -0.12183879124152919,
+              1.242526024871232
+            ],
+            "held_grasp_midpoint": [
+              0.30216716619858597,
+              -0.13433604537117821,
+              1.242526024871232
+            ],
+            "held_grasp_object_position": [
+              0.3065784348110011,
+              -0.12183879124152919,
+              1.242526024871232
+            ],
+            "held_grasp_finger_gap": 0.026505897574080294,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02465223340973904,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.036129588215092795,
+              -0.9990589847829946,
+              -0.023995786708925326
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003968359900620847,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037075378728280095,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28382723772760354,
+              -0.4128774954147243,
+              0.8515395614674531
+            ],
+            "target_position": [
+              0.2787431624418894,
+              -0.41355789959079015,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005129402631263914,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18231751972691382,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395614674531,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754468538242144,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08722286939108602,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1506652108372495,
+            "release_required_pad_clearance": 0.05361143469554301,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2332504831236135,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008794248104095459,
+            "max_z_decrease": 0.008794248104095459,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504990314400495,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008794248104095459,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020858716242665998,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008794248104095459,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008794506269743475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1344430893659591,
+              -0.46981936693191517,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1344430893659591,
+              -0.46981936693191517,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13498474481280634,
+              -0.4678553830174717,
+              0.8030594930247174
+            ],
+            "closest_button": [
+              0.13450045883655545,
+              -0.4697797894477843,
+              0.7680658102035522
+            ],
+            "closest_ee_minus_button": [
+              0.00048428597625088665,
+              0.0019244064303126085,
+              0.034993682821165106
+            ],
+            "button_min_z_position": [
+              0.13449876010417938,
+              -0.46978139877319325,
+              0.7680146098136902
+            ],
+            "min_active_finger_to_button": 0.1445485262964011,
+            "closest_active_finger": [
+              0.0073581263422966,
+              -0.5295931100845337,
+              0.811015248298645
+            ],
+            "closest_active_finger_button": [
+              0.1344430297613144,
+              -0.46981844305992115,
+              0.7767998576164246
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270849034190178,
+              -0.05977466702461254,
+              0.03421539068222046
+            ],
+            "min_contact_pad_to_button": 0.020858716242665998,
+            "closest_contact_pad": [
+              0.13449876010417938,
+              -0.46978139877319325,
+              0.7888733260563562
+            ],
+            "closest_contact_pad_button": [
+              0.13449876010417938,
+              -0.46978139877319325,
+              0.7680146098136902
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020858716242665998
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "844a7f7936a5859f909d81e78d08d71d767e2661d1bea0cfd2f84ea5718d2380",
+    "visual_seed": 5617510205746242741,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c04213dcbd144896b41cd523edfd70d36dedb79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2986314169492027,
+              -0.12049763024964434,
+              1.0489583462141345
+            ],
+            "current_z": 1.0489583462141345,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18785183819936846,
+            "gripper_z": 1.0525267698898004,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2941636175783964,
+              -0.12491377153149508,
+              1.0525267698898004
+            ],
+            "object_minus_gripper": [
+              0.004467799370806325,
+              0.004416141281850736,
+              -0.0035684236756658994
+            ],
+            "object_to_gripper_xy": 0.006282000878624871,
+            "object_to_gripper_z": -0.0035684236756658994,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2986314169492027,
+              -0.1447243760353707,
+              1.0489583462141345
+            ],
+            "finger_b": [
+              0.28786236612172544,
+              -0.12049763024964434,
+              1.0489583462141345
+            ],
+            "finger_midpoint": [
+              0.29324689153546407,
+              -0.1326110031425075,
+              1.0489583462141345
+            ],
+            "object_minus_finger_midpoint": [
+              0.005384525413738628,
+              0.01211337289286317,
+              0.0
+            ],
+            "finger_gap": 0.026512405909139936,
+            "fingertip_max_gap": 0.09542198629724649,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013256202954569961,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489583462141345,
+            "object_top_z": 1.1001476840208997,
+            "finger_top_clearance": 0.051189337806765156,
+            "fingertip_min_top_clearance": 0.015356801342029512,
+            "object_projection_between_fingers": 0.8350103987274125,
+            "object_to_finger_line_xy": 0.009840640553142524,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05021099314862325,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.812466309804035,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2967771827541934,
+              -0.1247585751030443,
+              1.2423883143857726
+            ],
+            "held_position": [
+              0.3014052187368784,
+              -0.12043959243587538,
+              1.2388475528752547
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072532282750991375,
+            "max_held_gripper_dist": 0.007262395676413344,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035407615105178536,
+            "max_held_gripper_z_dist": 0.0035604208696775608,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08604315987097196,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3014052187368784,
+              -0.1450887350180139,
+              1.2388475528752547
+            ],
+            "held_grasp_finger_b": [
+              0.2921766877813615,
+              -0.12043959243587538,
+              1.2388475528752547
+            ],
+            "held_grasp_midpoint": [
+              0.29679095325911997,
+              -0.13276416372694463,
+              1.2388475528752547
+            ],
+            "held_grasp_object_position": [
+              0.3014052187368784,
+              -0.12043959243587538,
+              1.2388475528752547
+            ],
+            "held_grasp_finger_gap": 0.026320068647925823,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024565554531086876,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007760345813660103,
+              -0.9995143255208626,
+              -0.03018095610526106
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004533812505086298,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037365856212984744,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2861472568164799,
+              -0.4113157764005396,
+              0.8515395705508483
+            ],
+            "target_position": [
+              0.2811645869145422,
+              -0.4123280420858694,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005084454854689126,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18134495691609098,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395705508483,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520146881339768,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870714240960677,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15039406569054017,
+            "release_required_pad_clearance": 0.053535712048033854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.083100728243853,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008800923824310303,
+            "max_z_decrease": 0.008800923824310303,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035044277348772385,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008800923824310303,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020928027261108893,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008800923824310303,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008801054431456429,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13686451315879816,
+              -0.4685895144939422,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13686451315879816,
+              -0.4685895144939422,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13487612304545077,
+              -0.4695136118505335,
+              0.8037405406101967
+            ],
+            "closest_button": [
+              0.1368658542633056,
+              -0.46853148937225336,
+              0.7687665820121765
+            ],
+            "closest_ee_minus_button": [
+              -0.00198973121785484,
+              -0.000982122478280112,
+              0.034973958598020216
+            ],
+            "button_min_z_position": [
+              0.13690042495727534,
+              -0.4685577452182769,
+              0.7680079340934753
+            ],
+            "min_active_finger_to_button": 0.14754319144480968,
+            "closest_active_finger": [
+              -0.005740493535995483,
+              -0.45269668102264404,
+              0.8111616373062134
+            ],
+            "closest_active_finger_button": [
+              0.1368639171123504,
+              -0.4685901999473571,
+              0.7768051028251648
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1426044106483459,
+              0.01589351892471308,
+              0.034356534481048584
+            ],
+            "min_contact_pad_to_button": 0.020928027261108893,
+            "closest_contact_pad": [
+              0.13690042495727534,
+              -0.47073345258521726,
+              0.7888225593001698
+            ],
+            "closest_contact_pad_button": [
+              0.13690042495727534,
+              -0.4685577452182769,
+              0.7680079340934753
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002175707366940338,
+              0.020814625206694415
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68eb7d34928c61b7af79f77d2f342272fad2538f33d09b551b3f466a906e47cf",
+    "visual_seed": 620289570830328547,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf2cde1a43ec36e89f321efe3c6a18e3359d706e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_109_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3044476249121044,
+              -0.11863070873445239,
+              1.0518849834779855
+            ],
+            "current_z": 1.0518849834779855,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19077853506786424,
+            "gripper_z": 1.0555998824620465,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29982647136812146,
+              -0.12313342594929746,
+              1.0555998824620465
+            ],
+            "object_minus_gripper": [
+              0.004621153543982959,
+              0.004502717214845076,
+              -0.003714898984060966
+            ],
+            "object_to_gripper_xy": 0.006452094419173393,
+            "object_to_gripper_z": -0.003714898984060966,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3044476249121044,
+              -0.14297714892157495,
+              1.0518849834779855
+            ],
+            "finger_b": [
+              0.2935418529535704,
+              -0.11863070873445239,
+              1.0518849834779855
+            ],
+            "finger_midpoint": [
+              0.2989947389328374,
+              -0.13080392882801367,
+              1.0518849834779855
+            ],
+            "object_minus_finger_midpoint": [
+              0.005452885979267019,
+              0.012173220093561282,
+              0.0
+            ],
+            "finger_gap": 0.02667742513430942,
+            "fingertip_max_gap": 0.09474072610913267,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01333871256715471,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0518849834779855,
+            "object_top_z": 1.1029637555538536,
+            "finger_top_clearance": 0.051078772075868084,
+            "fingertip_min_top_clearance": 0.015323631622760391,
+            "object_projection_between_fingers": 0.8328813168183943,
+            "object_to_finger_line_xy": 0.009952861767808732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04987036305456634,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.296739965914897,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3032115482498231,
+              -0.12298566609194925,
+              1.2485984962944419
+            ],
+            "held_position": [
+              0.3080317878764044,
+              -0.11864541402482057,
+              1.2448921835725653
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007470559018990726,
+            "max_held_gripper_dist": 0.007480243255083937,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037063127218766034,
+            "max_held_gripper_z_dist": 0.0037247777593316655,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08664040547780495,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3080317878764044,
+              -0.1435982258827256,
+              1.2448921835725653
+            ],
+            "held_grasp_finger_b": [
+              0.29876114691201,
+              -0.11864541402482057,
+              1.2448921835725653
+            ],
+            "held_grasp_midpoint": [
+              0.3033964673942072,
+              -0.1311218199537731,
+              1.2448921835725653
+            ],
+            "held_grasp_object_position": [
+              0.3080317878764044,
+              -0.11864541402482057,
+              1.2448921835725653
+            ],
+            "held_grasp_finger_gap": 0.026619308847276896,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024733854067576423,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0223284459409717,
+              -0.9995207440033178,
+              -0.0214411475652605
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043638612297346195,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03714632403069521,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2862985677642492,
+              -0.406132837651225,
+              0.8515395854991582
+            ],
+            "target_position": [
+              0.28121242447428574,
+              -0.40697367631762044,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00515517829264384,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18336494324167013,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395854991582,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566354825269142,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637277304124795,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15108472647825744,
+            "release_required_pad_clearance": 0.05318638652062398,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3960309256955403,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00860375165939331,
+            "max_z_decrease": 0.00860375165939331,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500973631981258,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00860375165939331,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020853514451349264,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00860375165939331,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008603968810466631,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13691234588623047,
+              -0.4632351398468017,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13691234588623047,
+              -0.4632351398468017,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13683945550357574,
+              -0.46204655496129865,
+              0.8036020768648722
+            ],
+            "closest_button": [
+              0.13695122301578522,
+              -0.46320617198944086,
+              0.76861172914505
+            ],
+            "closest_ee_minus_button": [
+              -0.00011176751220948189,
+              0.0011596170281422125,
+              0.034990347719822124
+            ],
+            "button_min_z_position": [
+              0.13696357607841492,
+              -0.4632017910480499,
+              0.7682051062583923
+            ],
+            "min_active_finger_to_button": 0.14544806689276277,
+            "closest_active_finger": [
+              0.009351462125778198,
+              -0.5241655111312866,
+              0.8106180429458618
+            ],
+            "closest_active_finger_button": [
+              0.13691222667694092,
+              -0.4632335603237152,
+              0.7764027118682861
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12756076455116272,
+              -0.06093195080757141,
+              0.034215331077575684
+            ],
+            "min_contact_pad_to_button": 0.020853514451349264,
+            "closest_contact_pad": [
+              0.13696357607841492,
+              -0.4633197527757359,
+              0.789058287071003
+            ],
+            "closest_contact_pad_button": [
+              0.13696357607841492,
+              -0.4632017910480499,
+              0.7682051062583923
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001179617276859668,
+              0.020853180812610672
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2cef02b60470b78d378f4f846e090907b574b4e41f9878675a020186d88b434",
+    "visual_seed": 2129502116455432043,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3231b2cc178b50eaf632d88838a57dd9f53cb340
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_111_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30533225842798445,
+              -0.11499194750114335,
+              1.0498046013212061
+            ],
+            "current_z": 1.0498046013212061,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.18869785488786095,
+            "gripper_z": 1.0532503770289328,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.300949497087744,
+              -0.11943320498332874,
+              1.0532503770289328
+            ],
+            "object_minus_gripper": [
+              0.00438276134024046,
+              0.004441257482185393,
+              -0.0034457757077266393
+            ],
+            "object_to_gripper_xy": 0.006239660646908138,
+            "object_to_gripper_z": -0.0034457757077266393,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30533225842798445,
+              -0.13895760275963095,
+              1.0498046013212061
+            ],
+            "finger_b": [
+              0.2942298258449092,
+              -0.11499194750114335,
+              1.0498046013212061
+            ],
+            "finger_midpoint": [
+              0.29978104213644685,
+              -0.12697477513038716,
+              1.0498046013212061
+            ],
+            "object_minus_finger_midpoint": [
+              0.005551216291537597,
+              0.011982827629243811,
+              0.0
+            ],
+            "finger_gap": 0.02641243345908146,
+            "fingertip_max_gap": 0.0943733451232773,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013206216729540724,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498046013212061,
+            "object_top_z": 1.1009535986917158,
+            "finger_top_clearance": 0.05114899737050971,
+            "fingertip_min_top_clearance": 0.015344699211152946,
+            "object_projection_between_fingers": 0.8233069540251694,
+            "object_to_finger_line_xy": 0.010073932499585552,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04968667256163865,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.160890912656353,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30496175766043526,
+              -0.12020759243351051,
+              1.2454246573211247
+            ],
+            "held_position": [
+              0.3096649079054832,
+              -0.11607683819737898,
+              1.2419499267531129
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007159364867576506,
+            "max_held_gripper_dist": 0.007169547782936288,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003474730568011841,
+            "max_held_gripper_z_dist": 0.0034839693775656766,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08580594573029007,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3096649079054832,
+              -0.14113869225180845,
+              1.2419499267531129
+            ],
+            "held_grasp_finger_b": [
+              0.3010474295324098,
+              -0.11607683819737898,
+              1.2419499267531129
+            ],
+            "held_grasp_midpoint": [
+              0.3053561687189465,
+              -0.12860776522459372,
+              1.2419499267531129
+            ],
+            "held_grasp_object_position": [
+              0.3096649079054832,
+              -0.11607683819737898,
+              1.2419499267531129
+            ],
+            "held_grasp_finger_gap": 0.02650202751028513,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024509298633564772,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05866789924883326,
+              -0.9981251958537392,
+              -0.017440498836434722
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035729798542768463,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696003140034221,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.284832763099272,
+              -0.4101810403694256,
+              0.8515396079581711
+            ],
+            "target_position": [
+              0.28024580544322564,
+              -0.4106808836223886,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004614111378791715,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18166621430395485,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396079581711,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562248546744464,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08667933791984343,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1495249565295947,
+            "release_required_pad_clearance": 0.05333966895992172,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6962286547339989,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008794903755187988,
+            "max_z_decrease": 0.008794903755187988,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499645902437451,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008794903755187988,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02088978369532544,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008794903755187988,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008795115760377045,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13594573736190793,
+              -0.46694234013557434,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13594573736190793,
+              -0.46694234013557434,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1364034275815313,
+              -0.4666408397353993,
+              0.8030069914699564
+            ],
+            "closest_button": [
+              0.13598622381687164,
+              -0.46689662337303156,
+              0.7680139541625977
+            ],
+            "closest_ee_minus_button": [
+              0.00041720376465964604,
+              0.0002557836376322342,
+              0.0349930373073587
+            ],
+            "button_min_z_position": [
+              0.13598622381687164,
+              -0.46689662337303156,
+              0.7680139541625977
+            ],
+            "min_active_finger_to_button": 0.1453028683647628,
+            "closest_active_finger": [
+              0.009016335010528564,
+              -0.5288349390029907,
+              0.8110243082046509
+            ],
+            "closest_active_finger_button": [
+              0.13594567775726316,
+              -0.46694120764732355,
+              0.7768039703369141
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1269293427467346,
+              -0.06189373135566717,
+              0.034220337867736816
+            ],
+            "min_contact_pad_to_button": 0.02088978369532544,
+            "closest_contact_pad": [
+              0.13598622381687164,
+              -0.4679076918536843,
+              0.7888792555830161
+            ],
+            "closest_contact_pad_button": [
+              0.13598622381687164,
+              -0.46689662337303156,
+              0.7680139541625977
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010110684806527437,
+              0.020865301420418425
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51fd3432630189b0ddaa83880be81f2bd489f85a0d78acda871bb2b902697762",
+    "visual_seed": 4150223992599905534,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..99b687e595adf6b68af77d3d75c6b6a9a3c18a55
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_112_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30620276149035786,
+              -0.11362275497762366,
+              1.05225799077305
+            ],
+            "current_z": 1.05225799077305,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19115154236292886,
+            "gripper_z": 1.0558086907197746,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30187079652311893,
+              -0.11804267591233507,
+              1.0558086907197746
+            ],
+            "object_minus_gripper": [
+              0.0043319649672389215,
+              0.004419920934711413,
+              -0.0035506999467245226
+            ],
+            "object_to_gripper_xy": 0.006188830385984538,
+            "object_to_gripper_z": -0.0035506999467245226,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30620276149035786,
+              -0.1375414567067066,
+              1.05225799077305
+            ],
+            "finger_b": [
+              0.29512499023310523,
+              -0.11362275497762366,
+              1.05225799077305
+            ],
+            "finger_midpoint": [
+              0.30066387586173154,
+              -0.12558210584216511,
+              1.05225799077305
+            ],
+            "object_minus_finger_midpoint": [
+              0.005538885628626311,
+              0.01195935086454146,
+              0.0
+            ],
+            "finger_gap": 0.02635946335631375,
+            "fingertip_max_gap": 0.09631658211926877,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013179731678156868,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05225799077305,
+            "object_top_z": 1.1041983818921122,
+            "finger_top_clearance": 0.051940391119062124,
+            "fingertip_min_top_clearance": 0.015582117335718636,
+            "object_projection_between_fingers": 0.8233833439783278,
+            "object_to_finger_line_xy": 0.010052022036395781,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05065829105963439,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.733168285900332,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30586328164469473,
+              -0.11818774757263659,
+              1.2460836158619661
+            ],
+            "held_position": [
+              0.3104654162707601,
+              -0.1140297868949996,
+              1.2425006464142885
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007162817195503224,
+            "max_held_gripper_dist": 0.0071727397552201555,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003582969447677664,
+            "max_held_gripper_z_dist": 0.0035927380790585772,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08671668111324837,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3104654162707601,
+              -0.13891398256510457,
+              1.2425006464142885
+            ],
+            "held_grasp_finger_b": [
+              0.30171914826422075,
+              -0.1140297868949996,
+              1.2425006464142885
+            ],
+            "held_grasp_midpoint": [
+              0.3060922822674904,
+              -0.12647188473005208,
+              1.2425006464142885
+            ],
+            "held_grasp_object_position": [
+              0.3104654162707601,
+              -0.1140297868949996,
+              1.2425006464142885
+            ],
+            "held_grasp_finger_gap": 0.026376512244614226,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02449297383248867,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04198228003003824,
+              -0.9990341835731152,
+              -0.012968739949535735
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038503633304119438,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03710657488118243,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2853739812722126,
+              -0.41358433730023814,
+              0.8515396131144293
+            ],
+            "target_position": [
+              0.28172202774760535,
+              -0.41361515797889675,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0036520835779215353,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18264576481323874,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396131144293,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549272239983416,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869315490583537,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15061129913496865,
+            "release_required_pad_clearance": 0.05346577452917685,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9447391386975255,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008881568908691406,
+            "max_z_decrease": 0.008881568908691406,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506841001851821,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008881568908691406,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02087506344267756,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008881568908691406,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008881810404774461,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1374219506978988,
+              -0.46987661719322193,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1374219506978988,
+              -0.46987661719322193,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1391849315543682,
+              -0.4686239585371595,
+              0.8029327963682923
+            ],
+            "closest_button": [
+              0.13746374845504755,
+              -0.469826191663742,
+              0.7679272890090942
+            ],
+            "closest_ee_minus_button": [
+              0.00172118309932065,
+              0.0012022331265825192,
+              0.03500550735919805
+            ],
+            "button_min_z_position": [
+              0.13746374845504755,
+              -0.469826191663742,
+              0.7679272890090942
+            ],
+            "min_active_finger_to_button": 0.14375947955506968,
+            "closest_active_finger": [
+              0.011789433658123016,
+              -0.5308120250701904,
+              0.8102976083755493
+            ],
+            "closest_active_finger_button": [
+              0.13742120563983914,
+              -0.46987444162368763,
+              0.7760915160179138
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12563177198171613,
+              -0.0609375834465028,
+              0.0342060923576355
+            ],
+            "min_contact_pad_to_button": 0.02087506344267756,
+            "closest_contact_pad": [
+              0.13746374845504755,
+              -0.46989254152828297,
+              0.7888022470074062
+            ],
+            "closest_contact_pad_button": [
+              0.13746374845504755,
+              -0.469826191663742,
+              0.7679272890090942
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -6.634986454095992e-05,
+              0.02087495799831196
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19d00f1d6eb3c091acfbaf457089ffda69722927a8e75e95230d011f78c4563e",
+    "visual_seed": 362408366675755192,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bf1b164e04ffd81d0e6f2f42dd96f732ecd270f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_113_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29944982093562694,
+              -0.11361905817736409,
+              1.0516065505844225
+            ],
+            "current_z": 1.0516065505844225,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.19050010217430113,
+            "gripper_z": 1.0555070815877723,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2950452151566313,
+              -0.1179167976318193,
+              1.0555070815877723
+            ],
+            "object_minus_gripper": [
+              0.004404605778995652,
+              0.0042977394544552044,
+              -0.0039005310033497498
+            ],
+            "object_to_gripper_xy": 0.0061539512905728145,
+            "object_to_gripper_z": -0.0039005310033497498,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29944982093562694,
+              -0.13790397381613137,
+              1.0516065505844225
+            ],
+            "finger_b": [
+              0.28895101816467883,
+              -0.11361905817736409,
+              1.0516065505844225
+            ],
+            "finger_midpoint": [
+              0.29420041955015286,
+              -0.12576151599674773,
+              1.0516065505844225
+            ],
+            "object_minus_finger_midpoint": [
+              0.005249401385474084,
+              0.01214245781938364,
+              0.0
+            ],
+            "finger_gap": 0.026457172698633378,
+            "fingertip_max_gap": 0.0961150388466587,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0132285863493167,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0516065505844225,
+            "object_top_z": 1.1033109297638808,
+            "finger_top_clearance": 0.05170437917945825,
+            "fingertip_min_top_clearance": 0.015511313753837457,
+            "object_projection_between_fingers": 0.8425318627650089,
+            "object_to_finger_line_xy": 0.009636802182332236,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05055751942332935,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.888492988686123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2983496041725784,
+              -0.11755812920546933,
+              1.2460460259388277
+            ],
+            "held_position": [
+              0.3028947843699644,
+              -0.11335265697066069,
+              1.24215635641016
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007312604788083532,
+            "max_held_gripper_dist": 0.007322720119971415,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0038896695286676497,
+            "max_held_gripper_z_dist": 0.00390703745393739,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866736486498669,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3028947843699644,
+              -0.13808114176457373,
+              1.24215635641016
+            ],
+            "held_grasp_finger_b": [
+              0.29388112330571925,
+              -0.11335265697066069,
+              1.24215635641016
+            ],
+            "held_grasp_midpoint": [
+              0.29838795383784184,
+              -0.1257168993676172,
+              1.24215635641016
+            ],
+            "held_grasp_object_position": [
+              0.3028947843699644,
+              -0.11335265697066069,
+              1.24215635641016
+            ],
+            "held_grasp_finger_gap": 0.026320031268672116,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024677336159934775,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.005217175850185759,
+              -0.9998332781330321,
+              -0.01749848604602588
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044475383359323965,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03733455613530153,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2854720390048291,
+              -0.40773265515943624,
+              0.8515396087992938
+            ],
+            "target_position": [
+              0.2809966708987379,
+              -0.40848275082486646,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004537792766567825,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1823628988793027,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396087992938,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564126729969228,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08865794068675896,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1501452525663696,
+            "release_required_pad_clearance": 0.05432897034337948,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.679886237871736,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008733987808227539,
+            "max_z_decrease": 0.008733987808227539,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499434581949829,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008733987808227539,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02091026594455674,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008733987808227539,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008734082546453687,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13669659197330475,
+              -0.464744210243225,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13669659197330475,
+              -0.464744210243225,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13600092089168184,
+              -0.46503390417242824,
+              0.803432607650175
+            ],
+            "closest_button": [
+              0.1366937309503555,
+              -0.46469691395759577,
+              0.7684467434883118
+            ],
+            "closest_ee_minus_button": [
+              -0.0006928100586736652,
+              -0.0003369902148324666,
+              0.03498586416186322
+            ],
+            "button_min_z_position": [
+              0.13668982684612271,
+              -0.46470409631729115,
+              0.7680748701095581
+            ],
+            "min_active_finger_to_button": 0.14644237353506545,
+            "closest_active_finger": [
+              -0.004967004060745239,
+              -0.4508472979068756,
+              0.8107500076293945
+            ],
+            "closest_active_finger_button": [
+              0.13669718801975247,
+              -0.46474239230155934,
+              0.7763472199440002
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14166419208049771,
+              0.013895094394683727,
+              0.03440278768539429
+            ],
+            "min_contact_pad_to_button": 0.02091026594455674,
+            "closest_contact_pad": [
+              0.13668982684612271,
+              -0.4660424286963711,
+              0.7889422630544182
+            ],
+            "closest_contact_pad_button": [
+              0.13668982684612271,
+              -0.46470409631729115,
+              0.7680748701095581
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013383323790799317,
+              0.020867392944860064
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbedd2880d86ca03d7874106dcf840cca31cd948af9091207d605b8e94e0f4ce",
+    "visual_seed": 3458176719944055574,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a06fe290df72c2ce7b171651f7165182daafd4a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_115_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30115710625073894,
+              -0.11496078909284464,
+              1.049345015819259
+            ],
+            "current_z": 1.049345015819259,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18823856740913758,
+            "gripper_z": 1.0529386630216346,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29692153278313427,
+              -0.11929132582704474,
+              1.0529386630216346
+            ],
+            "object_minus_gripper": [
+              0.00423557346760467,
+              0.0043305367342000994,
+              -0.0035936472023756494
+            ],
+            "object_to_gripper_xy": 0.006057526806026788,
+            "object_to_gripper_z": -0.0035936472023756494,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30115710625073894,
+              -0.13890677705951618,
+              1.049345015819259
+            ],
+            "finger_b": [
+              0.29035374346467635,
+              -0.11496078909284464,
+              1.049345015819259
+            ],
+            "finger_midpoint": [
+              0.29575542485770767,
+              -0.12693378307618042,
+              1.049345015819259
+            ],
+            "object_minus_finger_midpoint": [
+              0.005401681393031266,
+              0.011972993983335775,
+              0.0
+            ],
+            "finger_gap": 0.02627019198992006,
+            "fingertip_max_gap": 0.09866382759983808,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013135095994960025,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049345015819259,
+            "object_top_z": 1.1019942612902272,
+            "finger_top_clearance": 0.052649245470968165,
+            "fingertip_min_top_clearance": 0.01579477364129048,
+            "object_projection_between_fingers": 0.8308813796176118,
+            "object_to_finger_line_xy": 0.009847556324441934,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05183191379991904,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.876554179676941,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3000400909078974,
+              -0.1189663509461115,
+              1.2443852929129458
+            ],
+            "held_position": [
+              0.30447880326556315,
+              -0.11480118279757161,
+              1.2407929360365109
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00706794319638852,
+            "max_held_gripper_dist": 0.007080061649825826,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003592356876434888,
+            "max_held_gripper_z_dist": 0.003608561116825282,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08676237356962534,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30447880326556315,
+              -0.13943589033409298,
+              1.2407929360365109
+            ],
+            "held_grasp_finger_b": [
+              0.2954748640652274,
+              -0.11480118279757161,
+              1.2407929360365109
+            ],
+            "held_grasp_midpoint": [
+              0.2999768336653953,
+              -0.1271185365658323,
+              1.2407929360365109
+            ],
+            "held_grasp_object_position": [
+              0.30447880326556315,
+              -0.11480118279757161,
+              1.2407929360365109
+            ],
+            "held_grasp_finger_gap": 0.026228605310486604,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024597711433870368,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004010492919721324,
+              -0.9999640398313174,
+              -0.007472281497124422
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044534872978839474,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03738528411874733,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28349823915331324,
+              -0.41020815312098435,
+              0.8515395821480266
+            ],
+            "target_position": [
+              0.28013705349665946,
+              -0.4104141640573762,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003367493062265773,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1807070263797376,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395821480266,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755842157540039,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08852344362473692,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1486523580359182,
+            "release_required_pad_clearance": 0.05426172181236846,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.54245078644237,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008770227432250977,
+            "max_z_decrease": 0.008770227432250977,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504268685979617,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008770227432250977,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021066607591978672,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008770227432250977,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00877041243772532,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13583697378635406,
+              -0.4666756093502044,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13583697378635406,
+              -0.4666756093502044,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13643202984746974,
+              -0.46826756080641563,
+              0.803408805219503
+            ],
+            "closest_button": [
+              0.13582514226436615,
+              -0.46662858128547663,
+              0.7684097290039062
+            ],
+            "closest_ee_minus_button": [
+              0.0006068875831035936,
+              -0.001638979520938999,
+              0.034999076215596725
+            ],
+            "button_min_z_position": [
+              0.13581739366054535,
+              -0.4666221141815185,
+              0.7680386304855347
+            ],
+            "min_active_finger_to_button": 0.14498507099711797,
+            "closest_active_finger": [
+              -0.004116453230381012,
+              -0.4506193697452545,
+              0.8105470538139343
+            ],
+            "closest_active_finger_button": [
+              0.1358368992805481,
+              -0.46667405962944025,
+              0.7762545347213745
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399533525109291,
+              0.016054689884185736,
+              0.034292519092559814
+            ],
+            "min_contact_pad_to_button": 0.021066607591978672,
+            "closest_contact_pad": [
+              0.13581739366054535,
+              -0.46958481356614296,
+              0.7888958682650384
+            ],
+            "closest_contact_pad_button": [
+              0.13581739366054535,
+              -0.4666221141815185,
+              0.7680386304855347
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029626993846244565,
+              0.020857237779503768
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7bdaa60d725ef5a0164a5df8f0acf454d1beddc3cbbd38886161ab64080ffac5",
+    "visual_seed": 2393060720135015789,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_116_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..45641d599b613f494cf6b3b473ca7f91c88d2462
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_116_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3039410143166995,
+              -0.11573046140562333,
+              1.052358135848328
+            ],
+            "current_z": 1.052358135848328,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19125162783356198,
+            "gripper_z": 1.0553869452063573,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998689585536134,
+              -0.12005304223025813,
+              1.0553869452063573
+            ],
+            "object_minus_gripper": [
+              0.004072055763086113,
+              0.004322580824634797,
+              -0.003028809358029294
+            ],
+            "object_to_gripper_xy": 0.0059385472232847715,
+            "object_to_gripper_z": -0.003028809358029294,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3039410143166995,
+              -0.13938797233615813,
+              1.052358135848328
+            ],
+            "finger_b": [
+              0.2929274952241614,
+              -0.11573046140562333,
+              1.052358135848328
+            ],
+            "finger_midpoint": [
+              0.29843425477043045,
+              -0.12755921687089072,
+              1.052358135848328
+            ],
+            "object_minus_finger_midpoint": [
+              0.005506759546269058,
+              0.01182875546526739,
+              0.0
+            ],
+            "finger_gap": 0.02609550586269741,
+            "fingertip_max_gap": 0.0925302011652149,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013047752931348699,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052358135848328,
+            "object_top_z": 1.1022871934074767,
+            "finger_top_clearance": 0.04992905755914867,
+            "fingertip_min_top_clearance": 0.014978717267744635,
+            "object_projection_between_fingers": 0.8218766814050645,
+            "object_to_finger_line_xy": 0.009984571660970365,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048765100582607454,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0588853624625743,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3037064054299332,
+              -0.12057925632413016,
+              1.2475702424247395
+            ],
+            "held_position": [
+              0.30811120777462325,
+              -0.11657006395062755,
+              1.2445148103060997
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006694144651496113,
+            "max_held_gripper_dist": 0.006703926868657087,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030554321186397893,
+            "max_held_gripper_z_dist": 0.003063353394034074,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0869209381765002,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30811120777462325,
+              -0.14142270919327565,
+              1.2445148103060997
+            ],
+            "held_grasp_finger_b": [
+              0.2996830376687646,
+              -0.11657006395062755,
+              1.2445148103060997
+            ],
+            "held_grasp_midpoint": [
+              0.3038971227216939,
+              -0.12899638657195162,
+              1.2445148103060997
+            ],
+            "held_grasp_object_position": [
+              0.30811120777462325,
+              -0.11657006395062755,
+              1.2445148103060997
+            ],
+            "held_grasp_finger_gap": 0.026242866209509375,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024262390019190214,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06267520398131461,
+              -0.997504573767562,
+              -0.03250298630426452
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034511999091878668,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03706081777992605,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2877992310090309,
+              -0.41007823027956036,
+              0.8515395844628209
+            ],
+            "target_position": [
+              0.28242619198199664,
+              -0.4110795518069158,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005465546009977265,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18199274103840807,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395844628209,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584269686513903,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08710834006487182,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14926333868306138,
+            "release_required_pad_clearance": 0.05355417003243591,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1196044248771497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008791685104370117,
+            "max_z_decrease": 0.008791685104370117,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501932278524656,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008791685104370117,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020839509485866266,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008791685104370117,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008792057447358007,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13812611997127533,
+              -0.4673410058021545,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13812611997127533,
+              -0.4673410058021545,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13639919012679497,
+              -0.46656226284648494,
+              0.8029824973614038
+            ],
+            "closest_button": [
+              0.13819696009159088,
+              -0.4673019051551819,
+              0.7680171728134155
+            ],
+            "closest_ee_minus_button": [
+              -0.0017977699647959144,
+              0.0007396423086969417,
+              0.034965324547988286
+            ],
+            "button_min_z_position": [
+              0.13819696009159088,
+              -0.4673019051551819,
+              0.7680171728134155
+            ],
+            "min_active_finger_to_button": 0.14706496162744978,
+            "closest_active_finger": [
+              0.01006801426410675,
+              -0.5310035943984985,
+              0.8105356097221375
+            ],
+            "closest_active_finger_button": [
+              0.1381266564130783,
+              -0.4673394560813903,
+              0.776243269443512
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12805864214897156,
+              -0.06366413831710821,
+              0.03429234027862549
+            ],
+            "min_contact_pad_to_button": 0.020839509485866266,
+            "closest_contact_pad": [
+              0.13819696009159088,
+              -0.4676067966737942,
+              0.7888544518290017
+            ],
+            "closest_contact_pad_button": [
+              0.13819696009159088,
+              -0.4673019051551819,
+              0.7680171728134155
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003048915186122936,
+              0.020837279015586185
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "597bbbf2e5828862671b92e7247afbe20f2a6ff9ea2a06aac2ef9d3b744a0c7b",
+    "visual_seed": 4626893156945337750,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_117_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d91627bbe983637e8e22a16f5bf6be2c57315474
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_117_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3005453249080428,
+              -0.11415680511667017,
+              1.0523723752021912
+            ],
+            "current_z": 1.0523723752021912,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1912658671874251,
+            "gripper_z": 1.0560844640737665,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29616019665375193,
+              -0.11857906779380342,
+              1.0560844640737665
+            ],
+            "object_minus_gripper": [
+              0.004385128254290882,
+              0.0044222626771332485,
+              -0.0037120888715753697
+            ],
+            "object_to_gripper_xy": 0.006227821207464608,
+            "object_to_gripper_z": -0.0037120888715753697,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3005453249080428,
+              -0.1381705923202466,
+              1.0523723752021912
+            ],
+            "finger_b": [
+              0.2895584944692542,
+              -0.11415680511667017,
+              1.0523723752021912
+            ],
+            "finger_midpoint": [
+              0.2950519096886485,
+              -0.1261636987184584,
+              1.0523723752021912
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054934152193943375,
+              0.012006893601788221,
+              0.0
+            ],
+            "finger_gap": 0.026407809809776774,
+            "fingertip_max_gap": 0.09803578607514354,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013203904904888411,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0523723752021912,
+            "object_top_z": 1.1052212787490527,
+            "finger_top_clearance": 0.05284890354686156,
+            "fingertip_min_top_clearance": 0.01585467106405845,
+            "object_projection_between_fingers": 0.8269067720335802,
+            "object_to_finger_line_xy": 0.00999080991946436,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051517893037571774,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.047457466164161,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2995282935143069,
+              -0.11849441974468479,
+              1.249125158128327
+            ],
+            "held_position": [
+              0.30415831333357174,
+              -0.11428255383782177,
+              1.2454109308549524
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007278212842618711,
+            "max_held_gripper_dist": 0.007287509299119198,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037142272733745596,
+            "max_held_gripper_z_dist": 0.0037242361026574855,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865008538723509,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30415831333357174,
+              -0.13913752311058228,
+              1.2454109308549524
+            ],
+            "held_grasp_finger_b": [
+              0.2951319532364867,
+              -0.11428255383782177,
+              1.2454109308549524
+            ],
+            "held_grasp_midpoint": [
+              0.29964513328502923,
+              -0.12671003847420204,
+              1.2454109308549524
+            ],
+            "held_grasp_object_position": [
+              0.30415831333357174,
+              -0.11428255383782177,
+              1.2454109308549524
+            ],
+            "held_grasp_finger_gap": 0.02644323494113604,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02457452552844348,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029835557184344767,
+              -0.9995519100686971,
+              -0.002412178583518942
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004140499641552431,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03716368082303025,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2783048821240647,
+              -0.4089909588982624,
+              0.8515395661521981
+            ],
+            "target_position": [
+              0.27555158184518863,
+              -0.40869947106382704,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0027686869782051478,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18040007384969517,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395661521981,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577834765413378,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0880037609937565,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14784917623762062,
+            "release_required_pad_clearance": 0.05400188049687825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0150611061496315,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0085105299949646,
+            "max_z_decrease": 0.0085105299949646,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498644635212153,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0085105299949646,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020814586474651633,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0085105299949646,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008510549299149016,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13125151395797727,
+              -0.46496093273162836,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13125151395797727,
+              -0.46496093273162836,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12925769351381705,
+              -0.4645038667803032,
+              0.8033622808152256
+            ],
+            "closest_button": [
+              0.13131260871887204,
+              -0.4649477303028106,
+              0.7684390544891357
+            ],
+            "closest_ee_minus_button": [
+              -0.0020549152050549913,
+              0.000443863522507415,
+              0.03492322632608991
+            ],
+            "button_min_z_position": [
+              0.1312585175037384,
+              -0.46494421362876887,
+              0.768298327922821
+            ],
+            "min_active_finger_to_button": 0.1474856605878754,
+            "closest_active_finger": [
+              0.0023699402809143066,
+              -0.5279108285903931,
+              0.8109207153320312
+            ],
+            "closest_active_finger_button": [
+              0.13125221431255338,
+              -0.4649606943130492,
+              0.7765890955924988
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12888227403163907,
+              -0.06295013427734386,
+              0.03433161973953247
+            ],
+            "min_contact_pad_to_button": 0.020814586474651633,
+            "closest_contact_pad": [
+              0.13131260871887204,
+              -0.46564891719919227,
+              0.7892418270699023
+            ],
+            "closest_contact_pad_button": [
+              0.13131260871887204,
+              -0.4649477303028106,
+              0.7684390544891357
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007011868963816559,
+              0.02080277258076657
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 117,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7023f8d7079830923b6f447530991e454662b7005bb0b935710b70e64bfc30ac",
+    "visual_seed": 346205132215820553,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_118_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3cf7cf8e0e2452a8d76d10b2db9aec3ba877a11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_118_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29778553703385957,
+              -0.11276648243058866,
+              1.0503298302373305
+            ],
+            "current_z": 1.0503298302373305,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18922326261791977,
+            "gripper_z": 1.0535072234454008,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29368285596305005,
+              -0.1171074761835449,
+              1.0535072234454008
+            ],
+            "object_minus_gripper": [
+              0.004102681070809522,
+              0.00434099375295624,
+              -0.0031773932080703116
+            ],
+            "object_to_gripper_xy": 0.005972957285297114,
+            "object_to_gripper_z": -0.0031773932080703116,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29778553703385957,
+              -0.1364365647842471,
+              1.0503298302373305
+            ],
+            "finger_b": [
+              0.2867489677893246,
+              -0.11276648243058866,
+              1.0503298302373305
+            ],
+            "finger_midpoint": [
+              0.2922672524115921,
+              -0.12460152360741789,
+              1.0503298302373305
+            ],
+            "object_minus_finger_midpoint": [
+              0.005518284622267444,
+              0.011835041176829222,
+              0.0
+            ],
+            "finger_gap": 0.026116635681465307,
+            "fingertip_max_gap": 0.09239126375100784,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013058317840732648,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503298302373305,
+            "object_top_z": 1.1002311873528483,
+            "finger_top_clearance": 0.0499013571155178,
+            "fingertip_min_top_clearance": 0.014970407134655306,
+            "object_projection_between_fingers": 0.8214196280365413,
+            "object_to_finger_line_xy": 0.010002685878311388,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04869563187550392,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.058306754001746,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.297140106136257,
+              -0.11766517482928678,
+              1.2469449115205575
+            ],
+            "held_position": [
+              0.3015894681738526,
+              -0.11364547050571504,
+              1.243756120120323
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0067914089837637715,
+            "max_held_gripper_dist": 0.006800916733951097,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031887914002344253,
+            "max_held_gripper_z_dist": 0.003198752449846687,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08671540444933176,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3015894681738526,
+              -0.13854574808337702,
+              1.243756120120323
+            ],
+            "held_grasp_finger_b": [
+              0.2931204479410874,
+              -0.11364547050571504,
+              1.243756120120323
+            ],
+            "held_grasp_midpoint": [
+              0.29735495805747003,
+              -0.12609560929454602,
+              1.243756120120323
+            ],
+            "held_grasp_object_position": [
+              0.3015894681738526,
+              -0.11364547050571504,
+              1.243756120120323
+            ],
+            "held_grasp_finger_gap": 0.026301105055636036,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02428869691779504,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06448831687014858,
+              -0.9973724068210639,
+              -0.03300816715926369
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034479280811918213,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037029748750847274,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28773570990297215,
+              -0.40753640597306473,
+              0.8515395863543828
+            ],
+            "target_position": [
+              0.28196487091232875,
+              -0.408611566063476,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005870140703249224,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1820173604544977,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395863543828,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563549503503837,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08654518638715118,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14981129289181344,
+            "release_required_pad_clearance": 0.05327259319357559,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5646940315403237,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008827626705169678,
+            "max_z_decrease": 0.008827626705169678,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509059485746425,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008827626705169678,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021126404392026774,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008827626705169678,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008827819602333083,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.137664794921875,
+              -0.4648730158805847,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.137664794921875,
+              -0.4648730158805847,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1393967471190195,
+              -0.46679274556216926,
+              0.8029737268559602
+            ],
+            "closest_button": [
+              0.1376746594905853,
+              -0.46481549739837646,
+              0.767981231212616
+            ],
+            "closest_ee_minus_button": [
+              0.0017220876284342046,
+              -0.0019772481637927997,
+              0.03499249564334428
+            ],
+            "button_min_z_position": [
+              0.1376746594905853,
+              -0.46481549739837646,
+              0.767981231212616
+            ],
+            "min_active_finger_to_button": 0.1438548289263522,
+            "closest_active_finger": [
+              -0.0011480450630187988,
+              -0.44902876019477844,
+              0.8110217452049255
+            ],
+            "closest_active_finger_button": [
+              0.13766561448574063,
+              -0.46487087011337275,
+              0.7767579555511475
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13881365954875943,
+              0.015842109918594305,
+              0.034263789653778076
+            ],
+            "min_contact_pad_to_button": 0.021126404392026774,
+            "closest_contact_pad": [
+              0.1376746594905853,
+              -0.4681254089670331,
+              0.7888467397840149
+            ],
+            "closest_contact_pad_button": [
+              0.1376746594905853,
+              -0.46481549739837646,
+              0.767981231212616
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0033099115686566205,
+              0.020865508571398905
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 118,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a2e08faf610386ab705ea4a92322928e02535aa2d261db719eea16a216e0602",
+    "visual_seed": 131833658909385044,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd59116513519616c2cc5c008c9881c596200104
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30075500528259824,
+              -0.11951175777797925,
+              1.0490213858249304
+            ],
+            "current_z": 1.0490213858249304,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.18791493741480936,
+            "gripper_z": 1.0524321670844183,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29643773684770586,
+              -0.12389444334063526,
+              1.0524321670844183
+            ],
+            "object_minus_gripper": [
+              0.004317268434892385,
+              0.004382685562656016,
+              -0.003410781259487905
+            ],
+            "object_to_gripper_xy": 0.0061519703737933935,
+            "object_to_gripper_z": -0.003410781259487905,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30075500528259824,
+              -0.1434785108929295,
+              1.0490213858249304
+            ],
+            "finger_b": [
+              0.28982343091205487,
+              -0.11951175777797925,
+              1.0490213858249304
+            ],
+            "finger_midpoint": [
+              0.29528921809732656,
+              -0.13149513433545437,
+              1.0490213858249304
+            ],
+            "object_minus_finger_midpoint": [
+              0.005465787185271687,
+              0.011983376557475126,
+              0.0
+            ],
+            "finger_gap": 0.02634206850442271,
+            "fingertip_max_gap": 0.09502836258635464,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013171034252211349,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490213858249304,
+            "object_top_z": 1.1005391343132191,
+            "finger_top_clearance": 0.05151774848828872,
+            "fingertip_min_top_clearance": 0.015455324546486647,
+            "object_projection_between_fingers": 0.8277871009175076,
+            "object_to_finger_line_xy": 0.0099458531152382,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05001418129317732,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1780088702453457,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2998668646364876,
+              -0.1246126307118363,
+              1.245523754461006
+            ],
+            "held_position": [
+              0.30448831150859007,
+              -0.1205020009987382,
+              1.2421155192944386
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007061948369996589,
+            "max_held_gripper_dist": 0.007071171812547139,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003408235166567408,
+            "max_held_gripper_z_dist": 0.003419514980333105,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0868511882152503,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30448831150859007,
+              -0.14546057835305867,
+              1.2421155192944386
+            ],
+            "held_grasp_finger_b": [
+              0.29586275789651695,
+              -0.1205020009987382,
+              1.2421155192944386
+            ],
+            "held_grasp_midpoint": [
+              0.30017553470255354,
+              -0.13298128967589845,
+              1.2421155192944386
+            ],
+            "held_grasp_object_position": [
+              0.30448831150859007,
+              -0.1205020009987382,
+              1.2421155192944386
+            ],
+            "held_grasp_finger_gap": 0.02640702101082866,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02444537940689696,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.054691319506161525,
+              -0.9983390463999776,
+              -0.018110991244505437
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036309875140096695,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702581745813117,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2881999258036714,
+              -0.41205992071039566,
+              0.8515395648139406
+            ],
+            "target_position": [
+              0.2840440681096478,
+              -0.41220443012651636,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0041583694093145105,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18288539452289582,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395648139406,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566081767892432,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08725264370385714,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15042515684081909,
+            "release_required_pad_clearance": 0.053626321851928574,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.262846039945739,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008693039417266846,
+            "max_z_decrease": 0.008693039417266846,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034994876715877116,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008693039417266846,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020894915714687462,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008693039417266846,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008693115054404935,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1397439986467361,
+              -0.468465894460678,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1397439986467361,
+              -0.468465894460678,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13957523476976405,
+              -0.4687011355794619,
+              0.8034780444975423
+            ],
+            "closest_button": [
+              0.13975086808204648,
+              -0.4684232771396636,
+              0.7684847116470337
+            ],
+            "closest_ee_minus_button": [
+              -0.0001756333122824305,
+              -0.0002778584397983286,
+              0.03499333285050865
+            ],
+            "button_min_z_position": [
+              0.13975000381469724,
+              -0.46843013167381276,
+              0.7681158185005188
+            ],
+            "min_active_finger_to_button": 0.14593100206016119,
+            "closest_active_finger": [
+              -0.0013938695192337036,
+              -0.4545377492904663,
+              0.8110064268112183
+            ],
+            "closest_active_finger_button": [
+              0.1397451609373092,
+              -0.4684637188911437,
+              0.7766305804252625
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1411390304565429,
+              0.01392596960067738,
+              0.03437584638595581
+            ],
+            "min_contact_pad_to_button": 0.020894915714687462,
+            "closest_contact_pad": [
+              0.13975000381469724,
+              -0.46970738012396224,
+              0.7889716603468813
+            ],
+            "closest_contact_pad_button": [
+              0.13975000381469724,
+              -0.46843013167381276,
+              0.7681158185005188
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012772484501494819,
+              0.020855841846362466
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "96789d58df2343dc645e7738c7b17f28419b9d8ce79844daff22bb7c78c30c85",
+    "visual_seed": 895277726870117537,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_120_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b75c6afdc5899fb0f5ccffd91e0017afb98aad7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_120_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 120,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29998430976158014,
+              -0.11922605024491871,
+              1.0524831831895376
+            ],
+            "current_z": 1.0524831831895376,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.19137679438406108,
+            "gripper_z": 1.0556043254590088,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2959294466970993,
+              -0.12353353370318443,
+              1.0556043254590088
+            ],
+            "object_minus_gripper": [
+              0.004054863064480829,
+              0.004307483458265718,
+              -0.0031211422694712443
+            ],
+            "object_to_gripper_xy": 0.0059157694524823775,
+            "object_to_gripper_z": -0.0031211422694712443,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29998430976158014,
+              -0.14287855436523236,
+              1.0524831831895376
+            ],
+            "finger_b": [
+              0.289022265048664,
+              -0.11922605024491871,
+              1.0524831831895376
+            ],
+            "finger_midpoint": [
+              0.2945032874051221,
+              -0.13105230230507553,
+              1.0524831831895376
+            ],
+            "object_minus_finger_midpoint": [
+              0.005481022356458032,
+              0.01182625206015682,
+              0.0
+            ],
+            "finger_gap": 0.026069280301715785,
+            "fingertip_max_gap": 0.09301909540940842,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013034640150857875,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0524831831895376,
+            "object_top_z": 1.102754830750273,
+            "finger_top_clearance": 0.05027164756073543,
+            "fingertip_min_top_clearance": 0.015081494268220629,
+            "object_projection_between_fingers": 0.8231825777221652,
+            "object_to_finger_line_xy": 0.00994579845467562,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900954770470421,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9272048048119232,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2992270615851267,
+              -0.12427160097360025,
+              1.2497836412786434
+            ],
+            "held_position": [
+              0.30362220604285256,
+              -0.12026928568078564,
+              1.2466623529508003
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0067140348027773635,
+            "max_held_gripper_dist": 0.006723631561421909,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003121288327843086,
+            "max_held_gripper_z_dist": 0.003133305718194812,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08693910751551687,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30362220604285256,
+              -0.1451060561900057,
+              1.2466623529508003
+            ],
+            "held_grasp_finger_b": [
+              0.2952060609104765,
+              -0.12026928568078564,
+              1.2466623529508003
+            ],
+            "held_grasp_midpoint": [
+              0.29941413347666457,
+              -0.13268767093539566,
+              1.2466623529508003
+            ],
+            "held_grasp_object_position": [
+              0.30362220604285256,
+              -0.12026928568078564,
+              1.2466623529508003
+            ],
+            "held_grasp_finger_gap": 0.026223971251831398,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024215532929955052,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06593591456966809,
+              -0.9973301137204571,
+              -0.03138629376338752
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003402995864907801,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03705755737866326,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2801986024989368,
+              -0.4052495548435896,
+              0.8515395029361685
+            ],
+            "target_position": [
+              0.27493091085484433,
+              -0.406103344386645,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0053364343752240005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18186339495354328,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395029361685,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754442087267705,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08592288612158967,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15019170484998245,
+            "release_required_pad_clearance": 0.05296144306079484,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.958579185975892,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00854945182800293,
+            "max_z_decrease": 0.00854945182800293,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503304505356018,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00854945182800293,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021051568703575795,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00854945182800293,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008549583458445573,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1306308358907699,
+              -0.4623647928237914,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1306308358907699,
+              -0.4623647928237914,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13151293539624165,
+              -0.46383786230055235,
+              0.8036020075193981
+            ],
+            "closest_button": [
+              0.13065531849861142,
+              -0.4623320400714873,
+              0.7686118483543396
+            ],
+            "closest_ee_minus_button": [
+              0.0008576168976302256,
+              -0.0015058222290650347,
+              0.03499015916505854
+            ],
+            "button_min_z_position": [
+              0.13065233826637263,
+              -0.4623225033283233,
+              0.7682594060897827
+            ],
+            "min_active_finger_to_button": 0.14488088477403194,
+            "closest_active_finger": [
+              -0.00952254980802536,
+              -0.44969961047172546,
+              0.8110361099243164
+            ],
+            "closest_active_finger_button": [
+              0.13063192367553705,
+              -0.46236178278923024,
+              0.7765852212905884
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14015447348356241,
+              0.012662172317504772,
+              0.03445088863372803
+            ],
+            "min_contact_pad_to_button": 0.021051568703575795,
+            "closest_contact_pad": [
+              0.13065233826637263,
+              -0.46488694167451905,
+              0.7891541949341317
+            ],
+            "closest_contact_pad_button": [
+              0.13065233826637263,
+              -0.4623225033283233,
+              0.7682594060897827
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002564438346195741,
+              0.020894788844349033
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 120,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6fce788d7b2b68c71a2765ae6bb1372785655da9c893768f8d302cce549b20b0",
+    "visual_seed": 268949959796415257,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_121_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ef6eb0e26e63884848d9fa0756b617f7fdfe6aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_121_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3069571956401456,
+              -0.11725122934815224,
+              1.0511727003712532
+            ],
+            "current_z": 1.0511727003712532,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19006625196113192,
+            "gripper_z": 1.0549036635551818,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3026727981885838,
+              -0.12160887246887558,
+              1.0549036635551818
+            ],
+            "object_minus_gripper": [
+              0.004284397451561839,
+              0.004357643120723342,
+              -0.003730963183928626
+            ],
+            "object_to_gripper_xy": 0.006111064971879865,
+            "object_to_gripper_z": -0.003730963183928626,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3069571956401456,
+              -0.1413071949785308,
+              1.0511727003712532
+            ],
+            "finger_b": [
+              0.29619165235479067,
+              -0.11725122934815224,
+              1.0511727003712532
+            ],
+            "finger_midpoint": [
+              0.30157442399746814,
+              -0.12927921216334154,
+              1.0511727003712532
+            ],
+            "object_minus_finger_midpoint": [
+              0.005382771642677475,
+              0.012027982815189298,
+              0.0
+            ],
+            "finger_gap": 0.026355007202404745,
+            "fingertip_max_gap": 0.09498446252053946,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013177503601202385,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511727003712532,
+            "object_top_z": 1.1020078445944756,
+            "finger_top_clearance": 0.05083514422322244,
+            "fingertip_min_top_clearance": 0.015250543266966697,
+            "object_projection_between_fingers": 0.8331425414392916,
+            "object_to_finger_line_xy": 0.009826426427279485,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049992231260269734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.928270599385212,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3062062719210892,
+              -0.12125235089633261,
+              1.2444396157190145
+            ],
+            "held_position": [
+              0.31067411651929827,
+              -0.11703752299664445,
+              1.2406999977693334
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007191046654508177,
+            "max_held_gripper_dist": 0.007200403029731622,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00373961794968114,
+            "max_held_gripper_z_dist": 0.0037551164733833353,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08701285041698174,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31067411651929827,
+              -0.14173891005009714,
+              1.2406999977693334
+            ],
+            "held_grasp_finger_b": [
+              0.30169916657449936,
+              -0.11703752299664445,
+              1.2406999977693334
+            ],
+            "held_grasp_midpoint": [
+              0.3061866415468988,
+              -0.1293882165233708,
+              1.2406999977693334
+            ],
+            "held_grasp_object_position": [
+              0.31067411651929827,
+              -0.11703752299664445,
+              1.2406999977693334
+            ],
+            "held_grasp_finger_gap": 0.026281328902400015,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024570847641235957,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.013326516974663971,
+              -0.9995573289302762,
+              -0.02659981441844761
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00433501171571144,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03731522142669096,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2802648345051432,
+              -0.40404365540998616,
+              0.851539596901322
+            ],
+            "target_position": [
+              0.275400007362187,
+              -0.40491323114459715,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004941933335150102,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18306395804464048,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539596901322,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538797241031982,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08773344690770467,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513519886817786,
+            "release_required_pad_clearance": 0.053866723453852336,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.742899711949013,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008477091789245605,
+            "max_z_decrease": 0.008477091789245605,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503889698121543,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008477091789245605,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106859585158365,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008477091789245605,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008477242027228118,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13109993934631345,
+              -0.46117469668388356,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13109993934631345,
+              -0.46117469668388356,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13217323580860715,
+              -0.462663666590511,
+              0.8036048780164993
+            ],
+            "closest_button": [
+              0.1311314851045608,
+              -0.4611422717571258,
+              0.7686145305633545
+            ],
+            "closest_ee_minus_button": [
+              0.001041750704046357,
+              -0.0015213948333852034,
+              0.03499034745314478
+            ],
+            "button_min_z_position": [
+              0.13112898170948023,
+              -0.4611334204673766,
+              0.76833176612854
+            ],
+            "min_active_finger_to_button": 0.14459065049946723,
+            "closest_active_finger": [
+              -0.008387334644794464,
+              -0.4446915090084076,
+              0.8108550906181335
+            ],
+            "closest_active_finger_button": [
+              0.13110019266605372,
+              -0.46117287874221796,
+              0.7765323519706726
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13948752731084818,
+              0.01648136973381037,
+              0.03432273864746094
+            ],
+            "min_contact_pad_to_button": 0.02106859585158365,
+            "closest_contact_pad": [
+              0.13112898170948023,
+              -0.4640460733281594,
+              0.7891980591502998
+            ],
+            "closest_contact_pad_button": [
+              0.13112898170948023,
+              -0.4611334204673766,
+              0.76833176612854
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002912652860782794,
+              0.020866293021759796
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db2037ba6f4387b801c927b7902017c7b0fb239f72770ebf9234a38bfe04cfe3",
+    "visual_seed": 9167371253686282286,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c32c1443df681a596dc32711652911a8d701f0c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30055301301665693,
+              -0.11499561674979973,
+              1.052666778476611
+            ],
+            "current_z": 1.052666778476611,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19156033006648987,
+            "gripper_z": 1.0560198005653199,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29617814649517626,
+              -0.11942419499723414,
+              1.0560198005653199
+            ],
+            "object_minus_gripper": [
+              0.004374866521480669,
+              0.004428578247434409,
+              -0.0033530220887088014
+            ],
+            "object_to_gripper_xy": 0.0062250913547048925,
+            "object_to_gripper_z": -0.0033530220887088014,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30055301301665693,
+              -0.13897945328782277,
+              1.052666778476611
+            ],
+            "finger_b": [
+              0.28952377984827626,
+              -0.11499561674979973,
+              1.052666778476611
+            ],
+            "finger_midpoint": [
+              0.2950383964324666,
+              -0.12698753501881124,
+              1.052666778476611
+            ],
+            "object_minus_finger_midpoint": [
+              0.005514616584190335,
+              0.011991918269011512,
+              0.0
+            ],
+            "finger_gap": 0.02639826508248444,
+            "fingertip_max_gap": 0.0959606881560052,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013199132541242213,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052666778476611,
+            "object_top_z": 1.1047650778534268,
+            "finger_top_clearance": 0.05209829937681576,
+            "fingertip_min_top_clearance": 0.01562948981304476,
+            "object_projection_between_fingers": 0.8254419566257672,
+            "object_to_finger_line_xy": 0.010020481445415058,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0504803440780026,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2565193675750517,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2997117309167743,
+              -0.11973140840342378,
+              1.2488826026609594
+            ],
+            "held_position": [
+              0.3043793592198152,
+              -0.11557197013285687,
+              1.2455239494476789
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007097057989694382,
+            "max_held_gripper_dist": 0.007105801614576682,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003358653213280549,
+            "max_held_gripper_z_dist": 0.0033713628961442588,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0870636929392928,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3043793592198152,
+              -0.1405098518875644,
+              1.2455239494476789
+            ],
+            "held_grasp_finger_b": [
+              0.2955473232111071,
+              -0.11557197013285687,
+              1.2455239494476789
+            ],
+            "held_grasp_midpoint": [
+              0.29996334121546114,
+              -0.12804091101021065,
+              1.2455239494476789
+            ],
+            "held_grasp_object_position": [
+              0.3043793592198152,
+              -0.11557197013285687,
+              1.2455239494476789
+            ],
+            "held_grasp_finger_gap": 0.026455676261832557,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02444417984000925,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05194822964513116,
+              -0.9986007921511916,
+              -0.009891377646696233
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00376437424549029,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037039351515276,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2867716576472304,
+              -0.4139391146954656,
+              0.8515395782985253
+            ],
+            "target_position": [
+              0.2829746530546664,
+              -0.4139788524554937,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003797212525725165,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18165364793260688,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395782985253,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754279056651003,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08660524589134592,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1498201176177198,
+            "release_required_pad_clearance": 0.053302622945672964,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6236123802016782,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008855760097503662,
+            "max_z_decrease": 0.008855760097503662,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035051074515115355,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008855760097503662,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020845214893971842,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008855760097503662,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008856074975142838,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1386745721101761,
+              -0.47024032473564137,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1386745721101761,
+              -0.47024032473564137,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13921454872934974,
+              -0.46824069437443894,
+              0.8029944923616611
+            ],
+            "closest_button": [
+              0.1387387365102768,
+              -0.4701964557170867,
+              0.7680012583732605
+            ],
+            "closest_ee_minus_button": [
+              0.00047581221907294635,
+              0.001955761342647744,
+              0.034993233988400596
+            ],
+            "button_min_z_position": [
+              0.1387363076210022,
+              -0.4701983034610747,
+              0.767953097820282
+            ],
+            "min_active_finger_to_button": 0.14452394596644255,
+            "closest_active_finger": [
+              0.011351391673088074,
+              -0.5294638872146606,
+              0.810889720916748
+            ],
+            "closest_active_finger_button": [
+              0.1386778503656387,
+              -0.47023743391036976,
+              0.7767229080200195
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12732645869255063,
+              -0.05922645330429088,
+              0.034166812896728516
+            ],
+            "min_contact_pad_to_button": 0.020845214893971842,
+            "closest_contact_pad": [
+              0.1387363076210022,
+              -0.4701983034610747,
+              0.7887983127142538
+            ],
+            "closest_contact_pad_button": [
+              0.1387363076210022,
+              -0.4701983034610747,
+              0.767953097820282
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020845214893971842
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d5f3eb6cbb1d5772bf1bedbaf5e78ab1f5d0b80d068c9b37b1df36c7f3f76d9",
+    "visual_seed": 7368527535420168602,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93a54d9aacd0a23e867c80cd0029af2118efa406
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29850719915483903,
+              -0.11880971627751676,
+              1.0488908076527697
+            ],
+            "current_z": 1.0488908076527697,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18778435924264825,
+            "gripper_z": 1.0521183209453409,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2944190077660254,
+              -0.12311965757471098,
+              1.0521183209453409
+            ],
+            "object_minus_gripper": [
+              0.004088191388813611,
+              0.004309941297194225,
+              -0.0032275132925712047
+            ],
+            "object_to_gripper_xy": 0.005940446348283099,
+            "object_to_gripper_z": -0.0032275132925712047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29850719915483903,
+              -0.14258086717895177,
+              1.0488908076527697
+            ],
+            "finger_b": [
+              0.28767530582458095,
+              -0.11880971627751676,
+              1.0488908076527697
+            ],
+            "finger_midpoint": [
+              0.29309125248971,
+              -0.13069529172823427,
+              1.0488908076527697
+            ],
+            "object_minus_finger_midpoint": [
+              0.005415946665129012,
+              0.011885575450717514,
+              0.0
+            ],
+            "finger_gap": 0.026122739678235973,
+            "fingertip_max_gap": 0.09561480157360144,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013061369839117981,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488908076527697,
+            "object_top_z": 1.1003040142884088,
+            "finger_top_clearance": 0.0514132066356392,
+            "fingertip_min_top_clearance": 0.015423961990691775,
+            "object_projection_between_fingers": 0.828062224359283,
+            "object_to_finger_line_xy": 0.009856798102855044,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050307400786800724,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6941966142267417,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29711231220099266,
+              -0.12282963025778006,
+              1.24271571571687
+            ],
+            "held_position": [
+              0.30142659375203396,
+              -0.1187006264046688,
+              1.2394940538701364
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006785337366362972,
+            "max_held_gripper_dist": 0.006795989217933319,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003221661846733559,
+            "max_held_gripper_z_dist": 0.0032315282185018113,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08677964278957642,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30142659375203396,
+              -0.14321053089900196,
+              1.2394940538701364
+            ],
+            "held_grasp_finger_b": [
+              0.292574185722397,
+              -0.1187006264046688,
+              1.2394940538701364
+            ],
+            "held_grasp_midpoint": [
+              0.2970003897372155,
+              -0.13095557865183538,
+              1.2394940538701364
+            ],
+            "held_grasp_object_position": [
+              0.30142659375203396,
+              -0.1187006264046688,
+              1.2394940538701364
+            ],
+            "held_grasp_finger_gap": 0.02605955767553458,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024236912603916843,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.028809147083630686,
+              -0.9992671711368626,
+              -0.025202256495123747
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004083131794878627,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037346763443166515,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2871989648696214,
+              -0.4047285159489214,
+              0.8515396224636964
+            ],
+            "target_position": [
+              0.283341488606472,
+              -0.4054731096298091,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003928682078048395,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18312436342536292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396224636964,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584969600746204,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718425061948608,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15042792008586203,
+            "release_required_pad_clearance": 0.05359212530974304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.194714651425029,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008580625057220459,
+            "max_z_decrease": 0.008580625057220459,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499299955460839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008580625057220459,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020862617048150605,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008580625057220459,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008580690806690048,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13904140889644617,
+              -0.4617345631122588,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13904140889644617,
+              -0.4617345631122588,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1385363894002517,
+              -0.4614389022012317,
+              0.8035835827501099
+            ],
+            "closest_button": [
+              0.13905194401741025,
+              -0.46168944239616383,
+              0.768595278263092
+            ],
+            "closest_ee_minus_button": [
+              -0.0005155546171585479,
+              0.0002505401949321473,
+              0.03498830448701784
+            ],
+            "button_min_z_position": [
+              0.13905102014541626,
+              -0.4617023766040801,
+              0.7682282328605652
+            ],
+            "min_active_finger_to_button": 0.14618450464778043,
+            "closest_active_finger": [
+              0.011471547186374664,
+              -0.5243790149688721,
+              0.810712456703186
+            ],
+            "closest_active_finger_button": [
+              0.1390414535999298,
+              -0.4617328345775603,
+              0.7764884233474731
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12756990641355515,
+              -0.06264618039131176,
+              0.03422403335571289
+            ],
+            "min_contact_pad_to_button": 0.020862617048150605,
+            "closest_contact_pad": [
+              0.13905102014541626,
+              -0.4626170943192529,
+              0.7890707874448606
+            ],
+            "closest_contact_pad_button": [
+              0.13905102014541626,
+              -0.4617023766040801,
+              0.7682282328605652
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009147177151728192,
+              0.020842554584295403
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "048dce36ff44634b9de11b6ef7b9bcf6b3327c364e857b9ad2c920c68dc8a487",
+    "visual_seed": 339822444871279731,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61c48b26ee84bcd578323a1a20ff20b1c6e894ba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3017805845574824,
+              -0.11197359786525339,
+              1.0496278929563527
+            ],
+            "current_z": 1.0496278929563527,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.188521325336942,
+            "gripper_z": 1.0527563889199727,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2977201836851,
+              -0.11629558793287335,
+              1.0527563889199727
+            ],
+            "object_minus_gripper": [
+              0.004060400872382408,
+              0.004321990067619963,
+              -0.0031284959636199705
+            ],
+            "object_to_gripper_xy": 0.005930130975707825,
+            "object_to_gripper_z": -0.0031284959636199705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3017805845574824,
+              -0.13561402173868617,
+              1.0496278929563527
+            ],
+            "finger_b": [
+              0.2907571633461089,
+              -0.11197359786525339,
+              1.0496278929563527
+            ],
+            "finger_midpoint": [
+              0.2962688739517957,
+              -0.12379380980196977,
+              1.0496278929563527
+            ],
+            "object_minus_finger_midpoint": [
+              0.005511710605686726,
+              0.011820211936716382,
+              0.0
+            ],
+            "finger_gap": 0.026084199357444916,
+            "fingertip_max_gap": 0.09321589610256634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01304209967872244,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496278929563527,
+            "object_top_z": 1.099954040743893,
+            "finger_top_clearance": 0.0503261477875403,
+            "fingertip_min_top_clearance": 0.015097844336262073,
+            "object_projection_between_fingers": 0.8214015098198709,
+            "object_to_finger_line_xy": 0.009990659341356409,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04910794805128317,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.04062809599801,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30152396889296484,
+              -0.11687944335788035,
+              1.246553097929107
+            ],
+            "held_position": [
+              0.30593212412388415,
+              -0.11288684576395153,
+              1.2434002553232189
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006731499430619562,
+            "max_held_gripper_dist": 0.006740784247087888,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031528426058882175,
+            "max_held_gripper_z_dist": 0.0031626565336917434,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08676791101456122,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30593212412388415,
+              -0.13779545994430267,
+              1.2434002553232189
+            ],
+            "held_grasp_finger_b": [
+              0.2975104857343307,
+              -0.11288684576395153,
+              1.2434002553232189
+            ],
+            "held_grasp_midpoint": [
+              0.3017213049291074,
+              -0.1253411528541271,
+              1.2434002553232189
+            ],
+            "held_grasp_object_position": [
+              0.30593212412388415,
+              -0.11288684576395153,
+              1.2434002553232189
+            ],
+            "held_grasp_finger_gap": 0.026293783553341856,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024297832033735072,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0652687263003067,
+              -0.9975465300828995,
+              -0.025316273159820213
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003403922213858113,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702166444217961,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28272511793177096,
+              -0.4047039298254902,
+              0.8515395941519183
+            ],
+            "target_position": [
+              0.2779354377723438,
+              -0.40546003922634827,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004848993447683355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841380154917029,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395941519183,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590111511913598,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08705361460195034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1512425191061882,
+            "release_required_pad_clearance": 0.05352680730097517,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0653649825090095,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008463501930236816,
+            "max_z_decrease": 0.008463501930236816,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507247149159521,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008463501930236816,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020868532907152283,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008463501930236816,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008463676424748974,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13363535702228543,
+              -0.461721509695053,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13363535702228543,
+              -0.461721509695053,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13542834179366608,
+              -0.4604483001119273,
+              0.8035600155198183
+            ],
+            "closest_button": [
+              0.13367675244808194,
+              -0.46169143915176386,
+              0.7685533761978149
+            ],
+            "closest_ee_minus_button": [
+              0.0017515893455841425,
+              0.0012431390398365827,
+              0.03500663932200332
+            ],
+            "button_min_z_position": [
+              0.13367870450019834,
+              -0.4616887271404265,
+              0.7683453559875488
+            ],
+            "min_active_finger_to_button": 0.1437523826791546,
+            "closest_active_finger": [
+              0.007683075964450836,
+              -0.5219738483428955,
+              0.8107728362083435
+            ],
+            "closest_active_finger_button": [
+              0.13363571465015409,
+              -0.4617196321487426,
+              0.7765659689903259
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12595263868570325,
+              -0.06025421619415289,
+              0.03420686721801758
+            ],
+            "min_contact_pad_to_button": 0.020868532907152283,
+            "closest_contact_pad": [
+              0.13367870450019834,
+              -0.46178239024335266,
+              0.7892136787021334
+            ],
+            "closest_contact_pad_button": [
+              0.13367870450019834,
+              -0.4616887271404265,
+              0.7683453559875488
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -9.366310292613367e-05,
+              0.02086832271458461
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3791e45baea7c359aead920e1e14e7d4d672d7f7be588480d2c7624b53dad937",
+    "visual_seed": 3139056676978778942,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a04716da18fc81fbb0ae4947b50e3effb4ce80c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30636592442358596,
+              -0.10943932425886445,
+              1.0523756798885744
+            ],
+            "current_z": 1.0523756798885744,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.19126923147845332,
+            "gripper_z": 1.0555766229363879,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3018190347874704,
+              -0.11397497916917466,
+              1.0555766229363879
+            ],
+            "object_minus_gripper": [
+              0.0045468896361155475,
+              0.004535654910310216,
+              -0.003200943047813487
+            ],
+            "object_to_gripper_xy": 0.006422333752494972,
+            "object_to_gripper_z": -0.003200943047813487,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30636592442358596,
+              -0.13352250048643383,
+              1.0523756798885744
+            ],
+            "finger_b": [
+              0.29512216498046806,
+              -0.10943932425886445,
+              1.0523756798885744
+            ],
+            "finger_midpoint": [
+              0.300744044702027,
+              -0.12148091237264913,
+              1.0523756798885744
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056218797215589755,
+              0.012041588113784682,
+              0.0
+            ],
+            "finger_gap": 0.026578591076708066,
+            "fingertip_max_gap": 0.09358681008176603,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013289295538354038,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0523756798885744,
+            "object_top_z": 1.1034021465269959,
+            "finger_top_clearance": 0.051026466638421475,
+            "fingertip_min_top_clearance": 0.015307939991526475,
+            "object_projection_between_fingers": 0.8210386776643264,
+            "object_to_finger_line_xy": 0.010188103626241729,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04929340504088302,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4798484808993988,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30606560604839883,
+              -0.11433658486814695,
+              1.2490150625614145
+            ],
+            "held_position": [
+              0.3109394304950478,
+              -0.1101397762466783,
+              1.2457772840851806
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072007344627579425,
+            "max_held_gripper_dist": 0.007209388181563973,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032377784762338546,
+            "max_held_gripper_z_dist": 0.003249576352593486,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08696066909580118,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3109394304950478,
+              -0.13531455412579318,
+              1.2457772840851806
+            ],
+            "held_grasp_finger_b": [
+              0.30207832053084893,
+              -0.1101397762466783,
+              1.2457772840851806
+            ],
+            "held_grasp_midpoint": [
+              0.30650887551294836,
+              -0.12272716518623575,
+              1.2457772840851806
+            ],
+            "held_grasp_object_position": [
+              0.3109394304950478,
+              -0.1101397762466783,
+              1.2457772840851806
+            ],
+            "held_grasp_finger_gap": 0.02668873753215758,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024514039004880903,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06775125399329562,
+              -0.9976012673209275,
+              -0.014194330629357044
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035721413058569596,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036862879255807654,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28268315715325515,
+              -0.41322070175834713,
+              0.8515395306380344
+            ],
+            "target_position": [
+              0.2775155147984984,
+              -0.4139347935134409,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005216747506001114,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1842626606828146,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395306380344,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551800668204431,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601858214087667,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522528398467646,
+            "release_required_pad_clearance": 0.053009291070438336,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0512634149054776,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00882875919342041,
+            "max_z_decrease": 0.00882875919342041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034989593877766414,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00882875919342041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02091205435359585,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00882875919342041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008828982097944693,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13321544229984283,
+              -0.47019624710082997,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13321544229984283,
+              -0.47019624710082997,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13338354101497954,
+              -0.47015758000501723,
+              0.8029694571634537
+            ],
+            "closest_button": [
+              0.13325554132461548,
+              -0.4701479971408843,
+              0.7679800987243652
+            ],
+            "closest_ee_minus_button": [
+              0.00012799969036406122,
+              -9.58286413293985e-06,
+              0.03498935843908846
+            ],
+            "button_min_z_position": [
+              0.13325554132461548,
+              -0.4701479971408843,
+              0.7679800987243652
+            ],
+            "min_active_finger_to_button": 0.14564716771714398,
+            "closest_active_finger": [
+              -0.007428064942359924,
+              -0.4543847143650055,
+              0.8105903267860413
+            ],
+            "closest_active_finger_button": [
+              0.13321620225906367,
+              -0.47019359469413746,
+              0.7762047648429871
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1406442672014236,
+              0.01580888032913197,
+              0.0343855619430542
+            ],
+            "min_contact_pad_to_button": 0.02091205435359585,
+            "closest_contact_pad": [
+              0.13325554132461548,
+              -0.4713181156919402,
+              0.7888593908547087
+            ],
+            "closest_contact_pad_button": [
+              0.13325554132461548,
+              -0.4701479971408843,
+              0.7679800987243652
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011701185510559209,
+              0.020879292130343452
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a18b102ed8a98a1c36f4becdeb1b082e4a45e30c40152919853161385df9d489",
+    "visual_seed": 7591231833018733935,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b1f9f3dc0218765d209720e29eda12b67f03196
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3020183703009451,
+              -0.11168721384644041,
+              1.0493657482729664
+            ],
+            "current_z": 1.0493657482729664,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1882592402582004,
+            "gripper_z": 1.0525687292228427,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2978806208574172,
+              -0.11607105734903443,
+              1.0525687292228427
+            ],
+            "object_minus_gripper": [
+              0.004137749443527905,
+              0.00438384350259402,
+              -0.003202980949876366
+            ],
+            "object_to_gripper_xy": 0.006028188310981277,
+            "object_to_gripper_z": -0.003202980949876366,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3020183703009451,
+              -0.13532060983065325,
+              1.0493657482729664
+            ],
+            "finger_b": [
+              0.2908304665947856,
+              -0.11168721384644041,
+              1.0493657482729664
+            ],
+            "finger_midpoint": [
+              0.2964244184478654,
+              -0.12350391183854684,
+              1.0493657482729664
+            ],
+            "object_minus_finger_midpoint": [
+              0.005593951853079704,
+              0.011816697992106426,
+              0.0
+            ],
+            "finger_gap": 0.02614778375092054,
+            "fingertip_max_gap": 0.0968514524681324,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013073891875460264,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493657482729664,
+            "object_top_z": 1.1012925427921842,
+            "finger_top_clearance": 0.05192679451921789,
+            "fingertip_min_top_clearance": 0.015578038355765383,
+            "object_projection_between_fingers": 0.8169255785476913,
+            "object_to_finger_line_xy": 0.01011206766277468,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0509257262340662,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.291001869500845,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3016128901391639,
+              -0.1161577925060818,
+              1.2464666464346956
+            ],
+            "held_position": [
+              0.3060955040884139,
+              -0.11210992214727121,
+              1.2432393012262852
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006847980677104557,
+            "max_held_gripper_dist": 0.006857430465184693,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032273452084103926,
+            "max_held_gripper_z_dist": 0.003237769950973135,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08694336277496581,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3060955040884139,
+              -0.1369973866176239,
+              1.2432393012262852
+            ],
+            "held_grasp_finger_b": [
+              0.2974642290651808,
+              -0.11210992214727121,
+              1.2432393012262852
+            ],
+            "held_grasp_midpoint": [
+              0.30177986657679734,
+              -0.12455365438244756,
+              1.2432393012262852
+            ],
+            "held_grasp_object_position": [
+              0.3060955040884139,
+              -0.11210992214727121,
+              1.2432393012262852
+            ],
+            "held_grasp_finger_gap": 0.026341693117371088,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02446949940464436,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045366410478584036,
+              -0.9989394218891914,
+              -0.007868938681734772
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003747966210416962,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03709393040211534,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27809432284123703,
+              -0.41225291684373333,
+              0.8515395741097112
+            ],
+            "target_position": [
+              0.2746050111982736,
+              -0.41209542259295556,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003492864180117569,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17932371696777127,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395741097112,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540968464232237,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08705543914351029,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14752143704993448,
+            "release_required_pad_clearance": 0.053527719571755145,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0672589968390445,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008703351020812988,
+            "max_z_decrease": 0.008703351020812988,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501942696832184,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008703351020812988,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020898510467773797,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008703351020812988,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008703560545498461,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13030493259429932,
+              -0.4683568775653838,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13030493259429932,
+              -0.4683568775653838,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1312141542554325,
+              -0.46741847300699424,
+              0.8031027517344734
+            ],
+            "closest_button": [
+              0.1303466260433197,
+              -0.46831318736076344,
+              0.7681055068969727
+            ],
+            "closest_ee_minus_button": [
+              0.0008675282121128058,
+              0.0008947143537691993,
+              0.034997244837500774
+            ],
+            "button_min_z_position": [
+              0.1303466260433197,
+              -0.46831318736076344,
+              0.7681055068969727
+            ],
+            "min_active_finger_to_button": 0.1447196812744352,
+            "closest_active_finger": [
+              0.004802487790584564,
+              -0.531700611114502,
+              0.8107460141181946
+            ],
+            "closest_active_finger_button": [
+              0.13030585646629333,
+              -0.4683539271354674,
+              0.7763965129852295
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12550336867570877,
+              -0.06334668397903453,
+              0.03434950113296509
+            ],
+            "min_contact_pad_to_button": 0.020898510467773797,
+            "closest_contact_pad": [
+              0.1303466260433197,
+              -0.4684806983338223,
+              0.7890033460160193
+            ],
+            "closest_contact_pad_button": [
+              0.1303466260433197,
+              -0.46831318736076344,
+              0.7681055068969727
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00016751097305883755,
+              0.020897839119046635
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c0d65bebde9ca6eb04c1be923b86c4bb0255abfd960271bca6de6b6d0d6f8cc9",
+    "visual_seed": 2628264347418444671,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce1575453fcb5f19e923c4bf7a7c4e7c818c2821
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2998857750330237,
+              -0.11981393683116821,
+              1.0522139100457164
+            ],
+            "current_z": 1.0522139100457164,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19110740203095034,
+            "gripper_z": 1.0555096793886418,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2955512257551722,
+              -0.12422534809336919,
+              1.0555096793886418
+            ],
+            "object_minus_gripper": [
+              0.00433454927785154,
+              0.004411411262200973,
+              -0.0032957693429254142
+            ],
+            "object_to_gripper_xy": 0.006184566821241152,
+            "object_to_gripper_z": -0.0032957693429254142,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2998857750330237,
+              -0.14374720059768437,
+              1.0522139100457164
+            ],
+            "finger_b": [
+              0.28886183560364337,
+              -0.11981393683116821,
+              1.0522139100457164
+            ],
+            "finger_midpoint": [
+              0.29437380531833357,
+              -0.13178056871442628,
+              1.0522139100457164
+            ],
+            "object_minus_finger_midpoint": [
+              0.005511969714690146,
+              0.01196663188325807,
+              0.0
+            ],
+            "finger_gap": 0.0263501111014789,
+            "fingertip_max_gap": 0.09771092382969557,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013175055550739433,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0522139100457164,
+            "object_top_z": 1.105054470145465,
+            "finger_top_clearance": 0.05284056009974858,
+            "fingertip_min_top_clearance": 0.015852168029924573,
+            "object_projection_between_fingers": 0.8249715143318672,
+            "object_to_finger_line_xy": 0.010012817368904732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051355461914847786,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0113016704190003,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2988731409479636,
+              -0.12507531976534644,
+              1.2462720488948755
+            ],
+            "held_position": [
+              0.3035121382075753,
+              -0.12093304431990294,
+              1.2429773116700062
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007038041973556876,
+            "max_held_gripper_dist": 0.00704646240523531,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003294737224869282,
+            "max_held_gripper_z_dist": 0.0033055748010468733,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611901292038328,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3035121382075753,
+              -0.14581725169756915,
+              1.2429773116700062
+            ],
+            "held_grasp_finger_b": [
+              0.2948687400418131,
+              -0.12093304431990294,
+              1.2429773116700062
+            ],
+            "held_grasp_midpoint": [
+              0.29919043912469423,
+              -0.13337514800873604,
+              1.2429773116700062
+            ],
+            "held_grasp_object_position": [
+              0.3035121382075753,
+              -0.12093304431990294,
+              1.2429773116700062
+            ],
+            "held_grasp_finger_gap": 0.026342591153236956,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024444425268076594,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.047510625834192535,
+              -0.9988294241018789,
+              -0.009084161004320412
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037274289485071687,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708738417986729,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2788772469355162,
+              -0.4081178699649305,
+              0.8515395776154056
+            ],
+            "target_position": [
+              0.2760938915894669,
+              -0.4075747740472121,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0028358455808142192,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18190121906796605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395776154056,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753158559494885,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865374726791266,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1501856992794964,
+            "release_required_pad_clearance": 0.053268736339563305,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5571725103758545,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008593976497650146,
+            "max_z_decrease": 0.008593976497650146,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504979859222329,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008593976497650146,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020896529282916392,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008593976497650146,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008594156994121827,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.131793811917305,
+              -0.46383622288703913,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.131793811917305,
+              -0.46383622288703913,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1334272684317049,
+              -0.46290757631290724,
+              0.8036324914685807
+            ],
+            "closest_button": [
+              0.1318300813436508,
+              -0.46380570530891413,
+              0.7686306238174438
+            ],
+            "closest_ee_minus_button": [
+              0.0015971870880541195,
+              0.0008981289960068861,
+              0.035001867651136886
+            ],
+            "button_min_z_position": [
+              0.13183353841304776,
+              -0.46379718184471125,
+              0.7682148814201355
+            ],
+            "min_active_finger_to_button": 0.1441178566562836,
+            "closest_active_finger": [
+              0.006666101515293121,
+              -0.5265693068504333,
+              0.8107789754867554
+            ],
+            "closest_active_finger_button": [
+              0.13179460167884827,
+              -0.46383377909660334,
+              0.7764705419540405
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12512850016355515,
+              -0.06273552775383001,
+              0.034308433532714844
+            ],
+            "min_contact_pad_to_button": 0.020896529282916392,
+            "closest_contact_pad": [
+              0.13183353841304776,
+              -0.4640421014840181,
+              0.7891099753524935
+            ],
+            "closest_contact_pad_button": [
+              0.13183353841304776,
+              -0.46379718184471125,
+              0.7682148814201355
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002449196393068398,
+              0.020895093932358
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2bcc52c3d4679026af47cf44251d9336c9418291fde96a78965086fe5a37e42",
+    "visual_seed": 3644358757739300724,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28facde37daca0e38689ad5f4da3b42461d39e5c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3000812168095315,
+              -0.11476613722962917,
+              1.0510676028342667
+            ],
+            "current_z": 1.0510676028342667,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18996109481950052,
+            "gripper_z": 1.0543585838604028,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29571740035321564,
+              -0.11920717559373165,
+              1.0543585838604028
+            ],
+            "object_minus_gripper": [
+              0.004363816456315839,
+              0.004441038364102479,
+              -0.0032909810261361194
+            ],
+            "object_to_gripper_xy": 0.0062262119957356855,
+            "object_to_gripper_z": -0.0032909810261361194,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3000812168095315,
+              -0.13869540514129636,
+              1.0510676028342667
+            ],
+            "finger_b": [
+              0.2889784195486191,
+              -0.11476613722962917,
+              1.0510676028342667
+            ],
+            "finger_midpoint": [
+              0.2945298181790753,
+              -0.12673077118546278,
+              1.0510676028342667
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055513986304561724,
+              0.011964633955833609,
+              0.0
+            ],
+            "finger_gap": 0.02637957486020707,
+            "fingertip_max_gap": 0.09483671422153797,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013189787430103538,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0510676028342667,
+            "object_top_z": 1.1022998533783317,
+            "finger_top_clearance": 0.051232250544064994,
+            "fingertip_min_top_clearance": 0.01536967516321948,
+            "object_projection_between_fingers": 0.8228548627989032,
+            "object_to_finger_line_xy": 0.010071497043952419,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04991835711076899,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3730249684007827,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29921066645964145,
+              -0.11957270068338935,
+              1.2449211878675446
+            ],
+            "held_position": [
+              0.30386813137245416,
+              -0.11539905877918696,
+              1.2416175670096177
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007072847865713312,
+            "max_held_gripper_dist": 0.007081755008823163,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033036208579269033,
+            "max_held_gripper_z_dist": 0.003314535016357034,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08609206354063047,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30386813137245416,
+              -0.14027989544231398,
+              1.2416175670096177
+            ],
+            "held_grasp_finger_b": [
+              0.2950809969546288,
+              -0.11539905877918696,
+              1.2416175670096177
+            ],
+            "held_grasp_midpoint": [
+              0.29947456416354146,
+              -0.12783947711075047,
+              1.2416175670096177
+            ],
+            "held_grasp_object_position": [
+              0.30386813137245416,
+              -0.11539905877918696,
+              1.2416175670096177
+            ],
+            "held_grasp_finger_gap": 0.02638692411657972,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02442240662285201,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048161355753062414,
+              -0.9985840615408103,
+              -0.022591056829774466
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003799906090502023,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037085846451922186,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.283019719217157,
+              -0.4079565463134738,
+              0.8515396195285272
+            ],
+            "target_position": [
+              0.27855690980464726,
+              -0.4085533476550626,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004502537028577107,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1801591518406562,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396195285272,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755498207301692,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08709052075333833,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1482422387418537,
+            "release_required_pad_clearance": 0.053545260376669165,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.101804267192557,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008702278137207031,
+            "max_z_decrease": 0.008702278137207031,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504919131102657,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008702278137207031,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021101864199731722,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008702278137207031,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00870243999743466,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1342568397521972,
+              -0.46481481194496144,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1342568397521972,
+              -0.46481481194496144,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1352764992521971,
+              -0.46658583645322144,
+              0.8036297267617217
+            ],
+            "closest_button": [
+              0.134286880493164,
+              -0.46478164196014393,
+              0.7686409950256348
+            ],
+            "closest_ee_minus_button": [
+              0.000989618759033084,
+              -0.0018041944930775045,
+              0.034988731736086964
+            ],
+            "button_min_z_position": [
+              0.13427303731441492,
+              -0.4647642672061919,
+              0.7681065797805786
+            ],
+            "min_active_finger_to_button": 0.14466721496734045,
+            "closest_active_finger": [
+              -0.0055081769824028015,
+              -0.4501556158065796,
+              0.810704231262207
+            ],
+            "closest_active_finger_button": [
+              0.13425675034523005,
+              -0.4648124873638152,
+              0.7763597369194031
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13976492732763285,
+              0.014656871557235607,
+              0.034344494342803955
+            ],
+            "min_contact_pad_to_button": 0.021101864199731722,
+            "closest_contact_pad": [
+              0.13427303731441492,
+              -0.4678592026266403,
+              0.7889802485392605
+            ],
+            "closest_contact_pad_button": [
+              0.13427303731441492,
+              -0.4647642672061919,
+              0.7681065797805786
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003094935420448419,
+              0.020873668758681907
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "825adfcee3afd4b4e17d58a40a23d6b81413aaffe39407b0e654cf1d0c7dfe04",
+    "visual_seed": 1322040536342290783,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4cd019a9c7d9ee40ec2358c901d98e143837f7d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30395534089004406,
+              -0.11694796138045557,
+              1.0533313690921484
+            ],
+            "current_z": 1.0533313690921484,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19222492068202723,
+            "gripper_z": 1.0561152197156245,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2999489869643218,
+              -0.12127776252960189,
+              1.0561152197156245
+            ],
+            "object_minus_gripper": [
+              0.004006353925722239,
+              0.0043298011491463145,
+              -0.0027838506234760807
+            ],
+            "object_to_gripper_xy": 0.005898987181652351,
+            "object_to_gripper_z": -0.0027838506234760807,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30395534089004406,
+              -0.14054342400250364,
+              1.0533313690921484
+            ],
+            "finger_b": [
+              0.2929233968872145,
+              -0.11694796138045557,
+              1.0533313690921484
+            ],
+            "finger_midpoint": [
+              0.2984393688886293,
+              -0.12874569269147962,
+              1.0533313690921484
+            ],
+            "object_minus_finger_midpoint": [
+              0.005515972001414737,
+              0.011797731311024046,
+              0.0
+            ],
+            "finger_gap": 0.026047065954345677,
+            "fingertip_max_gap": 0.09206365820439857,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01302353297717284,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0533313690921484,
+            "object_top_z": 1.1032765903007595,
+            "finger_top_clearance": 0.04994522120861111,
+            "fingertip_min_top_clearance": 0.0149835663625833,
+            "object_projection_between_fingers": 0.8206148541620125,
+            "object_to_finger_line_xy": 0.009993594780446367,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853182910219929,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.018774593450178,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30359598025528006,
+              -0.12185949561863092,
+              1.2496300495607666
+            ],
+            "held_position": [
+              0.30795239122930107,
+              -0.11785338683496144,
+              1.2468284430188326
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0065479938436877145,
+            "max_held_gripper_dist": 0.006556853511767155,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028016065419340652,
+            "max_held_gripper_z_dist": 0.0028122894672719667,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867579237316924,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30795239122930107,
+              -0.14268509136941987,
+              1.2468284430188326
+            ],
+            "held_grasp_finger_b": [
+              0.29946999784117007,
+              -0.11785338683496144,
+              1.2468284430188326
+            ],
+            "held_grasp_midpoint": [
+              0.30371119453523554,
+              -0.13026923910219065,
+              1.2468284430188326
+            ],
+            "held_grasp_object_position": [
+              0.30795239122930107,
+              -0.11785338683496144,
+              1.2468284430188326
+            ],
+            "held_grasp_finger_gap": 0.02624051347968732,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024214982170433854,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06468193328949574,
+              -0.9972589573678369,
+              -0.03592797594561081
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003458762393460426,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037064101381611786,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2862483176146316,
+              -0.41199769233346395,
+              0.8515395818327027
+            ],
+            "target_position": [
+              0.2806214793573046,
+              -0.4131834905954326,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005750428357279722,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18379854206923207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395818327027,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589132675405688,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08695302287580985,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15113426884489248,
+            "release_required_pad_clearance": 0.053476511437904925,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9659548924953691,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008898496627807617,
+            "max_z_decrease": 0.008898496627807617,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504406824847411,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008898496627807617,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02107843046217467,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008898496627807617,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008898773245651432,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13632141053676605,
+              -0.4694449603557586,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13632141053676605,
+              -0.4694449603557586,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13529737688650478,
+              -0.47132594523226923,
+              0.8028870288986711
+            ],
+            "closest_button": [
+              0.13627989590167996,
+              -0.46938839554786677,
+              0.767910361289978
+            ],
+            "closest_ee_minus_button": [
+              -0.0009825190151751817,
+              -0.001937549684402462,
+              0.03497666760869311
+            ],
+            "button_min_z_position": [
+              0.13627989590167996,
+              -0.46938839554786677,
+              0.767910361289978
+            ],
+            "min_active_finger_to_button": 0.14658037066639829,
+            "closest_active_finger": [
+              -0.005515582859516144,
+              -0.4557250142097473,
+              0.8111042380332947
+            ],
+            "closest_active_finger_button": [
+              0.136323019862175,
+              -0.46944415569305414,
+              0.7767618298530579
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14183860272169113,
+              0.01371914148330683,
+              0.034342408180236816
+            ],
+            "min_contact_pad_to_button": 0.02107843046217467,
+            "closest_contact_pad": [
+              0.13627989590167996,
+              -0.47246749628975476,
+              0.7887626841670591
+            ],
+            "closest_contact_pad_button": [
+              0.13627989590167996,
+              -0.46938839554786677,
+              0.767910361289978
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030791007418879968,
+              0.020852322877081053
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f6696b88fc0f5e8559995faa43f1108e574c59b2a184ad7c08433cc3fc3a7dbd",
+    "visual_seed": 1507249241192465013,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..228bc9228827d0592924bf68ffd53ca19f93c78b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30025344933234116,
+              -0.11279681199448977,
+              1.0506166334334388
+            ],
+            "current_z": 1.0506166334334388,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18951018502331762,
+            "gripper_z": 1.053861586302711,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2960068619386399,
+              -0.11716583304650934,
+              1.053861586302711
+            ],
+            "object_minus_gripper": [
+              0.004246587393701262,
+              0.00436902105201957,
+              -0.0032449528692721774
+            ],
+            "object_to_gripper_xy": 0.006092770260344031,
+            "object_to_gripper_z": -0.0032449528692721774,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30025344933234116,
+              -0.1366692451161801,
+              1.0506166334334388
+            ],
+            "finger_b": [
+              0.2892807075903168,
+              -0.11279681199448977,
+              1.0506166334334388
+            ],
+            "finger_midpoint": [
+              0.294767078461329,
+              -0.12473302855533493,
+              1.0506166334334388
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054863708710121695,
+              0.011936216560845161,
+              0.0
+            ],
+            "finger_gap": 0.026273449040556906,
+            "fingertip_max_gap": 0.09359213966620314,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013136724520278453,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506166334334388,
+            "object_top_z": 1.1012052384558133,
+            "finger_top_clearance": 0.0505886050223745,
+            "fingertip_min_top_clearance": 0.015176581506712349,
+            "object_projection_between_fingers": 0.8255800577374376,
+            "object_to_finger_line_xy": 0.009969990730707019,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04929606983310157,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.095032116707181,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2996560667409187,
+              -0.11746100322227902,
+              1.2447853474933948
+            ],
+            "held_position": [
+              0.3041938159635049,
+              -0.11335795413432348,
+              1.2415234356718727
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006932982659479228,
+            "max_held_gripper_dist": 0.006941642518435822,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032619118215220233,
+            "max_held_gripper_z_dist": 0.0032724067398450796,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08605599838759363,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3041938159635049,
+              -0.13821749343873993,
+              1.2415234356718727
+            ],
+            "held_grasp_finger_b": [
+              0.29554644129149493,
+              -0.11335795413432348,
+              1.2415234356718727
+            ],
+            "held_grasp_midpoint": [
+              0.29987012862749995,
+              -0.1257877237865317,
+              1.2415234356718727
+            ],
+            "held_grasp_object_position": [
+              0.3041938159635049,
+              -0.11335795413432348,
+              1.2415234356718727
+            ],
+            "held_grasp_finger_gap": 0.02632059617763143,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024370268841257665,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.051681480292300803,
+              -0.9982959724656026,
+              -0.027095681459477605
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036911951561626227,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0370882065257746,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2847589410665615,
+              -0.4089907482760331,
+              0.8515395753246868
+            ],
+            "target_position": [
+              0.2794368235984856,
+              -0.4099192238977765,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005402499544115737,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1828309273637776,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395753246868,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590632187325254,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08768020029202138,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15010895348190884,
+            "release_required_pad_clearance": 0.05384010014601069,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.689587210500472,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008736789226531982,
+            "max_z_decrease": 0.008736789226531982,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034996939927347565,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008736789226531982,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020903155249467658,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008736789226531982,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008736998190977181,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13513675332069397,
+              -0.466180682182312,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13513675332069397,
+              -0.466180682182312,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13564937315191716,
+              -0.4660037821593651,
+              0.8030655686020307
+            ],
+            "closest_button": [
+              0.13517664372920987,
+              -0.46613529324531555,
+              0.7680720686912537
+            ],
+            "closest_ee_minus_button": [
+              0.0004727294227072909,
+              0.00013151108595044203,
+              0.03499349991077705
+            ],
+            "button_min_z_position": [
+              0.13517664372920987,
+              -0.46613529324531555,
+              0.7680720686912537
+            ],
+            "min_active_finger_to_button": 0.1453237870082958,
+            "closest_active_finger": [
+              -0.005259104073047638,
+              -0.4511677026748657,
+              0.8107328414916992
+            ],
+            "closest_active_finger_button": [
+              0.1351371854543686,
+              -0.4661779999732971,
+              0.7763442397117615
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14039628952741623,
+              0.015010297298431396,
+              0.034388601779937744
+            ],
+            "min_contact_pad_to_button": 0.020903155249467658,
+            "closest_contact_pad": [
+              0.13517664372920987,
+              -0.46707874898038654,
+              0.7889539218336189
+            ],
+            "closest_contact_pad_button": [
+              0.13517664372920987,
+              -0.46613529324531555,
+              0.7680720686912537
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000943455735070986,
+              0.020881853142365236
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e93c530bb92d1489e3ff379a404a4d26f48b45dc0e860f142bd9f36bbefd0f9c",
+    "visual_seed": 1760007070447389560,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c1411fe32f47c4439a205e729a022de06a83da5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2993046030399258,
+              -0.11449214249667117,
+              1.051184204660331
+            ],
+            "current_z": 1.051184204660331,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19007775625020973,
+            "gripper_z": 1.0542350603507213,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2951303009242486,
+              -0.11883771401863244,
+              1.0542350603507213
+            ],
+            "object_minus_gripper": [
+              0.004174302115677209,
+              0.004345571521961272,
+              -0.0030508556903903195
+            ],
+            "object_to_gripper_xy": 0.006025677555713384,
+            "object_to_gripper_z": -0.0030508556903903195,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2993046030399258,
+              -0.13828859090656728,
+              1.051184204660331
+            ],
+            "finger_b": [
+              0.2883476854958384,
+              -0.11449214249667117,
+              1.051184204660331
+            ],
+            "finger_midpoint": [
+              0.2938261442678821,
+              -0.12639036670161924,
+              1.051184204660331
+            ],
+            "object_minus_finger_midpoint": [
+              0.005478458772043671,
+              0.011898224204948071,
+              0.0
+            ],
+            "finger_gap": 0.02619780523236207,
+            "fingertip_max_gap": 0.09193023016811266,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013098902616181036,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051184204660331,
+            "object_top_z": 1.1010510143480743,
+            "finger_top_clearance": 0.04986680968774326,
+            "fingertip_min_top_clearance": 0.014960042906323011,
+            "object_projection_between_fingers": 0.8250769792093883,
+            "object_to_finger_line_xy": 0.009952578880435214,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048465115084056334,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7783812631484326,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29863851335878644,
+              -0.11957691494329051,
+              1.2462118906546322
+            ],
+            "held_position": [
+              0.3031300719683237,
+              -0.11552311635637424,
+              1.2431507987043764
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0067806832733961,
+            "max_held_gripper_dist": 0.006789994823517443,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030610919502558342,
+            "max_held_gripper_z_dist": 0.0030728417099930017,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08675710507690199,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3031300719683237,
+              -0.14039696591772904,
+              1.2431507987043764
+            ],
+            "held_grasp_finger_b": [
+              0.29460799772193025,
+              -0.11552311635637424,
+              1.2431507987043764
+            ],
+            "held_grasp_midpoint": [
+              0.29886903484512695,
+              -0.12796004113705164,
+              1.2431507987043764
+            ],
+            "held_grasp_object_position": [
+              0.3031300719683237,
+              -0.11552311635637424,
+              1.2431507987043764
+            ],
+            "held_grasp_finger_gap": 0.026293233758173468,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02427564939137727,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06251367295196149,
+              -0.9973685614080481,
+              -0.036715029741184235
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035057338030559547,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03704967921209505,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2881428128085383,
+              -0.4079858001733619,
+              0.8515395587061563
+            ],
+            "target_position": [
+              0.2823486672266884,
+              -0.4091596200362775,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005911850479692991,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18305029009039792,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395587061563,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544117254467539,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605550151947049,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15139425785351535,
+            "release_required_pad_clearance": 0.053027750759735245,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0871332585057258,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0087355375289917,
+            "max_z_decrease": 0.0087355375289917,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503787139530766,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0087355375289917,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020876694237203165,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0087355375289917,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00873582870631872,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13804858922958368,
+              -0.46542108058929443,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13804858922958368,
+              -0.46542108058929443,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13589082276185585,
+              -0.4654633001134473,
+              0.8035633015556254
+            ],
+            "closest_button": [
+              0.1380839347839355,
+              -0.4653925597667694,
+              0.7685942053794861
+            ],
+            "closest_ee_minus_button": [
+              -0.0021931120220796407,
+              -7.074034667786666e-05,
+              0.0349690961761393
+            ],
+            "button_min_z_position": [
+              0.13810896873474118,
+              -0.4653831124305725,
+              0.768073320388794
+            ],
+            "min_active_finger_to_button": 0.14783019426591235,
+            "closest_active_finger": [
+              0.009769819676876068,
+              -0.5303922891616821,
+              0.8106585741043091
+            ],
+            "closest_active_finger_button": [
+              0.13804879784584043,
+              -0.46542006731033325,
+              0.7763528823852539
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12827897816896436,
+              -0.06497222185134888,
+              0.034305691719055176
+            ],
+            "min_contact_pad_to_button": 0.020876694237203165,
+            "closest_contact_pad": [
+              0.13810896873474118,
+              -0.4664583140311759,
+              0.788922308464759
+            ],
+            "closest_contact_pad_button": [
+              0.13810896873474118,
+              -0.4653831124305725,
+              0.768073320388794
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010752016006033704,
+              0.020848988075965025
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f02f0e60976384bab8c76deeb57f95301e35e239b42d6cbb80b09a4b0f5873d",
+    "visual_seed": 7994310535476844271,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d45988298188e40ae2fd96ae706a71b607a7a38a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3035946664065608,
+              -0.11819580083424092,
+              1.049446193045624
+            ],
+            "current_z": 1.049446193045624,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18833974463550263,
+            "gripper_z": 1.0525930715557417,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2992548669854188,
+              -0.12263762873212157,
+              1.0525930715557417
+            ],
+            "object_minus_gripper": [
+              0.004339799421141988,
+              0.004441827897880654,
+              -0.0031468785101176344
+            ],
+            "object_to_gripper_xy": 0.006209967317960313,
+            "object_to_gripper_z": -0.0031468785101176344,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3035946664065608,
+              -0.14209112475543578,
+              1.049446193045624
+            ],
+            "finger_b": [
+              0.29246692549312847,
+              -0.11819580083424092,
+              1.049446193045624
+            ],
+            "finger_midpoint": [
+              0.2980307959498446,
+              -0.13014346279483835,
+              1.049446193045624
+            ],
+            "object_minus_finger_midpoint": [
+              0.005563870456716191,
+              0.011947661960597433,
+              0.0
+            ],
+            "finger_gap": 0.026359308092878755,
+            "fingertip_max_gap": 0.09496994777409548,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013179654046439388,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049446193045624,
+            "object_top_z": 1.1009705354386359,
+            "finger_top_clearance": 0.051524342393011846,
+            "fingertip_min_top_clearance": 0.015457302717903586,
+            "object_projection_between_fingers": 0.8217842845602636,
+            "object_to_finger_line_xy": 0.010087555132353206,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04998497388704774,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.073597601571874,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3029147795061229,
+              -0.12315346721410007,
+              1.2454657881354088
+            ],
+            "held_position": [
+              0.30758149935342566,
+              -0.11902198958291485,
+              1.2423032471292483
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00698920933767473,
+            "max_held_gripper_dist": 0.006997666058647087,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031625410061604242,
+            "max_held_gripper_z_dist": 0.003173310470454993,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08698602738200627,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30758149935342566,
+              -0.14398933237886907,
+              1.2423032471292483
+            ],
+            "held_grasp_finger_b": [
+              0.2988897199503221,
+              -0.11902198958291485,
+              1.2423032471292483
+            ],
+            "held_grasp_midpoint": [
+              0.3032356096518739,
+              -0.13150566098089195,
+              1.2423032471292483
+            ],
+            "held_grasp_object_position": [
+              0.30758149935342566,
+              -0.11902198958291485,
+              1.2423032471292483
+            ],
+            "held_grasp_finger_gap": 0.026437005039960607,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02438604068348621,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.061105709284503054,
+              -0.9979899836555668,
+              -0.01679538079352261
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035812189251826225,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699611238298088,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2814332497916682,
+              -0.40435966939688794,
+              0.8515395804386159
+            ],
+            "target_position": [
+              0.27698408977425415,
+              -0.40462828656845923,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004457261496190121,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18110109358380547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395804386159,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520050229976342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855178683271857,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14998451887449793,
+            "release_required_pad_clearance": 0.052758934163592855,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5678605932955233,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00867760181427002,
+            "max_z_decrease": 0.00867760181427002,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502307251806631,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00867760181427002,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020883344442859997,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00867760181427002,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008677692488712179,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13268402218818665,
+              -0.46088975667953486,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13268402218818665,
+              -0.46088975667953486,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1334274145623506,
+              -0.45987510505001583,
+              0.803501478532356
+            ],
+            "closest_button": [
+              0.1326756626367569,
+              -0.46084716916084284,
+              0.7684999704360962
+            ],
+            "closest_ee_minus_button": [
+              0.0007517519255937077,
+              0.0009720641108270089,
+              0.03500150809625979
+            ],
+            "button_min_z_position": [
+              0.1326705515384674,
+              -0.46085244417190546,
+              0.7681312561035156
+            ],
+            "min_active_finger_to_button": 0.14477962553187232,
+            "closest_active_finger": [
+              0.005678310990333557,
+              -0.5213795304298401,
+              0.8108546733856201
+            ],
+            "closest_active_finger_button": [
+              0.13268449902534485,
+              -0.46088832616806025,
+              0.7766292095184326
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270061880350113,
+              -0.06049120426177984,
+              0.0342254638671875
+            ],
+            "min_contact_pad_to_button": 0.020883344442859997,
+            "closest_contact_pad": [
+              0.1326705515384674,
+              -0.4612041578727311,
+              0.7890116385854479
+            ],
+            "closest_contact_pad_button": [
+              0.1326705515384674,
+              -0.46085244417190546,
+              0.7681312561035156
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000351713700825651,
+              0.020880382481932247
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb4005acade77325d94333c04b173b3071d2496e24988703f98bc4e6bb0412e3",
+    "visual_seed": 1246492999993845051,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c84aebfc6efaab72b7f765cd623d5ad5baa2dd9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29737798669512416,
+              -0.11187291056992578,
+              1.0499001215850834
+            ],
+            "current_z": 1.0499001215850834,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18879361357031732,
+            "gripper_z": 1.0531627881831087,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2930748284166328,
+              -0.11633258764545698,
+              1.0531627881831087
+            ],
+            "object_minus_gripper": [
+              0.00430315827849137,
+              0.0044596770755312015,
+              -0.003262666598025321
+            ],
+            "object_to_gripper_xy": 0.006197248646598532,
+            "object_to_gripper_z": -0.003262666598025321,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29737798669512416,
+              -0.1356590227845014,
+              1.0499001215850834
+            ],
+            "finger_b": [
+              0.2861357252319374,
+              -0.11187291056992578,
+              1.0499001215850834
+            ],
+            "finger_midpoint": [
+              0.2917568559635308,
+              -0.1237659666772136,
+              1.0499001215850834
+            ],
+            "object_minus_finger_midpoint": [
+              0.005621130731593371,
+              0.011893056107287817,
+              0.0
+            ],
+            "finger_gap": 0.026309077845698758,
+            "fingertip_max_gap": 0.09304250709938625,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013154538922849386,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499001215850834,
+            "object_top_z": 1.100243438278557,
+            "finger_top_clearance": 0.050343316693473694,
+            "fingertip_min_top_clearance": 0.015102995008042124,
+            "object_projection_between_fingers": 0.8174019601758513,
+            "object_to_finger_line_xy": 0.010164160609402659,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049021253549693125,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8834516039519638,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29652312110040313,
+              -0.1168822320195836,
+              1.2452570836880306
+            ],
+            "held_position": [
+              0.30117466462103737,
+              -0.11275134279885296,
+              1.24197926175867
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007031729479928808,
+            "max_held_gripper_dist": 0.007040882207949617,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003277821929360547,
+            "max_held_gripper_z_dist": 0.003287297751683571,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08683588674516732,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30117466462103737,
+              -0.1377131501056825,
+              1.24197926175867
+            ],
+            "held_grasp_finger_b": [
+              0.2925069867488378,
+              -0.11275134279885296,
+              1.24197926175867
+            ],
+            "held_grasp_midpoint": [
+              0.2968408256849376,
+              -0.12523224645226771,
+              1.24197926175867
+            ],
+            "held_grasp_object_position": [
+              0.30117466462103737,
+              -0.11275134279885296,
+              1.24197926175867
+            ],
+            "held_grasp_finger_gap": 0.026423861635262676,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024312945458015163,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06711085268489929,
+              -0.9973092254423962,
+              -0.029503259131722585
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003506307516047972,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036982082088286135,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28500139224476156,
+              -0.4099357747836382,
+              0.8515395828482604
+            ],
+            "target_position": [
+              0.27980651927457006,
+              -0.4106811802795952,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005248079127626526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18350396473244074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395828482604,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534885474093587,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551787803911069,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519444991874973,
+            "release_required_pad_clearance": 0.05275893901955535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5678605929059317,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008746743202209473,
+            "max_z_decrease": 0.008746743202209473,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035006672961572415,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008746743202209473,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02087881293107798,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008746743202209473,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008746838833142626,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13550645112991327,
+              -0.46694263815879816,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13550645112991327,
+              -0.46694263815879816,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13587091193196435,
+              -0.4661261320720786,
+              0.8034286877277678
+            ],
+            "closest_button": [
+              0.1354981362819671,
+              -0.46689471602439875,
+              0.7684324383735657
+            ],
+            "closest_ee_minus_button": [
+              0.00037277564999724233,
+              0.0007685839523201565,
+              0.03499624935420209
+            ],
+            "button_min_z_position": [
+              0.13549208641052243,
+              -0.46690434217453003,
+              0.7680621147155762
+            ],
+            "min_active_finger_to_button": 0.1452337300758066,
+            "closest_active_finger": [
+              0.009131260216236115,
+              -0.5297636389732361,
+              0.8105999231338501
+            ],
+            "closest_active_finger_button": [
+              0.1355068683624267,
+              -0.4669404923915863,
+              0.7763173580169678
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1263756081461906,
+              -0.06282314658164978,
+              0.034282565116882324
+            ],
+            "min_contact_pad_to_button": 0.02087881293107798,
+            "closest_contact_pad": [
+              0.13549208641052243,
+              -0.4672394671843049,
+              0.7889382379341906
+            ],
+            "closest_contact_pad_button": [
+              0.13549208641052243,
+              -0.46690434217453003,
+              0.7680621147155762
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003351250097748948,
+              0.02087612321861443
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0224559f8d89a4ca28f7e27a12af4460d43eed6088c46a236e02486a56e3845e",
+    "visual_seed": 5111285086207673203,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2e65708189495f55f2d543e502ed0aab5201dc2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3025762283009757,
+              -0.11517043799371669,
+              1.0505817704991067
+            ],
+            "current_z": 1.0505817704991067,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18947532208898554,
+            "gripper_z": 1.0537241774111377,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29803697208225216,
+              -0.11967917801014186,
+              1.0537241774111377
+            ],
+            "object_minus_gripper": [
+              0.004539256218723531,
+              0.004508740016425164,
+              -0.0031424069120309372
+            ],
+            "object_to_gripper_xy": 0.006397935882371269,
+            "object_to_gripper_z": -0.0031424069120309372,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3025762283009757,
+              -0.13928314620384274,
+              1.0505817704991067
+            ],
+            "finger_b": [
+              0.291435635219314,
+              -0.11517043799371669,
+              1.0505817704991067
+            ],
+            "finger_midpoint": [
+              0.29700593176014484,
+              -0.1272267920987797,
+              1.0505817704991067
+            ],
+            "object_minus_finger_midpoint": [
+              0.005570296540830855,
+              0.012056354105063019,
+              0.0
+            ],
+            "finger_gap": 0.026561918444228554,
+            "fingertip_max_gap": 0.09194223999199155,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013280959222114272,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0505817704991067,
+            "object_top_z": 1.100837437039352,
+            "finger_top_clearance": 0.05025566654024538,
+            "fingertip_min_top_clearance": 0.015076699962073614,
+            "object_projection_between_fingers": 0.8240870768386519,
+            "object_to_finger_line_xy": 0.010113345947880001,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847111999599578,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9693731641436178,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30180792668172624,
+              -0.12017687280443265,
+              1.2461834847196496
+            ],
+            "held_position": [
+              0.3066435187656661,
+              -0.11596236492959136,
+              1.2430190681838484
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007152521194754521,
+            "max_held_gripper_dist": 0.0071621125220775505,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003164416535801129,
+            "max_held_gripper_z_dist": 0.0031724197557023714,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08702990174534116,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3066435187656661,
+              -0.1410133370981897,
+              1.2430190681838484
+            ],
+            "held_grasp_finger_b": [
+              0.2977949961356672,
+              -0.11596236492959136,
+              1.2430190681838484
+            ],
+            "held_grasp_midpoint": [
+              0.30221925745066663,
+              -0.12848785101389054,
+              1.2430190681838484
+            ],
+            "held_grasp_object_position": [
+              0.3066435187656661,
+              -0.11596236492959136,
+              1.2430190681838484
+            ],
+            "held_grasp_finger_gap": 0.02656779176607441,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024361644919143437,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06980154477115268,
+              -0.9971383665090519,
+              -0.029031403397366876
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003558262843294767,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03692178706200692,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29035236274975357,
+              -0.40396119087884486,
+              0.8515396253010097
+            ],
+            "target_position": [
+              0.2843559160919124,
+              -0.40531027458682223,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006146332188505953,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18367258451191043,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396253010097,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516444937245284,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521722728207569,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527146931420277,
+            "release_required_pad_clearance": 0.052608613641037846,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2797646176625769,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008759498596191406,
+            "max_z_decrease": 0.008759498596191406,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503496257654668,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008759498596191406,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021076972034992942,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008759498596191406,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008759728788324712,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1400558352470398,
+              -0.4615717232227325,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1400558352470398,
+              -0.4615717232227325,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1401015341813167,
+              -0.46349081124823305,
+              0.803620327104051
+            ],
+            "closest_button": [
+              0.14009414613246915,
+              -0.4615438580513,
+              0.7686395049095154
+            ],
+            "closest_ee_minus_button": [
+              7.3880488475619455e-06,
+              -0.0019469531969330545,
+              0.03498082219453558
+            ],
+            "button_min_z_position": [
+              0.1400942802429199,
+              -0.46152117848396296,
+              0.7680493593215942
+            ],
+            "min_active_finger_to_button": 0.1456437294229832,
+            "closest_active_finger": [
+              -0.0009331926703453064,
+              -0.4492150843143463,
+              0.8106650114059448
+            ],
+            "closest_active_finger_button": [
+              0.14005637168884275,
+              -0.4615699648857116,
+              0.7762935757637024
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14098956435918805,
+              0.012354880571365301,
+              0.03437143564224243
+            ],
+            "min_contact_pad_to_button": 0.021076972034992942,
+            "closest_contact_pad": [
+              0.1400942802429199,
+              -0.46453493301361365,
+              0.7889097532248475
+            ],
+            "closest_contact_pad_button": [
+              0.1400942802429199,
+              -0.46152117848396296,
+              0.7680493593215942
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003013754529650692,
+              0.020860393903253227
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "649708a11d687682ab0d49e3dca8cedf059c37d23e7efad339d7967674948441",
+    "visual_seed": 4030033221932677383,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11c5242dcf69c102ef0b34af09a52f2ba9639d68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3023352572638909,
+              -0.10981347741782464,
+              1.051876593134276
+            ],
+            "current_z": 1.051876593134276,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.19077014472415454,
+            "gripper_z": 1.0558667508590316,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29766454943220644,
+              -0.11432855335220236,
+              1.0558667508590316
+            ],
+            "object_minus_gripper": [
+              0.00467070783168444,
+              0.004515075934377721,
+              -0.003990157724755639
+            ],
+            "object_to_gripper_xy": 0.00649626218237497,
+            "object_to_gripper_z": -0.003990157724755639,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3023352572638909,
+              -0.1341152249257015,
+              1.051876593134276
+            ],
+            "finger_b": [
+              0.2912979000797722,
+              -0.10981347741782464,
+              1.051876593134276
+            ],
+            "finger_midpoint": [
+              0.29681657867183153,
+              -0.12196435117176307,
+              1.051876593134276
+            ],
+            "object_minus_finger_midpoint": [
+              0.005518678592059345,
+              0.012150873753938432,
+              0.0
+            ],
+            "finger_gap": 0.02669078840248851,
+            "fingertip_max_gap": 0.09726592301667628,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334539420124426,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051876593134276,
+            "object_top_z": 1.103993956491066,
+            "finger_top_clearance": 0.05211736335678996,
+            "fingertip_min_top_clearance": 0.015635209007036955,
+            "object_projection_between_fingers": 0.8289955588300986,
+            "object_to_finger_line_xy": 0.010049424670336649,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05113296150833814,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.4119396951522316,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3012319292722181,
+              -0.11386019727066166,
+              1.2486533892550722
+            ],
+            "held_position": [
+              0.3061161235729044,
+              -0.10953402301782973,
+              1.2446602891036385
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007649574266068839,
+            "max_held_gripper_dist": 0.007660152232759783,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003993100151433726,
+            "max_held_gripper_z_dist": 0.004013926960654501,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08675227026099692,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3061161235729044,
+              -0.13452420355749764,
+              1.2446602891036385
+            ],
+            "held_grasp_finger_b": [
+              0.29674442434164217,
+              -0.10953402301782973,
+              1.2446602891036385
+            ],
+            "held_grasp_midpoint": [
+              0.3014302739572733,
+              -0.12202911328766369,
+              1.2446602891036385
+            ],
+            "held_grasp_object_position": [
+              0.3061161235729044,
+              -0.10953402301782973,
+              1.2446602891036385
+            ],
+            "held_grasp_finger_gap": 0.026689658482012053,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024918570272774967,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007534636801311674,
+              -0.9999600676364597,
+              -0.004805453231439216
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004591964335038731,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719035258378889,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27844421627149313,
+              -0.4125058656751196,
+              0.8515394986740618
+            ],
+            "target_position": [
+              0.27562479578180005,
+              -0.41237109741968675,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0028226396122023063,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.181211697185418,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394986740618,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566357864049422,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08956403756558072,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1488201251690801,
+            "release_required_pad_clearance": 0.05478201878279036,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.616851171875467,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00871211290359497,
+            "max_z_decrease": 0.00871211290359497,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500810368320216,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00871211290359497,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02089667951311086,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00871211290359497,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008712320436786958,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13132472336292267,
+              -0.4686325490474701,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13132472336292267,
+              -0.4686325490474701,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13202164046681217,
+              -0.46796188210536316,
+              0.8030930923065925
+            ],
+            "closest_button": [
+              0.13136540353298187,
+              -0.468588262796402,
+              0.7680967450141907
+            ],
+            "closest_ee_minus_button": [
+              0.0006562369338302954,
+              0.0006263806910388192,
+              0.034996347292401864
+            ],
+            "button_min_z_position": [
+              0.13136540353298187,
+              -0.468588262796402,
+              0.7680967450141907
+            ],
+            "min_active_finger_to_button": 0.14500343498492624,
+            "closest_active_finger": [
+              0.0053487420082092285,
+              -0.5316997170448303,
+              0.8107068538665771
+            ],
+            "closest_active_finger_button": [
+              0.13132555782794952,
+              -0.4686296880245209,
+              0.776384711265564
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1259768158197403,
+              -0.06307002902030945,
+              0.034322142601013184
+            ],
+            "min_contact_pad_to_button": 0.02089667951311086,
+            "closest_contact_pad": [
+              0.13136540353298187,
+              -0.4690769969831163,
+              0.7889877084569906
+            ],
+            "closest_contact_pad_button": [
+              0.13136540353298187,
+              -0.468588262796402,
+              0.7680967450141907
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004887341867143014,
+              0.020890963442799948
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4dafbd0661161175f9635ab7a472bcd13146515e2e463026b41356adddc15617",
+    "visual_seed": 997629364098804176,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..80c9010f6e6c79c16a88793d9e59b9d9c00adf3c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30217674917497395,
+              -0.11296877648217998,
+              1.0500154976931113
+            ],
+            "current_z": 1.0500154976931113,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18890898967834513,
+            "gripper_z": 1.0535384879530318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2978684331767357,
+              -0.11738684956243338,
+              1.0535384879530318
+            ],
+            "object_minus_gripper": [
+              0.004308315998238221,
+              0.004418073080253396,
+              -0.003522990259920533
+            ],
+            "object_to_gripper_xy": 0.006170976947221171,
+            "object_to_gripper_z": -0.003522990259920533,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30217674917497395,
+              -0.13684587660095326,
+              1.0500154976931113
+            ],
+            "finger_b": [
+              0.29108474781699434,
+              -0.11296877648217998,
+              1.0500154976931113
+            ],
+            "finger_midpoint": [
+              0.29663074849598414,
+              -0.12490732654156662,
+              1.0500154976931113
+            ],
+            "object_minus_finger_midpoint": [
+              0.005546000678989804,
+              0.01193855005938664,
+              0.0
+            ],
+            "finger_gap": 0.02632771171612422,
+            "fingertip_max_gap": 0.09739417814747717,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01316385585806211,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500154976931113,
+            "object_top_z": 1.1023983226247496,
+            "finger_top_clearance": 0.05238282493163826,
+            "fingertip_min_top_clearance": 0.01571484747949148,
+            "object_projection_between_fingers": 0.8225019442032528,
+            "object_to_finger_line_xy": 0.010059545994642838,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051197089073738586,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1695467271853044,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3014568909786577,
+              -0.11759059553936918,
+              1.2464675406235328
+            ],
+            "held_position": [
+              0.30606017326869245,
+              -0.11344677571089706,
+              1.242930292214957
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007132571550048315,
+            "max_held_gripper_dist": 0.007141697733098281,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035372484085758327,
+            "max_held_gripper_z_dist": 0.0035483734991430538,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08550500276284405,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30606017326869245,
+              -0.13834680194377558,
+              1.242930292214957
+            ],
+            "held_grasp_finger_b": [
+              0.29719246336216915,
+              -0.11344677571089706,
+              1.242930292214957
+            ],
+            "held_grasp_midpoint": [
+              0.3016263183154308,
+              -0.12589678882733632,
+              1.242930292214957
+            ],
+            "held_grasp_object_position": [
+              0.30606017326869245,
+              -0.11344677571089706,
+              1.242930292214957
+            ],
+            "held_grasp_finger_gap": 0.0264319425200701,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024562734415992715,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03617201374786548,
+              -0.9993361897662129,
+              -0.004331886999026091
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003980981344580488,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03711811993744786,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2860168467673487,
+              -0.41360963457666367,
+              0.851539558091176
+            ],
+            "target_position": [
+              0.2828958046845568,
+              -0.41343881981824926,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003125712936955374,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.181683638221707,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539558091176,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564283313708998,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08785152204812922,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14935346540668973,
+            "release_required_pad_clearance": 0.053925761024064614,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8616157845267023,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00887078046798706,
+            "max_z_decrease": 0.00887078046798706,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504738617241034,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00887078046798706,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02085983240215339,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00887078046798706,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008871064497832922,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13859573006629944,
+              -0.46970027685165394,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13859573006629944,
+              -0.46970027685165394,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1392611367677776,
+              -0.46783997841621927,
+              0.8029810578985309
+            ],
+            "closest_button": [
+              0.13865377008914948,
+              -0.46965554356575,
+              0.767985999584198
+            ],
+            "closest_ee_minus_button": [
+              0.000607366678628124,
+              0.00181556514953074,
+              0.034995058314332916
+            ],
+            "button_min_z_position": [
+              0.1386536955833435,
+              -0.46965929865837086,
+              0.7679380774497986
+            ],
+            "min_active_finger_to_button": 0.14447634086458833,
+            "closest_active_finger": [
+              0.012010924518108368,
+              -0.5303577184677124,
+              0.8103070259094238
+            ],
+            "closest_active_finger_button": [
+              0.13859470188617706,
+              -0.4696981310844421,
+              0.7760962843894958
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1265837773680687,
+              -0.06065958738327032,
+              0.03421074151992798
+            ],
+            "min_contact_pad_to_button": 0.02085983240215339,
+            "closest_contact_pad": [
+              0.1386536955833435,
+              -0.46965929865837086,
+              0.788797909851952
+            ],
+            "closest_contact_pad_button": [
+              0.1386536955833435,
+              -0.46965929865837086,
+              0.7679380774497986
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02085983240215339
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17167e09d027567ea22501879bb7916c5da0a4c31c6880bc8fbecdeb05ac6501",
+    "visual_seed": 1265906771044113643,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a25d5125effdac128562d022ad736c50cd365d62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30174498441598174,
+              -0.11821613460249258,
+              1.0491527678059613
+            ],
+            "current_z": 1.0491527678059613,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18804631939583993,
+            "gripper_z": 1.0534332121585999,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29720002042386956,
+              -0.12259520339350387,
+              1.0534332121585999
+            ],
+            "object_minus_gripper": [
+              0.004544963992112183,
+              0.004379068791011284,
+              -0.004280444352638524
+            ],
+            "object_to_gripper_xy": 0.006311334341167907,
+            "object_to_gripper_z": -0.004280444352638524,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30174498441598174,
+              -0.14236352731664162,
+              1.0491527678059613
+            ],
+            "finger_b": [
+              0.2908224629890127,
+              -0.11821613460249258,
+              1.0491527678059613
+            ],
+            "finger_midpoint": [
+              0.2962837237024972,
+              -0.1302898309595671,
+              1.0491527678059613
+            ],
+            "object_minus_finger_midpoint": [
+              0.005461260713484517,
+              0.012073696357074504,
+              0.0
+            ],
+            "finger_gap": 0.0265027932341845,
+            "fingertip_max_gap": 0.10133895091158532,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013251396617092237,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491527678059613,
+            "object_top_z": 1.1033789053109544,
+            "finger_top_clearance": 0.054226137504993055,
+            "fingertip_min_top_clearance": 0.0162678412514979,
+            "object_projection_between_fingers": 0.8301511878398442,
+            "object_to_finger_line_xy": 0.009951796853832426,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05316947545579266,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.813129448027956,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30048491990772463,
+              -0.12276176287134084,
+              1.2458450705355255
+            ],
+            "held_position": [
+              0.30524483554043946,
+              -0.11856418705423981,
+              1.2415715912585235
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007651082583650529,
+            "max_held_gripper_dist": 0.00766238861567854,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004273479277002057,
+            "max_held_gripper_z_dist": 0.0042853124175343815,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08645498466241605,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30524483554043946,
+              -0.14344659301850882,
+              1.2415715912585235
+            ],
+            "held_grasp_finger_b": [
+              0.2961623032681522,
+              -0.11856418705423981,
+              1.2415715912585235
+            ],
+            "held_grasp_midpoint": [
+              0.3007035694042958,
+              -0.13100539003637432,
+              1.2415715912585235
+            ],
+            "held_grasp_object_position": [
+              0.30524483554043946,
+              -0.11856418705423981,
+              1.2415715912585235
+            ],
+            "held_grasp_finger_gap": 0.02648823359621834,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024884082373015926,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0004835561677612663,
+              -0.9998908664316409,
+              0.014765547738406883
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004550990040469907,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037282600798086256,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27809384492474754,
+              -0.4110533144446833,
+              0.8515395794497148
+            ],
+            "target_position": [
+              0.27624775716603334,
+              -0.409952419427474,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0021494208177531534,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18137435834046609,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395794497148,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751485147735486,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08852255808314362,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15005173871039412,
+            "release_required_pad_clearance": 0.05426127904157181,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.541566760854633,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008592069149017334,
+            "max_z_decrease": 0.008592069149017334,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035014193945176464,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008592069149017334,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0208509761320018,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008592069149017334,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00859214477148838,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13194768130779266,
+              -0.4662138819694518,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13194768130779266,
+              -0.4662138819694518,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1305811043675406,
+              -0.46535028311476534,
+              0.8035599897188836
+            ],
+            "closest_button": [
+              0.131957933306694,
+              -0.4661667346954345,
+              0.7685824036598206
+            ],
+            "closest_ee_minus_button": [
+              -0.0013768289391533906,
+              0.0008164515806691752,
+              0.03497758605906309
+            ],
+            "button_min_z_position": [
+              0.13196247816085813,
+              -0.46618101000785817,
+              0.7682167887687683
+            ],
+            "min_active_finger_to_button": 0.14674994382853127,
+            "closest_active_finger": [
+              0.0034732744097709656,
+              -0.528287410736084,
+              0.8107438683509827
+            ],
+            "closest_active_finger_button": [
+              0.13194817304611203,
+              -0.46621236205101,
+              0.776444673538208
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12847489863634107,
+              -0.062075048685073964,
+              0.03429919481277466
+            ],
+            "min_contact_pad_to_button": 0.0208509761320018,
+            "closest_contact_pad": [
+              0.13196247816085813,
+              -0.4665324818353098,
+              0.7890648024202368
+            ],
+            "closest_contact_pad_button": [
+              0.13196247816085813,
+              -0.46618101000785817,
+              0.7682167887687683
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00035147182745165484,
+              0.02084801365146849
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "097689c1d28737ce55b13f394ce6fabf07c4631c9ab2047163386bc2c7307a96",
+    "visual_seed": 8940276842285359918,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0dee591cffdfa50ebc0beb0cce22b9f92e661cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3018301384377151,
+              -0.11088397792622393,
+              1.0502908238399158
+            ],
+            "current_z": 1.0502908238399158,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18918431582514983,
+            "gripper_z": 1.054324575650986,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2972859198784402,
+              -0.11528841861344573,
+              1.054324575650986
+            ],
+            "object_minus_gripper": [
+              0.004544218559274893,
+              0.004404440687221803,
+              -0.004033751811070241
+            ],
+            "object_to_gripper_xy": 0.006328429511475438,
+            "object_to_gripper_z": -0.004033751811070241,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3018301384377151,
+              -0.13519999795797916,
+              1.0502908238399158
+            ],
+            "finger_b": [
+              0.29108550747893114,
+              -0.11088397792622393,
+              1.0502908238399158
+            ],
+            "finger_midpoint": [
+              0.2964578229583231,
+              -0.12304198794210154,
+              1.0502908238399158
+            ],
+            "object_minus_finger_midpoint": [
+              0.005372315479391987,
+              0.012158010015877616,
+              0.0
+            ],
+            "finger_gap": 0.02658412918688857,
+            "fingertip_max_gap": 0.09707412525320727,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013292064593444284,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0502908238399158,
+            "object_top_z": 1.1024544837974446,
+            "finger_top_clearance": 0.05216365995752881,
+            "fingertip_min_top_clearance": 0.01564909798725864,
+            "object_projection_between_fingers": 0.8366428568852634,
+            "object_to_finger_line_xy": 0.009827918747719083,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05103706262660364,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.116134888640007,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3007540819080001,
+              -0.11471619723526176,
+              1.2459629360757318
+            ],
+            "held_position": [
+              0.30546063839389515,
+              -0.11044269461646856,
+              1.2419297582086006
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007528679983613976,
+            "max_held_gripper_dist": 0.0075395603080014514,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004033177867131199,
+            "max_held_gripper_z_dist": 0.00405135959919245,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673737804840552,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30546063839389515,
+              -0.13530102480629583,
+              1.2419297582086006
+            ],
+            "held_grasp_finger_b": [
+              0.29623634529196186,
+              -0.11044269461646856,
+              1.2419297582086006
+            ],
+            "held_grasp_midpoint": [
+              0.3008484918429285,
+              -0.1228718597113822,
+              1.2419297582086006
+            ],
+            "held_grasp_object_position": [
+              0.30546063839389515,
+              -0.11044269461646856,
+              1.2419297582086006
+            ],
+            "held_grasp_finger_gap": 0.02651460282668499,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024807178356295576,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.005424461567520167,
+              -0.9999551454138635,
+              -0.007764172656617994
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004545683686456097,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726662406852829,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2824182146110341,
+              -0.4115481061308883,
+              0.8515395923281832
+            ],
+            "target_position": [
+              0.27846017351229585,
+              -0.41202753790987046,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003986971804515197,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18293079670515514,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395923281832,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590054141973106,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08953475760175987,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15013807637519272,
+            "release_required_pad_clearance": 0.05476737880087994,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.586226495882591,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008751988410949707,
+            "max_z_decrease": 0.008751988410949707,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498581323289842,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008751988410949707,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02088993864581035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008751988410949707,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008752302983258844,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1341601014137268,
+              -0.4682889878749847,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1341601014137268,
+              -0.4682889878749847,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13366714533246157,
+              -0.46832390467659946,
+              0.8034783692768223
+            ],
+            "closest_button": [
+              0.13420520722866058,
+              -0.46826022863388056,
+              0.7684967517852783
+            ],
+            "closest_ee_minus_button": [
+              -0.0005380618961990102,
+              -6.367604271889649e-05,
+              0.03498161749154394
+            ],
+            "button_min_z_position": [
+              0.13422076404094696,
+              -0.46824625134468073,
+              0.7680568695068359
+            ],
+            "min_active_finger_to_button": 0.14633406209796404,
+            "closest_active_finger": [
+              -0.007293827831745148,
+              -0.4534342288970947,
+              0.8107365965843201
+            ],
+            "closest_active_finger_button": [
+              0.1341608613729477,
+              -0.46828666329383845,
+              0.7763326168060303
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14145468920469284,
+              0.014852434396743719,
+              0.034403979778289795
+            ],
+            "min_contact_pad_to_button": 0.02088993864581035,
+            "closest_contact_pad": [
+              0.13422076404094696,
+              -0.4693832829631299,
+              0.7889158410952045
+            ],
+            "closest_contact_pad_button": [
+              0.13422076404094696,
+              -0.46824625134468073,
+              0.7680568695068359
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011370316184491913,
+              0.02085897158836858
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dccee4db7e80aa397cefdc8ba288fcd1329fabe742069a46a2f8123d34ff6e54",
+    "visual_seed": 5153182384536479396,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dce19f6195323a32d5e9515da62821d435b45bdf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3067108188645108,
+              -0.1138775446982556,
+              1.0507017638870897
+            ],
+            "current_z": 1.0507017638870897,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1895953154769684,
+            "gripper_z": 1.0539681261579978,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3023804245814844,
+              -0.11829324035860354,
+              1.0539681261579978
+            ],
+            "object_minus_gripper": [
+              0.004330394283026395,
+              0.00441569566034794,
+              -0.003266362270908152
+            ],
+            "object_to_gripper_xy": 0.006184713640200597,
+            "object_to_gripper_z": -0.003266362270908152,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3067108188645108,
+              -0.13781586019403186,
+              1.0507017638870897
+            ],
+            "finger_b": [
+              0.29566222405780784,
+              -0.1138775446982556,
+              1.0507017638870897
+            ],
+            "finger_midpoint": [
+              0.3011865214611593,
+              -0.12584670244614374,
+              1.0507017638870897
+            ],
+            "object_minus_finger_midpoint": [
+              0.005524297403351475,
+              0.011969157747888134,
+              0.0
+            ],
+            "finger_gap": 0.026365022207045927,
+            "fingertip_max_gap": 0.09322650509735977,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01318251110352297,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507017638870897,
+            "object_top_z": 1.1010155247569453,
+            "finger_top_clearance": 0.05031376086985562,
+            "fingertip_min_top_clearance": 0.01509412826095665,
+            "object_projection_between_fingers": 0.8243865356421672,
+            "object_to_finger_line_xy": 0.010031652778095064,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911325254867989,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1095800295152705,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3062539642949207,
+              -0.11859842154009703,
+              1.2459833722911873
+            ],
+            "held_position": [
+              0.3108699031398772,
+              -0.11445491760410006,
+              1.2426903409414973
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00702278945704923,
+            "max_held_gripper_dist": 0.007031636837610525,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032930313496899455,
+            "max_held_gripper_z_dist": 0.0033042028527607847,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08693209515238542,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3108699031398772,
+              -0.13937253463421,
+              1.2426903409414973
+            ],
+            "held_grasp_finger_b": [
+              0.3020722718010034,
+              -0.11445491760410006,
+              1.2426903409414973
+            ],
+            "held_grasp_midpoint": [
+              0.3064710874704403,
+              -0.12691372611915502,
+              1.2426903409414973
+            ],
+            "held_grasp_object_position": [
+              0.3108699031398772,
+              -0.11445491760410006,
+              1.2426903409414973
+            ],
+            "held_grasp_finger_gap": 0.026425100863269387,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02446015468166679,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.047774041364096305,
+              -0.9985085273239083,
+              -0.02642653653397975
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038130673264366696,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03706987432577224,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28328001991166774,
+              -0.40424298541312276,
+              0.8515396069000096
+            ],
+            "target_position": [
+              0.2777257491532163,
+              -0.40547693203749946,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005689687858749318,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850086285004201,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396069000096,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555613920482603,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868928700155966,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15301961477676793,
+            "release_required_pad_clearance": 0.053446435007798304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9065306629809884,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008726179599761963,
+            "max_z_decrease": 0.008726179599761963,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499821765200453,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008726179599761963,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020875183394721747,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008726179599761963,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008726288246791267,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1334256678819656,
+              -0.4617383778095245,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1334256678819656,
+              -0.4617383778095245,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13324389015725757,
+              -0.4610700689038877,
+              0.8034455763695062
+            ],
+            "closest_button": [
+              0.13341361284255981,
+              -0.46169218420982355,
+              0.7684532999992371
+            ],
+            "closest_ee_minus_button": [
+              -0.00016972268530224266,
+              0.0006221153059358664,
+              0.03499227637026914
+            ],
+            "button_min_z_position": [
+              0.13340990245342252,
+              -0.46169778704643244,
+              0.7680826783180237
+            ],
+            "min_active_finger_to_button": 0.14573454740456743,
+            "closest_active_finger": [
+              0.005344107747077942,
+              -0.5222590565681458,
+              0.8108607530593872
+            ],
+            "closest_active_finger_button": [
+              0.1334266811609268,
+              -0.4617365598678588,
+              0.7766490578651428
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12808257341384885,
+              -0.060522496700286976,
+              0.034211695194244385
+            ],
+            "min_contact_pad_to_button": 0.020875183394721747,
+            "closest_contact_pad": [
+              0.13340990245342252,
+              -0.46242900519512553,
+              0.7889450511883922
+            ],
+            "closest_contact_pad_button": [
+              0.13340990245342252,
+              -0.46169778704643244,
+              0.7680826783180237
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007312181486930913,
+              0.020862372870368517
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "792182549c3f95ac9294291aa77f1b103bba2fa6be933ab36e0c94343ae112cd",
+    "visual_seed": 2261942316378729179,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48d014e64e90253ec4db63060c2b576cfbb34983
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3000469545987394,
+              -0.11193716561545501,
+              1.0512534525525523
+            ],
+            "current_z": 1.0512534525525523,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.19014682532849692,
+            "gripper_z": 1.0545595566762427,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2957534027579961,
+              -0.11638135859548027,
+              1.0545595566762427
+            ],
+            "object_minus_gripper": [
+              0.004293551840743315,
+              0.004444192980025255,
+              -0.0033061041236903677
+            ],
+            "object_to_gripper_xy": 0.0061794367585449135,
+            "object_to_gripper_z": -0.0033061041236903677,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3000469545987394,
+              -0.1357181980511231,
+              1.0512534525525523
+            ],
+            "finger_b": [
+              0.2888213407908585,
+              -0.11193716561545501,
+              1.0512534525525523
+            ],
+            "finger_midpoint": [
+              0.294434147694799,
+              -0.12382768183328904,
+              1.0512534525525523
+            ],
+            "object_minus_finger_midpoint": [
+              0.005612806903940448,
+              0.011890516217834032,
+              0.0
+            ],
+            "finger_gap": 0.02629737456610419,
+            "fingertip_max_gap": 0.09994500383840063,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013148687283052088,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512534525525523,
+            "object_top_z": 1.1047585569328064,
+            "finger_top_clearance": 0.05350510438025413,
+            "fingertip_min_top_clearance": 0.016051531314076238,
+            "object_projection_between_fingers": 0.8177802653554184,
+            "object_to_finger_line_xy": 0.010151457720786732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05247250191920032,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.169465362292154,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29923581472502714,
+              -0.11655118591102226,
+              1.2466970045305605
+            ],
+            "held_position": [
+              0.3038510525010282,
+              -0.11241337481079326,
+              1.2433727515754924
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007033673161263916,
+            "max_held_gripper_dist": 0.007042249246557973,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033242529550681077,
+            "max_held_gripper_z_dist": 0.003333763916879784,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866506752749199,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3038510525010282,
+              -0.13729328392873666,
+              1.2433727515754924
+            ],
+            "held_grasp_finger_b": [
+              0.29501987519274725,
+              -0.11241337481079326,
+              1.2433727515754924
+            ],
+            "held_grasp_midpoint": [
+              0.2994354638468877,
+              -0.12485332936976495,
+              1.2433727515754924
+            ],
+            "held_grasp_object_position": [
+              0.3038510525010282,
+              -0.11241337481079326,
+              1.2433727515754924
+            ],
+            "held_grasp_finger_gap": 0.026400749428139705,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024606495347409985,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029667229808820358,
+              -0.999541107493919,
+              0.006117998471779852
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004045309601395834,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03715500582970286,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2776867584282256,
+              -0.4139368675269618,
+              0.8515395797997117
+            ],
+            "target_position": [
+              0.2756611215600745,
+              -0.4131738679678764,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0021645722553838417,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17780578485562984,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395797997117,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522974851207712,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08694574332030407,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14647520246006024,
+            "release_required_pad_clearance": 0.053472871660152035,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9587753085956279,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008714914321899414,
+            "max_z_decrease": 0.008714914321899414,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035020327923003663,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008714914321899414,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020863621727683634,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008714914321899414,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008715245695575845,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13136105239391327,
+              -0.4694353342056274,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13136105239391327,
+              -0.4694353342056274,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13045915642885994,
+              -0.4679109388295503,
+              0.8030690633382869
+            ],
+            "closest_button": [
+              0.13142932951450348,
+              -0.46940195560455317,
+              0.7680939435958862
+            ],
+            "closest_ee_minus_button": [
+              -0.0009701730856435387,
+              0.0014910167750028513,
+              0.03497511974240064
+            ],
+            "button_min_z_position": [
+              0.13142932951450348,
+              -0.46940195560455317,
+              0.7680939435958862
+            ],
+            "min_active_finger_to_button": 0.14607086954741094,
+            "closest_active_finger": [
+              0.0043179988861083984,
+              -0.53279709815979,
+              0.8107446432113647
+            ],
+            "closest_active_finger_button": [
+              0.1313618868589401,
+              -0.4694325029850005,
+              0.7763720154762268
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270438879728317,
+              -0.06336459517478954,
+              0.03437262773513794
+            ],
+            "min_contact_pad_to_button": 0.020863621727683634,
+            "closest_contact_pad": [
+              0.13142932951450348,
+              -0.46940195560455317,
+              0.7889575653235699
+            ],
+            "closest_contact_pad_button": [
+              0.13142932951450348,
+              -0.46940195560455317,
+              0.7680939435958862
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020863621727683634
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2155d2e41b8b0f2f1862836d9c6d5670e8d3eb04a5bea563e8200ae28773b1ab",
+    "visual_seed": 3979505961354084070,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0415e53df07db4f48207d8f0ec59b01ac205d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2985217624089245,
+              -0.11364121956969517,
+              1.0491579668295592
+            ],
+            "current_z": 1.0491579668295592,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1880515184194379,
+            "gripper_z": 1.0526682936393446,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29418992148787115,
+              -0.11800670951851144,
+              1.0526682936393446
+            ],
+            "object_minus_gripper": [
+              0.00433184092105332,
+              0.004365489948816276,
+              -0.003510326809785358
+            ],
+            "object_to_gripper_xy": 0.006149987663282587,
+            "object_to_gripper_z": -0.003510326809785358,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2985217624089245,
+              -0.13766085812745213,
+              1.0491579668295592
+            ],
+            "finger_b": [
+              0.28766521405689854,
+              -0.11364121956969517,
+              1.0491579668295592
+            ],
+            "finger_midpoint": [
+              0.2930934882329115,
+              -0.12565103884857365,
+              1.0491579668295592
+            ],
+            "object_minus_finger_midpoint": [
+              0.005428274176012993,
+              0.01200981927887848,
+              0.0
+            ],
+            "finger_gap": 0.026359204816632117,
+            "fingertip_max_gap": 0.09464856273077618,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317960240831607,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491579668295592,
+            "object_top_z": 1.1001893076974147,
+            "finger_top_clearance": 0.051031340867855546,
+            "fingertip_min_top_clearance": 0.015309402260356663,
+            "object_projection_between_fingers": 0.8303636448530943,
+            "object_to_finger_line_xy": 0.009892952735658178,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04982428136538809,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4532918047146417,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29752540476265327,
+              -0.11811186550195514,
+              1.243934127224924
+            ],
+            "held_position": [
+              0.3020989520955112,
+              -0.11394991303548348,
+              1.24042166052541
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071117231283463825,
+            "max_held_gripper_dist": 0.007121170177987041,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003512466699514105,
+            "max_held_gripper_z_dist": 0.0035234199577933722,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864351556707163,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3020989520955112,
+              -0.13875602163222125,
+              1.24042166052541
+            ],
+            "held_grasp_finger_b": [
+              0.2932814395237935,
+              -0.11394991303548348,
+              1.24042166052541
+            ],
+            "held_grasp_midpoint": [
+              0.29769019580965234,
+              -0.12635296733385237,
+              1.24042166052541
+            ],
+            "held_grasp_object_position": [
+              0.3020989520955112,
+              -0.11394991303548348,
+              1.24042166052541
+            ],
+            "held_grasp_finger_gap": 0.026326631984846593,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024479293860557617,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03450997109567527,
+              -0.9990920529874084,
+              -0.02498262500981773
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003990298412530235,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03717631103583052,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27932877733708616,
+              -0.41054451189987495,
+              0.851539607756528
+            ],
+            "target_position": [
+              0.2749027534423385,
+              -0.41127140543584495,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004485316235173643,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.181656145235754,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539607756528,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585290324258719,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08837462558616553,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14887978590313364,
+            "release_required_pad_clearance": 0.05418731279308277,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3907038181114,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0086173415184021,
+            "max_z_decrease": 0.0086173415184021,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504780133305132,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0086173415184021,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02084803942781821,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0086173415184021,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008617389773099513,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13060267269611356,
+              -0.4675328731536864,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13060267269611356,
+              -0.4675328731536864,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12865023410762058,
+              -0.46620660685873894,
+              0.8031594764344905
+            ],
+            "closest_button": [
+              0.1306219398975372,
+              -0.46751141548156727,
+              0.7681915163993835
+            ],
+            "closest_ee_minus_button": [
+              -0.0019717057899166224,
+              0.001304808622828335,
+              0.03496796003510694
+            ],
+            "button_min_z_position": [
+              0.1306219398975372,
+              -0.46751141548156727,
+              0.7681915163993835
+            ],
+            "min_active_finger_to_button": 0.14710849489443564,
+            "closest_active_finger": [
+              0.002083510160446167,
+              -0.5303249359130859,
+              0.8107832074165344
+            ],
+            "closest_active_finger_button": [
+              0.13060308992862696,
+              -0.4675327539443969,
+              0.7764208912849426
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285195797681808,
+              -0.06279218196868902,
+              0.0343623161315918
+            ],
+            "min_contact_pad_to_button": 0.02084803942781821,
+            "closest_contact_pad": [
+              0.1306219398975372,
+              -0.46751141548156727,
+              0.7890395558272018
+            ],
+            "closest_contact_pad_button": [
+              0.1306219398975372,
+              -0.46751141548156727,
+              0.7681915163993835
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02084803942781821
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8af1e5aa1f22d681310c14ff94bf60bf5115761d06a386cff4d732cf46e26048",
+    "visual_seed": 3690227215182704174,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d8582513065143847487e4d425b182677f01816
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30201174021828525,
+              -0.11950669658790485,
+              1.049617326327335
+            ],
+            "current_z": 1.049617326327335,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18851087791721377,
+            "gripper_z": 1.0526742180111015,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29801062891130203,
+              -0.12375513663315238,
+              1.0526742180111015
+            ],
+            "object_minus_gripper": [
+              0.004001111306983218,
+              0.004248440045247534,
+              -0.0030568916837665494
+            ],
+            "object_to_gripper_xy": 0.005835934758796728,
+            "object_to_gripper_z": -0.0030568916837665494,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30201174021828525,
+              -0.1432117769645925,
+              1.049617326327335
+            ],
+            "finger_b": [
+              0.2912423981178226,
+              -0.11950669658790485,
+              1.049617326327335
+            ],
+            "finger_midpoint": [
+              0.2966270691680539,
+              -0.13135923677624867,
+              1.049617326327335
+            ],
+            "object_minus_finger_midpoint": [
+              0.005384671050231327,
+              0.011852540188343821,
+              0.0
+            ],
+            "finger_gap": 0.026036696505932152,
+            "fingertip_max_gap": 0.09405388821918506,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01301834825296607,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049617326327335,
+            "object_top_z": 1.100296916302613,
+            "finger_top_clearance": 0.050679589975278105,
+            "fingertip_min_top_clearance": 0.015203876992583465,
+            "object_projection_between_fingers": 0.8289171074216709,
+            "object_to_finger_line_xy": 0.009804935124444419,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04952694410959253,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.303872577484417,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30115088123862427,
+              -0.12361365415756204,
+              1.2424342287344585
+            ],
+            "held_position": [
+              0.30539271818848385,
+              -0.11956535030681699,
+              1.239372532837029
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006614826267218773,
+            "max_held_gripper_dist": 0.006626194246004415,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030616958974294395,
+            "max_held_gripper_z_dist": 0.003069166956982672,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647303901235019,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30539271818848385,
+              -0.14409161270705012,
+              1.239372532837029
+            ],
+            "held_grasp_finger_b": [
+              0.2967341112974714,
+              -0.11956535030681699,
+              1.239372532837029
+            ],
+            "held_grasp_midpoint": [
+              0.3010634147429776,
+              -0.13182848150693355,
+              1.239372532837029
+            ],
+            "held_grasp_object_position": [
+              0.30539271818848385,
+              -0.11956535030681699,
+              1.239372532837029
+            ],
+            "held_grasp_finger_gap": 0.026009787016009523,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024164634641105114,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03835549657058213,
+              -0.998796286538405,
+              -0.030575053228349074
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038741927491056692,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03730582758262826,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28504774571194946,
+              -0.41195504716817466,
+              0.8515396048071244
+            ],
+            "target_position": [
+              0.2805641288023391,
+              -0.41228282017203427,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004495581801525033,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18247115790931992,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396048071244,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556626633384128,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08685083895624089,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1503847867855359,
+            "release_required_pad_clearance": 0.05342541947812045,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8650243139355596,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008858144283294678,
+            "max_z_decrease": 0.008858144283294678,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500222041640963,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008858144283294678,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020938295632633597,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008858144283294678,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00885830466762837,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1362640559673309,
+              -0.4685442745685577,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1362640559673309,
+              -0.4685442745685577,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13525407652223953,
+              -0.46915172641971814,
+              0.8036965948745818
+            ],
+            "closest_button": [
+              0.13624849915504456,
+              -0.4684950411319732,
+              0.7687146663665771
+            ],
+            "closest_ee_minus_button": [
+              -0.0009944226328050254,
+              -0.0006566852877449292,
+              0.034981928508004634
+            ],
+            "button_min_z_position": [
+              0.1362468600273132,
+              -0.4684938192367553,
+              0.767950713634491
+            ],
+            "min_active_finger_to_button": 0.1466677369669846,
+            "closest_active_finger": [
+              -0.0054319873452186584,
+              -0.4525817930698395,
+              0.8110611438751221
+            ],
+            "closest_active_finger_button": [
+              0.1362674534320831,
+              -0.4685417711734772,
+              0.7767395377159119
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14169944077730176,
+              0.015959978103637695,
+              0.034321606159210205
+            ],
+            "min_contact_pad_to_button": 0.020938295632633597,
+            "closest_contact_pad": [
+              0.1362468600273132,
+              -0.47035706187878523,
+              0.7888059420162777
+            ],
+            "closest_contact_pad_button": [
+              0.1362468600273132,
+              -0.4684938192367553,
+              0.767950713634491
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018632426420299164,
+              0.020855228381786772
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "47c7f200b030d8bdfd307179f99f1502ad498f2986328757520feb897394f07d",
+    "visual_seed": 4404421886542484612,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ca5d276275c00302161ea31211fc8dabfcc7140
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2971320825321811,
+              -0.11704835830519023,
+              1.0502476025462202
+            ],
+            "current_z": 1.0502476025462202,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.189141154136099,
+            "gripper_z": 1.0535311537067498,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2928022717152192,
+              -0.12148546409237806,
+              1.0535311537067498
+            ],
+            "object_minus_gripper": [
+              0.0043298108169618765,
+              0.0044371057871878394,
+              -0.0032835511605295853
+            ],
+            "object_to_gripper_xy": 0.006199610429484734,
+            "object_to_gripper_z": -0.0032835511605295853,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2971320825321811,
+              -0.1409398178011882,
+              1.0502476025462202
+            ],
+            "finger_b": [
+              0.28604248282740175,
+              -0.11704835830519023,
+              1.0502476025462202
+            ],
+            "finger_midpoint": [
+              0.2915872826797914,
+              -0.1289940880531892,
+              1.0502476025462202
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055447998523897035,
+              0.011945729747998984,
+              0.0
+            ],
+            "finger_gap": 0.026339723963267985,
+            "fingertip_max_gap": 0.09417201306450354,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013169861981634005,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0502476025462202,
+            "object_top_z": 1.1014825955209828,
+            "finger_top_clearance": 0.05123499297476264,
+            "fingertip_min_top_clearance": 0.015370497892428791,
+            "object_projection_between_fingers": 0.8227405892501343,
+            "object_to_finger_line_xy": 0.010058826832925343,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04958600653225177,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7079008111823866,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29576001023049303,
+              -0.12205527003535653,
+              1.2454443403012987
+            ],
+            "held_position": [
+              0.3003895761055993,
+              -0.11788280833111842,
+              1.2421648613164031
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00704253500365129,
+            "max_held_gripper_dist": 0.007051529857073236,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032794789848955563,
+            "max_held_gripper_z_dist": 0.003289689902152171,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668535916544858,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3003895761055993,
+              -0.1427160028860207,
+              1.2421648613164031
+            ],
+            "held_grasp_finger_b": [
+              0.2915859024636975,
+              -0.11788280833111842,
+              1.2421648613164031
+            ],
+            "held_grasp_midpoint": [
+              0.2959877392846484,
+              -0.13029940560856956,
+              1.2421648613164031
+            ],
+            "held_grasp_object_position": [
+              0.3003895761055993,
+              -0.11788280833111842,
+              1.2421648613164031
+            ],
+            "held_grasp_finger_gap": 0.026347527804231382,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02423914222800643,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06133105775978913,
+              -0.9978209122412176,
+              -0.02432957969570481
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036448413859445365,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03706074033946203,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28204758614858055,
+              -0.4050793767405305,
+              0.8515395577361493
+            ],
+            "target_position": [
+              0.2776813766184185,
+              -0.4057068539752756,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004411067143152679,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18416117035921187,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395577361493,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537276792379141,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564816598906345,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15252737117984885,
+            "release_required_pad_clearance": 0.05282408299453173,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6932302851539317,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00847482681274414,
+            "max_z_decrease": 0.00847482681274414,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498934286493874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00847482681274414,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020900640892288665,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00847482681274414,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008475050843887668,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13338130712509155,
+              -0.46196830272674555,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13338130712509155,
+              -0.46196830272674555,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.132528583586913,
+              -0.4621400267387554,
+              0.8035993321313534
+            ],
+            "closest_button": [
+              0.13342057168483734,
+              -0.46194198727607716,
+              0.7686219215393066
+            ],
+            "closest_ee_minus_button": [
+              -0.0008919880979243455,
+              -0.00019803946267826777,
+              0.03497741059204673
+            ],
+            "button_min_z_position": [
+              0.1334332972764969,
+              -0.4619352221488952,
+              0.7683340311050415
+            ],
+            "min_active_finger_to_button": 0.14666308108677223,
+            "closest_active_finger": [
+              -0.008497722446918488,
+              -0.44803836941719055,
+              0.8110923171043396
+            ],
+            "closest_active_finger_button": [
+              0.13338331878185272,
+              -0.46196603775024403,
+              0.7766561508178711
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1418810412287712,
+              0.013927668333053478,
+              0.034436166286468506
+            ],
+            "min_contact_pad_to_button": 0.020900640892288665,
+            "closest_contact_pad": [
+              0.1334332972764969,
+              -0.4631478765076419,
+              0.789199463262431
+            ],
+            "closest_contact_pad_button": [
+              0.1334332972764969,
+              -0.4619352221488952,
+              0.7683340311050415
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012126543587466787,
+              0.020865432157389452
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f43c9a0630cf88703b322da87291dfaf920bf44c78bf30c97b6ccd1af68ba75b",
+    "visual_seed": 163026759362057590,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e813441af11aa71ae9db58b4636551d7a8a5962
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.297984584536438,
+              -0.12078612173883867,
+              1.0516246366235538
+            ],
+            "current_z": 1.0516246366235538,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19051818821343258,
+            "gripper_z": 1.0547916714845968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2937904546679615,
+              -0.1251478917427653,
+              1.0547916714845968
+            ],
+            "object_minus_gripper": [
+              0.004194129868476504,
+              0.004361770003926638,
+              -0.003167034861043083
+            ],
+            "object_to_gripper_xy": 0.0060510960098812605,
+            "object_to_gripper_z": -0.003167034861043083,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.297984584536438,
+              -0.14457132803239478,
+              1.0516246366235538
+            ],
+            "finger_b": [
+              0.28699324106795604,
+              -0.12078612173883867,
+              1.0516246366235538
+            ],
+            "finger_midpoint": [
+              0.292488912802197,
+              -0.13267872488561672,
+              1.0516246366235538
+            ],
+            "object_minus_finger_midpoint": [
+              0.005495671734240981,
+              0.01189260314677805,
+              0.0
+            ],
+            "finger_gap": 0.026202016519137655,
+            "fingertip_max_gap": 0.09637994501579392,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01310100825956882,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0516246366235538,
+            "object_top_z": 1.1036962757596571,
+            "finger_top_clearance": 0.052071639136103354,
+            "fingertip_min_top_clearance": 0.015621491740830972,
+            "object_projection_between_fingers": 0.8240326367503595,
+            "object_to_finger_line_xy": 0.009977528700900845,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05068997250789696,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.657617408767343,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29665008905746304,
+              -0.12579964838538477,
+              1.2454531553763304
+            ],
+            "held_position": [
+              0.3011408202088758,
+              -0.12168472323237543,
+              1.242299177786262
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006859070631491664,
+            "max_held_gripper_dist": 0.006867410254735432,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003153977590068413,
+            "max_held_gripper_z_dist": 0.0031653151682824454,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08552924887357014,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3011408202088758,
+              -0.14638805647477432,
+              1.242299177786262
+            ],
+            "held_grasp_finger_b": [
+              0.2924817999389961,
+              -0.12168472323237543,
+              1.242299177786262
+            ],
+            "held_grasp_midpoint": [
+              0.2968113100739359,
+              -0.13403638985357488,
+              1.242299177786262
+            ],
+            "held_grasp_object_position": [
+              0.3011408202088758,
+              -0.12168472323237543,
+              1.242299177786262
+            ],
+            "held_grasp_finger_gap": 0.026176961346176093,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024253621380548655,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048039224772591725,
+              -0.9986342231445453,
+              -0.02054072169469356
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037399081719787365,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03717746675876556,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28402154104398714,
+              -0.41401047740116875,
+              0.851539505540311
+            ],
+            "target_position": [
+              0.28065545397474534,
+              -0.41379245595593817,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003373140303678052,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18043530381515524,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539505540311,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535573690707907,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869081254336465,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14866852378350895,
+            "release_required_pad_clearance": 0.05345406271682325,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9216608274522453,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008791327476501465,
+            "max_z_decrease": 0.008791327476501465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504694619995591,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008791327476501465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020834600953866023,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008791327476501465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00879165889328953,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13635538518428797,
+              -0.4700539112091064,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13635538518428797,
+              -0.4700539112091064,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13476830052282046,
+              -0.46842274037410037,
+              0.8029888049682663
+            ],
+            "closest_button": [
+              0.1364244371652603,
+              -0.470021367073059,
+              0.7680175304412842
+            ],
+            "closest_ee_minus_button": [
+              -0.001656136642439826,
+              0.0015986266989586606,
+              0.03497127452698212
+            ],
+            "button_min_z_position": [
+              0.1364244371652603,
+              -0.470021367073059,
+              0.7680175304412842
+            ],
+            "min_active_finger_to_button": 0.1465628492807185,
+            "closest_active_finger": [
+              0.007398851215839386,
+              -0.5307016968727112,
+              0.8110564947128296
+            ],
+            "closest_active_finger_button": [
+              0.13635472953319544,
+              -0.47005441784858704,
+              0.7768080234527588
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12895587831735605,
+              -0.060647279024124146,
+              0.0342484712600708
+            ],
+            "min_contact_pad_to_button": 0.020834600953866023,
+            "closest_contact_pad": [
+              0.1364244371652603,
+              -0.470021367073059,
+              0.7888521313951502
+            ],
+            "closest_contact_pad_button": [
+              0.1364244371652603,
+              -0.470021367073059,
+              0.7680175304412842
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020834600953866023
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "80ec7ce6cafc20197ba1a2b8d8ad403b8b9a3af9975e6e285d67b4151e75ea64",
+    "visual_seed": 8400257959849484211,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8fb3c6152f214b861b3e8df5ccfea0cf64768ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2987938048696871,
+              -0.1112164514892709,
+              1.050333638132382
+            ],
+            "current_z": 1.050333638132382,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.1892272493269056,
+            "gripper_z": 1.0542487107424507,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29446487760586854,
+              -0.11548973074893197,
+              1.0542487107424507
+            ],
+            "object_minus_gripper": [
+              0.0043289272638185605,
+              0.004273279259661075,
+              -0.003915072610068737
+            ],
+            "object_to_gripper_xy": 0.006082805839945999,
+            "object_to_gripper_z": -0.003915072610068737,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2987938048696871,
+              -0.1354196403017054,
+              1.050333638132382
+            ],
+            "finger_b": [
+              0.28829648440827826,
+              -0.1112164514892709,
+              1.050333638132382
+            ],
+            "finger_midpoint": [
+              0.2935451446389827,
+              -0.12331804589548814,
+              1.050333638132382
+            ],
+            "object_minus_finger_midpoint": [
+              0.005248660230704416,
+              0.012101594406217248,
+              0.0
+            ],
+            "finger_gap": 0.02638158610773558,
+            "fingertip_max_gap": 0.09724330155025299,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01319079305386779,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050333638132382,
+            "object_top_z": 1.102459152007404,
+            "finger_top_clearance": 0.05212551387502207,
+            "fingertip_min_top_clearance": 0.015637654162506603,
+            "object_projection_between_fingers": 0.8416729551040081,
+            "object_to_finger_line_xy": 0.009630528964959102,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051121650775126495,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.325080420627708,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.297688931343583,
+              -0.11512213923291202,
+              1.245573382744421
+            ],
+            "held_position": [
+              0.30216112020430524,
+              -0.11094904557227428,
+              1.2416673223421943
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007257581675204688,
+            "max_held_gripper_dist": 0.007270266980185426,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003906060402226741,
+            "max_held_gripper_z_dist": 0.003922382179574413,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08616695631901441,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30216112020430524,
+              -0.1356324712400779,
+              1.2416673223421943
+            ],
+            "held_grasp_finger_b": [
+              0.29313118887188516,
+              -0.11094904557227428,
+              1.2416673223421943
+            ],
+            "held_grasp_midpoint": [
+              0.2976461545380952,
+              -0.12329075840617609,
+              1.2416673223421943
+            ],
+            "held_grasp_object_position": [
+              0.30216112020430524,
+              -0.11094904557227428,
+              1.2416673223421943
+            ],
+            "held_grasp_finger_gap": 0.02628328675349049,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024694568991877358,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0014017800145323456,
+              -0.9999386368318142,
+              -0.010988975553900103
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004534289281311441,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03738562355143077,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.278846821752724,
+              -0.40388980481212,
+              0.8515395679206432
+            ],
+            "target_position": [
+              0.2750014879413611,
+              -0.4043496235101264,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003872728412353133,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18088137244597635,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395679206432,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529100741699347,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0881959824539779,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14949945702396142,
+            "release_required_pad_clearance": 0.05409799122698895,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.209481080410499,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008665502071380615,
+            "max_z_decrease": 0.008665502071380615,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504006734038586,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008665502071380615,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020876860301300315,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008665502071380615,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008665558852128611,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.130701407790184,
+              -0.4606110751628875,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.130701407790184,
+              -0.4606110751628875,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12949363467339656,
+              -0.45886429969945736,
+              0.8031198489146657
+            ],
+            "closest_button": [
+              0.13071648776531214,
+              -0.4605835676193237,
+              0.768143355846405
+            ],
+            "closest_ee_minus_button": [
+              -0.0012228530919155822,
+              0.0017192679198663186,
+              0.03497649306826067
+            ],
+            "button_min_z_position": [
+              0.13071648776531214,
+              -0.4605835676193237,
+              0.768143355846405
+            ],
+            "min_active_finger_to_button": 0.14624494242966335,
+            "closest_active_finger": [
+              0.0034932494163513184,
+              -0.5240410566329956,
+              0.8111727237701416
+            ],
+            "closest_active_finger_button": [
+              0.13070288300514216,
+              -0.46060928702354426,
+              0.776796817779541
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12720963358879084,
+              -0.06343176960945135,
+              0.034375905990600586
+            ],
+            "min_contact_pad_to_button": 0.020876860301300315,
+            "closest_contact_pad": [
+              0.13071648776531214,
+              -0.4605835676193237,
+              0.7890202161477053
+            ],
+            "closest_contact_pad_button": [
+              0.13071648776531214,
+              -0.4605835676193237,
+              0.768143355846405
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020876860301300315
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a31b4dd6c01acee9836c02aec07fc5ae9a00e0013799339134793469042390e",
+    "visual_seed": 7958441329553945561,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..821e0a92995fc316240b54a0e59a2d43953e81df
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29764018748402893,
+              -0.11208075090852836,
+              1.0508860220387821
+            ],
+            "current_z": 1.0508860220387821,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18977951402401605,
+            "gripper_z": 1.0545034152984332,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29316153100750786,
+              -0.11647568648681442,
+              1.0545034152984332
+            ],
+            "object_minus_gripper": [
+              0.00447865647652107,
+              0.0043949355782860605,
+              -0.003617393259651047
+            ],
+            "object_to_gripper_xy": 0.00627485637859296,
+            "object_to_gripper_z": -0.003617393259651047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29764018748402893,
+              -0.1364510368751565,
+              1.0508860220387821
+            ],
+            "finger_b": [
+              0.2870562113801411,
+              -0.11208075090852836,
+              1.0508860220387821
+            ],
+            "finger_midpoint": [
+              0.292348199432085,
+              -0.12426589389184242,
+              1.0508860220387821
+            ],
+            "object_minus_finger_midpoint": [
+              0.005291988051943919,
+              0.012185142983314065,
+              0.0
+            ],
+            "finger_gap": 0.026569369361407535,
+            "fingertip_max_gap": 0.09452754376448116,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01328468468070376,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508860220387821,
+            "object_top_z": 1.1020155090489934,
+            "finger_top_clearance": 0.05112948701021125,
+            "fingertip_min_top_clearance": 0.015338846103063391,
+            "object_projection_between_fingers": 0.8413152439030657,
+            "object_to_finger_line_xy": 0.009707965620379396,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049763771882240584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8982888033732783,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29635117360954377,
+              -0.11599480458900861,
+              1.247788723592043
+            ],
+            "held_position": [
+              0.300990113840644,
+              -0.11172295479588197,
+              1.244186464199069
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007262557390962669,
+            "max_held_gripper_dist": 0.007271749366490321,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036022593929740943,
+            "max_held_gripper_z_dist": 0.0036128388513505527,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864850763123253,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.300990113840644,
+              -0.13657141547866086,
+              1.244186464199069
+            ],
+            "held_grasp_finger_b": [
+              0.2918168265153325,
+              -0.11172295479588197,
+              1.244186464199069
+            ],
+            "held_grasp_midpoint": [
+              0.29640347017798824,
+              -0.12414718513727141,
+              1.244186464199069
+            ],
+            "held_grasp_object_position": [
+              0.300990113840644,
+              -0.11172295479588197,
+              1.244186464199069
+            ],
+            "held_grasp_finger_gap": 0.026487642376329563,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024649329633409312,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.020514933380118925,
+              -0.9995596640309511,
+              -0.021438646196563434
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004339041317762366,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03720739587503495,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2823203980903121,
+              -0.40576411134402024,
+              0.8515395652414989
+            ],
+            "target_position": [
+              0.27776731952332573,
+              -0.40677479091532387,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046639036903651145,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18305276155062244,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395652414989,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524776008610422,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08754877725861514,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15193888791109703,
+            "release_required_pad_clearance": 0.05377438862930757,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.558025303820811,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008646011352539062,
+            "max_z_decrease": 0.008646011352539062,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503085709652431,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008646011352539062,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02090093669890003,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008646011352539062,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008646183646744226,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13346724212169642,
+              -0.4630362391471862,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13346724212169642,
+              -0.4630362391471862,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13450704031018978,
+              -0.46192764563641076,
+              0.8031630373379864
+            ],
+            "closest_button": [
+              0.13350719213485715,
+              -0.4629990458488463,
+              0.7681628465652466
+            ],
+            "closest_ee_minus_button": [
+              0.000999848175332635,
+              0.0010714002124355693,
+              0.03500019077273986
+            ],
+            "button_min_z_position": [
+              0.13350719213485715,
+              -0.4629990458488463,
+              0.7681628465652466
+            ],
+            "min_active_finger_to_button": 0.14452929443324536,
+            "closest_active_finger": [
+              0.008715115487575531,
+              -0.5274133086204529,
+              0.810798168182373
+            ],
+            "closest_active_finger_button": [
+              0.13346821069717404,
+              -0.46303358674049366,
+              0.7764378190040588
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12475309520959851,
+              -0.06437972187995922,
+              0.03436034917831421
+            ],
+            "min_contact_pad_to_button": 0.02090093669890003,
+            "closest_contact_pad": [
+              0.13350719213485715,
+              -0.4629990458488463,
+              0.7890637832641466
+            ],
+            "closest_contact_pad_button": [
+              0.13350719213485715,
+              -0.4629990458488463,
+              0.7681628465652466
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02090093669890003
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01b2f15436c342275a4b3b15c9788a5a64a3ca3c193ff89f24733aa4d3e67a61",
+    "visual_seed": 2944427859786687382,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..772c638847437a9eb42d70c1139c8d33b81134c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2972749499176486,
+              -0.11431441314513603,
+              1.0493138662166945
+            ],
+            "current_z": 1.0493138662166945,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.18820747741121824,
+            "gripper_z": 1.0528126291833897,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29293298976471505,
+              -0.11869397724973652,
+              1.0528126291833897
+            ],
+            "object_minus_gripper": [
+              0.004341960152933533,
+              0.0043795641046004835,
+              -0.003498762966695157
+            ],
+            "object_to_gripper_xy": 0.006167106267607817,
+            "object_to_gripper_z": -0.003498762966695157,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2972749499176486,
+              -0.13832237542059486,
+              1.0493138662166945
+            ],
+            "finger_b": [
+              0.286377172994716,
+              -0.11431441314513603,
+              1.0493138662166945
+            ],
+            "finger_midpoint": [
+              0.2918260614561823,
+              -0.12631839428286545,
+              1.0493138662166945
+            ],
+            "object_minus_finger_midpoint": [
+              0.005448888461466295,
+              0.012003981137729422,
+              0.0
+            ],
+            "finger_gap": 0.026365579729675136,
+            "fingertip_max_gap": 0.0945673894695023,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013182789864837575,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493138662166945,
+            "object_top_z": 1.100394317132192,
+            "finger_top_clearance": 0.0510804509154974,
+            "fingertip_min_top_clearance": 0.01532413527464922,
+            "object_projection_between_fingers": 0.8291554311428125,
+            "object_to_finger_line_xy": 0.009923294687036859,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04978369473475115,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3315240293984596,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2962973816944722,
+              -0.1191839759291829,
+              1.2447682802428754
+            ],
+            "held_position": [
+              0.3009124761571989,
+              -0.11503987105493833,
+              1.2412707305181767
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007120783396886095,
+            "max_held_gripper_dist": 0.007129737577245603,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003497549724698734,
+            "max_held_gripper_z_dist": 0.0035080859243876716,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08658053863772183,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3009124761571989,
+              -0.13993079464892358,
+              1.2412707305181767
+            ],
+            "held_grasp_finger_b": [
+              0.29220494456142976,
+              -0.11503987105493833,
+              1.2412707305181767
+            ],
+            "held_grasp_midpoint": [
+              0.29655871035931436,
+              -0.12748533285193095,
+              1.2412707305181767
+            ],
+            "held_grasp_object_position": [
+              0.3009124761571989,
+              -0.11503987105493833,
+              1.2412707305181767
+            ],
+            "held_grasp_finger_gap": 0.02637004330396386,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024476474461130944,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.043963948695698446,
+              -0.9987291889594897,
+              -0.024640988929062413
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003814940910346481,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037099195367187025,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2852358004241469,
+              -0.40472942642079796,
+              0.8515395152747102
+            ],
+            "target_position": [
+              0.280599752412066,
+              -0.40529257822786985,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0046701264574022065,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831113985897696,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395152747102,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530404587341001,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08686470794594957,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15166686056394485,
+            "release_required_pad_clearance": 0.053432353972974786,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8788227728927778,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00857478380203247,
+            "max_z_decrease": 0.00857478380203247,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502535255589918,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00857478380203247,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020861884386657814,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00857478380203247,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008574848479380618,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13629968464374542,
+              -0.4615540504455566,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13629968464374542,
+              -0.4615540504455566,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1353253169230221,
+              -0.4601297379002533,
+              0.8032175465493488
+            ],
+            "closest_button": [
+              0.13631702959537506,
+              -0.4615256190299987,
+              0.7682340741157532
+            ],
+            "closest_ee_minus_button": [
+              -0.0009917126723529568,
+              0.0013958811297454243,
+              0.034983472433595675
+            ],
+            "button_min_z_position": [
+              0.13631702959537506,
+              -0.4615256190299987,
+              0.7682340741157532
+            ],
+            "min_active_finger_to_button": 0.14616048495120862,
+            "closest_active_finger": [
+              0.009200848639011383,
+              -0.5250371098518372,
+              0.8107975125312805
+            ],
+            "closest_active_finger_button": [
+              0.13630016148090363,
+              -0.4615520238876342,
+              0.7764711976051331
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12709931284189224,
+              -0.06348508596420294,
+              0.03432631492614746
+            ],
+            "min_contact_pad_to_button": 0.020861884386657814,
+            "closest_contact_pad": [
+              0.13631702959537506,
+              -0.4615256190299987,
+              0.789095958502411
+            ],
+            "closest_contact_pad_button": [
+              0.13631702959537506,
+              -0.4615256190299987,
+              0.7682340741157532
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020861884386657814
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5eac2d0ad3467eaaf806ce6102abb4b4f7a4a58898ed87c2ebe8d8d9b6392a02",
+    "visual_seed": 1640058993323417119,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1b48eed10284ce2d49b1c0d9ec1cf77f44e9867
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3042869253223728,
+              -0.1163524748623822,
+              1.050724202701407
+            ],
+            "current_z": 1.050724202701407,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18961769468664103,
+            "gripper_z": 1.0536916811751613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30019724915998824,
+              -0.12066636988166915,
+              1.0536916811751613
+            ],
+            "object_minus_gripper": [
+              0.004089676162384537,
+              0.004313895019286945,
+              -0.002967478473754337
+            ],
+            "object_to_gripper_xy": 0.0059443369142912,
+            "object_to_gripper_z": -0.002967478473754337,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3042869253223728,
+              -0.14006746282786575,
+              1.050724202701407
+            ],
+            "finger_b": [
+              0.2933380840378574,
+              -0.1163524748623822,
+              1.050724202701407
+            ],
+            "finger_midpoint": [
+              0.2988125046801151,
+              -0.12820996884512398,
+              1.050724202701407
+            ],
+            "object_minus_finger_midpoint": [
+              0.005474420642257671,
+              0.011857493982741774,
+              0.0
+            ],
+            "finger_gap": 0.026120447539744383,
+            "fingertip_max_gap": 0.09223991902672349,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013060223769872177,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050724202701407,
+            "object_top_z": 1.1006302224880307,
+            "finger_top_clearance": 0.04990601978662368,
+            "fingertip_min_top_clearance": 0.014971805935987103,
+            "object_projection_between_fingers": 0.8242986521848308,
+            "object_to_finger_line_xy": 0.009940550938232989,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048619959513361746,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.888651257169362,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3040171389399402,
+              -0.1211083091265107,
+              1.2463394582901206
+            ],
+            "held_position": [
+              0.3084322044820409,
+              -0.11709971751226524,
+              1.2433493672270683
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006671001052030268,
+            "max_held_gripper_dist": 0.006679901727824145,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002990091063052258,
+            "max_held_gripper_z_dist": 0.0029995238644440203,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08694797643121364,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3084322044820409,
+              -0.14196031765305372,
+              1.2433493672270683
+            ],
+            "held_grasp_finger_b": [
+              0.29998666826896025,
+              -0.11709971751226524,
+              1.2433493672270683
+            ],
+            "held_grasp_midpoint": [
+              0.3042094363755006,
+              -0.12953001758265947,
+              1.2433493672270683
+            ],
+            "held_grasp_object_position": [
+              0.3084322044820409,
+              -0.11709971751226524,
+              1.2433493672270683
+            ],
+            "held_grasp_finger_gap": 0.026255980676535947,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02426891206773528,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06265824559973011,
+              -0.9974857569632828,
+              -0.033107535603706495
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034606921062830917,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037056611553966806,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2877489790990273,
+              -0.40394797435138863,
+              0.8515395927268596
+            ],
+            "target_position": [
+              0.282286480319797,
+              -0.40497819257243695,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005558798655831384,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18371159841689746,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395927268596,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758820964844801,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871880729325492,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15094180731808285,
+            "release_required_pad_clearance": 0.0535940364662746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1986342300409127,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00852137804031372,
+            "max_z_decrease": 0.00852137804031372,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035018032888377175,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00852137804031372,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020841038740809448,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00852137804031372,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008521568256909804,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13798640668392181,
+              -0.46123966574668884,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13798640668392181,
+              -0.46123966574668884,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13729126774658065,
+              -0.45988436516414166,
+              0.8036201557926287
+            ],
+            "closest_button": [
+              0.13802237808704376,
+              -0.4612114131450653,
+              0.7686349153518677
+            ],
+            "closest_ee_minus_button": [
+              -0.0007311103404631092,
+              0.0013270479809236457,
+              0.03498524044076101
+            ],
+            "button_min_z_position": [
+              0.13803528249263758,
+              -0.4612104594707489,
+              0.7682874798774719
+            ],
+            "min_active_finger_to_button": 0.14590853412939975,
+            "closest_active_finger": [
+              0.009689286351203918,
+              -0.5217339992523193,
+              0.8106669187545776
+            ],
+            "closest_active_finger_button": [
+              0.13798621296882627,
+              -0.46123823523521423,
+              0.7764695286750793
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12829692661762235,
+              -0.0604957640171051,
+              0.03419739007949829
+            ],
+            "min_contact_pad_to_button": 0.020841038740809448,
+            "closest_contact_pad": [
+              0.13803528249263758,
+              -0.4612104594707489,
+              0.7891285186182814
+            ],
+            "closest_contact_pad_button": [
+              0.13803528249263758,
+              -0.4612104594707489,
+              0.7682874798774719
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020841038740809448
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7bd1d5d1a84e8373fbc2bbecf9c50279043b5dbe07999c0fe29759e639e2b23",
+    "visual_seed": 5605853702526292092,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c414dbc46cc0872d813d6a300a6a520977e3ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3063912337965653,
+              -0.11292151442494759,
+              1.0476474587490383
+            ],
+            "current_z": 1.0476474587490383,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1865410103389169,
+            "gripper_z": 1.0519075723341182,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30188436531806084,
+              -0.11732612609258687,
+              1.0519075723341182
+            ],
+            "object_minus_gripper": [
+              0.0045068684785044555,
+              0.00440461166763928,
+              -0.004260113585079939
+            ],
+            "object_to_gripper_xy": 0.006301782876713632,
+            "object_to_gripper_z": -0.004260113585079939,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3063912337965653,
+              -0.13715265822720982,
+              1.0476474587490383
+            ],
+            "finger_b": [
+              0.29556531885768533,
+              -0.11292151442494759,
+              1.0476474587490383
+            ],
+            "finger_midpoint": [
+              0.3009782763271253,
+              -0.1250370863260787,
+              1.0476474587490383
+            ],
+            "object_minus_finger_midpoint": [
+              0.005412957469439983,
+              0.01211557190113112,
+              0.0
+            ],
+            "finger_gap": 0.02653956978230385,
+            "fingertip_max_gap": 0.09618588666706376,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01326978489115193,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476474587490383,
+            "object_top_z": 1.0989897796681434,
+            "finger_top_clearance": 0.05134232091910507,
+            "fingertip_min_top_clearance": 0.01540269627573152,
+            "object_projection_between_fingers": 0.8336045433514371,
+            "object_to_finger_line_xy": 0.0098842710649354,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050592943333531884,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5031811734852174,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3054506197067457,
+              -0.11681173282167145,
+              1.240564129827341
+            ],
+            "held_position": [
+              0.31010513972888754,
+              -0.11252377733135668,
+              1.2362909492234317
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007636176490696569,
+            "max_held_gripper_dist": 0.007647925081396884,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0042731806039093545,
+            "max_held_gripper_z_dist": 0.004289724933447925,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08675001212394068,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31010513972888754,
+              -0.13730619001492986,
+              1.2362909492234317
+            ],
+            "held_grasp_finger_b": [
+              0.30091750296160374,
+              -0.11252377733135668,
+              1.2362909492234317
+            ],
+            "held_grasp_midpoint": [
+              0.3055113213452456,
+              -0.12491498367314327,
+              1.2362909492234317
+            ],
+            "held_grasp_object_position": [
+              0.31010513972888754,
+              -0.11252377733135668,
+              1.2362909492234317
+            ],
+            "held_grasp_finger_gap": 0.026430676264266744,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02480285553190909,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0026995530160014124,
+              -0.9998240823335163,
+              -0.01856116374196981
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004632959020246638,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037343624816685565,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2821049855246116,
+              -0.40700340760534637,
+              0.8515395312243651
+            ],
+            "target_position": [
+              0.27728114933788844,
+              -0.40806593317803347,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004939469217330331,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18034531029989534,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395312243651,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564007290387216,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08908639901694441,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14830057660201812,
+            "release_required_pad_clearance": 0.05454319950847221,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.120461429527769,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008648872375488281,
+            "max_z_decrease": 0.008648872375488281,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500839639759703,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008648872375488281,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020904434645681903,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008648872375488281,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00864905780790955,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13298107683658594,
+              -0.46432739496231074,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13298107683658594,
+              -0.46432739496231074,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13388065829806667,
+              -0.46385024479681813,
+              0.8036385003345561
+            ],
+            "closest_button": [
+              0.13301421701908106,
+              -0.46429684758186335,
+              0.7686436772346497
+            ],
+            "closest_ee_minus_button": [
+              0.000866441278985608,
+              0.00044660278504521367,
+              0.034994823099906425
+            ],
+            "button_min_z_position": [
+              0.13302090764045713,
+              -0.46428713202476496,
+              0.7681599855422974
+            ],
+            "min_active_finger_to_button": 0.1449835789919081,
+            "closest_active_finger": [
+              0.007858730852603912,
+              -0.5290107727050781,
+              0.8108195662498474
+            ],
+            "closest_active_finger_button": [
+              0.13298186659812922,
+              -0.46432450413703913,
+              0.7764666080474854
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1251231357455253,
+              -0.064686268568039,
+              0.03435295820236206
+            ],
+            "min_contact_pad_to_button": 0.020904434645681903,
+            "closest_contact_pad": [
+              0.13302090764045713,
+              -0.4648372371145023,
+              0.7890571808623835
+            ],
+            "closest_contact_pad_button": [
+              0.13302090764045713,
+              -0.46428713202476496,
+              0.7681599855422974
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005501050897373516,
+              0.02089719532008616
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3aaf96a2666cf04a0a7cef383057dc9dc8c79c378fdd87023e7828361de446aa",
+    "visual_seed": 3989698758621760213,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..992c56ee371b4bfd5ea224fc2098b326d57e060a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2977665450708711,
+              -0.11762540077624252,
+              1.0491287617928213
+            ],
+            "current_z": 1.0491287617928213,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18802237298734492,
+            "gripper_z": 1.0523755722749135,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2934375984720299,
+              -0.1220265986073064,
+              1.0523755722749135
+            ],
+            "object_minus_gripper": [
+              0.004328946598841199,
+              0.00440119783106388,
+              -0.0032468104820921884
+            ],
+            "object_to_gripper_xy": 0.00617335573280693,
+            "object_to_gripper_z": -0.0032468104820921884,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2977665450708711,
+              -0.14157360799480467,
+              1.0491287617928213
+            ],
+            "finger_b": [
+              0.28678422906874546,
+              -0.11762540077624252,
+              1.0491287617928213
+            ],
+            "finger_midpoint": [
+              0.29227538706980827,
+              -0.1295995043855236,
+              1.0491287617928213
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054911580010628125,
+              0.01197410360928107,
+              0.0
+            ],
+            "finger_gap": 0.026346307023067523,
+            "fingertip_max_gap": 0.09311617025787297,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013173153511533755,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491287617928213,
+            "object_top_z": 1.099608277483099,
+            "finger_top_clearance": 0.050479515690277754,
+            "fingertip_min_top_clearance": 0.015143854707083293,
+            "object_projection_between_fingers": 0.8262405734506685,
+            "object_to_finger_line_xy": 0.00998268103109708,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905808512893649,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7954753529843086,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29668252550711793,
+              -0.12274540825596755,
+              1.242974784388802
+            ],
+            "held_position": [
+              0.30130700609175876,
+              -0.11860123307443186,
+              1.2397291707820823
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007006712231646144,
+            "max_held_gripper_dist": 0.007015503583452579,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032456136067195995,
+            "max_held_gripper_z_dist": 0.003254994783982168,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08676878016761985,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30130700609175876,
+              -0.143469246129932,
+              1.2397291707820823
+            ],
+            "held_grasp_finger_b": [
+              0.2926843420590417,
+              -0.11860123307443186,
+              1.2397291707820823
+            ],
+            "held_grasp_midpoint": [
+              0.29699567407540023,
+              -0.13103523960218194,
+              1.2397291707820823
+            ],
+            "held_grasp_object_position": [
+              0.30130700609175876,
+              -0.11860123307443186,
+              1.2397291707820823
+            ],
+            "held_grasp_finger_gap": 0.026320494074953033,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02430818007397122,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0582777349461936,
+              -0.9976948840917759,
+              -0.03476526810826153
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036059110604137307,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03706365070408069,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2825647428897962,
+              -0.40886081113731554,
+              0.8515395989756829
+            ],
+            "target_position": [
+              0.2772551866111917,
+              -0.40978288990296036,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005389027474945899,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18188062897254198,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395989756829,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568816968984265,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08692426701513613,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14958537662622454,
+            "release_required_pad_clearance": 0.053462133507568066,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9374809449407284,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008649885654449463,
+            "max_z_decrease": 0.008649885654449463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501389699766863,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008649885654449463,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020966732226395536,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008649885654449463,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008649983424445118,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13295511901378626,
+              -0.4660443365573883,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13295511901378626,
+              -0.4660443365573883,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1336325974116524,
+              -0.46672508599825446,
+              0.8035269332601742
+            ],
+            "closest_button": [
+              0.13295249640941614,
+              -0.4660058617591858,
+              0.7685270309448242
+            ],
+            "closest_ee_minus_button": [
+              0.0006801010022362552,
+              -0.0007192242390686721,
+              0.034999902315349996
+            ],
+            "button_min_z_position": [
+              0.13294082880020136,
+              -0.46600577235221863,
+              0.7681589722633362
+            ],
+            "min_active_finger_to_button": 0.14503851061920234,
+            "closest_active_finger": [
+              -0.006998308002948761,
+              -0.44959843158721924,
+              0.8107632994651794
+            ],
+            "closest_active_finger_button": [
+              0.13295519351959223,
+              -0.4660423994064331,
+              0.7764298915863037
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139953501522541,
+              0.016443967819213867,
+              0.03433340787887573
+            ],
+            "min_contact_pad_to_button": 0.020966732226395536,
+            "closest_contact_pad": [
+              0.13294082880020136,
+              -0.46799155028503103,
+              0.7890314552554224
+            ],
+            "closest_contact_pad_button": [
+              0.13294082880020136,
+              -0.46600577235221863,
+              0.7681589722633362
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019857779328124048,
+              0.020872482992086216
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6fa88d444b8e2d1672cd9df6cd49d8e2d1bebab25ba0701dcc8f72dc7fd48f0",
+    "visual_seed": 2625851015289775858,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b0d8845a2e019e36fcf5aae2f373fd7a196412e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.303374647345465,
+              -0.11607335387030186,
+              1.0498769405187178
+            ],
+            "current_z": 1.0498769405187178,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.18877049210859687,
+            "gripper_z": 1.052945839822752,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29909114495863076,
+              -0.12048791455830529,
+              1.052945839822752
+            ],
+            "object_minus_gripper": [
+              0.004283502386834226,
+              0.00441456068800343,
+              -0.0030688993040342005
+            ],
+            "object_to_gripper_xy": 0.006151157514328489,
+            "object_to_gripper_z": -0.0030688993040342005,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.303374647345465,
+              -0.13992800118468074,
+              1.0498769405187178
+            ],
+            "finger_b": [
+              0.2922830032473667,
+              -0.11607335387030186,
+              1.0498769405187178
+            ],
+            "finger_midpoint": [
+              0.29782882529641586,
+              -0.1280006775274913,
+              1.0498769405187178
+            ],
+            "object_minus_finger_midpoint": [
+              0.005545822049049132,
+              0.011927323657189445,
+              0.0
+            ],
+            "finger_gap": 0.026307199913565133,
+            "fingertip_max_gap": 0.09259934213433421,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013153599956782574,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498769405187178,
+            "object_top_z": 1.1002066331409999,
+            "finger_top_clearance": 0.05032969262228204,
+            "fingertip_min_top_clearance": 0.015098907786684629,
+            "object_projection_between_fingers": 0.8222364964103039,
+            "object_to_finger_line_xy": 0.01005759864090719,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879967106716711,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4634213007649781,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3028646631626369,
+              -0.12101693327266268,
+              1.2457402825204258
+            ],
+            "held_position": [
+              0.30747448423446616,
+              -0.11692030907955504,
+              1.242647692327549
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006899050238613596,
+            "max_held_gripper_dist": 0.006908620350983622,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030925901928768873,
+            "max_held_gripper_z_dist": 0.0031006698282838308,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08696610290501895,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30747448423446616,
+              -0.14188312396450156,
+              1.242647692327549
+            ],
+            "held_grasp_finger_b": [
+              0.29886379551935216,
+              -0.11692030907955504,
+              1.242647692327549
+            ],
+            "held_grasp_midpoint": [
+              0.3031691398769092,
+              -0.1294017165220283,
+              1.242647692327549
+            ],
+            "held_grasp_object_position": [
+              0.30747448423446616,
+              -0.11692030907955504,
+              1.242647692327549
+            ],
+            "held_grasp_finger_gap": 0.02640617517037822,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024294951664217683,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06947265797549908,
+              -0.9972096180254,
+              -0.027322655644267828
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034451531043201097,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036974566805947615,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2852342211989775,
+              -0.4109974573063823,
+              0.8515395607226247
+            ],
+            "target_position": [
+              0.27948336900910214,
+              -0.41223728544359217,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005882981788142094,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18206005743179945,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395607226247,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584829893909378,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08664312376222764,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14936639290633552,
+            "release_required_pad_clearance": 0.053321561881113824,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6607888900030818,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008805930614471436,
+            "max_z_decrease": 0.008805930614471436,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350318118768614,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008805930614471436,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021064307087419288,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008805930614471436,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00880611087841,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13518328964710236,
+              -0.46849873661994934,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13518328964710236,
+              -0.46849873661994934,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13474361951180686,
+              -0.47012709442293354,
+              0.8033654722149067
+            ],
+            "closest_button": [
+              0.1351771354675293,
+              -0.46844717860221863,
+              0.7683766484260559
+            ],
+            "closest_ee_minus_button": [
+              -0.00043351595572244106,
+              -0.0016799158207149167,
+              0.03498882378885082
+            ],
+            "button_min_z_position": [
+              0.1351691335439682,
+              -0.4684441983699798,
+              0.7680029273033142
+            ],
+            "min_active_finger_to_button": 0.14597088763310545,
+            "closest_active_finger": [
+              -0.005752578377723694,
+              -0.4521227777004242,
+              0.8111115097999573
+            ],
+            "closest_active_finger_button": [
+              0.13518214225769043,
+              -0.46849921345710754,
+              0.7768082022666931
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14093472063541412,
+              0.01637643575668335,
+              0.03430330753326416
+            ],
+            "min_contact_pad_to_button": 0.021064307087419288,
+            "closest_contact_pad": [
+              0.1351691335439682,
+              -0.47147280086793547,
+              0.7888483728486241
+            ],
+            "closest_contact_pad_button": [
+              0.1351691335439682,
+              -0.4684441983699798,
+              0.7680029273033142
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003028602497955668,
+              0.02084544554530987
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4890c46f7fe7aa19ca3ee4a788c46c4e5060519d34815b90455c33fbf07ed487",
+    "visual_seed": 8585439544716156289,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..524696380528b14e2c2b8b2af545deb1abe50dc3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30676155136423733,
+              -0.11381869347514069,
+              1.0513578772223717
+            ],
+            "current_z": 1.0513578772223717,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19025142881225054,
+            "gripper_z": 1.0552293492566382,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3021021229683635,
+              -0.11834426236433405,
+              1.0552293492566382
+            ],
+            "object_minus_gripper": [
+              0.004659428395873855,
+              0.004525568889193365,
+              -0.003871472034266521
+            ],
+            "object_to_gripper_xy": 0.006495463551364943,
+            "object_to_gripper_z": -0.003871472034266521,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30676155136423733,
+              -0.13810433042491488,
+              1.0513578772223717
+            ],
+            "finger_b": [
+              0.2956992092079535,
+              -0.11381869347514069,
+              1.0513578772223717
+            ],
+            "finger_midpoint": [
+              0.3012303802860954,
+              -0.12596151195002778,
+              1.0513578772223717
+            ],
+            "object_minus_finger_midpoint": [
+              0.005531171078141939,
+              0.012142818474887088,
+              0.0
+            ],
+            "finger_gap": 0.026686468032299283,
+            "fingertip_max_gap": 0.09617514540699543,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013343234016149647,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0513578772223717,
+            "object_top_z": 1.1028379398840435,
+            "finger_top_clearance": 0.05148006266167182,
+            "fingertip_min_top_clearance": 0.015444018798501562,
+            "object_projection_between_fingers": 0.8281648616139687,
+            "object_to_finger_line_xy": 0.01006712559700781,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050587572703497716,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2048758049431036,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3057143046503692,
+              -0.11772365689258968,
+              1.244801930702906
+            ],
+            "held_position": [
+              0.3105472568694175,
+              -0.11334783208584244,
+              1.240916172213842
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007589755524803188,
+            "max_held_gripper_dist": 0.007600220707624325,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0038857584890639174,
+            "max_held_gripper_z_dist": 0.003903364096581985,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668990670316341,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3105472568694175,
+              -0.13820156952264082,
+              1.240916172213842
+            ],
+            "held_grasp_finger_b": [
+              0.3011711170475878,
+              -0.11334783208584244,
+              1.240916172213842
+            ],
+            "held_grasp_midpoint": [
+              0.30585918695850267,
+              -0.12577470080424163,
+              1.240916172213842
+            ],
+            "held_grasp_object_position": [
+              0.3105472568694175,
+              -0.11334783208584244,
+              1.240916172213842
+            ],
+            "held_grasp_finger_gap": 0.02656351374603543,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024797024190388088,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.005567763151966319,
+              -0.9998185737411089,
+              -0.01821591655059907
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004624362790486722,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726953384909335,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2876239956659667,
+              -0.4106499922901028,
+              0.8515396014666616
+            ],
+            "target_position": [
+              0.2825052443334476,
+              -0.41168194294602467,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00522173700605686,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1815031092302511,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396014666616,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514333901055936,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08741581113558698,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15069440826162325,
+            "release_required_pad_clearance": 0.05370790556779349,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.425137571321456,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008832752704620361,
+            "max_z_decrease": 0.008832752704620361,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502545168060243,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008832752704620361,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021067113895723983,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008832752704620361,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008833004714755796,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13820517063140864,
+              -0.46794340014457697,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13820517063140864,
+              -0.46794340014457697,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1378187503250831,
+              -0.46968834679982935,
+              0.8035719494190752
+            ],
+            "closest_button": [
+              0.13824324309825892,
+              -0.4679143726825713,
+              0.7685940265655518
+            ],
+            "closest_ee_minus_button": [
+              -0.00042449277317582745,
+              -0.001773974117258048,
+              0.03497792285352341
+            ],
+            "button_min_z_position": [
+              0.13824734091758722,
+              -0.4678916931152343,
+              0.7679761052131653
+            ],
+            "min_active_finger_to_button": 0.1459857678173163,
+            "closest_active_finger": [
+              -0.002743959426879883,
+              -0.4514881372451782,
+              0.8110455274581909
+            ],
+            "closest_active_finger_button": [
+              0.13820785284042356,
+              -0.4679416418075561,
+              0.7767860293388367
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14095181226730344,
+              0.016453504562377874,
+              0.03425949811935425
+            ],
+            "min_contact_pad_to_button": 0.021067113895723983,
+            "closest_contact_pad": [
+              0.13824734091758722,
+              -0.4710586751685591,
+              0.7888038154226272
+            ],
+            "closest_contact_pad_button": [
+              0.13824734091758722,
+              -0.4678916931152343,
+              0.7679761052131653
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003166982053324774,
+              0.020827710209461947
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2b3bc48ef4a0e71238484942e525976f2bf4fb696bcc2d7e3b4afbdf3403ed9",
+    "visual_seed": 3225191316140744804,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9928f43905ac56656c5b064369541ccb85b0af7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2981166469749073,
+              -0.11003006126438332,
+              1.0490289860426896
+            ],
+            "current_z": 1.0490289860426896,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1879225376325684,
+            "gripper_z": 1.0522349433205787,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2938437317100996,
+              -0.11447008091482296,
+              1.0522349433205787
+            ],
+            "object_minus_gripper": [
+              0.0042729152648077195,
+              0.004440019650439636,
+              -0.003205957277889082
+            ],
+            "object_to_gripper_xy": 0.006162108353195108,
+            "object_to_gripper_z": -0.003205957277889082,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2981166469749073,
+              -0.13380715655334113,
+              1.0490289860426896
+            ],
+            "finger_b": [
+              0.2869130699855333,
+              -0.11003006126438332,
+              1.0490289860426896
+            ],
+            "finger_midpoint": [
+              0.2925148584802203,
+              -0.12191860890886222,
+              1.0490289860426896
+            ],
+            "object_minus_finger_midpoint": [
+              0.00560178849468701,
+              0.0118885476444789,
+              0.0
+            ],
+            "finger_gap": 0.026284413589369098,
+            "fingertip_max_gap": 0.09266659918330708,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013142206794684542,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490289860426896,
+            "object_top_z": 1.0991709235273168,
+            "finger_top_clearance": 0.05014193748462725,
+            "fingertip_min_top_clearance": 0.015042581245388174,
+            "object_projection_between_fingers": 0.8183159420812066,
+            "object_to_finger_line_xy": 0.010134847283078228,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883329959165354,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8019164443087392,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2974434551594754,
+              -0.11502785819519387,
+              1.2431177550778576
+            ],
+            "held_position": [
+              0.302053261134383,
+              -0.11091082118372057,
+              1.2398858308828198
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006974642563071303,
+            "max_held_gripper_dist": 0.006983885518810966,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032319241950378164,
+            "max_held_gripper_z_dist": 0.0032408090655684507,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08671637087408081,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.302053261134383,
+              -0.13584739725410994,
+              1.2398858308828198
+            ],
+            "held_grasp_finger_b": [
+              0.293443685433757,
+              -0.11091082118372057,
+              1.2398858308828198
+            ],
+            "held_grasp_midpoint": [
+              0.29774847328407,
+              -0.12337910921891526,
+              1.2398858308828198
+            ],
+            "held_grasp_object_position": [
+              0.302053261134383,
+              -0.11091082118372057,
+              1.2398858308828198
+            ],
+            "held_grasp_finger_gap": 0.026381008696771353,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02428561255127968,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06752409548636987,
+              -0.9972085298636433,
+              -0.031869177835942564
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034763709578195735,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699608998274902,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.283461315867019,
+              -0.40625779026156594,
+              0.8515395855375362
+            ],
+            "target_position": [
+              0.27764148077825435,
+              -0.4075043355885747,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005951836331142151,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18344421502350663,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395855375362,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557542824363835,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606952745060269,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1515382648578175,
+            "release_required_pad_clearance": 0.053034763725301345,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1007275273225028,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008469700813293457,
+            "max_z_decrease": 0.008469700813293457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350038385922347,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008469700813293457,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02084115205432206,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008469700813293457,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008469966217455301,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13334140181541443,
+              -0.46376579999923695,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13334140181541443,
+              -0.46376579999923695,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1325948147530146,
+              -0.46272880476967226,
+              0.8036004309400747
+            ],
+            "closest_button": [
+              0.1333892792463302,
+              -0.4637431204318999,
+              0.7686203122138977
+            ],
+            "closest_ee_minus_button": [
+              -0.0007944644933156053,
+              0.0010143156622276495,
+              0.03498011872617701
+            ],
+            "button_min_z_position": [
+              0.13340274989604944,
+              -0.4637387394905089,
+              0.7683391571044922
+            ],
+            "min_active_finger_to_button": 0.14611216901015772,
+            "closest_active_finger": [
+              0.0050470903515815735,
+              -0.5247272253036499,
+              0.8108077049255371
+            ],
+            "closest_active_finger_button": [
+              0.13334150612354273,
+              -0.463763803243637,
+              0.776561975479126
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12829441577196116,
+              -0.06096342206001293,
+              0.03424572944641113
+            ],
+            "min_contact_pad_to_button": 0.02084115205432206,
+            "closest_contact_pad": [
+              0.13340274989604944,
+              -0.46399462339577974,
+              0.7891787382513962
+            ],
+            "closest_contact_pad_button": [
+              0.13340274989604944,
+              -0.4637387394905089,
+              0.7683391571044922
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025588390527081506,
+              0.020839581146903985
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6852e4a319facc144c4e7459ce3d9c7e9116254f35109d2fa93ca6b2c1d6220c",
+    "visual_seed": 4756873805115761892,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..187e4c345c8ab20f34c78c4dddcedf72b979959d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30084186071606794,
+              -0.11447165686123856,
+              1.0512298660434007
+            ],
+            "current_z": 1.0512298660434007,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.19012323881934512,
+            "gripper_z": 1.0552051371200077,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29643292549021366,
+              -0.11887847452118899,
+              1.0552051371200077
+            ],
+            "object_minus_gripper": [
+              0.0044089352258542824,
+              0.004406817659950435,
+              -0.003975271076607001
+            ],
+            "object_to_gripper_xy": 0.006233678826650422,
+            "object_to_gripper_z": -0.003975271076607001,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30084186071606794,
+              -0.13855717638668572,
+              1.0512298660434007
+            ],
+            "finger_b": [
+              0.2899330679657937,
+              -0.11447165686123856,
+              1.0512298660434007
+            ],
+            "finger_midpoint": [
+              0.2953874643409308,
+              -0.12651441662396212,
+              1.0512298660434007
+            ],
+            "object_minus_finger_midpoint": [
+              0.005454396375137116,
+              0.012042759762723565,
+              0.0
+            ],
+            "finger_gap": 0.026440764173509282,
+            "fingertip_max_gap": 0.09477094656305177,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013220382086754627,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512298660434007,
+            "object_top_z": 1.1020677544315671,
+            "finger_top_clearance": 0.050837888388166386,
+            "fingertip_min_top_clearance": 0.015251366516449915,
+            "object_projection_between_fingers": 0.8297820419090643,
+            "object_to_finger_line_xy": 0.009937078182068057,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049885473281525886,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8942437092290105,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30002620047282424,
+              -0.11911935374944929,
+              1.24829609048727
+            ],
+            "held_position": [
+              0.30469231300373795,
+              -0.11493961703385847,
+              1.244318958034392
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007420268708782885,
+            "max_held_gripper_dist": 0.007430533307680382,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003977132452877896,
+            "max_held_gripper_z_dist": 0.003995384050164308,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0870398042981895,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30469231300373795,
+              -0.1399155527370508,
+              1.244318958034392
+            ],
+            "held_grasp_finger_b": [
+              0.29586711041668484,
+              -0.11493961703385847,
+              1.244318958034392
+            ],
+            "held_grasp_midpoint": [
+              0.3002797117102114,
+              -0.12742758488545464,
+              1.244318958034392
+            ],
+            "held_grasp_object_position": [
+              0.30469231300373795,
+              -0.11493961703385847,
+              1.244318958034392
+            ],
+            "held_grasp_finger_gap": 0.026489272639174652,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024699429339279908,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02941294647619412,
+              -0.9993221013707323,
+              -0.022140828610795804
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004052924861835635,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037110960189120544,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28677241443232526,
+              -0.40576458932099,
+              0.8515395573967551
+            ],
+            "target_position": [
+              0.28140662176558595,
+              -0.4066619839435743,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005440316907228521,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18542071190815837,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395573967551,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577461268544654,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871042203919442,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15282866066737083,
+            "release_required_pad_clearance": 0.0535521101959721,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1155384501482337,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008699953556060791,
+            "max_z_decrease": 0.008699953556060791,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035014015687089665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008699953556060791,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020909874290182623,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008699953556060791,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008700080038599966,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13710655272006986,
+              -0.4629234373569488,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13710655272006986,
+              -0.4629234373569488,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13801125270848819,
+              -0.46278957148528,
+              0.8034784066339177
+            ],
+            "closest_button": [
+              0.13709092140197748,
+              -0.4628801047801971,
+              0.7684766054153442
+            ],
+            "closest_ee_minus_button": [
+              0.0009203313065107022,
+              9.05332949170945e-05,
+              0.035001801218573436
+            ],
+            "button_min_z_position": [
+              0.1370831876993179,
+              -0.4628827571868896,
+              0.7681089043617249
+            ],
+            "min_active_finger_to_button": 0.1449433242710346,
+            "closest_active_finger": [
+              -0.0030184686183929443,
+              -0.44914954900741577,
+              0.8108201622962952
+            ],
+            "closest_active_finger_button": [
+              0.1371073573827743,
+              -0.46292087435722346,
+              0.7764156460762024
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14012582600116724,
+              0.013771325349807684,
+              0.03440451622009277
+            ],
+            "min_contact_pad_to_button": 0.020909874290182623,
+            "closest_contact_pad": [
+              0.1370831876993179,
+              -0.46375317262957794,
+              0.7890006544030299
+            ],
+            "closest_contact_pad_button": [
+              0.1370831876993179,
+              -0.4628827571868896,
+              0.7681089043617249
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008704154426883437,
+              0.020891750041305057
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dfde6a5cd586fea309940201162e09456fe0f2aeccf45cd5f72d95de573f8255",
+    "visual_seed": 520053363089748665,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1095d8946d46899f479ccba71191567f95adbf16
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3020390241954658,
+              -0.11165935760408767,
+              1.0507265817483544
+            ],
+            "current_z": 1.0507265817483544,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18962007373358858,
+            "gripper_z": 1.0539905314949964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2977225259188142,
+              -0.11609693029539767,
+              1.0539905314949964
+            ],
+            "object_minus_gripper": [
+              0.0043164982766515925,
+              0.004437572691309996,
+              -0.003263949746642014
+            ],
+            "object_to_gripper_xy": 0.006190654954283626,
+            "object_to_gripper_z": -0.003263949746642014,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3020390241954658,
+              -0.13552520815661875,
+              1.0507265817483544
+            ],
+            "finger_b": [
+              0.29089588600310634,
+              -0.11165935760408767,
+              1.0507265817483544
+            ],
+            "finger_midpoint": [
+              0.29646745509928607,
+              -0.1235922828803532,
+              1.0507265817483544
+            ],
+            "object_minus_finger_midpoint": [
+              0.005571569096179729,
+              0.011932925276265535,
+              0.0
+            ],
+            "finger_gap": 0.026339103085901924,
+            "fingertip_max_gap": 0.09408472424940781,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013169551542950955,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507265817483544,
+            "object_top_z": 1.1017343824159225,
+            "finger_top_clearance": 0.05100780066756805,
+            "fingertip_min_top_clearance": 0.015302340200270447,
+            "object_projection_between_fingers": 0.8210164701237069,
+            "object_to_finger_line_xy": 0.01009679296662905,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049542362124703906,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9088336792177099,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30149256396252455,
+              -0.11624649457868114,
+              1.2456651659583808
+            ],
+            "held_position": [
+              0.306119248373021,
+              -0.1121059357370159,
+              1.2423770751603733
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007025807942974594,
+            "max_held_gripper_dist": 0.007034963731898232,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032880907980075147,
+            "max_held_gripper_z_dist": 0.0032988734470285053,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08658284577765811,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.306119248373021,
+              -0.13703620275117917,
+              1.2423770751603733
+            ],
+            "held_grasp_finger_b": [
+              0.29734283141777296,
+              -0.1121059357370159,
+              1.2423770751603733
+            ],
+            "held_grasp_midpoint": [
+              0.30173103989539696,
+              -0.12457106924409753,
+              1.2423770751603733
+            ],
+            "held_grasp_object_position": [
+              0.306119248373021,
+              -0.1121059357370159,
+              1.2423770751603733
+            ],
+            "held_grasp_finger_gap": 0.026429977449287448,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024367877246732703,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.058642710459333475,
+              -0.9980859856404078,
+              -0.019631550580597512
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036580312902232434,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037021638568351715,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28458488999840215,
+              -0.4119278940239476,
+              0.8515395597726713
+            ],
+            "target_position": [
+              0.27943444192784556,
+              -0.41279972249749824,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0052237151735899405,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18145052516085136,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395597726713,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533229277292158,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08557545009392663,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14997070036831572,
+            "release_required_pad_clearance": 0.052787725046963316,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6230659853844731,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008851468563079834,
+            "max_z_decrease": 0.008851468563079834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035014272414737486,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008851468563079834,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020955929018731,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008851468563079834,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008851710832950088,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13513436913490295,
+              -0.4690611660480499,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13513436913490295,
+              -0.4690611660480499,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13369289198681172,
+              -0.46993909522072136,
+              0.8036378349628203
+            ],
+            "closest_button": [
+              0.13516208529472348,
+              -0.46903252601623535,
+              0.76866614818573
+            ],
+            "closest_ee_minus_button": [
+              -0.0014691933079117592,
+              -0.0009065692044860074,
+              0.03497168677709028
+            ],
+            "button_min_z_position": [
+              0.13518315553665158,
+              -0.46901747584342957,
+              0.7679573893547058
+            ],
+            "min_active_finger_to_button": 0.1471950931746498,
+            "closest_active_finger": [
+              -0.007303640246391296,
+              -0.45511913299560547,
+              0.8112123012542725
+            ],
+            "closest_active_finger_button": [
+              0.13513341546058652,
+              -0.46906134486198425,
+              0.776807427406311
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14243705570697782,
+              0.013942211866378784,
+              0.034404873847961426
+            ],
+            "min_contact_pad_to_button": 0.020955929018731,
+            "closest_contact_pad": [
+              0.13518315553665158,
+              -0.4710278495945089,
+              0.7888166644720023
+            ],
+            "closest_contact_pad_button": [
+              0.13518315553665158,
+              -0.46901747584342957,
+              0.7679573893547058
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020103737510793196,
+              0.02085927511729646
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1113dbc754d06ab79b05efafeac30ebb79f61e9f698e569e63f8d317b90fc41b",
+    "visual_seed": 2673479317761139828,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff3ae29b91db1c09c0957da0b20235a22fe35f8c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30348726983815677,
+              -0.11758210147290572,
+              1.0516983749634035
+            ],
+            "current_z": 1.0516983749634035,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1905918669486376,
+            "gripper_z": 1.0556086918402412,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2988817118213832,
+              -0.12204311327254852,
+              1.0556086918402412
+            ],
+            "object_minus_gripper": [
+              0.004605558016773592,
+              0.004461011799642797,
+              -0.003910316876837738
+            ],
+            "object_to_gripper_xy": 0.006411847699565217,
+            "object_to_gripper_z": -0.003910316876837738,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30348726983815677,
+              -0.14187774357368116,
+              1.0516983749634035
+            ],
+            "finger_b": [
+              0.2925916924812343,
+              -0.11758210147290572,
+              1.0516983749634035
+            ],
+            "finger_midpoint": [
+              0.29803948115969553,
+              -0.12972992252329343,
+              1.0516983749634035
+            ],
+            "object_minus_finger_midpoint": [
+              0.005447788678461241,
+              0.012147821050387711,
+              0.0
+            ],
+            "finger_gap": 0.026626900514886327,
+            "fingertip_max_gap": 0.09617780297555859,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013313450257443156,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0516983749634035,
+            "object_top_z": 1.1031621245073413,
+            "finger_top_clearance": 0.05146374954393784,
+            "fingertip_min_top_clearance": 0.015439124863181351,
+            "object_projection_between_fingers": 0.8325599806019252,
+            "object_to_finger_line_xy": 0.009941639576003499,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050588901487779295,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2664523157833587,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3021578489569373,
+              -0.12152958459293195,
+              1.2462439326490338
+            ],
+            "held_position": [
+              0.30692081691346673,
+              -0.1171854411835069,
+              1.2423382175398654
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075373772779769475,
+            "max_held_gripper_dist": 0.007549193907554854,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003905715109168373,
+            "max_held_gripper_z_dist": 0.0039248363655757235,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670379296835908,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30692081691346673,
+              -0.14196782075331446,
+              1.2423382175398654
+            ],
+            "held_grasp_finger_b": [
+              0.29759025926133365,
+              -0.1171854411835069,
+              1.2423382175398654
+            ],
+            "held_grasp_midpoint": [
+              0.3022555380874002,
+              -0.12957663096841068,
+              1.2423382175398654
+            ],
+            "held_grasp_object_position": [
+              0.30692081691346673,
+              -0.1171854411835069,
+              1.2423382175398654
+            ],
+            "held_grasp_finger_gap": 0.026480665460705367,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02477139214194684,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.000614179156505152,
+              -0.9997878817965241,
+              -0.020586748086655282
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004664649507199184,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03732882336509313,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28491938225909175,
+              -0.4122345475855216,
+              0.8515396002808667
+            ],
+            "target_position": [
+              0.2799648498094192,
+              -0.41337289121595294,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0050836225288470975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846783517615446,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396002808667,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580413971013095,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08873359276463792,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15208629595852965,
+            "release_required_pad_clearance": 0.05436679638231896,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7573551627058315,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008871614933013916,
+            "max_z_decrease": 0.008871614933013916,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502429471055692,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008871614933013916,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021035157370830507,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008871614933013916,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008871812419494455,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13566477596759796,
+              -0.4696343541145324,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13566477596759796,
+              -0.4696343541145324,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13533880241366103,
+              -0.4711099945067149,
+              0.8036908070174122
+            ],
+            "closest_button": [
+              0.13565503060817719,
+              -0.4695854783058166,
+              0.7687011361122131
+            ],
+            "closest_ee_minus_button": [
+              -0.0003162281945161549,
+              -0.0015245162008983293,
+              0.03498967090519911
+            ],
+            "button_min_z_position": [
+              0.13564684987068176,
+              -0.4695779383182525,
+              0.7679372429847717
+            ],
+            "min_active_finger_to_button": 0.1459269874086957,
+            "closest_active_finger": [
+              -0.0054044947028160095,
+              -0.4549773037433624,
+              0.8111400604248047
+            ],
+            "closest_active_finger_button": [
+              0.13566519320011136,
+              -0.46963307261466974,
+              0.7768000364303589
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14106968790292737,
+              0.014655768871307318,
+              0.0343400239944458
+            ],
+            "min_contact_pad_to_button": 0.021035157370830507,
+            "closest_contact_pad": [
+              0.13564684987068176,
+              -0.47227711513645954,
+              0.7887985058928427
+            ],
+            "closest_contact_pad_button": [
+              0.13564684987068176,
+              -0.4695779383182525,
+              0.7679372429847717
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026991768182070275,
+              0.020861262908071
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "87d41cfe381528bcf15faf57ebe0d96099cd5550790ea814c2881c1f35510acb",
+    "visual_seed": 6307102172025499956,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a02ddf5c5a1576211c99508141026e4c32ae5152
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3052833553916036,
+              -0.11829413100922001,
+              1.0517622371002635
+            ],
+            "current_z": 1.0517622371002635,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1906557886901421,
+            "gripper_z": 1.0546841292596594,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30109950073791275,
+              -0.12266567612401473,
+              1.0546841292596594
+            ],
+            "object_minus_gripper": [
+              0.004183854653690866,
+              0.00437154511479472,
+              -0.002921892159395867
+            ],
+            "object_to_gripper_xy": 0.006051036808175629,
+            "object_to_gripper_z": -0.002921892159395867,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3052833553916036,
+              -0.1420584932734307,
+              1.0517622371002635
+            ],
+            "finger_b": [
+              0.2942313553344267,
+              -0.11829413100922001,
+              1.0517622371002635
+            ],
+            "finger_midpoint": [
+              0.2997573553630152,
+              -0.13017631214132536,
+              1.0517622371002635
+            ],
+            "object_minus_finger_midpoint": [
+              0.00552600002858844,
+              0.011882181132105346,
+              0.0
+            ],
+            "finger_gap": 0.026208617267770542,
+            "fingertip_max_gap": 0.09266587972454696,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013104308633885257,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0517622371002635,
+            "object_top_z": 1.1022149086187132,
+            "finger_top_clearance": 0.05045267151844968,
+            "fingertip_min_top_clearance": 0.015135801455534935,
+            "object_projection_between_fingers": 0.8221747043209956,
+            "object_to_finger_line_xy": 0.010021273935188127,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883293986227348,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.327518937232613,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3049038894334186,
+              -0.12330033747769246,
+              1.2464007356755435
+            ],
+            "held_position": [
+              0.30941543845887837,
+              -0.11923895075188908,
+              1.2434546662568309
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006747463357850326,
+            "max_held_gripper_dist": 0.006755981787263075,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029460694187126713,
+            "max_held_gripper_z_dist": 0.002956016593190558,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08598328758049238,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30941543845887837,
+              -0.14411463506251276,
+              1.2434546662568309
+            ],
+            "held_grasp_finger_b": [
+              0.30087348682896775,
+              -0.11923895075188908,
+              1.2434546662568309
+            ],
+            "held_grasp_midpoint": [
+              0.30514446264392303,
+              -0.1316767929072009,
+              1.2434546662568309
+            ],
+            "held_grasp_object_position": [
+              0.30941543845887837,
+              -0.11923895075188908,
+              1.2434546662568309
+            ],
+            "held_grasp_finger_gap": 0.026301418356612295,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024178615349443874,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0727444056463395,
+              -0.9969572790096126,
+              -0.028007771723404185
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033733649681120218,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03700956320099549,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28496598397869527,
+              -0.4045544416652873,
+              0.8515395985935011
+            ],
+            "target_position": [
+              0.27998801474448365,
+              -0.40531998169248834,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005036489772649636,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18463000568805593,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395985935011,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555940536893437,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564589769811896,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15254470922847724,
+            "release_required_pad_clearance": 0.052822948849059484,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6909685053311075,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008592605590820312,
+            "max_z_decrease": 0.008592605590820312,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499837813826874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008592605590820312,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020937060096056424,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008592605590820312,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008592768320753565,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13568794727325434,
+              -0.4615814387798308,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13568794727325434,
+              -0.4615814387798308,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13630495100714105,
+              -0.4619955289752938,
+              0.8036210035316944
+            ],
+            "closest_button": [
+              0.13572151958942408,
+              -0.461549937725067,
+              0.76863032579422
+            ],
+            "closest_ee_minus_button": [
+              0.0005834314177169675,
+              -0.00044559125022675117,
+              0.03499067773747444
+            ],
+            "button_min_z_position": [
+              0.1357229202985763,
+              -0.4615417718887328,
+              0.7682162523269653
+            ],
+            "min_active_finger_to_button": 0.14517839771774374,
+            "closest_active_finger": [
+              -0.004457250237464905,
+              -0.44553142786026,
+              0.8107694983482361
+            ],
+            "closest_active_finger_button": [
+              0.13568808138370508,
+              -0.46157962083816517,
+              0.7764400839805603
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14014533162117,
+              0.016048192977905162,
+              0.03432941436767578
+            ],
+            "min_contact_pad_to_button": 0.020937060096056424,
+            "closest_contact_pad": [
+              0.1357229202985763,
+              -0.4632404445716914,
+              0.7890842900062022
+            ],
+            "closest_contact_pad_button": [
+              0.1357229202985763,
+              -0.4615417718887328,
+              0.7682162523269653
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016986726829585908,
+              0.02086803767923684
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db32481eb36dc1de580b50d3a11375f1b37339a815d02777e547acebfbb061cb",
+    "visual_seed": 150891946333956694,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3986f16293433c9968cca9f9760a731baceb586c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2981285191310965,
+              -0.11074416569614245,
+              1.0497085676585372
+            ],
+            "current_z": 1.0497085676585372,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18860211924841597,
+            "gripper_z": 1.0536432757210132,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2934374029986017,
+              -0.11529956244302252,
+              1.0536432757210132
+            ],
+            "object_minus_gripper": [
+              0.004691116132494788,
+              0.004555396746880061,
+              -0.003934708062476089
+            ],
+            "object_to_gripper_xy": 0.006538976226446943,
+            "object_to_gripper_z": -0.003934708062476089,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2981285191310965,
+              -0.13500098606706434,
+              1.0497085676585372
+            ],
+            "finger_b": [
+              0.28697872543700914,
+              -0.11074416569614245,
+              1.0497085676585372
+            ],
+            "finger_midpoint": [
+              0.2925536222840528,
+              -0.1228725758816034,
+              1.0497085676585372
+            ],
+            "object_minus_finger_midpoint": [
+              0.005574896847043709,
+              0.012128410185460944,
+              0.0
+            ],
+            "finger_gap": 0.02669665211085243,
+            "fingertip_max_gap": 0.0968506921646243,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013348326055426227,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497085676585372,
+            "object_top_z": 1.1015918400111457,
+            "finger_top_clearance": 0.05188327235260859,
+            "fingertip_min_top_clearance": 0.015564981705782577,
+            "object_projection_between_fingers": 0.825570450551801,
+            "object_to_finger_line_xy": 0.01013080373101803,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05092534608231215,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2982420241933377,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2965957497576155,
+              -0.11503567917970164,
+              1.2467649463599413
+            ],
+            "held_position": [
+              0.30150930375606566,
+              -0.11067556213082078,
+              1.242836856955758
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007653987192495461,
+            "max_held_gripper_dist": 0.007663319672676601,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003928089404183321,
+            "max_held_gripper_z_dist": 0.003946605489674848,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08641825990764829,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30150930375606566,
+              -0.13563360459436669,
+              1.242836856955758
+            ],
+            "held_grasp_finger_b": [
+              0.29207748916243215,
+              -0.11067556213082078,
+              1.242836856955758
+            ],
+            "held_grasp_midpoint": [
+              0.2967933964592489,
+              -0.12315458336259373,
+              1.242836856955758
+            ],
+            "held_grasp_object_position": [
+              0.30150930375606566,
+              -0.11067556213082078,
+              1.242836856955758
+            ],
+            "held_grasp_finger_gap": 0.02668076104875644,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02484507411770888,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011648436906910043,
+              -0.9998756934310874,
+              -0.010625987169568417
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004572157989614596,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037187847114029005,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2817781154063872,
+              -0.40478528657801643,
+              0.8515395780710785
+            ],
+            "target_position": [
+              0.27752994379115126,
+              -0.4053675572159335,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004287890060190054,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829137699034714,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395780710785,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532165666904611,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08802836724656322,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15153133088144774,
+            "release_required_pad_clearance": 0.054014183623281614,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.039882548049418,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008447766304016113,
+            "max_z_decrease": 0.008447766304016113,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034989229417489956,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008447766304016113,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020873003018680406,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008447766304016113,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00844800560926178,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13322986662387848,
+              -0.46162900328636164,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13322986662387848,
+              -0.46162900328636164,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13243547858501017,
+              -0.46139040618314886,
+              0.803702539808564
+            ],
+            "closest_button": [
+              0.13324907422065735,
+              -0.4616048634052276,
+              0.7687234282493591
+            ],
+            "closest_ee_minus_button": [
+              -0.0008135956356471741,
+              0.0002144572220787455,
+              0.034979111559204856
+            ],
+            "button_min_z_position": [
+              0.13328617811203,
+              -0.46159946918487543,
+              0.7683610916137695
+            ],
+            "min_active_finger_to_button": 0.14648120435848777,
+            "closest_active_finger": [
+              0.00547230988740921,
+              -0.5245463848114014,
+              0.8108905553817749
+            ],
+            "closest_active_finger_button": [
+              0.13323041796684265,
+              -0.46162706613540644,
+              0.7766010761260986
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12775810807943344,
+              -0.06291931867599493,
+              0.03428947925567627
+            ],
+            "min_contact_pad_to_button": 0.020873003018680406,
+            "closest_contact_pad": [
+              0.13328617811203,
+              -0.46255113832799744,
+              0.7892123884765517
+            ],
+            "closest_contact_pad_button": [
+              0.13328617811203,
+              -0.46159946918487543,
+              0.7683610916137695
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009516691431220026,
+              0.020851296862782198
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "60c1690e4d91b6f535425ab2bff4205c3b78f85c64b544609204475c83b6c365",
+    "visual_seed": 9138449387885545027,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..98482f8ca807fcbdba78ad04aae389858c91a32a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3056679387662117,
+              -0.11128696003239814,
+              1.0504543117781773
+            ],
+            "current_z": 1.0504543117781773,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.18934792297270098,
+            "gripper_z": 1.0535558348596867,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3013120762139109,
+              -0.11574721665181646,
+              1.0535558348596867
+            ],
+            "object_minus_gripper": [
+              0.004355862552300804,
+              0.004460256619418318,
+              -0.0031015230815094608
+            ],
+            "object_to_gripper_xy": 0.006234374682805116,
+            "object_to_gripper_z": -0.0031015230815094608,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3056679387662117,
+              -0.13518096839290789,
+              1.0504543117781773
+            ],
+            "finger_b": [
+              0.29447818159793615,
+              -0.11128696003239814,
+              1.0504543117781773
+            ],
+            "finger_midpoint": [
+              0.3000730601820739,
+              -0.12323396421265301,
+              1.0504543117781773
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055948785841377635,
+              0.011947004180254864,
+              0.0
+            ],
+            "finger_gap": 0.026384357127227545,
+            "fingertip_max_gap": 0.09226209184288267,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013192178563613766,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504543117781773,
+            "object_top_z": 1.1007653980355334,
+            "finger_top_clearance": 0.05031108625735614,
+            "fingertip_min_top_clearance": 0.015093325877206874,
+            "object_projection_between_fingers": 0.8201343256580875,
+            "object_to_finger_line_xy": 0.010133585974506712,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863104592144134,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1988400715870644,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30533525948735185,
+              -0.11618153462199383,
+              1.2463029785349826
+            ],
+            "held_position": [
+              0.3100132463096874,
+              -0.1120500591454784,
+              1.2431637300196274
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006986238727967524,
+            "max_held_gripper_dist": 0.006995169546237944,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031392485153551863,
+            "max_held_gripper_z_dist": 0.0031520810155729606,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08678902068567736,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3100132463096874,
+              -0.1370709508926808,
+              1.2431637300196274
+            ],
+            "held_grasp_finger_b": [
+              0.3012757307546287,
+              -0.1120500591454784,
+              1.2431637300196274
+            ],
+            "held_grasp_midpoint": [
+              0.3056444885321581,
+              -0.12456050501907959,
+              1.2431637300196274
+            ],
+            "held_grasp_object_position": [
+              0.3100132463096874,
+              -0.1120500591454784,
+              1.2431637300196274
+            ],
+            "held_grasp_finger_gap": 0.02650262632080287,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024314496326929287,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07254116190272862,
+              -0.9970997880291741,
+              -0.023017222725130182
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003462027137647277,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036929172376123295,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28971223882937935,
+              -0.4052163723425323,
+              0.8515395968143843
+            ],
+            "target_position": [
+              0.2833308975548469,
+              -0.4065886102021769,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006527216344315025,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18390115304264595,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395968143843,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548748967153208,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540706605863783,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15197334040581717,
+            "release_required_pad_clearance": 0.05270353302931892,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.46139981671412594,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008640170097351074,
+            "max_z_decrease": 0.008640170097351074,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503020355930581,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008640170097351074,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020950517605995908,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008640170097351074,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008640399967317306,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1390308290719986,
+              -0.46285006403923024,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1390308290719986,
+              -0.46285006403923024,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13707376569615115,
+              -0.4639237130668833,
+              0.8036065825457482
+            ],
+            "closest_button": [
+              0.13906675577163696,
+              -0.46282401680946345,
+              0.7686504125595093
+            ],
+            "closest_ee_minus_button": [
+              -0.001992990075485812,
+              -0.0010996962574198466,
+              0.03495616998623896
+            ],
+            "button_min_z_position": [
+              0.1390811800956726,
+              -0.4628121554851531,
+              0.7681686878204346
+            ],
+            "min_active_finger_to_button": 0.14757310836696877,
+            "closest_active_finger": [
+              -0.0036561191082000732,
+              -0.4473724365234375,
+              0.8107060790061951
+            ],
+            "closest_active_finger_button": [
+              0.13903115689754486,
+              -0.4628504514694213,
+              0.776375412940979
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14268727600574493,
+              0.015478014945983776,
+              0.034330666065216064
+            ],
+            "min_contact_pad_to_button": 0.020950517605995908,
+            "closest_contact_pad": [
+              0.1390811800956726,
+              -0.46514404927281966,
+              0.7889890254575188
+            ],
+            "closest_contact_pad_button": [
+              0.1390811800956726,
+              -0.4628121554851531,
+              0.7681686878204346
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023318937876665724,
+              0.02082033763708424
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9dbfbc86538b884afe4ce295475c2b7bca12f2aaa24c9301d246d55c1b82a46d",
+    "visual_seed": 2290025205413821940,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aafa12549e59362656ab0d33ccd9650f1575f67a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2982683694993986,
+              -0.11532383401519361,
+              1.052085155812064
+            ],
+            "current_z": 1.052085155812064,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.19097876700658756,
+            "gripper_z": 1.0556502826966028,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29397688051000403,
+              -0.11970424426816223,
+              1.0556502826966028
+            ],
+            "object_minus_gripper": [
+              0.004291488989394576,
+              0.0043804102529686195,
+              -0.003565126884538694
+            ],
+            "object_to_gripper_xy": 0.006132281119649317,
+            "object_to_gripper_z": -0.003565126884538694,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2982683694993986,
+              -0.13930206952490598,
+              1.052085155812064
+            ],
+            "finger_b": [
+              0.28740348642593105,
+              -0.11532383401519361,
+              1.052085155812064
+            ],
+            "finger_midpoint": [
+              0.29283592796266483,
+              -0.1273129517700498,
+              1.052085155812064
+            ],
+            "object_minus_finger_midpoint": [
+              0.005432441536733779,
+              0.011989117754856199,
+              0.0
+            ],
+            "finger_gap": 0.02632492093738086,
+            "fingertip_max_gap": 0.09645423104197456,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013162460468690441,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052085155812064,
+            "object_top_z": 1.103799879929206,
+            "finger_top_clearance": 0.05171472411714184,
+            "fingertip_min_top_clearance": 0.015514417235142585,
+            "object_projection_between_fingers": 0.8296602668077635,
+            "object_to_finger_line_xy": 0.009896353563256438,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050727115520987284,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0517977407124044,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29664630159965916,
+              -0.11892575633757804,
+              1.2478442599259418
+            ],
+            "held_position": [
+              0.30111918522301656,
+              -0.11467779680744702,
+              1.2442895915522976
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00711951650916806,
+            "max_held_gripper_dist": 0.0071357079200762615,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035546683736442652,
+            "max_held_gripper_z_dist": 0.003568826757543775,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649251299970194,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30111918522301656,
+              -0.13921877619696152,
+              1.2442895915522976
+            ],
+            "held_grasp_finger_b": [
+              0.2918271191210988,
+              -0.11467779680744702,
+              1.2442895915522976
+            ],
+            "held_grasp_midpoint": [
+              0.2964731521720577,
+              -0.12694828650220427,
+              1.2442895915522976
+            ],
+            "held_grasp_object_position": [
+              0.30111918522301656,
+              -0.11467779680744702,
+              1.2442895915522976
+            ],
+            "held_grasp_finger_gap": 0.02624123018913145,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02446530910321601,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007675923966061286,
+              -0.9998229453949827,
+              -0.01718016452100279
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00455660212294521,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03741627032560112,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28395209078660893,
+              -0.41192634261713273,
+              0.8515395747942472
+            ],
+            "target_position": [
+              0.2806456425955263,
+              -0.4124117971073232,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003341895525350775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17987141861217723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395747942472,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566072698030127,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08854370021549186,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1477106209789304,
+            "release_required_pad_clearance": 0.054271850107745934,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5631622714741797,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008721530437469482,
+            "max_z_decrease": 0.008721530437469482,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035044978389298355,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008721530437469482,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020966439682117824,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008721530437469482,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008721675027946595,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13634556531906128,
+              -0.46867325901985163,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13634556531906128,
+              -0.46867325901985163,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13777418192095545,
+              -0.46950506349627114,
+              0.8034593673066389
+            ],
+            "closest_button": [
+              0.13633693754673007,
+              -0.4686331450939178,
+              0.7684547305107117
+            ],
+            "closest_ee_minus_button": [
+              0.001437244374225377,
+              -0.0008719184023533444,
+              0.035004636795927246
+            ],
+            "button_min_z_position": [
+              0.13632388412952426,
+              -0.4686279594898224,
+              0.7680873274803162
+            ],
+            "min_active_finger_to_button": 0.1443275211849042,
+            "closest_active_finger": [
+              -0.0031252577900886536,
+              -0.45465701818466187,
+              0.8110419511795044
+            ],
+            "closest_active_finger_button": [
+              0.13634751737117767,
+              -0.46866995096206665,
+              0.7766702175140381
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13947277516126633,
+              0.014012932777404785,
+              0.03437173366546631
+            ],
+            "min_contact_pad_to_button": 0.020966439682117824,
+            "closest_contact_pad": [
+              0.13632388412952426,
+              -0.47057306235428575,
+              0.788963346444442
+            ],
+            "closest_contact_pad_button": [
+              0.13632388412952426,
+              -0.4686279594898224,
+              0.7680873274803162
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019451028644633661,
+              0.02087601896412583
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad280147f9607a595400f6ea191e75a8ac6254679ec83b090922ef3189271611",
+    "visual_seed": 3539090910048877900,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..68c266620a7278f0a0218591353499b0541fa966
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30019719331085337,
+              -0.11277249971319962,
+              1.049040047831609
+            ],
+            "current_z": 1.049040047831609,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1879335994214878,
+            "gripper_z": 1.0525854280772753,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2957316393099444,
+              -0.11723957880063708,
+              1.0525854280772753
+            ],
+            "object_minus_gripper": [
+              0.004465554000908978,
+              0.004467079087437459,
+              -0.0035453802456661965
+            ],
+            "object_to_gripper_xy": 0.006316325522679722,
+            "object_to_gripper_z": -0.0035453802456661965,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30019719331085337,
+              -0.13682596954951096,
+              1.049040047831609
+            ],
+            "finger_b": [
+              0.28910702415843953,
+              -0.11277249971319962,
+              1.049040047831609
+            ],
+            "finger_midpoint": [
+              0.2946521087346464,
+              -0.12479923463135528,
+              1.049040047831609
+            ],
+            "object_minus_finger_midpoint": [
+              0.005545084576206949,
+              0.01202673491815566,
+              0.0
+            ],
+            "finger_gap": 0.026487001774370213,
+            "fingertip_max_gap": 0.09648900680257658,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013243500887185112,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049040047831609,
+            "object_top_z": 1.101250680602181,
+            "finger_top_clearance": 0.05221063277057181,
+            "fingertip_min_top_clearance": 0.01566318983117156,
+            "object_projection_between_fingers": 0.8246883653410292,
+            "object_to_finger_line_xy": 0.01007124367867491,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05074450340128829,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.660505689557637,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29941084840035065,
+              -0.11788056802455216,
+              1.246235203671194
+            ],
+            "held_position": [
+              0.30419053481403546,
+              -0.11371365925841687,
+              1.2426797155610412
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0072698023755736075,
+            "max_held_gripper_dist": 0.007278702208835583,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003555488110152716,
+            "max_held_gripper_z_dist": 0.003567142495399578,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08713120683959304,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30419053481403546,
+              -0.1388047268731286,
+              1.2426797155610412
+            ],
+            "held_grasp_finger_b": [
+              0.29540908887969985,
+              -0.11371365925841687,
+              1.2426797155610412
+            ],
+            "held_grasp_midpoint": [
+              0.29979981184686766,
+              -0.1262591930657727,
+              1.2426797155610412
+            ],
+            "held_grasp_object_position": [
+              0.30419053481403546,
+              -0.11371365925841687,
+              1.2426797155610412
+            ],
+            "held_grasp_finger_gap": 0.02658336823549068,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024625589349077295,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.049455266102310116,
+              -0.9987569472663442,
+              -0.006223900863831398
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00376573113350993,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697316665011079,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28250162226512965,
+              -0.4111351677522007,
+              0.8515394969743051
+            ],
+            "target_position": [
+              0.278923491111843,
+              -0.41107589676579553,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003578622025298266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18285233970183742,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394969743051,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525282946378181,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625215323049316,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15134584409390753,
+            "release_required_pad_clearance": 0.053126076615246584,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2783806229872678,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00873023271560669,
+            "max_z_decrease": 0.00873023271560669,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502623870214644,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00873023271560669,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02085982672017439,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00873023271560669,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008730529982258902,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13462342321872706,
+              -0.4673373699188232,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13462342321872706,
+              -0.4673373699188232,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13314766494883232,
+              -0.4661399626699161,
+              0.8030518052163143
+            ],
+            "closest_button": [
+              0.13468572497367853,
+              -0.4673011898994445,
+              0.768078625202179
+            ],
+            "closest_ee_minus_button": [
+              -0.0015380600248462162,
+              0.0011612272295284387,
+              0.0349731800141353
+            ],
+            "button_min_z_position": [
+              0.13468572497367853,
+              -0.4673011898994445,
+              0.768078625202179
+            ],
+            "min_active_finger_to_button": 0.14667196633622465,
+            "closest_active_finger": [
+              0.006651595234870911,
+              -0.5302459001541138,
+              0.8106154203414917
+            ],
+            "closest_active_finger_button": [
+              0.13462440669536585,
+              -0.46733573079109186,
+              0.7762943506240845
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12797281146049494,
+              -0.0629101693630219,
+              0.03432106971740723
+            ],
+            "min_contact_pad_to_button": 0.02085982672017439,
+            "closest_contact_pad": [
+              0.13468572497367853,
+              -0.4673011898994445,
+              0.7889384519223533
+            ],
+            "closest_contact_pad_button": [
+              0.13468572497367853,
+              -0.4673011898994445,
+              0.768078625202179
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02085982672017439
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "081796b1b973066621757a7049726e1d0a535d098b60867a19302af1034e2ee9",
+    "visual_seed": 1624173671967318391,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c686fada79ce3523d83c8099967077f7c320312
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3033380074425721,
+              -0.11979039679370126,
+              1.0520962321027918
+            ],
+            "current_z": 1.0520962321027918,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1909897836926706,
+            "gripper_z": 1.0558976188226032,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29895656516757285,
+              -0.12414606130929368,
+              1.0558976188226032
+            ],
+            "object_minus_gripper": [
+              0.004381442274999259,
+              0.004355664515592411,
+              -0.0038013867198114504
+            ],
+            "object_to_gripper_xy": 0.00617809434870831,
+            "object_to_gripper_z": -0.0038013867198114504,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3033380074425721,
+              -0.14393654837264927,
+              1.0520962321027918
+            ],
+            "finger_b": [
+              0.2926132478555078,
+              -0.11979039679370126,
+              1.0520962321027918
+            ],
+            "finger_midpoint": [
+              0.29797562764903995,
+              -0.13186347258317527,
+              1.0520962321027918
+            ],
+            "object_minus_finger_midpoint": [
+              0.005362379793532157,
+              0.012073075789474003,
+              0.0
+            ],
+            "finger_gap": 0.026420770319463834,
+            "fingertip_max_gap": 0.09526948583725389,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013210385159731917,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0520962321027918,
+            "object_top_z": 1.10306391554793,
+            "finger_top_clearance": 0.050967683445138245,
+            "fingertip_min_top_clearance": 0.01529030503354144,
+            "object_projection_between_fingers": 0.8352277091714789,
+            "object_to_finger_line_xy": 0.009801442861272564,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05013474291862695,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.102074600323895,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3021109578864208,
+              -0.12407827347031812,
+              1.2468342736318623
+            ],
+            "held_position": [
+              0.30666445886703386,
+              -0.11984698134216569,
+              1.2430421966145042
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007281349624883029,
+            "max_held_gripper_dist": 0.007292052841818851,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037920770173580642,
+            "max_held_gripper_z_dist": 0.0038094017386003376,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0869066913702468,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30666445886703386,
+              -0.14454679885573007,
+              1.2430421966145042
+            ],
+            "held_grasp_finger_b": [
+              0.29759788138863497,
+              -0.11984698134216569,
+              1.2430421966145042
+            ],
+            "held_grasp_midpoint": [
+              0.3021311701278344,
+              -0.1321968900989479,
+              1.2430421966145042
+            ],
+            "held_grasp_object_position": [
+              0.30666445886703386,
+              -0.11984698134216569,
+              1.2430421966145042
+            ],
+            "held_grasp_finger_gap": 0.026311286786761152,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024630769802974715,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.006607829408482644,
+              -0.9996300655545896,
+              -0.02638311258808023
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004463520960150997,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03734495477131165,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2831054224483962,
+              -0.4047788075500116,
+              0.8515395714241094
+            ],
+            "target_position": [
+              0.27784160750499076,
+              -0.40601711590481476,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005407509162266277,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1817142387343826,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395714241094,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520314473401335,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08743950755376194,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15071915434575797,
+            "release_required_pad_clearance": 0.05371975377688097,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.448905453569774,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008627235889434814,
+            "max_z_decrease": 0.008627235889434814,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504215903229676,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008627235889434814,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020924672649245572,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008627235889434814,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008627397880814342,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.133541539311409,
+              -0.4622785747051239,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.133541539311409,
+              -0.4622785747051239,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13525744256853175,
+              -0.46229208700966246,
+              0.8035110550128712
+            ],
+            "closest_button": [
+              0.1335752010345459,
+              -0.46224620938301086,
+              0.7685093283653259
+            ],
+            "closest_ee_minus_button": [
+              0.0016822415339858565,
+              -4.587762665159145e-05,
+              0.035001726647545306
+            ],
+            "button_min_z_position": [
+              0.1335745006799698,
+              -0.46223723888397217,
+              0.7681816220283508
+            ],
+            "min_active_finger_to_button": 0.1441718728297294,
+            "closest_active_finger": [
+              -0.005592286586761475,
+              -0.4465910792350769,
+              0.8107764720916748
+            ],
+            "closest_active_finger_button": [
+              0.13354167342185974,
+              -0.462276428937912,
+              0.7764073014259338
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13913396000862122,
+              0.015685349702835083,
+              0.03436917066574097
+            ],
+            "min_contact_pad_to_button": 0.020924672649245572,
+            "closest_contact_pad": [
+              0.1335745006799698,
+              -0.46345624490146153,
+              0.789070756759292
+            ],
+            "closest_contact_pad_button": [
+              0.1335745006799698,
+              -0.46223723888397217,
+              0.7681816220283508
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012190060174893658,
+              0.020889134730941117
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bc2a16adecb6220418ba06c2ea198fb8031b3bcee0c8eb77c27e754de186e1df",
+    "visual_seed": 4871303710047822121,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdcaaf4f17108577b74229f8b811b4cb4a82ac0a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29854012236250393,
+              -0.1180603214048924,
+              1.052790269418796
+            ],
+            "current_z": 1.052790269418796,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1916837614040302,
+            "gripper_z": 1.0558542771093025,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29443940508171085,
+              -0.12239913870933203,
+              1.0558542771093025
+            ],
+            "object_minus_gripper": [
+              0.004100717280793087,
+              0.004338817304439635,
+              -0.0030640076905064095
+            ],
+            "object_to_gripper_xy": 0.0059700266178887235,
+            "object_to_gripper_z": -0.0030640076905064095,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29854012236250393,
+              -0.14172748879796873,
+              1.052790269418796
+            ],
+            "finger_b": [
+              0.28751475050736275,
+              -0.1180603214048924,
+              1.052790269418796
+            ],
+            "finger_midpoint": [
+              0.29302743643493334,
+              -0.12989390510143056,
+              1.052790269418796
+            ],
+            "object_minus_finger_midpoint": [
+              0.005512685927570593,
+              0.011833583696538169,
+              0.0
+            ],
+            "finger_gap": 0.026109263431893962,
+            "fingertip_max_gap": 0.09198696965120387,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013054631715946981,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052790269418796,
+            "object_top_z": 1.1026376807860292,
+            "finger_top_clearance": 0.04984741136723314,
+            "fingertip_min_top_clearance": 0.014954223410169942,
+            "object_projection_between_fingers": 0.8216811512471559,
+            "object_to_finger_line_xy": 0.009994128020776979,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04849348482560194,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.921624860121519,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29765061427204054,
+              -0.12316188154656312,
+              1.2477394542685463
+            ],
+            "held_position": [
+              0.3020834188120101,
+              -0.119116771029783,
+              1.244672141250358
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00673951662466135,
+            "max_held_gripper_dist": 0.006747962493407228,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003067313018188189,
+            "max_held_gripper_z_dist": 0.0030795439966990745,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0869947529131348,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3020834188120101,
+              -0.14389918714704975,
+              1.244672141250358
+            ],
+            "held_grasp_finger_b": [
+              0.29363819986251816,
+              -0.119116771029783,
+              1.244672141250358
+            ],
+            "held_grasp_midpoint": [
+              0.2978608093372641,
+              -0.13150797908841638,
+              1.244672141250358
+            ],
+            "held_grasp_object_position": [
+              0.3020834188120101,
+              -0.119116771029783,
+              1.244672141250358
+            ],
+            "held_grasp_finger_gap": 0.02618186150208232,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02415206164733924,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06568508755658055,
+              -0.9969482586589717,
+              -0.04218576572172617
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034404180868291886,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708949430029357,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28295499681451874,
+              -0.4073874119102089,
+              0.8515395579851787
+            ],
+            "target_position": [
+              0.2768578310912286,
+              -0.40858654894094815,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006213964875645392,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18341316238237654,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395579851787,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533337653451432,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561945725824198,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15200433901510899,
+            "release_required_pad_clearance": 0.05280972862912099,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6655819039592134,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008661448955535889,
+            "max_z_decrease": 0.008661448955535889,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500847444129636,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008661448955535889,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02099876776351988,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008661448955535889,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00866160864260671,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13255774974822995,
+              -0.4648480117321014,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13255774974822995,
+              -0.4648480117321014,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13310215404159378,
+              -0.4658626331074399,
+              0.8036143338267965
+            ],
+            "closest_button": [
+              0.1325859129428863,
+              -0.4648159146308898,
+              0.7686253190040588
+            ],
+            "closest_ee_minus_button": [
+              0.0005162410987074872,
+              -0.0010467184765501347,
+              0.03498901482273764
+            ],
+            "button_min_z_position": [
+              0.13258482515811915,
+              -0.46480292081832875,
+              0.7681474089622498
+            ],
+            "min_active_finger_to_button": 0.14525464955142364,
+            "closest_active_finger": [
+              -0.007918544113636017,
+              -0.4514428973197937,
+              0.8108916878700256
+            ],
+            "closest_active_finger_button": [
+              0.1325585544109344,
+              -0.4648452103137969,
+              0.7764609456062317
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1404770985245704,
+              0.013402312994003185,
+              0.034430742263793945
+            ],
+            "min_contact_pad_to_button": 0.02099876776351988,
+            "closest_contact_pad": [
+              0.13258482515811915,
+              -0.4669330410111274,
+              0.789037857390909
+            ],
+            "closest_contact_pad_button": [
+              0.13258482515811915,
+              -0.46480292081832875,
+              0.7681474089622498
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002130120192798679,
+              0.02089044842865928
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1002af5b3d92a41122fa0037818101c52f6ded6f815da5a7cae4b0a47cbc171e",
+    "visual_seed": 8170103796963506830,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfc05b7719f6729e61e2e9c108c2d98a049bee09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30279234802630645,
+              -0.11725190368479255,
+              1.0491227587113414
+            ],
+            "current_z": 1.0491227587113414,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.188016369905865,
+            "gripper_z": 1.0522893071510642,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2983494702069117,
+              -0.12169712659899656,
+              1.0522893071510642
+            ],
+            "object_minus_gripper": [
+              0.0044428778193947305,
+              0.004445222914204017,
+              -0.0031665484397227495
+            ],
+            "object_to_gripper_xy": 0.006284836519356261,
+            "object_to_gripper_z": -0.0031665484397227495,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30279234802630645,
+              -0.14132170112951434,
+              1.0491227587113414
+            ],
+            "finger_b": [
+              0.2917790902670357,
+              -0.11725190368479255,
+              1.0491227587113414
+            ],
+            "finger_midpoint": [
+              0.29728571914667107,
+              -0.12928680240715346,
+              1.0491227587113414
+            ],
+            "object_minus_finger_midpoint": [
+              0.005506628879635378,
+              0.01203489872236091,
+              0.0
+            ],
+            "finger_gap": 0.026469737352343963,
+            "fingertip_max_gap": 0.09280985662170813,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013234868676171994,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491227587113414,
+            "object_top_z": 1.099555570501379,
+            "finger_top_clearance": 0.05043281179003767,
+            "fingertip_min_top_clearance": 0.015129843537011333,
+            "object_projection_between_fingers": 0.8268859393520676,
+            "object_to_finger_line_xy": 0.010014715293300162,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048904928310854065,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5307868973636867,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30191330064474453,
+              -0.12196698559149964,
+              1.2448877927160662
+            ],
+            "held_position": [
+              0.3066372557997992,
+              -0.11778330022653792,
+              1.2417142768447693
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007063297992109346,
+            "max_held_gripper_dist": 0.007072099434332516,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031735158712968836,
+            "max_held_gripper_z_dist": 0.0031852303198518506,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663022340168672,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3066372557997992,
+              -0.14273857072634225,
+              1.2417142768447693
+            ],
+            "held_grasp_finger_b": [
+              0.2977445808975918,
+              -0.11778330022653792,
+              1.2417142768447693
+            ],
+            "held_grasp_midpoint": [
+              0.3021909183486955,
+              -0.13026093547644008,
+              1.2417142768447693
+            ],
+            "held_grasp_object_position": [
+              0.3066372557997992,
+              -0.11778330022653792,
+              1.2417142768447693
+            ],
+            "held_grasp_finger_gap": 0.02649236102416607,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024421795080761418,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05474889004336473,
+              -0.9981322046326474,
+              -0.027104632707167342
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003772021736443657,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702248844930201,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28022405027164604,
+              -0.4108927225177965,
+              0.8515395855605477
+            ],
+            "target_position": [
+              0.2748566740840808,
+              -0.4120537182338569,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005491506003962183,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18071191723050634,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395855605477,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568174409589676,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870023852583645,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14850608222919867,
+            "release_required_pad_clearance": 0.05350119262918225,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0147192216268124,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008677899837493896,
+            "max_z_decrease": 0.008677899837493896,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501178616252971,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008677899837493896,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02101111669118204,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008677899837493896,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008678120208872013,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13055659830570218,
+              -0.4683151841163635,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13055659830570218,
+              -0.4683151841163635,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12863497323358344,
+              -0.4698499252577275,
+              0.8034897173343287
+            ],
+            "closest_button": [
+              0.13061341643333432,
+              -0.46828475594520574,
+              0.7685689330101013
+            ],
+            "closest_ee_minus_button": [
+              -0.001978443199750879,
+              -0.0015651693125217636,
+              0.034920784324227405
+            ],
+            "button_min_z_position": [
+              0.13060536980628965,
+              -0.4682771563529968,
+              0.7681309580802917
+            ],
+            "min_active_finger_to_button": 0.14753286308353725,
+            "closest_active_finger": [
+              -0.012182444334030151,
+              -0.4539635479450226,
+              0.8108212947845459
+            ],
+            "closest_active_finger_button": [
+              0.13055713474750516,
+              -0.4683150053024292,
+              0.7763917446136475
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1427395790815353,
+              0.014351457357406616,
+              0.03442955017089844
+            ],
+            "min_contact_pad_to_button": 0.02101111669118204,
+            "closest_contact_pad": [
+              0.13061341643333432,
+              -0.4710230453403853,
+              0.7894008507278419
+            ],
+            "closest_contact_pad_button": [
+              0.13061341643333432,
+              -0.46828475594520574,
+              0.7685689330101013
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027382893951795606,
+              0.020831917717740622
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "715f3db2e9ad2d420f15ff135f089f62e8d28724514140e4f0f57de809662f5a",
+    "visual_seed": 7708069788430059454,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecb8143b34cd46f2217c4693b250998c25d70725
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.303366646574578,
+              -0.11808900398563663,
+              1.0507303119801286
+            ],
+            "current_z": 1.0507303119801286,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1896238635700075,
+            "gripper_z": 1.0536322917056684,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2994092379392089,
+              -0.12236636945379309,
+              1.0536322917056684
+            ],
+            "object_minus_gripper": [
+              0.003957408635369086,
+              0.004277365468156463,
+              -0.0029019797255398494
+            ],
+            "object_to_gripper_xy": 0.005827258227972326,
+            "object_to_gripper_z": -0.0029019797255398494,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.303366646574578,
+              -0.1416209520250738,
+              1.0507303119801286
+            ],
+            "finger_b": [
+              0.29237488555557073,
+              -0.11808900398563663,
+              1.0507303119801286
+            ],
+            "finger_midpoint": [
+              0.29787076606507434,
+              -0.12985497800535523,
+              1.0507303119801286
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549588050950367,
+              0.0117659740197186,
+              0.0
+            ],
+            "finger_gap": 0.02597251217787257,
+            "fingertip_max_gap": 0.09316124593911043,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012986256088936311,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507303119801286,
+            "object_top_z": 1.1012264891790937,
+            "finger_top_clearance": 0.05049617719896515,
+            "fingertip_min_top_clearance": 0.015148853159689578,
+            "object_projection_between_fingers": 0.8208954422028376,
+            "object_to_finger_line_xy": 0.009958896058639841,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04908062296955522,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7380156296955094,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3030593452439156,
+              -0.12302801920578682,
+              1.2471816518468135
+            ],
+            "held_position": [
+              0.3073746027089543,
+              -0.11908612275402988,
+              1.2442589201018976
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006534703931983837,
+            "max_held_gripper_dist": 0.006542851109602879,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002922731744915863,
+            "max_held_gripper_z_dist": 0.0029349650321384146,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08635309627686386,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3073746027089543,
+              -0.14391834660063968,
+              1.2442589201018976
+            ],
+            "held_grasp_finger_b": [
+              0.29906065466729526,
+              -0.11908612275402988,
+              1.2442589201018976
+            ],
+            "held_grasp_midpoint": [
+              0.30321762868812474,
+              -0.1315022346773348,
+              1.2442589201018976
+            ],
+            "held_grasp_object_position": [
+              0.3073746027089543,
+              -0.11908612275402988,
+              1.2442589201018976
+            ],
+            "held_grasp_finger_gap": 0.026187040176536603,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024139004945564067,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07420561333588786,
+              -0.9969282941454263,
+              -0.025050015603489628
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032395068672731596,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703380598363902,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2843235521159357,
+              -0.40531805325944803,
+              0.8515395833186464
+            ],
+            "target_position": [
+              0.27901011693644656,
+              -0.4063535967614115,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005413404081637665,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18432968352202916,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395833186464,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590470366721196,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08653852603476934,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15154833111981378,
+            "release_required_pad_clearance": 0.053269263017384674,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5581774772243846,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00849539041519165,
+            "max_z_decrease": 0.00849539041519165,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499888775236743,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00849539041519165,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020862941571999763,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00849539041519165,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0084955774427452,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13471004366874695,
+              -0.462615042924881,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13471004366874695,
+              -0.462615042924881,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13498270581064845,
+              -0.461909325445315,
+              0.8035845901064094
+            ],
+            "closest_button": [
+              0.13474948704242704,
+              -0.46258556842803955,
+              0.7685930132865906
+            ],
+            "closest_ee_minus_button": [
+              0.0002332187682214104,
+              0.000676242982724562,
+              0.03499157681981879
+            ],
+            "button_min_z_position": [
+              0.13475592434406278,
+              -0.4625822901725769,
+              0.768313467502594
+            ],
+            "min_active_finger_to_button": 0.1453286538867046,
+            "closest_active_finger": [
+              0.0071672722697257996,
+              -0.5233041644096375,
+              0.8107356429100037
+            ],
+            "closest_active_finger_button": [
+              0.13470998406410217,
+              -0.46261340379714966,
+              0.7765317559242249
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12754271179437637,
+              -0.06069076061248779,
+              0.03420388698577881
+            ],
+            "min_contact_pad_to_button": 0.020862941571999763,
+            "closest_contact_pad": [
+              0.13475592434406278,
+              -0.4632605343235277,
+              0.7891653814653068
+            ],
+            "closest_contact_pad_button": [
+              0.13475592434406278,
+              -0.4625822901725769,
+              0.768313467502594
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006782441509508019,
+              0.020851913962712798
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0b6f7a215d155f09091d1f57648a0a544a2d263c913a11ac2ddfca94eb68f0c",
+    "visual_seed": 1403861300971858886,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2702a5d062e113713994644395854165a2f492be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3048095537598254,
+              -0.11374757032076521,
+              1.0525463673086297
+            ],
+            "current_z": 1.0525463673086297,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.19143979968921887,
+            "gripper_z": 1.0558665029606356,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3004469529244377,
+              -0.11816059313935894,
+              1.0558665029606356
+            ],
+            "object_minus_gripper": [
+              0.004362600835387698,
+              0.004413022818593723,
+              -0.00332013565200584
+            ],
+            "object_to_gripper_xy": 0.006205405421594493,
+            "object_to_gripper_z": -0.00332013565200584,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3048095537598254,
+              -0.13773963291363142,
+              1.0525463673086297
+            ],
+            "finger_b": [
+              0.29380665056147226,
+              -0.11374757032076521,
+              1.0525463673086297
+            ],
+            "finger_midpoint": [
+              0.29930810216064885,
+              -0.12574360161719833,
+              1.0525463673086297
+            ],
+            "object_minus_finger_midpoint": [
+              0.005501451599176532,
+              0.011996031296433118,
+              0.0
+            ],
+            "finger_gap": 0.026394752248360645,
+            "fingertip_max_gap": 0.09325993810414565,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013197376124180324,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525463673086297,
+            "object_top_z": 1.1029422124171084,
+            "finger_top_clearance": 0.05039584510847872,
+            "fingertip_min_top_clearance": 0.015118753532543583,
+            "object_projection_between_fingers": 0.8262281580975,
+            "object_to_finger_line_xy": 0.010001319192322857,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04912996905207283,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.051939052593888,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30424185527701536,
+              -0.11850637223019941,
+              1.2473559565883368
+            ],
+            "held_position": [
+              0.30887029751531236,
+              -0.11433990889255735,
+              1.2440133750561477
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007067867117914594,
+            "max_held_gripper_dist": 0.0070769526722471955,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003342581532189026,
+            "max_held_gripper_z_dist": 0.0033525634820850136,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608464953674737,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30887029751531236,
+              -0.13922525192459193,
+              1.2440133750561477
+            ],
+            "held_grasp_finger_b": [
+              0.3000336234020092,
+              -0.11433990889255735,
+              1.2440133750561477
+            ],
+            "held_grasp_midpoint": [
+              0.30445196045866074,
+              -0.12678258040857465,
+              1.2440133750561477
+            ],
+            "held_grasp_object_position": [
+              0.30887029751531236,
+              -0.11433990889255735,
+              1.2440133750561477
+            ],
+            "held_grasp_finger_gap": 0.026407709238151545,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024453119018181497,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04500557948793225,
+              -0.9986126622971033,
+              -0.027335846700748283
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038690900426459037,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03709599092178909,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2899316612064516,
+              -0.4103800679213837,
+              0.8515395866953228
+            ],
+            "target_position": [
+              0.28455151474064233,
+              -0.41139115124705156,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005474327856915712,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18139052171215725,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395866953228,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554620242562593,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08693033635237356,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14948830756468667,
+            "release_required_pad_clearance": 0.05346516817618678,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.943531322054298,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00876462459564209,
+            "max_z_decrease": 0.00876462459564209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03496484859555098,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00876462459564209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02073368691520795,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00876462459564209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008765072855829762,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14025144279003143,
+              -0.4676526188850402,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14025144279003143,
+              -0.4676526188850402,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13825876830062184,
+              -0.46726902688758837,
+              0.8029452266092417
+            ],
+            "closest_button": [
+              0.14033867418766022,
+              -0.46763685345649714,
+              0.7680442333221436
+            ],
+            "closest_ee_minus_button": [
+              -0.00207990588703838,
+              0.00036782656890876897,
+              0.03490099328709817
+            ],
+            "button_min_z_position": [
+              0.14033867418766022,
+              -0.46763685345649714,
+              0.7680442333221436
+            ],
+            "min_active_finger_to_button": 0.14747014994636956,
+            "closest_active_finger": [
+              0.010851092636585236,
+              -0.52956223487854,
+              0.8109918236732483
+            ],
+            "closest_active_finger_button": [
+              0.1402531862258911,
+              -0.4676538705825805,
+              0.776788055896759
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12940209358930588,
+              -0.06190836429595953,
+              0.03420376777648926
+            ],
+            "min_contact_pad_to_button": 0.02073368691520795,
+            "closest_contact_pad": [
+              0.14033867418766022,
+              -0.46852327878001215,
+              0.7887589629424813
+            ],
+            "closest_contact_pad_button": [
+              0.14033867418766022,
+              -0.46763685345649714,
+              0.7680442333221436
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008864253235150166,
+              0.020714729620337713
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f28b84ac9ae51826fb1e98f7dc1037442e7619f1299354fd452ebeba08e1871",
+    "visual_seed": 6326559925853293057,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..371878d6fc25a79f4de2ace0fce437013d57c479
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30526519848730665,
+              -0.11914151037846465,
+              1.0528499013916655
+            ],
+            "current_z": 1.0528499013916655,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.19174339337689927,
+            "gripper_z": 1.0558327958545202,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30109019646041313,
+              -0.1235042371653176,
+              1.0558327958545202
+            ],
+            "object_minus_gripper": [
+              0.004175002026893526,
+              0.004362726786852941,
+              -0.0029828944628547127
+            ],
+            "object_to_gripper_xy": 0.0060385451013707965,
+            "object_to_gripper_z": -0.0029828944628547127,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30526519848730665,
+              -0.1429006639173392,
+              1.0528499013916655
+            ],
+            "finger_b": [
+              0.29422615717333533,
+              -0.11914151037846465,
+              1.0528499013916655
+            ],
+            "finger_midpoint": [
+              0.299745677830321,
+              -0.13102108714790192,
+              1.0528499013916655
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055195206569856325,
+              0.011879576769437267,
+              0.0
+            ],
+            "finger_gap": 0.026198431441889415,
+            "fingertip_max_gap": 0.09264821218042615,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013099215720944697,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0528499013916655,
+            "object_top_z": 1.1031843070488851,
+            "finger_top_clearance": 0.050334405657219694,
+            "fingertip_min_top_clearance": 0.015100321697165941,
+            "object_projection_between_fingers": 0.82245349094398,
+            "object_to_finger_line_xy": 0.010011220636715647,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882410609021308,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5057739301579034,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30487198869015614,
+              -0.12425186630474062,
+              1.2485250177399723
+            ],
+            "held_position": [
+              0.3093766164743948,
+              -0.12020685405541584,
+              1.2455197298509013
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006759108733251667,
+            "max_held_gripper_dist": 0.006768313885349726,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003005287889070951,
+            "max_held_gripper_z_dist": 0.003016583863611366,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08615249307478935,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3093766164743948,
+              -0.14511163239854227,
+              1.2455197298509013
+            ],
+            "held_grasp_finger_b": [
+              0.3008626862332485,
+              -0.12020685405541584,
+              1.2455197298509013
+            ],
+            "held_grasp_midpoint": [
+              0.3051196513538217,
+              -0.13265924322697906,
+              1.2455197298509013
+            ],
+            "held_grasp_object_position": [
+              0.3093766164743948,
+              -0.12020685405541584,
+              1.2455197298509013
+            ],
+            "held_grasp_finger_gap": 0.026319859279095022,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024232926125743768,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0705326229650213,
+              -0.9971353936682158,
+              -0.02731585239025991
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003385609032043651,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03700327717557392,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2892257790310099,
+              -0.4035180967680495,
+              0.8515395752689102
+            ],
+            "target_position": [
+              0.283243623982896,
+              -0.4047433371256073,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006106340389583831,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18154901038237253,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395752689102,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532223236316918,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521429660586365,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15018621570072943,
+            "release_required_pad_clearance": 0.052607148302931825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.27695283989816166,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00857454538345337,
+            "max_z_decrease": 0.00857454538345337,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505373739723765,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00857454538345337,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020859319470237215,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00857454538345337,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008574598662277976,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13894355297088623,
+              -0.46100479364395136,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13894355297088623,
+              -0.46100479364395136,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14038091000899053,
+              -0.4599621607250993,
+              0.8032438703769434
+            ],
+            "closest_button": [
+              0.13894204795360565,
+              -0.4609746038913726,
+              0.7682343125343323
+            ],
+            "closest_ee_minus_button": [
+              0.0014388620553848763,
+              0.0010124431662733024,
+              0.03500955784261117
+            ],
+            "button_min_z_position": [
+              0.13894204795360565,
+              -0.4609746038913726,
+              0.7682343125343323
+            ],
+            "min_active_finger_to_button": 0.1441173718491991,
+            "closest_active_finger": [
+              0.01245146244764328,
+              -0.5210270881652832,
+              0.8105993270874023
+            ],
+            "closest_active_finger_button": [
+              0.13894297182559967,
+              -0.4610039293766021,
+              0.7764388918876648
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264915093779564,
+              -0.060023158788681086,
+              0.03416043519973755
+            ],
+            "min_contact_pad_to_button": 0.020859319470237215,
+            "closest_contact_pad": [
+              0.13894204795360565,
+              -0.46132957820081616,
+              0.7890906113910579
+            ],
+            "closest_contact_pad_button": [
+              0.13894204795360565,
+              -0.4609746038913726,
+              0.7682343125343323
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00035497430944353425,
+              0.020856298856725575
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c3e82e2059b3d09d4aedc67ad84b056b1eeed4461beae572e0ba3dffeb143e5e",
+    "visual_seed": 6809623581646140342,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc4baa97eaa82b78459cb43fa35bd06476ed32e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30063932960541095,
+              -0.12028470716494756,
+              1.0498190675095656
+            ],
+            "current_z": 1.0498190675095656,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18871255949479948,
+            "gripper_z": 1.0527878997523756,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29642193675582507,
+              -0.12466667521176945,
+              1.0527878997523756
+            ],
+            "object_minus_gripper": [
+              0.004217392849585888,
+              0.0043819680468218936,
+              -0.002968832242810082
+            ],
+            "object_to_gripper_xy": 0.0060817798719705616,
+            "object_to_gripper_z": -0.002968832242810082,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30063932960541095,
+              -0.1440830497568111,
+              1.0498190675095656
+            ],
+            "finger_b": [
+              0.28960352421331714,
+              -0.12028470716494756,
+              1.0498190675095656
+            ],
+            "finger_midpoint": [
+              0.29512142690936405,
+              -0.13218387846087934,
+              1.0498190675095656
+            ],
+            "object_minus_finger_midpoint": [
+              0.005517902696046906,
+              0.01189917129593178,
+              0.0
+            ],
+            "finger_gap": 0.026232615400906434,
+            "fingertip_max_gap": 0.09201460264979536,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013116307700453222,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498190675095656,
+            "object_top_z": 1.0998307536641236,
+            "finger_top_clearance": 0.05001168615455809,
+            "fingertip_min_top_clearance": 0.015003505846367426,
+            "object_projection_between_fingers": 0.8230197180153608,
+            "object_to_finger_line_xy": 0.010011730568394222,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04850730132489768,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3621523355018785,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2996916301159087,
+              -0.12534702059121042,
+              1.244196295570642
+            ],
+            "held_position": [
+              0.3042277559128342,
+              -0.12124964138814973,
+              1.2412227877597397
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006797551197358074,
+            "max_held_gripper_dist": 0.006806110115218487,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029735078109023316,
+            "max_held_gripper_z_dist": 0.002983550161059334,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08703343271502599,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3042277559128342,
+              -0.14606055885018637,
+              1.2412227877597397
+            ],
+            "held_grasp_finger_b": [
+              0.2956629852157459,
+              -0.12124964138814973,
+              1.2412227877597397
+            ],
+            "held_grasp_midpoint": [
+              0.29994537056429005,
+              -0.13365510011916804,
+              1.2412227877597397
+            ],
+            "held_grasp_object_position": [
+              0.3042277559128342,
+              -0.12124964138814973,
+              1.2412227877597397
+            ],
+            "held_grasp_finger_gap": 0.026247607936756772,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024129141046036594,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07022834435539753,
+              -0.9967640555701833,
+              -0.03910750787739303
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034358623215489594,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037054189881236634,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2829719809536313,
+              -0.4087107517589484,
+              0.8515395181377865
+            ],
+            "target_position": [
+              0.2777131618859778,
+              -0.4096610438637664,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005343990369639121,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18341117902276946,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395181377865,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570446262203226,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616362547286359,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15096360635725525,
+            "release_required_pad_clearance": 0.0530818127364318,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1922094524907465,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008718788623809814,
+            "max_z_decrease": 0.008718788623809814,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498867734877966,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008718788623809814,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020931548559547455,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008718788623809814,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00871906462888796,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13341309130191797,
+              -0.4659225046634674,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13341309130191797,
+              -0.4659225046634674,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13339799897525653,
+              -0.46639283074563587,
+              0.8036091648643078
+            ],
+            "closest_button": [
+              0.13345231115818018,
+              -0.4658952951431274,
+              0.7686240673065186
+            ],
+            "closest_ee_minus_button": [
+              -5.4312182923649255e-05,
+              -0.0004975356025084809,
+              0.034985097557789224
+            ],
+            "button_min_z_position": [
+              0.13346731662750239,
+              -0.4658792316913605,
+              0.7680900692939758
+            ],
+            "min_active_finger_to_button": 0.14585907567499837,
+            "closest_active_finger": [
+              -0.0076839253306388855,
+              -0.45250624418258667,
+              0.8108212947845459
+            ],
+            "closest_active_finger_button": [
+              0.13341419398784632,
+              -0.4659199118614197,
+              0.7763791084289551
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410981193184852,
+              0.013413667678833008,
+              0.03444218635559082
+            ],
+            "min_contact_pad_to_button": 0.020931548559547455,
+            "closest_contact_pad": [
+              0.13346731662750239,
+              -0.46737792638306,
+              0.7889678957929619
+            ],
+            "closest_contact_pad_button": [
+              0.13346731662750239,
+              -0.4658792316913605,
+              0.7680900692939758
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014986946916995536,
+              0.020877826498986063
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a4500c63e311b0f524d32c66a89d3698a3c79a16a127f4b5ab3f98ae6fa64ae5",
+    "visual_seed": 3764509893387123515,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7334f666afc84045412063cac26803cfeeaa6a68
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3043299720990118,
+              -0.11765950088962467,
+              1.0507310264720102
+            ],
+            "current_z": 1.0507310264720102,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18962445885259938,
+            "gripper_z": 1.0534517876531726,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30042636653779775,
+              -0.12191679252781061,
+              1.0534517876531726
+            ],
+            "object_minus_gripper": [
+              0.003903605561214052,
+              0.004257291638185945,
+              -0.002720761181162379
+            ],
+            "object_to_gripper_xy": 0.005776042630565433,
+            "object_to_gripper_z": -0.002720761181162379,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3043299720990118,
+              -0.14117151248278836,
+              1.0507310264720102
+            ],
+            "finger_b": [
+              0.29338703514325304,
+              -0.11765950088962467,
+              1.0507310264720102
+            ],
+            "finger_midpoint": [
+              0.2988585036211324,
+              -0.12941550668620652,
+              1.0507310264720102
+            ],
+            "object_minus_finger_midpoint": [
+              0.005471468477879382,
+              0.011756005796581856,
+              0.0
+            ],
+            "finger_gap": 0.025933811103938716,
+            "fingertip_max_gap": 0.09359491368136882,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012966905551969365,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507310264720102,
+            "object_top_z": 1.1014414646300987,
+            "finger_top_clearance": 0.05071043815808851,
+            "fingertip_min_top_clearance": 0.015213131447426519,
+            "object_projection_between_fingers": 0.8219528165423338,
+            "object_to_finger_line_xy": 0.009921043210189167,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049297456840684414,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.320209387705364,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30412879005841076,
+              -0.1222685281317852,
+              1.2469652961607571
+            ],
+            "held_position": [
+              0.30837705327523457,
+              -0.11833505651142881,
+              1.2442205264922728
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006407316121481679,
+            "max_held_gripper_dist": 0.006415732515145597,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002744769668484359,
+            "max_held_gripper_z_dist": 0.0027529678090494336,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08700237439915345,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30837705327523457,
+              -0.14311589882599718,
+              1.2442205264922728
+            ],
+            "held_grasp_finger_b": [
+              0.30004153006028955,
+              -0.11833505651142881,
+              1.2442205264922728
+            ],
+            "held_grasp_midpoint": [
+              0.30420929166776206,
+              -0.130725477668713,
+              1.2442205264922728
+            ],
+            "held_grasp_object_position": [
+              0.30837705327523457,
+              -0.11833505651142881,
+              1.2442205264922728
+            ],
+            "held_grasp_finger_gap": 0.026145192542538092,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0241862397018484,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06280016749347202,
+              -0.9971296230461917,
+              -0.042292479314311786
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003422627196824769,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03710365796512659,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28549824515416,
+              -0.40632190099988685,
+              0.8515395684478771
+            ],
+            "target_position": [
+              0.279441651081725,
+              -0.40781068748734095,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006236891610688856,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18362645620959425,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395684478771,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589155577749636,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08705694984215177,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15094660550096195,
+            "release_required_pad_clearance": 0.05352847492107589,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.068772959090782,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008620858192443848,
+            "max_z_decrease": 0.008620858192443848,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034999732461396815,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008620858192443848,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0208843188442689,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008620858192443848,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008620922137069402,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13514158129692078,
+              -0.4640721380710601,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13514158129692078,
+              -0.4640721380710601,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13393293568244977,
+              -0.46421616505069296,
+              0.8035360313900101
+            ],
+            "closest_button": [
+              0.13514810800552365,
+              -0.4640280604362487,
+              0.7685579061508179
+            ],
+            "closest_ee_minus_button": [
+              -0.0012151723230738876,
+              -0.00018810461444423998,
+              0.03497812523919219
+            ],
+            "button_min_z_position": [
+              0.13514558970928192,
+              -0.46403917670249933,
+              0.7681879997253418
+            ],
+            "min_active_finger_to_button": 0.14690087589309547,
+            "closest_active_finger": [
+              -0.006678283214569092,
+              -0.4470566213130951,
+              0.8106973767280579
+            ],
+            "closest_active_finger_button": [
+              0.13514134287834167,
+              -0.46407100558280945,
+              0.7763816118240356
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14181962609291077,
+              0.017014384269714355,
+              0.03431576490402222
+            ],
+            "min_contact_pad_to_button": 0.0208843188442689,
+            "closest_contact_pad": [
+              0.13514558970928192,
+              -0.46548253230484504,
+              0.7890223823222479
+            ],
+            "closest_contact_pad_button": [
+              0.13514558970928192,
+              -0.46403917670249933,
+              0.7681879997253418
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014433556023457084,
+              0.020834382596906065
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e857b64508b9bab60129a078212d1f3724a67ef10ad397751c6f09ea58c4e760",
+    "visual_seed": 6303007672105781169,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..565a972386b92ceecc1d2e9280fd80c72654a468
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2973818633410812,
+              -0.11925406177279847,
+              1.050725988415433
+            ],
+            "current_z": 1.050725988415433,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18961959960995656,
+            "gripper_z": 1.05387280505235,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2934080709321268,
+              -0.12354761464581644,
+              1.05387280505235
+            ],
+            "object_minus_gripper": [
+              0.003973792408954402,
+              0.0042935528730179695,
+              -0.0031468166369170714
+            ],
+            "object_to_gripper_xy": 0.005850266864243416,
+            "object_to_gripper_z": -0.0031468166369170714,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2973818633410812,
+              -0.14277640533605987,
+              1.050725988415433
+            ],
+            "finger_b": [
+              0.2863681397119515,
+              -0.11925406177279847,
+              1.050725988415433
+            ],
+            "finger_midpoint": [
+              0.29187500152651635,
+              -0.13101523355442918,
+              1.050725988415433
+            ],
+            "object_minus_finger_midpoint": [
+              0.005506861814564834,
+              0.011761171781630705,
+              0.0
+            ],
+            "finger_gap": 0.025973116002646932,
+            "fingertip_max_gap": 0.09327428738286245,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012986558001323471,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050725988415433,
+            "object_top_z": 1.1012261294172982,
+            "finger_top_clearance": 0.050500141001865284,
+            "fingertip_min_top_clearance": 0.015150042300559618,
+            "object_projection_between_fingers": 0.820187351296577,
+            "object_to_finger_line_xy": 0.009974490203208439,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049137143691431226,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8354225513217408,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29625266032198205,
+              -0.1246372805452265,
+              1.2449405958919286
+            ],
+            "held_position": [
+              0.3005770355140023,
+              -0.12063846685796555,
+              1.2418011542117706
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006674340849095053,
+            "max_held_gripper_dist": 0.0066833847780295415,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003139441680158006,
+            "max_held_gripper_z_dist": 0.0031503527629419548,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673435719550601,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3005770355140023,
+              -0.1453553505748683,
+              1.2418011542117706
+            ],
+            "held_grasp_finger_b": [
+              0.29225037388972985,
+              -0.12063846685796555,
+              1.2418011542117706
+            ],
+            "held_grasp_midpoint": [
+              0.29641370470186607,
+              -0.13299690871641692,
+              1.2418011542117706
+            ],
+            "held_grasp_object_position": [
+              0.3005770355140023,
+              -0.12063846685796555,
+              1.2418011542117706
+            ],
+            "held_grasp_finger_gap": 0.02608174906864996,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02403082934575085,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07265069420141629,
+              -0.9967181694627332,
+              -0.03570388347100106
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003284983014943271,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037099897649835956,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2887060405697307,
+              -0.4101471249295764,
+              0.8515395095330156
+            ],
+            "target_position": [
+              0.2838800307494479,
+              -0.41071192801147854,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004858947757158154,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18225366852745803,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395095330156,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525946445811629,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15098033770520164,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008674919605255127,
+            "max_z_decrease": 0.008674919605255127,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035041422456358974,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008674919605255127,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020992096557181105,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008674919605255127,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008675103581928767,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13957995176315308,
+              -0.46697339415550226,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13957995176315308,
+              -0.46697339415550226,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14104815883018243,
+              -0.4680423623624844,
+              0.803601457326677
+            ],
+            "closest_button": [
+              0.13961628079414368,
+              -0.4669399261474609,
+              0.7686066627502441
+            ],
+            "closest_ee_minus_button": [
+              0.0014318780360387529,
+              -0.001102436215023539,
+              0.03499479457643284
+            ],
+            "button_min_z_position": [
+              0.13960808515548706,
+              -0.4669243991374969,
+              0.7681339383125305
+            ],
+            "min_active_finger_to_button": 0.1442536229613143,
+            "closest_active_finger": [
+              0.00044226646423339844,
+              -0.45037025213241577,
+              0.8109152317047119
+            ],
+            "closest_active_finger_button": [
+              0.1395808756351471,
+              -0.4669714868068694,
+              0.7766522169113159
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1391386091709137,
+              0.016601234674453624,
+              0.034263014793395996
+            ],
+            "min_contact_pad_to_button": 0.020992096557181105,
+            "closest_contact_pad": [
+              0.13960808515548706,
+              -0.46940154368991743,
+              0.7889793664139735
+            ],
+            "closest_contact_pad_button": [
+              0.13960808515548706,
+              -0.4669243991374969,
+              0.7681339383125305
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024771445524205404,
+              0.020845428101442964
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05386d572a0c063a3c8dfa2a5df12644c8974d2405684fefd6877704e5e547c7",
+    "visual_seed": 4567717128423377828,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d474f36507c1cac25dd10fe7cf46ea790a78d4ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30703705012935534,
+              -0.11075964192532908,
+              1.0499772491844246
+            ],
+            "current_z": 1.0499772491844246,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1888708007743033,
+            "gripper_z": 1.0529863062706741,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3028187516431736,
+              -0.11516024238914138,
+              1.0529863062706741
+            ],
+            "object_minus_gripper": [
+              0.004218298486181715,
+              0.004400600463812299,
+              -0.0030090570862495447
+            ],
+            "object_to_gripper_xy": 0.006095845024328289,
+            "object_to_gripper_z": -0.0030090570862495447,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30703705012935534,
+              -0.13454519958219008,
+              1.0499772491844246
+            ],
+            "finger_b": [
+              0.2959201841004101,
+              -0.11075964192532908,
+              1.0499772491844246
+            ],
+            "finger_midpoint": [
+              0.3014786171148827,
+              -0.12265242075375958,
+              1.0499772491844246
+            ],
+            "object_minus_finger_midpoint": [
+              0.005558433014472619,
+              0.011892778828430497,
+              0.0
+            ],
+            "finger_gap": 0.0262552368748289,
+            "fingertip_max_gap": 0.09286915761273554,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01312761843741445,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499772491844246,
+            "object_top_z": 1.100307426770131,
+            "finger_top_clearance": 0.05033017758570635,
+            "fingertip_min_top_clearance": 0.01509905327571192,
+            "object_projection_between_fingers": 0.8207195794867698,
+            "object_to_finger_line_xy": 0.010071166341240627,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04893457880636777,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7168945160378672,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30691536797579855,
+              -0.11544077373380654,
+              1.245103088457098
+            ],
+            "held_position": [
+              0.31145647215186545,
+              -0.11136372284623657,
+              1.2420527260672771
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006822659436536513,
+            "max_held_gripper_dist": 0.006831607381425493,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030503623898208154,
+            "max_held_gripper_z_dist": 0.003063282221806629,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08712029409933615,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31145647215186545,
+              -0.13630991104157045,
+              1.2420527260672771
+            ],
+            "held_grasp_finger_b": [
+              0.3028352401425826,
+              -0.11136372284623657,
+              1.2420527260672771
+            ],
+            "held_grasp_midpoint": [
+              0.307145856147224,
+              -0.1238368169439035,
+              1.2420527260672771
+            ],
+            "held_grasp_object_position": [
+              0.31145647215186545,
+              -0.11136372284623657,
+              1.2420527260672771
+            ],
+            "held_grasp_finger_gap": 0.02639389980345645,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024331333633112122,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06450529315337228,
+              -0.9976453531232992,
+              -0.023298423695296
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035093805186390196,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036998468155436975,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28824853017543883,
+              -0.4059685408036371,
+              0.8515396273707645
+            ],
+            "target_position": [
+              0.2818707580909597,
+              -0.4075997185125097,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006583062925377853,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18533415157779257,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396273707645,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560821915863657,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615205944555553,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15330500221140786,
+            "release_required_pad_clearance": 0.053076029722777765,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1809960686461265,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008701980113983154,
+            "max_z_decrease": 0.008701980113983154,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503377711479563,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008701980113983154,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020862134479341668,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008701980113983154,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008702204776299663,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13757067918777469,
+              -0.4638611674308777,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13757067918777469,
+              -0.4638611674308777,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13879220032724338,
+              -0.4628777286116969,
+              0.8031082801197585
+            ],
+            "closest_button": [
+              0.13761706650257113,
+              -0.4638192355632782,
+              0.7681068778038025
+            ],
+            "closest_ee_minus_button": [
+              0.001175133824672242,
+              0.0009415069515812946,
+              0.035001402315956054
+            ],
+            "button_min_z_position": [
+              0.13761706650257113,
+              -0.4638192355632782,
+              0.7681068778038025
+            ],
+            "min_active_finger_to_button": 0.14432969238587567,
+            "closest_active_finger": [
+              0.011091701686382294,
+              -0.524405300617218,
+              0.8104453086853027
+            ],
+            "closest_active_finger_button": [
+              0.1375703364610672,
+              -0.46385967731475825,
+              0.7762628197669983
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264786347746849,
+              -0.06054562330245977,
+              0.03418248891830444
+            ],
+            "min_contact_pad_to_button": 0.020862134479341668,
+            "closest_contact_pad": [
+              0.13761706650257113,
+              -0.46420566302915295,
+              0.7889654330952831
+            ],
+            "closest_contact_pad_button": [
+              0.13761706650257113,
+              -0.4638192355632782,
+              0.7681068778038025
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003864274658747502,
+              0.02085855529148062
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c50a721fc2ebb2972637a2e7be5da4aedebc72bcaa9d613ee8f81d1062a7713",
+    "visual_seed": 2485101559275149813,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..172fe5301a9d4058a26c370d64719474d0ce0057
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3049458685754091,
+              -0.1152345865991894,
+              1.0510411998944118
+            ],
+            "current_z": 1.0510411998944118,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.1899346918796455,
+            "gripper_z": 1.0550184217245253,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30050345255465283,
+              -0.11957380665932282,
+              1.0550184217245253
+            ],
+            "object_minus_gripper": [
+              0.00444241602075629,
+              0.004339220060133417,
+              -0.003977221830113509
+            ],
+            "object_to_gripper_xy": 0.006209983158732108,
+            "object_to_gripper_z": -0.003977221830113509,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3049458685754091,
+              -0.13940460487565828,
+              1.0510411998944118
+            ],
+            "finger_b": [
+              0.2942021745856419,
+              -0.1152345865991894,
+              1.0510411998944118
+            ],
+            "finger_midpoint": [
+              0.2995740215805255,
+              -0.12731959573742385,
+              1.0510411998944118
+            ],
+            "object_minus_finger_midpoint": [
+              0.005371846994883633,
+              0.012085009138234445,
+              0.0
+            ],
+            "finger_gap": 0.026450269261967817,
+            "fingertip_max_gap": 0.09867909486087786,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013225134630983926,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0510411998944118,
+            "object_top_z": 1.1034646824627667,
+            "finger_top_clearance": 0.05242348256835494,
+            "fingertip_min_top_clearance": 0.01572704477050648,
+            "object_projection_between_fingers": 0.8350140108414679,
+            "object_to_finger_line_xy": 0.009817490987240851,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051839547430438934,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.219357545783834,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3038154532074181,
+              -0.1189069708128878,
+              1.2459897904550006
+            ],
+            "held_position": [
+              0.30839931621351085,
+              -0.11467460540247705,
+              1.2420154697283627
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00739729290105848,
+            "max_held_gripper_dist": 0.00741102196114871,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003974320726637837,
+            "max_held_gripper_z_dist": 0.003989956324760735,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08610507890906147,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30839931621351085,
+              -0.13932943610684592,
+              1.2420154697283627
+            ],
+            "held_grasp_finger_b": [
+              0.2990831064479655,
+              -0.11467460540247705,
+              1.2420154697283627
+            ],
+            "held_grasp_midpoint": [
+              0.30374121133073817,
+              -0.1270020207546615,
+              1.2420154697283627
+            ],
+            "held_grasp_object_position": [
+              0.30839931621351085,
+              -0.11467460540247705,
+              1.2420154697283627
+            ],
+            "held_grasp_finger_gap": 0.026356260005105676,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02482405934122754,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.018685097534599973,
+              -0.9998034603716632,
+              -0.006626293003685559
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00488830833932601,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03748229468760331,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2807099871968616,
+              -0.4135870065897338,
+              0.851539574920032
+            ],
+            "target_position": [
+              0.27683819937085347,
+              -0.41390574312119344,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038848853195572624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18035956958977578,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539574920032,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514220126984104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08855915542326488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14932961085471488,
+            "release_required_pad_clearance": 0.05427957771163244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5789453515197054,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0087546706199646,
+            "max_z_decrease": 0.0087546706199646,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503734945574001,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0087546706199646,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020871920729574556,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.0087546706199646,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008754733576824702,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13253812491893766,
+              -0.470167189836502,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13253812491893766,
+              -0.470167189836502,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13168410731729752,
+              -0.46836602284308515,
+              0.8030911793321703
+            ],
+            "closest_button": [
+              0.13254435360431666,
+              -0.47013249993324274,
+              0.7681089639663696
+            ],
+            "closest_ee_minus_button": [
+              -0.0008602462870191396,
+              0.0017664770901575921,
+              0.034982215365800706
+            ],
+            "button_min_z_position": [
+              0.1325395703315735,
+              -0.47013401985168457,
+              0.768054187297821
+            ],
+            "min_active_finger_to_button": 0.1459247718011658,
+            "closest_active_finger": [
+              0.005272537469863892,
+              -0.5327550172805786,
+              0.8106665015220642
+            ],
+            "closest_active_finger_button": [
+              0.13253915309906006,
+              -0.4701645374298095,
+              0.7763200402259827
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12726661562919617,
+              -0.0625904798507691,
+              0.03434646129608154
+            ],
+            "min_contact_pad_to_button": 0.020871920729574556,
+            "closest_contact_pad": [
+              0.1325395703315735,
+              -0.47013401985168457,
+              0.7889261080273956
+            ],
+            "closest_contact_pad_button": [
+              0.1325395703315735,
+              -0.47013401985168457,
+              0.768054187297821
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020871920729574556
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11561766617858fe1885772240d9f3fdce073415bd1ee141506c62da801f48a3",
+    "visual_seed": 4885442305866731977,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a26fe2746101262a63d2e85c8dadd3ea55692fbb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3014038102293325,
+              -0.11682638415084144,
+              1.0506926591960837
+            ],
+            "current_z": 1.0506926591960837,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18958621078596238,
+            "gripper_z": 1.0553627598853417,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29688859670109713,
+              -0.12117756086054281,
+              1.0553627598853417
+            ],
+            "object_minus_gripper": [
+              0.004515213528235362,
+              0.004351176709701365,
+              -0.004670100689257994
+            ],
+            "object_to_gripper_xy": 0.006270557548145718,
+            "object_to_gripper_z": -0.004670100689257994,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3014038102293325,
+              -0.14115302909052188,
+              1.0506926591960837
+            ],
+            "finger_b": [
+              0.29078673810484357,
+              -0.11682638415084144,
+              1.0506926591960837
+            ],
+            "finger_midpoint": [
+              0.29609527416708803,
+              -0.12898970662068165,
+              1.0506926591960837
+            ],
+            "object_minus_finger_midpoint": [
+              0.005308536062244462,
+              0.012163322469840213,
+              0.0
+            ],
+            "finger_gap": 0.026542567217921476,
+            "fingertip_max_gap": 0.09339317092862295,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01327128360896073,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506926591960837,
+            "object_top_z": 1.100436833168676,
+            "finger_top_clearance": 0.04974417397259234,
+            "fingertip_min_top_clearance": 0.014923252191777736,
+            "object_projection_between_fingers": 0.839998636532289,
+            "object_to_finger_line_xy": 0.009730699436527452,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919658546431148,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.351496172272191,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2999552248516665,
+              -0.12082597021229037,
+              1.2450222551573684
+            ],
+            "held_position": [
+              0.30456860382211065,
+              -0.11651218984480437,
+              1.2403653649696893
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007847202864966998,
+            "max_held_gripper_dist": 0.007860448580874292,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004656890187679119,
+            "max_held_gripper_z_dist": 0.0046711564227537306,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0868234253881621,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30456860382211065,
+              -0.14121634747379347,
+              1.2403653649696893
+            ],
+            "held_grasp_finger_b": [
+              0.29534079157365556,
+              -0.11651218984480437,
+              1.2403653649696893
+            ],
+            "held_grasp_midpoint": [
+              0.2999546976978831,
+              -0.12886426865929893,
+              1.2403653649696893
+            ],
+            "held_grasp_object_position": [
+              0.30456860382211065,
+              -0.11651218984480437,
+              1.2403653649696893
+            ],
+            "held_grasp_finger_gap": 0.026371346629451408,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024789179963052174,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.011272155934543924,
+              -0.999231100901254,
+              -0.03755190397643271
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004775332959240511,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037429677427168254,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2879852779141518,
+              -0.40793118035045206,
+              0.8515395603211804
+            ],
+            "target_position": [
+              0.2816916199975888,
+              -0.40946687751840305,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006478309637734893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18473042824280575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395603211804,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561175318323696,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08976217119784251,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526953666207641,
+            "release_required_pad_clearance": 0.054881085598921256,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.824327872300102,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008691906929016113,
+            "max_z_decrease": 0.008691906929016113,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034999719742475545,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008691906929016113,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02083897882605803,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008691906929016113,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008691980338084859,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1373915523290634,
+              -0.4657283425331115,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1373915523290634,
+              -0.4657283425331115,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13681168094628512,
+              -0.4649975241171708,
+              0.803474174916749
+            ],
+            "closest_button": [
+              0.13740122318267817,
+              -0.4656833708286285,
+              0.7684861421585083
+            ],
+            "closest_ee_minus_button": [
+              -0.0005895422363930425,
+              0.0006858467114576605,
+              0.034988032758240695
+            ],
+            "button_min_z_position": [
+              0.13740488886833188,
+              -0.4656952023506164,
+              0.7681169509887695
+            ],
+            "min_active_finger_to_button": 0.14604819452308135,
+            "closest_active_finger": [
+              0.00891897827386856,
+              -0.5261950492858887,
+              0.8104704022407532
+            ],
+            "closest_active_finger_button": [
+              0.137391522526741,
+              -0.46572726964950556,
+              0.7762866616249084
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12847254425287244,
+              -0.06046777963638311,
+              0.03418374061584473
+            ],
+            "min_contact_pad_to_button": 0.02083897882605803,
+            "closest_contact_pad": [
+              0.13740488886833188,
+              -0.4663497757505492,
+              0.7889456468715413
+            ],
+            "closest_contact_pad_button": [
+              0.13740488886833188,
+              -0.4656952023506164,
+              0.7681169509887695
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006545733999328007,
+              0.02082869588277181
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "656b6502e1ab8b99818dbdead4dc8392aaaad4a070c7422f0599bcb82d4d0170",
+    "visual_seed": 2468913624770085895,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d06673853ed8f176934247ddd1fc4ff7cab4f7e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2974385954198554,
+              -0.12079872762012117,
+              1.05203508259934
+            ],
+            "current_z": 1.05203508259934,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19092857458457413,
+            "gripper_z": 1.054999824806548,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29336259895823946,
+              -0.125083351218652,
+              1.054999824806548
+            ],
+            "object_minus_gripper": [
+              0.004075996461615938,
+              0.004284623598530823,
+              -0.002964742207207882
+            ],
+            "object_to_gripper_xy": 0.005913691447496468,
+            "object_to_gripper_z": -0.002964742207207882,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2974385954198554,
+              -0.14452814758385402,
+              1.05203508259934
+            ],
+            "finger_b": [
+              0.28659480236057805,
+              -0.12079872762012117,
+              1.05203508259934
+            ],
+            "finger_midpoint": [
+              0.29201669889021675,
+              -0.1326634376019876,
+              1.05203508259934
+            ],
+            "object_minus_finger_midpoint": [
+              0.005421896529638648,
+              0.011864709981866423,
+              0.0
+            ],
+            "finger_gap": 0.026089714826491195,
+            "fingertip_max_gap": 0.09288615353152216,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013044857413245587,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05203508259934,
+            "object_top_z": 1.1020855295869763,
+            "finger_top_clearance": 0.050050446987636166,
+            "fingertip_min_top_clearance": 0.01501513409629085,
+            "object_projection_between_fingers": 0.8272477240114083,
+            "object_to_finger_line_xy": 0.009862772407237165,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04894307676576108,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1790916442274533,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2962250610635613,
+              -0.12581608207521133,
+              1.2485697336868067
+            ],
+            "held_position": [
+              0.30061700871062885,
+              -0.1217969038529976,
+              1.2456259913849985
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006641431807671772,
+            "max_held_gripper_dist": 0.006650361399075433,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002943742301808161,
+            "max_held_gripper_z_dist": 0.0029563866266024696,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08661629580720451,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30061700871062885,
+              -0.14653716318517906,
+              1.2456259913849985
+            ],
+            "held_grasp_finger_b": [
+              0.2920997321691106,
+              -0.1217969038529976,
+              1.2456259913849985
+            ],
+            "held_grasp_midpoint": [
+              0.29635837043986973,
+              -0.13416703351908832,
+              1.2456259913849985
+            ],
+            "held_grasp_object_position": [
+              0.30061700871062885,
+              -0.1217969038529976,
+              1.2456259913849985
+            ],
+            "held_grasp_finger_gap": 0.02616532880565977,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0242319118682321,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05347999450384651,
+              -0.997864065990105,
+              -0.03751261112697945
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036213955114292712,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037148790233350874,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2852467660597976,
+              -0.4104239345395644,
+              0.8515395764172173
+            ],
+            "target_position": [
+              0.2801670333893201,
+              -0.4111222291465948,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005127504203969445,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18339812932020894,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395764172173,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566090979313034,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08706003248048509,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1511661444097131,
+            "release_required_pad_clearance": 0.05353001624024255,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0717975648212197,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008697509765625,
+            "max_z_decrease": 0.008697509765625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035028345338908695,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008697509765625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020843978242341188,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008697509765625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00869785825163677,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13586695492267603,
+              -0.4673836827278137,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13586695492267603,
+              -0.4673836827278137,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13468152563997485,
+              -0.4657990492117157,
+              0.8030827028651532
+            ],
+            "closest_button": [
+              0.13593794405460352,
+              -0.46735170483589167,
+              0.7681113481521606
+            ],
+            "closest_ee_minus_button": [
+              -0.0012564184146286739,
+              0.001552655624175947,
+              0.03497135471299251
+            ],
+            "button_min_z_position": [
+              0.13593794405460352,
+              -0.46735170483589167,
+              0.7681113481521606
+            ],
+            "min_active_finger_to_button": 0.14625923558312218,
+            "closest_active_finger": [
+              0.008351601660251617,
+              -0.5302616357803345,
+              0.8106954097747803
+            ],
+            "closest_active_finger_button": [
+              0.13586759567260737,
+              -0.4673816859722137,
+              0.7763800024986267
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12751599401235575,
+              -0.06287994980812078,
+              0.034315407276153564
+            ],
+            "min_contact_pad_to_button": 0.020843978242341188,
+            "closest_contact_pad": [
+              0.13593794405460352,
+              -0.46735170483589167,
+              0.7889553263945018
+            ],
+            "closest_contact_pad_button": [
+              0.13593794405460352,
+              -0.46735170483589167,
+              0.7681113481521606
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020843978242341188
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ead3880844f816a788bbc54787b97a48a2f2b18b4eb0bce1a6d3cd9bc897ddde",
+    "visual_seed": 4065476851725958810,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e26e4709847ac22c48e0c6fe3404c101f82adaf4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30759303264346555,
+              -0.11818876542112651,
+              1.0484264527123766
+            ],
+            "current_z": 1.0484264527123766,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1873199446976107,
+            "gripper_z": 1.0524074213055958,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30300443736789173,
+              -0.12264832102493213,
+              1.0524074213055958
+            ],
+            "object_minus_gripper": [
+              0.004588595275573815,
+              0.0044595556038056205,
+              -0.003980968593219281
+            ],
+            "object_to_gripper_xy": 0.006398659452295648,
+            "object_to_gripper_z": -0.003980968593219281,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30759303264346555,
+              -0.14245823253287368,
+              1.0484264527123766
+            ],
+            "finger_b": [
+              0.29667161592052943,
+              -0.11818876542112651,
+              1.0484264527123766
+            ],
+            "finger_midpoint": [
+              0.3021323242819975,
+              -0.1303234989770001,
+              1.0484264527123766
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054607083614680585,
+              0.012134733555873592,
+              0.0
+            ],
+            "finger_gap": 0.026613612628206006,
+            "fingertip_max_gap": 0.09709328036715789,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01330680631410301,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484264527123766,
+            "object_top_z": 1.100301356077521,
+            "finger_top_clearance": 0.05187490336514444,
+            "fingertip_min_top_clearance": 0.015562471009543333,
+            "object_projection_between_fingers": 0.8315968174812475,
+            "object_to_finger_line_xy": 0.009959450739508663,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05104664018357895,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5595295697493774,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30640831333171026,
+              -0.12211546335627792,
+              1.2448180953054964
+            ],
+            "held_position": [
+              0.3111738238473611,
+              -0.11779932546116019,
+              1.240837643154443
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007561953195522652,
+            "max_held_gripper_dist": 0.007576066991761729,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00398045215105336,
+            "max_held_gripper_z_dist": 0.003999500777825515,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666434860719778,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3111738238473611,
+              -0.14264072592452423,
+              1.240837643154443
+            ],
+            "held_grasp_finger_b": [
+              0.3017976295356075,
+              -0.11779932546116019,
+              1.240837643154443
+            ],
+            "held_grasp_midpoint": [
+              0.30648572669148433,
+              -0.13022002569284222,
+              1.240837643154443
+            ],
+            "held_grasp_object_position": [
+              0.3111738238473611,
+              -0.11779932546116019,
+              1.240837643154443
+            ],
+            "held_grasp_finger_gap": 0.026551990448043312,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02486350258841978,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0025059058663966342,
+              -0.9999438946577665,
+              -0.010292131579356711
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00472093701248422,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03731199463621547,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2722629618886975,
+              -0.41491503180591793,
+              0.8515395914306249
+            ],
+            "target_position": [
+              0.27711736837975404,
+              -0.4080399168850618,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0084162026802704,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1753096023783504,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395914306249,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537413411957936,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09192652157582702,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14223305517034557,
+            "release_required_pad_clearance": 0.05596326078791351,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.157122610584786,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 204
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008494377136230469,
+            "max_z_decrease": 0.008494377136230469,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503337757118423,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008494377136230469,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020837910608868415,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008494377136230469,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008494653039186196,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13281729817390442,
+              -0.46430137753486633,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13281729817390442,
+              -0.46430137753486633,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1314287096202745,
+              -0.46271275550081886,
+              0.8036471958266949
+            ],
+            "closest_button": [
+              0.13283595442771912,
+              -0.4642728865146637,
+              0.7686768770217896
+            ],
+            "closest_ee_minus_button": [
+              -0.0014072448074446131,
+              0.0015601310138448343,
+              0.03497031880490531
+            ],
+            "button_min_z_position": [
+              0.132880225777626,
+              -0.46427440643310547,
+              0.7683144807815552
+            ],
+            "min_active_finger_to_button": 0.14644423984736984,
+            "closest_active_finger": [
+              0.004357658326625824,
+              -0.525682270526886,
+              0.8108199834823608
+            ],
+            "closest_active_finger_button": [
+              0.13281795382499692,
+              -0.4642993211746216,
+              0.7765271067619324
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1284602954983711,
+              -0.061382949352264404,
+              0.03429287672042847
+            ],
+            "min_contact_pad_to_button": 0.020837910608868415,
+            "closest_contact_pad": [
+              0.132880225777626,
+              -0.46427440643310547,
+              0.7891523913904236
+            ],
+            "closest_contact_pad_button": [
+              0.132880225777626,
+              -0.46427440643310547,
+              0.7683144807815552
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020837910608868415
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f97d23638f9b8a9660762eec9eed6d0b4395a942c34c910d36a8900b9e8c2f1",
+    "visual_seed": 7023405356722213276,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a990735294fbbdea63acfa2c013f263a62663949
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3005529646374034,
+              -0.11649492392910557,
+              1.0488757340009744
+            ],
+            "current_z": 1.0488757340009744,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18776928559085326,
+            "gripper_z": 1.0519198771878668,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2962641588218753,
+              -0.12089987732359013,
+              1.0519198771878668
+            ],
+            "object_minus_gripper": [
+              0.004288805815528096,
+              0.004404953394484559,
+              -0.0030441431868923896
+            ],
+            "object_to_gripper_xy": 0.006147964681981238,
+            "object_to_gripper_z": -0.0030441431868923896,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3005529646374034,
+              -0.14037391657842935,
+              1.0488757340009744
+            ],
+            "finger_b": [
+              0.2895103715612988,
+              -0.11649492392910557,
+              1.0488757340009744
+            ],
+            "finger_midpoint": [
+              0.2950316680993511,
+              -0.12843442025376745,
+              1.0488757340009744
+            ],
+            "object_minus_finger_midpoint": [
+              0.005521296538052278,
+              0.011939496324661875,
+              0.0
+            ],
+            "finger_gap": 0.026308651652847823,
+            "fingertip_max_gap": 0.09216222035837943,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013154325826423887,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488757340009744,
+            "object_top_z": 1.0989978003419767,
+            "finger_top_clearance": 0.05012206634100225,
+            "fingertip_min_top_clearance": 0.015036619902300657,
+            "object_projection_between_fingers": 0.8238247258845597,
+            "object_to_finger_line_xy": 0.010022786510430417,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048581110179189715,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3495206941241917,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29978128475940113,
+              -0.12142526951451489,
+              1.242094140092638
+            ],
+            "held_position": [
+              0.30437757507496016,
+              -0.11730290763018492,
+              1.2390349951004653
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006890436869561552,
+            "max_held_gripper_dist": 0.006899060156832567,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030591449921726355,
+            "max_held_gripper_z_dist": 0.0030689482555605885,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08675073714106737,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30437757507496016,
+              -0.14217213516567292,
+              1.2390349951004653
+            ],
+            "held_grasp_finger_b": [
+              0.2957569419119284,
+              -0.11730290763018492,
+              1.2390349951004653
+            ],
+            "held_grasp_midpoint": [
+              0.3000672584934443,
+              -0.12973752139792893,
+              1.2390349951004653
+            ],
+            "held_grasp_object_position": [
+              0.30437757507496016,
+              -0.11730290763018492,
+              1.2390349951004653
+            ],
+            "held_grasp_finger_gap": 0.026320976318203654,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024211862980052175,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06778612813221833,
+              -0.9970644359113472,
+              -0.03560268913480669
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034863974428305166,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702995923589886,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28299466283180225,
+              -0.409505280830142,
+              0.8515396040533068
+            ],
+            "target_position": [
+              0.2775099965949353,
+              -0.41047606846214874,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005569918523307631,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18136155488848577,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396040533068,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528417657865173,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518315610972253,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1501338234742977,
+            "release_required_pad_clearance": 0.05259157805486127,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24708138836971988,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008688569068908691,
+            "max_z_decrease": 0.008688569068908691,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504381145755886,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008688569068908691,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020959662232954014,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008688569068908691,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008688792002950444,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1332099288702011,
+              -0.46673753857612604,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1332099288702011,
+              -0.46673753857612604,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13114674054893574,
+              -0.46789291880687073,
+              0.8036236298694247
+            ],
+            "closest_button": [
+              0.13323909044265747,
+              -0.46671384572982777,
+              0.7686622142791748
+            ],
+            "closest_ee_minus_button": [
+              -0.002092349893721729,
+              -0.001179073077042958,
+              0.0349614155902499
+            ],
+            "button_min_z_position": [
+              0.1332574188709259,
+              -0.46669730544090265,
+              0.768120288848877
+            ],
+            "min_active_finger_to_button": 0.14777178495542093,
+            "closest_active_finger": [
+              -0.009876042604446411,
+              -0.4533815085887909,
+              0.8108450770378113
+            ],
+            "closest_active_finger_button": [
+              0.13320979475975037,
+              -0.46673658490180964,
+              0.7764272689819336
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14308583736419678,
+              0.013355076313018743,
+              0.034417808055877686
+            ],
+            "min_contact_pad_to_button": 0.020959662232954014,
+            "closest_contact_pad": [
+              0.1332574188709259,
+              -0.4689095914152408,
+              0.7889628710230526
+            ],
+            "closest_contact_pad_button": [
+              0.1332574188709259,
+              -0.46669730544090265,
+              0.768120288848877
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022122859743381462,
+              0.020842582174175672
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e40f1179abfcde12d8c401a0c16ba3478f3e65818056063df9d3cde7e79d133",
+    "visual_seed": 1394767651799726830,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e787f67e2be466fee5a597e9c3978dba07de27b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30001553646243095,
+              -0.1123956132709065,
+              1.0513288559703562
+            ],
+            "current_z": 1.0513288559703562,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19022234795559012,
+            "gripper_z": 1.0544926446179699,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2957080086542476,
+              -0.11685405618313081,
+              1.0544926446179699
+            ],
+            "object_minus_gripper": [
+              0.004307527808183331,
+              0.004458442912224317,
+              -0.0031637886476136856
+            ],
+            "object_to_gripper_xy": 0.006199395859262089,
+            "object_to_gripper_z": -0.0031637886476136856,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30001553646243095,
+              -0.13621544300963195,
+              1.0513288559703562
+            ],
+            "finger_b": [
+              0.28880724640480526,
+              -0.1123956132709065,
+              1.0513288559703562
+            ],
+            "finger_midpoint": [
+              0.2944113914336181,
+              -0.12430552814026923,
+              1.0513288559703562
+            ],
+            "object_minus_finger_midpoint": [
+              0.005604145028812846,
+              0.011909914869362728,
+              0.0
+            ],
+            "finger_gap": 0.026325084136574767,
+            "fingertip_max_gap": 0.09223310027194717,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013162542068287384,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0513288559703562,
+            "object_top_z": 1.1012318359018445,
+            "finger_top_clearance": 0.04990297993148829,
+            "fingertip_min_top_clearance": 0.014970893979446454,
+            "object_projection_between_fingers": 0.8187244685035117,
+            "object_to_finger_line_xy": 0.010141641312513966,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861655013597359,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8901195717868085,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2992791583930983,
+              -0.1170669907890429,
+              1.2446186381629447
+            ],
+            "held_position": [
+              0.30389416311443374,
+              -0.11290066784287552,
+              1.241430956322471
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006986975811164279,
+            "max_held_gripper_dist": 0.006995705114264768,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031876818404736884,
+            "max_held_gripper_z_dist": 0.0031989325560854986,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08550914596810742,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30389416311443374,
+              -0.1377577084446069,
+              1.241430956322471
+            ],
+            "held_grasp_finger_b": [
+              0.2951150048439237,
+              -0.11290066784287552,
+              1.241430956322471
+            ],
+            "held_grasp_midpoint": [
+              0.29950458397917873,
+              -0.12532918814374122,
+              1.241430956322471
+            ],
+            "held_grasp_object_position": [
+              0.30389416311443374,
+              -0.11290066784287552,
+              1.241430956322471
+            ],
+            "held_grasp_finger_gap": 0.026361830122637302,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024282120749363343,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05875057577876579,
+              -0.9976208250181416,
+              -0.03607020010737294
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003679795960805919,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037063409092168015,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2805065898425495,
+              -0.40460862159838795,
+              0.8515395787035094
+            ],
+            "target_position": [
+              0.27492217067166597,
+              -0.4058630944967878,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005723586264655344,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18127443161149595,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395787035094,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562707708632707,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864660561483006,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14926514502760646,
+            "release_required_pad_clearance": 0.0532330280741503,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4872425664515547,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0087052583694458,
+            "max_z_decrease": 0.0087052583694458,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035051746921061964,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0087052583694458,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020865284304818175,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0087052583694458,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008705558860599226,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13062210381031036,
+              -0.4621245563030242,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13062210381031036,
+              -0.4621245563030242,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.12838590825794846,
+              -0.461144672847247,
+              0.8030669848194772
+            ],
+            "closest_button": [
+              0.13068616390228271,
+              -0.46209096908569325,
+              0.7681035995483398
+            ],
+            "closest_ee_minus_button": [
+              -0.0023002556443342537,
+              0.0009462962384462759,
+              0.034963385271137404
+            ],
+            "button_min_z_position": [
+              0.13068616390228271,
+              -0.46209096908569325,
+              0.7681035995483398
+            ],
+            "min_active_finger_to_button": 0.14742417172124542,
+            "closest_active_finger": [
+              0.0018553584814071655,
+              -0.525165319442749,
+              0.8104345202445984
+            ],
+            "closest_active_finger_button": [
+              0.13061997294425964,
+              -0.4621235728263854,
+              0.776093602180481
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12876461446285248,
+              -0.06304174661636364,
+              0.03434091806411743
+            ],
+            "min_contact_pad_to_button": 0.020865284304818175,
+            "closest_contact_pad": [
+              0.13068616390228271,
+              -0.46223500553751196,
+              0.7889683866937061
+            ],
+            "closest_contact_pad_button": [
+              0.13068616390228271,
+              -0.46209096908569325,
+              0.7681035995483398
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001440364518187076,
+              0.020864787145366215
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab130262da99e2da8c35c210242badb530db6fea5116c92e3083c586d7bff52d",
+    "visual_seed": 2113433059439800367,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3acbd90dd5d339bc0717cfb72b4ac87557de267
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30375941224119485,
+              -0.11553575402937555,
+              1.0514680581873845
+            ],
+            "current_z": 1.0514680581873845,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.1903616693819079,
+            "gripper_z": 1.0547766033244748,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2991164138821254,
+              -0.12010051645362514,
+              1.0547766033244748
+            ],
+            "object_minus_gripper": [
+              0.00464299835906945,
+              0.004564762424249594,
+              -0.003308545137090224
+            ],
+            "object_to_gripper_xy": 0.0065111051098997496,
+            "object_to_gripper_z": -0.003308545137090224,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30375941224119485,
+              -0.13970489919079337,
+              1.0514680581873845
+            ],
+            "finger_b": [
+              0.29250578118164994,
+              -0.11553575402937555,
+              1.0514680581873845
+            ],
+            "finger_midpoint": [
+              0.2981325967114224,
+              -0.12762032661008446,
+              1.0514680581873845
+            ],
+            "object_minus_finger_midpoint": [
+              0.005626815529772455,
+              0.012084572580708913,
+              0.0
+            ],
+            "finger_gap": 0.02666067872088107,
+            "fingertip_max_gap": 0.09415339236984946,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013330339360440535,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514680581873845,
+            "object_top_z": 1.1025357459500238,
+            "finger_top_clearance": 0.05106768776263926,
+            "fingertip_min_top_clearance": 0.015320306328791777,
+            "object_projection_between_fingers": 0.8218265688611186,
+            "object_to_finger_line_xy": 0.010201939925038532,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04957669618492473,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0889201182081827,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30299801903023393,
+              -0.12065166927617438,
+              1.2471507139001092
+            ],
+            "held_position": [
+              0.30795209948130303,
+              -0.11639409366061924,
+              1.2438203419731781
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007332205698800692,
+            "max_held_gripper_dist": 0.007341644004058776,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003330371926931086,
+            "max_held_gripper_z_dist": 0.003340902083812214,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08706788451953816,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30795209948130303,
+              -0.1415297043293123,
+              1.2438203419731781
+            ],
+            "held_grasp_finger_b": [
+              0.2990360119483806,
+              -0.11639409366061924,
+              1.2438203419731781
+            ],
+            "held_grasp_midpoint": [
+              0.3034940557148418,
+              -0.12896189899496577,
+              1.2438203419731781
+            ],
+            "held_grasp_object_position": [
+              0.30795209948130303,
+              -0.11639409366061924,
+              1.2438203419731781
+            ],
+            "held_grasp_finger_gap": 0.026670124495075973,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02460854480524148,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.054391743933973245,
+              -0.9983249138434336,
+              -0.019720664068998417
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003776159431388596,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03693101611749071,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28365923474351074,
+              -0.40966686178837886,
+              0.8515395558298563
+            ],
+            "target_position": [
+              0.2786862261937956,
+              -0.4101368548225838,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004995168414352083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18167925232289034,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395558298563,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526648727090691,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614870255515965,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15032289789824924,
+            "release_required_pad_clearance": 0.053074351277579826,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1776776957011559,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008737683296203613,
+            "max_z_decrease": 0.008737683296203613,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505367654799874,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008737683296203613,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020990924537063704,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008737683296203613,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008737887419989938,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13438615202903748,
+              -0.46639829874038696,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13438615202903748,
+              -0.46639829874038696,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1322489481400782,
+              -0.46761184562384545,
+              0.8036367892497835
+            ],
+            "closest_button": [
+              0.1344139277935028,
+              -0.4663691818714142,
+              0.7686721086502075
+            ],
+            "closest_ee_minus_button": [
+              -0.0021649796534246035,
+              -0.0012426637524312611,
+              0.034964680599576026
+            ],
+            "button_min_z_position": [
+              0.13443137705326078,
+              -0.46635928750038147,
+              0.768071174621582
+            ],
+            "min_active_finger_to_button": 0.14780896558503057,
+            "closest_active_finger": [
+              -0.008645690977573395,
+              -0.45198318362236023,
+              0.8106726408004761
+            ],
+            "closest_active_finger_button": [
+              0.13438645005226135,
+              -0.46639713644981384,
+              0.7762991786003113
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14303214102983475,
+              0.014413952827453613,
+              0.034373462200164795
+            ],
+            "min_contact_pad_to_button": 0.020990924537063704,
+            "closest_contact_pad": [
+              0.13443137705326078,
+              -0.46878081241900516,
+              0.7889219571006447
+            ],
+            "closest_contact_pad_button": [
+              0.13443137705326078,
+              -0.46635928750038147,
+              0.768071174621582
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024215249186236854,
+              0.02085078247906269
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "faeee1ab33fa660d842c455e3d78ca2cfd076ac0e3b39439858b5eb7239a8b61",
+    "visual_seed": 3909416971709779693,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdaf8d50338828bc8233c31550875dfa963fe7aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30400856119112263,
+              -0.12073286910336627,
+              1.0495306506269206
+            ],
+            "current_z": 1.0495306506269206,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18842414261215468,
+            "gripper_z": 1.0525573339375125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29971617199068945,
+              -0.1251150771008459,
+              1.0525573339375125
+            ],
+            "object_minus_gripper": [
+              0.004292389200433178,
+              0.00438220799747964,
+              -0.00302668331059186
+            ],
+            "object_to_gripper_xy": 0.006134195300214192,
+            "object_to_gripper_z": -0.00302668331059186,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30400856119112263,
+              -0.14466494075243178,
+              1.0495306506269206
+            ],
+            "finger_b": [
+              0.2930513929181811,
+              -0.12073286910336627,
+              1.0495306506269206
+            ],
+            "finger_midpoint": [
+              0.2985299770546519,
+              -0.13269890492789901,
+              1.0495306506269206
+            ],
+            "object_minus_finger_midpoint": [
+              0.005478584136470732,
+              0.011966035824532748,
+              0.0
+            ],
+            "finger_gap": 0.02632116239791779,
+            "fingertip_max_gap": 0.09290842945958064,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013160581198958876,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495306506269206,
+            "object_top_z": 1.100010837031938,
+            "finger_top_clearance": 0.05048018640501728,
+            "fingertip_min_top_clearance": 0.015144055921505167,
+            "object_projection_between_fingers": 0.8267048001794496,
+            "object_to_finger_line_xy": 0.009962619895527398,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895421472979032,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5760471150188313,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3033471528833207,
+              -0.12577654135356237,
+              1.2434457728351613
+            ],
+            "held_position": [
+              0.30793532675647,
+              -0.12166506043949976,
+              1.2404051191424244
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006870312196407526,
+            "max_held_gripper_dist": 0.006878941170300501,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003040653692736983,
+            "max_held_gripper_z_dist": 0.003050889401394974,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08693660804779216,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30793532675647,
+              -0.14653980641340375,
+              1.2404051191424244
+            ],
+            "held_grasp_finger_b": [
+              0.2993593279652784,
+              -0.12166506043949976,
+              1.2404051191424244
+            ],
+            "held_grasp_midpoint": [
+              0.3036473273608742,
+              -0.13410243342645176,
+              1.2404051191424244
+            ],
+            "held_grasp_object_position": [
+              0.30793532675647,
+              -0.12166506043949976,
+              1.2404051191424244
+            ],
+            "held_grasp_finger_gap": 0.026311608512836537,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024282526758337884,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06198511551685645,
+              -0.9975623895863988,
+              -0.03204878058579075
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035318717344419107,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03704740241518169,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2863718618133445,
+              -0.405394670856686,
+              0.8515395900695233
+            ],
+            "target_position": [
+              0.28104436498399143,
+              -0.4062008331152062,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00538814625393831,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18341718213354977,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395900695233,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524094154592194,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855513726680439,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522185507194114,
+            "release_required_pad_clearance": 0.05277568633402195,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6000287918211307,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008737146854400635,
+            "max_z_decrease": 0.008737146854400635,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505254238796776,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008737146854400635,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020964813676464824,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008737146854400635,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008737340591745494,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1367442905902862,
+              -0.462462306022644,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1367442905902862,
+              -0.462462306022644,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13839686316260552,
+              -0.46308918666637006,
+              0.8034467359809755
+            ],
+            "closest_button": [
+              0.13672354817390436,
+              -0.46242037415504444,
+              0.7684405446052551
+            ],
+            "closest_ee_minus_button": [
+              0.0016733149887011578,
+              -0.0006688125113256116,
+              0.035006191375720364
+            ],
+            "button_min_z_position": [
+              0.13670879602432245,
+              -0.46241620182991017,
+              0.768071711063385
+            ],
+            "min_active_finger_to_button": 0.1441081679904041,
+            "closest_active_finger": [
+              -0.0023761242628097534,
+              -0.4471611976623535,
+              0.8106014728546143
+            ],
+            "closest_active_finger_button": [
+              0.13674390316009516,
+              -0.46246036887168873,
+              0.7762690186500549
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1391200274229049,
+              0.015299171209335216,
+              0.034332454204559326
+            ],
+            "min_contact_pad_to_button": 0.020964813676464824,
+            "closest_contact_pad": [
+              0.13670879602432245,
+              -0.46424978959740226,
+              0.7889561877958241
+            ],
+            "closest_contact_pad_button": [
+              0.13670879602432245,
+              -0.46241620182991017,
+              0.768071711063385
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018335877674920953,
+              0.020884476732439095
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c1e16e56b54dd094726f0d4435387733c69d5280a4c40d2e375173075f6bef9",
+    "visual_seed": 2327347844894745028,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05d0f79dfb5abef49a925ba1ee8305a6e81e27fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3019466200185819,
+              -0.11416583644057957,
+              1.0519843050834181
+            ],
+            "current_z": 1.0519843050834181,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19087779706865216,
+            "gripper_z": 1.0554214088334235,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2973715869841288,
+              -0.11863411890921895,
+              1.0554214088334235
+            ],
+            "object_minus_gripper": [
+              0.004575033034453113,
+              0.004468282468639381,
+              -0.003437103750005388
+            ],
+            "object_to_gripper_xy": 0.006395035221629925,
+            "object_to_gripper_z": -0.003437103750005388,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3019466200185819,
+              -0.13841237663735417,
+              1.0519843050834181
+            ],
+            "finger_b": [
+              0.2909903984800183,
+              -0.11416583644057957,
+              1.0519843050834181
+            ],
+            "finger_midpoint": [
+              0.2964685092493001,
+              -0.12628910653896686,
+              1.0519843050834181
+            ],
+            "object_minus_finger_midpoint": [
+              0.005478110769281785,
+              0.01212327009838729,
+              0.0
+            ],
+            "finger_gap": 0.026607019786437796,
+            "fingertip_max_gap": 0.0936441079354656,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013303509893218874,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0519843050834181,
+            "object_top_z": 1.1030597999225291,
+            "finger_top_clearance": 0.051075494839111,
+            "fingertip_min_top_clearance": 0.015322648451733267,
+            "object_projection_between_fingers": 0.8304377599347643,
+            "object_to_finger_line_xy": 0.00998422476744121,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0493220539677328,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.502632729004241,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3010925203073769,
+              -0.11916040440022681,
+              1.248478619656964
+            ],
+            "held_position": [
+              0.30593312325025773,
+              -0.1149414429084087,
+              1.245034419625507
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007286534620569573,
+            "max_held_gripper_dist": 0.007295785677328884,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034442000314569565,
+            "max_held_gripper_z_dist": 0.0034560876848430677,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08714054845536101,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30593312325025773,
+              -0.14001891482010242,
+              1.245034419625507
+            ],
+            "held_grasp_finger_b": [
+              0.2970118374504501,
+              -0.1149414429084087,
+              1.245034419625507
+            ],
+            "held_grasp_midpoint": [
+              0.3014724803503539,
+              -0.12748017886425556,
+              1.245034419625507
+            ],
+            "held_grasp_object_position": [
+              0.30593312325025773,
+              -0.1149414429084087,
+              1.245034419625507
+            ],
+            "held_grasp_finger_gap": 0.026617079813601577,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024554787166377816,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05399655493612982,
+              -0.9983664204003523,
+              -0.018677865831427942
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037844799149630045,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036961137788115925,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2851964684640939,
+              -0.40738806906494834,
+              0.8515395711857197
+            ],
+            "target_position": [
+              0.2803544391271072,
+              -0.4080830733912228,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004891654026377983,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18289588970021525,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395711857197,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756572037276087,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718114992602564,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15053355905424384,
+            "release_required_pad_clearance": 0.053590574963012824,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1918596546368563,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00859612226486206,
+            "max_z_decrease": 0.00859612226486206,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035037980414073105,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00859612226486206,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020867251416734067,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00859612226486206,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008596168378285883,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13605436682701108,
+              -0.46434453129768366,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13605436682701108,
+              -0.46434453129768366,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1360147435057597,
+              -0.46257915260500704,
+              0.8032075828974427
+            ],
+            "closest_button": [
+              0.1360581964254379,
+              -0.46431663632392883,
+              0.7682127356529236
+            ],
+            "closest_ee_minus_button": [
+              -4.345291967819409e-05,
+              0.001737483718921795,
+              0.03499484724451907
+            ],
+            "button_min_z_position": [
+              0.1360581964254379,
+              -0.46431663632392883,
+              0.7682127356529236
+            ],
+            "min_active_finger_to_button": 0.1451737264662621,
+            "closest_active_finger": [
+              0.009336873888969421,
+              -0.5263330340385437,
+              0.8107739090919495
+            ],
+            "closest_active_finger_button": [
+              0.13605487346649167,
+              -0.4643424153327942,
+              0.7764938473701477
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12671799957752225,
+              -0.06199061870574951,
+              0.03428006172180176
+            ],
+            "min_contact_pad_to_button": 0.020867251416734067,
+            "closest_contact_pad": [
+              0.1360581964254379,
+              -0.46431663632392883,
+              0.7890799870696577
+            ],
+            "closest_contact_pad_button": [
+              0.1360581964254379,
+              -0.46431663632392883,
+              0.7682127356529236
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020867251416734067
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d4e72a501b2178ba97c7a4795282affcb38217de4484db4b5cbbd9f74d75cf53",
+    "visual_seed": 1083336480663980424,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..76fec64046bbbe9884beb4c5c6824dcb063b9f1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.298224450588267,
+              -0.11551977286217323,
+              1.0514825363935438
+            ],
+            "current_z": 1.0514825363935438,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19037608798342254,
+            "gripper_z": 1.0556502650429662,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29381837301607805,
+              -0.11984471752736414,
+              1.0556502650429662
+            ],
+            "object_minus_gripper": [
+              0.004406077572188971,
+              0.0043249446651909135,
+              -0.004167728649422386
+            ],
+            "object_to_gripper_xy": 0.006174031578240429,
+            "object_to_gripper_z": -0.004167728649422386,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.298224450588267,
+              -0.13982059842143668,
+              1.0514825363935438
+            ],
+            "finger_b": [
+              0.28772027640678244,
+              -0.11551977286217323,
+              1.0514825363935438
+            ],
+            "finger_midpoint": [
+              0.29297236349752476,
+              -0.12767018564180496,
+              1.0514825363935438
+            ],
+            "object_minus_finger_midpoint": [
+              0.005252087090742263,
+              0.012150412779631733,
+              0.0
+            ],
+            "finger_gap": 0.02647390787354068,
+            "fingertip_max_gap": 0.09555598717749911,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013236953936770336,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514825363935438,
+            "object_top_z": 1.102935775633692,
+            "finger_top_clearance": 0.05145323924014811,
+            "fingertip_min_top_clearance": 0.015435971772044432,
+            "object_projection_between_fingers": 0.8425699175584883,
+            "object_to_finger_line_xy": 0.009641950317561352,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050277993588749556,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.535905651283605,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29686122665538894,
+              -0.11967052064951521,
+              1.2461438869716708
+            ],
+            "held_position": [
+              0.3013991469093596,
+              -0.11541885034989124,
+              1.241994475522235
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00747576323493532,
+            "max_held_gripper_dist": 0.007486255028270529,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004149411449435814,
+            "max_held_gripper_z_dist": 0.004162343693438597,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08675298241862614,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3013991469093596,
+              -0.140135624408815,
+              1.241994475522235
+            ],
+            "held_grasp_finger_b": [
+              0.2923570609016978,
+              -0.11541885034989124,
+              1.241994475522235
+            ],
+            "held_grasp_midpoint": [
+              0.2968781039055287,
+              -0.12777723737935312,
+              1.241994475522235
+            ],
+            "held_grasp_object_position": [
+              0.3013991469093596,
+              -0.11541885034989124,
+              1.241994475522235
+            ],
+            "held_grasp_finger_gap": 0.026318781112540903,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02462385756755869,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.009400153424497886,
+              -0.9996795902411595,
+              -0.023502212041925263
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044142712908601875,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03732332429056619,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28511479891668,
+              -0.4083440966662738,
+              0.8515395775986647
+            ],
+            "target_position": [
+              0.280219134362975,
+              -0.409134019143838,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004958982652012878,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18400402120756953,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395775986647,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751776407927498,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08687062487254842,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15295725608210806,
+            "release_required_pad_clearance": 0.05343531243627421,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8846461453884693,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008702993392944336,
+            "max_z_decrease": 0.008702993392944336,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500829140310766,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008702993392944336,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02090027767609245,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008702993392944336,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00870321748731173,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13591906428337092,
+              -0.4653954803943634,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13591906428337092,
+              -0.4653954803943634,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13442154298836287,
+              -0.46546011681955496,
+              0.8036252020452052
+            ],
+            "closest_button": [
+              0.13594710826873774,
+              -0.4653658866882324,
+              0.7686502933502197
+            ],
+            "closest_ee_minus_button": [
+              -0.0015255652803748687,
+              -9.423013132253688e-05,
+              0.03497490869498543
+            ],
+            "button_min_z_position": [
+              0.13596551120281214,
+              -0.4653537273406983,
+              0.7681058645248413
+            ],
+            "min_active_finger_to_button": 0.14730190423951026,
+            "closest_active_finger": [
+              0.008547700941562653,
+              -0.5309252142906189,
+              0.810775637626648
+            ],
+            "closest_active_finger_button": [
+              0.13591970503330225,
+              -0.46539369225502014,
+              0.7764267921447754
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1273720040917396,
+              -0.06553152203559875,
+              0.03434884548187256
+            ],
+            "min_contact_pad_to_button": 0.02090027767609245,
+            "closest_contact_pad": [
+              0.13596551120281214,
+              -0.4664186624087237,
+              0.7889789936682797
+            ],
+            "closest_contact_pad_button": [
+              0.13596551120281214,
+              -0.4653537273406983,
+              0.7681058645248413
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010649350680254077,
+              0.020873129143438418
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "caf45807140bdd290cfd77711a07365b0037274f28c32df795ed536a40b0798d",
+    "visual_seed": 7135876204368270542,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93a88ccf53ab0e8ff46c96c678260e8f250b4bf6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30675752409951124,
+              -0.11712777985565823,
+              1.0482301581330664
+            ],
+            "current_z": 1.0482301581330664,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18712359051365546,
+            "gripper_z": 1.0522209593429355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3022093288348776,
+              -0.12152962019678117,
+              1.0522209593429355
+            ],
+            "object_minus_gripper": [
+              0.0045481952646336254,
+              0.0044018403411229395,
+              -0.003990801209869055
+            ],
+            "object_to_gripper_xy": 0.006329476957377525,
+            "object_to_gripper_z": -0.003990801209869055,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30675752409951124,
+              -0.1414237938398906,
+              1.0482301581330664
+            ],
+            "finger_b": [
+              0.29598110807027644,
+              -0.11712777985565823,
+              1.0482301581330664
+            ],
+            "finger_midpoint": [
+              0.3013693160848938,
+              -0.1292757868477744,
+              1.0482301581330664
+            ],
+            "object_minus_finger_midpoint": [
+              0.005388208014617424,
+              0.012148006992116184,
+              0.0
+            ],
+            "finger_gap": 0.026578702713961854,
+            "fingertip_max_gap": 0.09579768180360862,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01328935135698094,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482301581330664,
+            "object_top_z": 1.0994862069209441,
+            "finger_top_clearance": 0.051256048787877706,
+            "fingertip_min_top_clearance": 0.015376814636363277,
+            "object_projection_between_fingers": 0.8356078258073116,
+            "object_to_finger_line_xy": 0.009850892925961245,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05039884090180431,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.318065665326137,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30572363185649487,
+              -0.12142736672200394,
+              1.244695700029476
+            ],
+            "held_position": [
+              0.310454218722141,
+              -0.11717871772833305,
+              1.24070683070912
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007506034160575213,
+            "max_held_gripper_dist": 0.007516485086384474,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0039888693203560255,
+            "max_held_gripper_z_dist": 0.004009686801539791,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08671359403403683,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.310454218722141,
+              -0.14208469243556213,
+              1.24070683070912
+            ],
+            "held_grasp_finger_b": [
+              0.301258745170774,
+              -0.11717871772833305,
+              1.24070683070912
+            ],
+            "held_grasp_midpoint": [
+              0.30585648194645754,
+              -0.1296317050819476,
+              1.24070683070912
+            ],
+            "held_grasp_object_position": [
+              0.310454218722141,
+              -0.11717871772833305,
+              1.24070683070912
+            ],
+            "held_grasp_finger_gap": 0.026549280780296572,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024881591507464475,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.002363201545358007,
+              -0.9998935017605657,
+              -0.014401403245849705
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004571816974617768,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03725772355905593,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2874644447847557,
+              -0.4062915469906311,
+              0.8515395851362954
+            ],
+            "target_position": [
+              0.28252946792887007,
+              -0.40741785650391227,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005061874128011721,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18333960822453507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395851362954,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590221781575393,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08949213724180853,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15048128861682364,
+            "release_required_pad_clearance": 0.05474606862090427,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.5417988696441105,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008785545825958252,
+            "max_z_decrease": 0.008785545825958252,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035018778341899745,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008785545825958252,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02101493015708258,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008785545825958252,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008785792383100371,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13822939991950983,
+              -0.4636793136596679,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13822939991950983,
+              -0.4636793136596679,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13872044525200816,
+              -0.4650811048490297,
+              0.8035900730367836
+            ],
+            "closest_button": [
+              0.13826692104339597,
+              -0.4636496305465697,
+              0.768603503704071
+            ],
+            "closest_ee_minus_button": [
+              0.0004535242086121938,
+              -0.0014314743024599896,
+              0.0349865693327126
+            ],
+            "button_min_z_position": [
+              0.13827219605445856,
+              -0.46362930536270136,
+              0.7680233120918274
+            ],
+            "min_active_finger_to_button": 0.14526633624170493,
+            "closest_active_finger": [
+              -0.002328231930732727,
+              -0.45089688897132874,
+              0.8106597661972046
+            ],
+            "closest_active_finger_button": [
+              0.13823013007640833,
+              -0.4636769294738769,
+              0.7762748003005981
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14055836200714106,
+              0.012780040502548162,
+              0.034384965896606445
+            ],
+            "min_contact_pad_to_button": 0.02101493015708258,
+            "closest_contact_pad": [
+              0.13827219605445856,
+              -0.46610485004523167,
+              0.7888919241211851
+            ],
+            "closest_contact_pad_button": [
+              0.13827219605445856,
+              -0.46362930536270136,
+              0.7680233120918274
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024755446825303062,
+              0.020868612029357747
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab0dec91b9248dbf9ab8361dc959ebe8328fe20ffaa02566af35647a3f594820",
+    "visual_seed": 837924107006935769,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..182c6d4e59be1cce00f2521745abf81b61e4bada
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30152064927595956,
+              -0.11251700825874612,
+              1.0512404488839195
+            ],
+            "current_z": 1.0512404488839195,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.19013406007844302,
+            "gripper_z": 1.0544664646520232,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2973177866371107,
+              -0.1169392278028699,
+              1.0544664646520232
+            ],
+            "object_minus_gripper": [
+              0.004202862638848837,
+              0.004422219544123779,
+              -0.0032260157681036628
+            ],
+            "object_to_gripper_xy": 0.006100826178269771,
+            "object_to_gripper_z": -0.0032260157681036628,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30152064927595956,
+              -0.13619933700038422,
+              1.0512404488839195
+            ],
+            "finger_b": [
+              0.29028046604866875,
+              -0.11251700825874612,
+              1.0512404488839195
+            ],
+            "finger_midpoint": [
+              0.29590055766231416,
+              -0.12435817262956517,
+              1.0512404488839195
+            ],
+            "object_minus_finger_midpoint": [
+              0.005620091613645406,
+              0.011841164370819043,
+              0.0
+            ],
+            "finger_gap": 0.026214393252755017,
+            "fingertip_max_gap": 0.09461422807916389,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013107196626377502,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512404488839195,
+            "object_top_z": 1.1022225015725753,
+            "finger_top_clearance": 0.05098205268865574,
+            "fingertip_min_top_clearance": 0.015294615806596723,
+            "object_projection_between_fingers": 0.816148506913277,
+            "object_to_finger_line_xy": 0.010154486954489086,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04980711403958195,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5369446989766264,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30109909345607455,
+              -0.11734752852158697,
+              1.2484115682485253
+            ],
+            "held_position": [
+              0.30566798033611353,
+              -0.1132772830084395,
+              1.2451621693101336
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006928219058366343,
+            "max_held_gripper_dist": 0.006937461357398693,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003249398938391712,
+            "max_held_gripper_z_dist": 0.003260734669785492,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08680690997496036,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30566798033611353,
+              -0.13825299508586103,
+              1.2451621693101336
+            ],
+            "held_grasp_finger_b": [
+              0.29706673480309786,
+              -0.1132772830084395,
+              1.2451621693101336
+            ],
+            "held_grasp_midpoint": [
+              0.3013673575696057,
+              -0.12576513904715025,
+              1.2451621693101336
+            ],
+            "held_grasp_object_position": [
+              0.30566798033611353,
+              -0.1132772830084395,
+              1.2451621693101336
+            ],
+            "held_grasp_finger_gap": 0.026415291376274488,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02440889354549187,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06018050005905162,
+              -0.9980304355499615,
+              -0.01770754439770417
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035483428522633752,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699817604004156,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28263664427766827,
+              -0.40687280271677984,
+              0.8515396600342235
+            ],
+            "target_position": [
+              0.277604005685115,
+              -0.4077073783932892,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005101369204740774,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827893382881906,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396600342235,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535430295062076,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591621930727529,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15110460694629949,
+            "release_required_pad_clearance": 0.05295810965363765,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9520246798611113,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008452534675598145,
+            "max_z_decrease": 0.008452534675598145,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350191851329127,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008452534675598145,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020855395425894516,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008452534675598145,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008452717933424118,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1333039253950119,
+              -0.4639688432216644,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1333039253950119,
+              -0.4639688432216644,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1335240445627713,
+              -0.46261520749754154,
+              0.8035600248239848
+            ],
+            "closest_button": [
+              0.13334539532661435,
+              -0.4639401733875274,
+              0.768566370010376
+            ],
+            "closest_ee_minus_button": [
+              0.00017864923615695805,
+              0.001324965889985874,
+              0.03499365481360883
+            ],
+            "button_min_z_position": [
+              0.13335055112838745,
+              -0.463938444852829,
+              0.7683563232421875
+            ],
+            "min_active_finger_to_button": 0.1451107072361908,
+            "closest_active_finger": [
+              0.0056325942277908325,
+              -0.5238509774208069,
+              0.810814619064331
+            ],
+            "closest_active_finger_button": [
+              0.13330432772636408,
+              -0.4639670252799987,
+              0.7765953540802002
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12767173349857325,
+              -0.05988395214080816,
+              0.03421926498413086
+            ],
+            "min_contact_pad_to_button": 0.020855395425894516,
+            "closest_contact_pad": [
+              0.13335055112838745,
+              -0.46397540918446,
+              0.7892116859100629
+            ],
+            "closest_contact_pad_button": [
+              0.13335055112838745,
+              -0.463938444852829,
+              0.7683563232421875
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -3.6964331631028635e-05,
+              0.020855362667875355
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a305103d76f53be91dbd3a96686117238d599db2e0f848bf104c00f6b0f261f0",
+    "visual_seed": 9004390330053535223,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..43380b3c03dedc3b53eb6e1ec65e18d0e5330a91
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29842540454924876,
+              -0.11293738144662455,
+              1.0514730551705391
+            ],
+            "current_z": 1.0514730551705391,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19036660676041794,
+            "gripper_z": 1.055625217434314,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29399521549694707,
+              -0.11727189607225946,
+              1.055625217434314
+            ],
+            "object_minus_gripper": [
+              0.004430189052301692,
+              0.0043345146256349165,
+              -0.004152162263774795
+            ],
+            "object_to_gripper_xy": 0.006197950635409802,
+            "object_to_gripper_z": -0.004152162263774795,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29842540454924876,
+              -0.1372282253157661,
+              1.0514730551705391
+            ],
+            "finger_b": [
+              0.2878713533896165,
+              -0.11293738144662455,
+              1.0514730551705391
+            ],
+            "finger_midpoint": [
+              0.29314837896943263,
+              -0.12508280338119532,
+              1.0514730551705391
+            ],
+            "object_minus_finger_midpoint": [
+              0.00527702557981613,
+              0.012145421934570771,
+              0.0
+            ],
+            "finger_gap": 0.026484582151794396,
+            "fingertip_max_gap": 0.09630326930041924,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013242291075897198,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514730551705391,
+            "object_top_z": 1.1032404257807582,
+            "finger_top_clearance": 0.05176737061021908,
+            "fingertip_min_top_clearance": 0.015530211183065705,
+            "object_projection_between_fingers": 0.8411993999293407,
+            "object_to_finger_line_xy": 0.009679850995428698,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05065163465020962,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.803806291878077,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2970586884330567,
+              -0.11673005627228931,
+              1.2470986233611394
+            ],
+            "held_position": [
+              0.30161495804257005,
+              -0.11246931214506117,
+              1.2429623689420397
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007484793510298443,
+            "max_held_gripper_dist": 0.007497794355431521,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004136254419099705,
+            "max_held_gripper_z_dist": 0.004149892374971431,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08607323238131409,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30161495804257005,
+              -0.13717081680118506,
+              1.2429623689420397
+            ],
+            "held_grasp_finger_b": [
+              0.29241772975499825,
+              -0.11246931214506117,
+              1.2429623689420397
+            ],
+            "held_grasp_midpoint": [
+              0.2970163438987842,
+              -0.12482006447312312,
+              1.2429623689420397
+            ],
+            "held_grasp_object_position": [
+              0.30161495804257005,
+              -0.11246931214506117,
+              1.2429623689420397
+            ],
+            "held_grasp_finger_gap": 0.02635817407276576,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02467633893054488,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.002361333878487602,
+              -0.9998604134086816,
+              -0.016540187439534112
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004574005215693628,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03736036287807899,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2833915027587489,
+              -0.41329069263571305,
+              0.8515395703277325
+            ],
+            "target_position": [
+              0.2790723276776756,
+              -0.41406332878312463,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004387737457648503,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18173269149277446,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395703277325,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536680464502392,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0880127367120271,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1502797412186473,
+            "release_required_pad_clearance": 0.05400636835601355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0241341829916206,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008929193019866943,
+            "max_z_decrease": 0.008929193019866943,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035027322633829135,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008929193019866943,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021053919782101593,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008929193019866943,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008929455261114948,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13477225601673123,
+              -0.47032478451728815,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13477225601673123,
+              -0.47032478451728815,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13535004548141583,
+              -0.4718862759967167,
+              0.8036033928548046
+            ],
+            "closest_button": [
+              0.13481071591377253,
+              -0.47029528021812433,
+              0.7686163783073425
+            ],
+            "closest_ee_minus_button": [
+              0.0005393295676432985,
+              -0.0015909957785923412,
+              0.034987014547462114
+            ],
+            "button_min_z_position": [
+              0.13481537997722626,
+              -0.4702716469764709,
+              0.7678796648979187
+            ],
+            "min_active_finger_to_button": 0.14517260006267632,
+            "closest_active_finger": [
+              -0.005591757595539093,
+              -0.45652928948402405,
+              0.8110783696174622
+            ],
+            "closest_active_finger_button": [
+              0.134775161743164,
+              -0.4703216850757598,
+              0.7766984105110168
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1403669193387031,
+              0.013792395591735729,
+              0.03437995910644531
+            ],
+            "min_contact_pad_to_button": 0.021053919782101593,
+            "closest_contact_pad": [
+              0.13481537997722626,
+              -0.4730145031508105,
+              0.7887541535910114
+            ],
+            "closest_contact_pad_button": [
+              0.13481537997722626,
+              -0.4702716469764709,
+              0.7678796648979187
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002742856174339614,
+              0.02087448869309272
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62bd0d51c499d4282dc2f3ea9832f1448846b99bef5a871e50eb041bda6bf0d5",
+    "visual_seed": 2987007504313414206,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..183676c1504f370c560dbfbd9018ac83f2373094
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3053422749923132,
+              -0.11795232179146593,
+              1.0515304791224285
+            ],
+            "current_z": 1.0515304791224285,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19042397110766252,
+            "gripper_z": 1.0552711146994627,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3009227274229045,
+              -0.12232487651162936,
+              1.0552711146994627
+            ],
+            "object_minus_gripper": [
+              0.0044195475694087105,
+              0.00437255472016343,
+              -0.0037406355770341904
+            ],
+            "object_to_gripper_xy": 0.00621704395183836,
+            "object_to_gripper_z": -0.0037406355770341904,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3053422749923132,
+              -0.1421299103063892,
+              1.0515304791224285
+            ],
+            "finger_b": [
+              0.29458698748848516,
+              -0.11795232179146593,
+              1.0515304791224285
+            ],
+            "finger_midpoint": [
+              0.2999646312403992,
+              -0.13004111604892757,
+              1.0515304791224285
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053776437519140186,
+              0.012088794257461635,
+              0.0
+            ],
+            "finger_gap": 0.02646189705381964,
+            "fingertip_max_gap": 0.09608684993524005,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013230948526909826,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0515304791224285,
+            "object_top_z": 1.1030223069620606,
+            "finger_top_clearance": 0.05149182783963213,
+            "fingertip_min_top_clearance": 0.01544754835188964,
+            "object_projection_between_fingers": 0.8348030224232788,
+            "object_to_finger_line_xy": 0.009826843294657701,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05054342496762003,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1282908487376573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30434109584160657,
+              -0.12202391073844078,
+              1.2450127076166244
+            ],
+            "held_position": [
+              0.3089264375729233,
+              -0.11777839220623311,
+              1.2412699800220728
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007284078270261235,
+            "max_held_gripper_dist": 0.007294459372060493,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037427275945516314,
+            "max_held_gripper_z_dist": 0.003760739667789892,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08701806128198761,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3089264375729233,
+              -0.14249425652140674,
+              1.2412699800220728
+            ],
+            "held_grasp_finger_b": [
+              0.2998404940031156,
+              -0.11777839220623311,
+              1.2412699800220728
+            ],
+            "held_grasp_midpoint": [
+              0.30438346578801945,
+              -0.13013632436381992,
+              1.2412699800220728
+            ],
+            "held_grasp_object_position": [
+              0.3089264375729233,
+              -0.11777839220623311,
+              1.2412699800220728
+            ],
+            "held_grasp_finger_gap": 0.026333027159819732,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024651302133820892,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.006476480429570528,
+              -0.9997686811367068,
+              -0.020509495835235425
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004470049061355935,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037335754067470577,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2837524509315327,
+              -0.4044557016026243,
+              0.8515395552280912
+            ],
+            "target_position": [
+              0.27938804663935385,
+              -0.40509823437176296,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004411447969205345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1824718112282488,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395552280912,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519281392422464,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08762476628135056,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1512873616354614,
+            "release_required_pad_clearance": 0.05381238314067528,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6340081522166288,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008569061756134033,
+            "max_z_decrease": 0.008569061756134033,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501171373266687,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008569061756134033,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021015691789297755,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008569061756134033,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008569249146474302,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1350879669189453,
+              -0.46135967969894404,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1350879669189453,
+              -0.46135967969894404,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1346313225879306,
+              -0.4627448013591096,
+              0.803559137744745
+            ],
+            "closest_button": [
+              0.13512335717678065,
+              -0.46133291721343994,
+              0.768579363822937
+            ],
+            "closest_ee_minus_button": [
+              -0.0004920345888500544,
+              -0.001411884145669673,
+              0.034979773921807955
+            ],
+            "button_min_z_position": [
+              0.13512943685054774,
+              -0.46132105588912964,
+              0.7682397961616516
+            ],
+            "min_active_finger_to_button": 0.14611640228939024,
+            "closest_active_finger": [
+              -0.006153717637062073,
+              -0.4465057849884033,
+              0.8108242154121399
+            ],
+            "closest_active_finger_button": [
+              0.13508823513984675,
+              -0.46135812997817993,
+              0.7764713168144226
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14124195277690882,
+              0.014852344989776611,
+              0.034352898597717285
+            ],
+            "min_contact_pad_to_button": 0.021015691789297755,
+            "closest_contact_pad": [
+              0.13512943685054774,
+              -0.4639409528457455,
+              0.7890915452805978
+            ],
+            "closest_contact_pad_button": [
+              0.13512943685054774,
+              -0.46132105588912964,
+              0.7682397961616516
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026198969566158525,
+              0.02085174911894616
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "180183ba7b15aea6c165e63e333f9ac0c2cd603570f71bbe48791b22894ace01",
+    "visual_seed": 2192102802249840041,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e19853f81cff2363f087c0a1493eaf364d1c5019
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30630409020860033,
+              -0.11457876448304359,
+              1.0517148184963636
+            ],
+            "current_z": 1.0517148184963636,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19060837008624243,
+            "gripper_z": 1.054778112208754,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3022576132296817,
+              -0.11890771052410126,
+              1.054778112208754
+            ],
+            "object_minus_gripper": [
+              0.004046476978918634,
+              0.004328946041057671,
+              -0.003063293712390447
+            ],
+            "object_to_gripper_xy": 0.005925685594706098,
+            "object_to_gripper_z": -0.003063293712390447,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30630409020860033,
+              -0.13817581073981133,
+              1.0517148184963636
+            ],
+            "finger_b": [
+              0.2952218887664312,
+              -0.11457876448304359,
+              1.0517148184963636
+            ],
+            "finger_midpoint": [
+              0.3007629894875158,
+              -0.12637728761142747,
+              1.0517148184963636
+            ],
+            "object_minus_finger_midpoint": [
+              0.005541100721084546,
+              0.011798523128383878,
+              0.0
+            ],
+            "finger_gap": 0.026069825101999677,
+            "fingertip_max_gap": 0.09285556534635367,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013034912550999833,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0517148184963636,
+            "object_top_z": 1.1017367044893098,
+            "finger_top_clearance": 0.05002188599294621,
+            "fingertip_min_top_clearance": 0.015006565797883863,
+            "object_projection_between_fingers": 0.8192926384019656,
+            "object_to_finger_line_xy": 0.010031030857879639,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04892778267317684,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.175318701823079,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30629946914027817,
+              -0.1193829118688696,
+              1.248287692096325
+            ],
+            "held_position": [
+              0.310703201113044,
+              -0.11540014775527645,
+              1.2451919015959763
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006696206694430466,
+            "max_held_gripper_dist": 0.006705196926066436,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003095790500348805,
+            "max_held_gripper_z_dist": 0.0031045409082661735,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08624127338543233,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.310703201113044,
+              -0.14032230347447583,
+              1.2451919015959763
+            ],
+            "held_grasp_finger_b": [
+              0.3022852649374034,
+              -0.11540014775527645,
+              1.2451919015959763
+            ],
+            "held_grasp_midpoint": [
+              0.3064942330252237,
+              -0.12786122561487615,
+              1.2451919015959763
+            ],
+            "held_grasp_object_position": [
+              0.310703201113044,
+              -0.11540014775527645,
+              1.2451919015959763
+            ],
+            "held_grasp_finger_gap": 0.02630542710448134,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024312923179282537,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06506971634804506,
+              -0.9975331258890819,
+              -0.026336187429885527
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034054093120669485,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03701603576126891,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.282565286248987,
+              -0.40943184216408546,
+              0.8515395794890699
+            ],
+            "target_position": [
+              0.2770434239490897,
+              -0.41043008891960603,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0056113688030581844,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18248051407409865,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395794890699,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547273199695478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08606362650121378,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15071208506253125,
+            "release_required_pad_clearance": 0.05303181325060689,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0950241945443993,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00866931676864624,
+            "max_z_decrease": 0.00866931676864624,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499989075251376,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00866931676864624,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02090967153347729,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00866931676864624,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008669494885724586,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1327433437108993,
+              -0.46669155359268183,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1327433437108993,
+              -0.46669155359268183,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1334032922297087,
+              -0.4665920203714413,
+              0.8036039961519867
+            ],
+            "closest_button": [
+              0.13277448713779444,
+              -0.46666070818901056,
+              0.7686098217964172
+            ],
+            "closest_ee_minus_button": [
+              0.000628805091914264,
+              6.868781756924625e-05,
+              0.03499417435556951
+            ],
+            "button_min_z_position": [
+              0.1327801197767257,
+              -0.4666498899459839,
+              0.7681395411491394
+            ],
+            "min_active_finger_to_button": 0.14521932296766946,
+            "closest_active_finger": [
+              -0.007409989833831787,
+              -0.45043087005615234,
+              0.8107805848121643
+            ],
+            "closest_active_finger_button": [
+              0.13274370133876795,
+              -0.4666892290115356,
+              0.7764111161231995
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14015369117259974,
+              0.016258358955383245,
+              0.034369468688964844
+            ],
+            "min_contact_pad_to_button": 0.02090967153347729,
+            "closest_contact_pad": [
+              0.1327801197767257,
+              -0.46780372434213247,
+              0.7890173530513521
+            ],
+            "closest_contact_pad_button": [
+              0.1327801197767257,
+              -0.4666498899459839,
+              0.7681395411491394
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011538343961485786,
+              0.020877811902212717
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d5fbd201b6ac014745e8286f61db08ae6810c3221331584f18f0544f0a84b94",
+    "visual_seed": 7651468034049596189,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cb7f541809f37bd6c2431969aef61e104fda6ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3057229975289233,
+              -0.112478339422341,
+              1.0498578020764107
+            ],
+            "current_z": 1.0498578020764107,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18875123445699982,
+            "gripper_z": 1.0530383109477963,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30139956717932637,
+              -0.1169021113641427,
+              1.0530383109477963
+            ],
+            "object_minus_gripper": [
+              0.004323430349596924,
+              0.004423771941801699,
+              -0.0031805088713856566
+            ],
+            "object_to_gripper_xy": 0.006185612999605436,
+            "object_to_gripper_z": -0.0031805088713856566,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3057229975289233,
+              -0.13639375807680895,
+              1.0498578020764107
+            ],
+            "finger_b": [
+              0.2946435479299627,
+              -0.112478339422341,
+              1.0498578020764107
+            ],
+            "finger_midpoint": [
+              0.300183272729443,
+              -0.12443604874957498,
+              1.0498578020764107
+            ],
+            "object_minus_finger_midpoint": [
+              0.005539724799480283,
+              0.011957709327233973,
+              0.0
+            ],
+            "finger_gap": 0.02635718977498134,
+            "fingertip_max_gap": 0.09434953903554963,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317859488749067,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498578020764107,
+            "object_top_z": 1.1012763894367832,
+            "finger_top_clearance": 0.051418587360372525,
+            "fingertip_min_top_clearance": 0.015425576208111757,
+            "object_projection_between_fingers": 0.8232993425951961,
+            "object_to_finger_line_xy": 0.010053032128323949,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04967476951777482,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6865516944325425,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3053311321630925,
+              -0.11717872331971387,
+              1.243343478039077
+            ],
+            "held_position": [
+              0.30994102674666457,
+              -0.11303551586689052,
+              1.240124471629724
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006984217803894339,
+            "max_held_gripper_dist": 0.006993839996964469,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003219006409353131,
+            "max_held_gripper_z_dist": 0.0032309292578482918,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670703041919277,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30994102674666457,
+              -0.13792771164106016,
+              1.240124471629724
+            ],
+            "held_grasp_finger_b": [
+              0.3012162325396288,
+              -0.11303551586689052,
+              1.240124471629724
+            ],
+            "held_grasp_midpoint": [
+              0.3055786296431467,
+              -0.12548161375397535,
+              1.240124471629724
+            ],
+            "held_grasp_object_position": [
+              0.30994102674666457,
+              -0.11303551586689052,
+              1.240124471629724
+            ],
+            "held_grasp_finger_gap": 0.026376949111197704,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024302742802349453,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06173867872309431,
+              -0.9979593722543513,
+              -0.01629192681139302
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035915224512662845,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703022140244704,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28503159510133236,
+              -0.40556854185957014,
+              0.8515395931835861
+            ],
+            "target_position": [
+              0.28064055245677944,
+              -0.406087936076708,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004421654199400784,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1803653462528157,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395931835861,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752737032358069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08538531241446494,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14913338270522644,
+            "release_required_pad_clearance": 0.05269265620723247,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4405739178465003,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008617877960205078,
+            "max_z_decrease": 0.008617877960205078,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034997618498389754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008617877960205078,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020951315615545082,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008617877960205078,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008618100454691604,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13634048402309412,
+              -0.462349385023117,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13634048402309412,
+              -0.462349385023117,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13569457719184863,
+              -0.46324401949197797,
+              0.8035777591243168
+            ],
+            "closest_button": [
+              0.13637721538543696,
+              -0.4623233079910278,
+              0.7685989141464233
+            ],
+            "closest_ee_minus_button": [
+              -0.0006826381935883252,
+              -0.0009207115009501887,
+              0.0349788449778935
+            ],
+            "button_min_z_position": [
+              0.1363879889249801,
+              -0.46230965852737427,
+              0.7681909799575806
+            ],
+            "min_active_finger_to_button": 0.1463758952944156,
+            "closest_active_finger": [
+              -0.00525723397731781,
+              -0.4484403431415558,
+              0.8108606338500977
+            ],
+            "closest_active_finger_button": [
+              0.1363407522439956,
+              -0.46234756708145136,
+              0.7764731049537659
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14159798622131342,
+              0.013907223939895574,
+              0.03438752889633179
+            ],
+            "min_contact_pad_to_button": 0.020951315615545082,
+            "closest_contact_pad": [
+              0.1363879889249801,
+              -0.46430397351376085,
+              0.7890471621047823
+            ],
+            "closest_contact_pad_button": [
+              0.1363879889249801,
+              -0.46230965852737427,
+              0.7681909799575806
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019943149863865806,
+              0.02085618214720175
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f19014d57b90df1e6c26ab7a52ccbf6b3cd59e581d5e9e61b04e3d4193e6db53",
+    "visual_seed": 7568186224622536410,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8e068e7749587f2ed3701e531c17920047a18f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3040258671568651,
+              -0.11968845608128817,
+              1.0507891191714918
+            ],
+            "current_z": 1.0507891191714918,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18968273036601535,
+            "gripper_z": 1.0536842623620983,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2999535751699363,
+              -0.12397432330661888,
+              1.0536842623620983
+            ],
+            "object_minus_gripper": [
+              0.004072291986928767,
+              0.004285867225330711,
+              -0.002895143190606575
+            ],
+            "object_to_gripper_xy": 0.005912040248507127,
+            "object_to_gripper_z": -0.002895143190606575,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3040258671568651,
+              -0.14341749864351244,
+              1.0507891191714918
+            ],
+            "finger_b": [
+              0.2931500372651703,
+              -0.11968845608128817,
+              1.0507891191714918
+            ],
+            "finger_midpoint": [
+              0.2985879522110177,
+              -0.1315529773624003,
+              1.0507891191714918
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054379149458473885,
+              0.011864521281112123,
+              0.0
+            ],
+            "finger_gap": 0.026102703629182412,
+            "fingertip_max_gap": 0.09272634193235471,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013051351814591194,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507891191714918,
+            "object_top_z": 1.100874568723878,
+            "finger_top_clearance": 0.05008544955238614,
+            "fingertip_min_top_clearance": 0.015025634865715842,
+            "object_projection_between_fingers": 0.826398358419452,
+            "object_to_finger_line_xy": 0.009886831420443946,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886317096617736,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0243238800825853,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30367244757668055,
+              -0.12476991240852826,
+              1.2449773350735576
+            ],
+            "held_position": [
+              0.30806536377988747,
+              -0.1207784977939684,
+              1.242063526078618
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006612063690914595,
+            "max_held_gripper_dist": 0.006620735298507719,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029138089949396484,
+            "max_held_gripper_z_dist": 0.0029234901872579044,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08701462912716361,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30806536377988747,
+              -0.1456024590367637,
+              1.242063526078618
+            ],
+            "held_grasp_finger_b": [
+              0.29974265061842764,
+              -0.1207784977939684,
+              1.242063526078618
+            ],
+            "held_grasp_midpoint": [
+              0.30390400719915756,
+              -0.13319047841536605,
+              1.242063526078618
+            ],
+            "held_grasp_object_position": [
+              0.30806536377988747,
+              -0.1207784977939684,
+              1.242063526078618
+            ],
+            "held_grasp_finger_gap": 0.026181990110603497,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024255863022740784,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.060970208283950666,
+              -0.9975563664267995,
+              -0.0341164110535197
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003423682242267268,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708488100378289,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.280369720954376,
+              -0.40788720741670403,
+              0.8515395529653598
+            ],
+            "target_position": [
+              0.27494340955788243,
+              -0.4088945606088191,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005519023086143103,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1828185266345179,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395529653598,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587619616760025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08737753816027082,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15000022810850877,
+            "release_required_pad_clearance": 0.05368876908013541,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3870758665707337,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008623123168945312,
+            "max_z_decrease": 0.008623123168945312,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035009182424913354,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008623123168945312,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021021568747669476,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008623123168945312,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008623289938190793,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13064333796501157,
+              -0.4651560187339782,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13064333796501157,
+              -0.4651560187339782,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1288327653471186,
+              -0.4668144824223737,
+              0.8035522319366079
+            ],
+            "closest_button": [
+              0.13068476319313047,
+              -0.46512803435325617,
+              0.7686327695846558
+            ],
+            "closest_ee_minus_button": [
+              -0.0018519978460118658,
+              -0.001686448069117552,
+              0.03491946235195209
+            ],
+            "button_min_z_position": [
+              0.13068330287933344,
+              -0.465120255947113,
+              0.7681857347488403
+            ],
+            "min_active_finger_to_button": 0.14743250933547367,
+            "closest_active_finger": [
+              -0.012076340615749359,
+              -0.45173001289367676,
+              0.8108668327331543
+            ],
+            "closest_active_finger_button": [
+              0.13064412772655487,
+              -0.4651557505130768,
+              0.7764145135879517
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14272046834230423,
+              0.013425737619400024,
+              0.03445231914520264
+            ],
+            "min_contact_pad_to_button": 0.021021568747669476,
+            "closest_contact_pad": [
+              0.13068476319313047,
+              -0.4679166034537532,
+              0.7894685617458563
+            ],
+            "closest_contact_pad_button": [
+              0.13068476319313047,
+              -0.46512803435325617,
+              0.7686327695846558
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002788569100497018,
+              0.020835792161200573
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11759d91e4c49bc1fdcb4458b390833427da7659224844bb2e5779a9f1500a47",
+    "visual_seed": 4723458136485333073,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff25b8e308b8a39c8b273b33deb013f457d4aeea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29936302058276654,
+              -0.11177162037961791,
+              1.0521963095606515
+            ],
+            "current_z": 1.0521963095606515,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.19108992075517495,
+            "gripper_z": 1.0555156133895887,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29507632129959793,
+              -0.116201835404668,
+              1.0555156133895887
+            ],
+            "object_minus_gripper": [
+              0.004286699283168605,
+              0.004430215025050088,
+              -0.0033193038289371923
+            ],
+            "object_to_gripper_xy": 0.006164624555680401,
+            "object_to_gripper_z": -0.0033193038289371923,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29936302058276654,
+              -0.1355894001993371,
+              1.0521963095606515
+            ],
+            "finger_b": [
+              0.2882058962960068,
+              -0.11177162037961791,
+              1.0521963095606515
+            ],
+            "finger_midpoint": [
+              0.29378445843938666,
+              -0.1236805102894775,
+              1.0521963095606515
+            ],
+            "object_minus_finger_midpoint": [
+              0.005578562143379873,
+              0.011908889909859596,
+              0.0
+            ],
+            "finger_gap": 0.02630148394845483,
+            "fingertip_max_gap": 0.0944299025620455,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013150741974227415,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0521963095606515,
+            "object_top_z": 1.1031230178720595,
+            "finger_top_clearance": 0.050926708311408,
+            "fingertip_min_top_clearance": 0.015278012493422399,
+            "object_projection_between_fingers": 0.8200532375985341,
+            "object_to_finger_line_xy": 0.010103533709507569,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049714951281022754,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3838474180040112,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2987402543869628,
+              -0.11672085127403148,
+              1.2491220137451855
+            ],
+            "held_position": [
+              0.3033728669753273,
+              -0.11261998747927447,
+              1.2457885869842502
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007027796043393806,
+            "max_held_gripper_dist": 0.007036449360919711,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033334267609352874,
+            "max_held_gripper_z_dist": 0.003344216430364755,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08672670506071134,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3033728669753273,
+              -0.13762601240781938,
+              1.2457885869842502
+            ],
+            "held_grasp_finger_b": [
+              0.2947037829791976,
+              -0.11261998747927447,
+              1.2457885869842502
+            ],
+            "held_grasp_midpoint": [
+              0.29903832497726246,
+              -0.12512299994354692,
+              1.2457885869842502
+            ],
+            "held_grasp_object_position": [
+              0.3033728669753273,
+              -0.11261998747927447,
+              1.2457885869842502
+            ],
+            "held_grasp_finger_gap": 0.026466097182224688,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024466865185966784,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.056961704168474556,
+              -0.9981862793183433,
+              -0.0194811713925409
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036236691286373347,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699301167911247,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28021498551350815,
+              -0.41048948884955383,
+              0.8515395923538832
+            ],
+            "target_position": [
+              0.27549830869647607,
+              -0.4111113620047683,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004757495813713795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18162194544799973,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395923538832,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536637462968561,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649961753844028,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15018087464434832,
+            "release_required_pad_clearance": 0.05324980876922014,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.520036583057133,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008685588836669922,
+            "max_z_decrease": 0.008685588836669922,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035030171887489754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008685588836669922,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02086738609816896,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008685588836669922,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008685913741058727,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13119822740554804,
+              -0.46737283468246454,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13119822740554804,
+              -0.46737283468246454,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13017729490636468,
+              -0.46567123678456285,
+              0.8030966277978034
+            ],
+            "closest_button": [
+              0.1312666088342666,
+              -0.4673417210578918,
+              0.7681232690811157
+            ],
+            "closest_ee_minus_button": [
+              -0.0010893139279019304,
+              0.0016704842733289427,
+              0.03497335871668772
+            ],
+            "button_min_z_position": [
+              0.1312666088342666,
+              -0.4673417210578918,
+              0.7681232690811157
+            ],
+            "min_active_finger_to_button": 0.14609123745200994,
+            "closest_active_finger": [
+              0.004283428192138672,
+              -0.531029462814331,
+              0.8107544779777527
+            ],
+            "closest_active_finger_button": [
+              0.13119924068450922,
+              -0.4673705399036407,
+              0.7763659954071045
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12691581249237055,
+              -0.06365892291069036,
+              0.03438848257064819
+            ],
+            "min_contact_pad_to_button": 0.02086738609816896,
+            "closest_contact_pad": [
+              0.1312666088342666,
+              -0.4673417210578918,
+              0.7889906551792847
+            ],
+            "closest_contact_pad_button": [
+              0.1312666088342666,
+              -0.4673417210578918,
+              0.7681232690811157
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02086738609816896
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9f3ce387f4018b53b4fcd7b2d29fed3c15a8777fe31eb68af7b31d4781495551",
+    "visual_seed": 2924846788497575035,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bc2ba22c3c7fe5012f9d7bfe9a03d8e1117fd3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30675320098460096,
+              -0.11639298009114306,
+              1.052896941813005
+            ],
+            "current_z": 1.052896941813005,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.19179043379823912,
+            "gripper_z": 1.055855978973946,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3026791257725098,
+              -0.12067584244033644,
+              1.055855978973946
+            ],
+            "object_minus_gripper": [
+              0.004074075212091133,
+              0.004282862349193381,
+              -0.002959037160940925
+            ],
+            "object_to_gripper_xy": 0.005911091162883013,
+            "object_to_gripper_z": -0.002959037160940925,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30675320098460096,
+              -0.140125986453841,
+              1.052896941813005
+            ],
+            "finger_b": [
+              0.29586742370414965,
+              -0.11639298009114306,
+              1.052896941813005
+            ],
+            "finger_midpoint": [
+              0.30131031234437533,
+              -0.12825948327249204,
+              1.052896941813005
+            ],
+            "object_minus_finger_midpoint": [
+              0.005442888640225629,
+              0.011866503181348978,
+              0.0
+            ],
+            "finger_gap": 0.02611045265811091,
+            "fingertip_max_gap": 0.09414492287038742,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01305522632905545,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052896941813005,
+            "object_top_z": 1.103567303354696,
+            "finger_top_clearance": 0.05067036154169102,
+            "fingertip_min_top_clearance": 0.01520110846250734,
+            "object_projection_between_fingers": 0.8261838655803149,
+            "object_to_finger_line_xy": 0.009894589911661675,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04957246143519371,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.614693623423853,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3067290371810778,
+              -0.12142482282909321,
+              1.2490039035231468
+            ],
+            "held_position": [
+              0.3111314857806091,
+              -0.11745660735046767,
+              1.2460183226332417
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006636413263690334,
+            "max_held_gripper_dist": 0.006645860288795203,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029855808899050817,
+            "max_held_gripper_z_dist": 0.002995200535288234,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08589872005564442,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3111314857806091,
+              -0.14236944050368697,
+              1.2460183226332417
+            ],
+            "held_grasp_finger_b": [
+              0.30275756203646537,
+              -0.11745660735046767,
+              1.2460183226332417
+            ],
+            "held_grasp_midpoint": [
+              0.3069445239085372,
+              -0.12991302392707732,
+              1.2460183226332417
+            ],
+            "held_grasp_object_position": [
+              0.3111314857806091,
+              -0.11745660735046767,
+              1.2460183226332417
+            ],
+            "held_grasp_finger_gap": 0.02628253896778005,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024446947873146177,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05114327796943002,
+              -0.9984901207301385,
+              -0.020046045067667825
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003553356342313391,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03706850622378042,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28667291183214405,
+              -0.40956805765116877,
+              0.8515395150645363
+            ],
+            "target_position": [
+              0.28130340651176344,
+              -0.41030013414198446,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005419181061193718,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18274345716574267,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395150645363,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533914453172992,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08638074121532184,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15135703299483852,
+            "release_required_pad_clearance": 0.05319037060766092,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.40385825107588,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008830010890960693,
+            "max_z_decrease": 0.008830010890960693,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035048870067906815,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008830010890960693,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02088289962961798,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008830010890960693,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008830123100589319,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1370033323764801,
+              -0.46656158566474915,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1370033323764801,
+              -0.46656158566474915,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13766153907524498,
+              -0.46468385878719876,
+              0.8029733658092882
+            ],
+            "closest_button": [
+              0.13699543476104734,
+              -0.46651777625083923,
+              0.767978847026825
+            ],
+            "closest_ee_minus_button": [
+              0.0006661043141976408,
+              0.0018339174636404776,
+              0.03499451878246329
+            ],
+            "button_min_z_position": [
+              0.13699543476104734,
+              -0.46651777625083923,
+              0.767978847026825
+            ],
+            "min_active_finger_to_button": 0.1445431725036621,
+            "closest_active_finger": [
+              0.011645540595054626,
+              -0.5298117399215698,
+              0.8111247420310974
+            ],
+            "closest_active_finger_button": [
+              0.1370022892951965,
+              -0.4665614664554596,
+              0.7768054008483887
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12535674870014188,
+              -0.06325027346611023,
+              0.03431934118270874
+            ],
+            "min_contact_pad_to_button": 0.02088289962961798,
+            "closest_contact_pad": [
+              0.13699543476104734,
+              -0.46651777625083923,
+              0.7888617466564429
+            ],
+            "closest_contact_pad_button": [
+              0.13699543476104734,
+              -0.46651777625083923,
+              0.767978847026825
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02088289962961798
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82a181ad6eaa83e4dbddb3b609f667e07f65a4f9e5089cd457c2128064f90fb5",
+    "visual_seed": 915136538781450919,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6adb61002dda265c699560c278095118a0f1751e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30409660639049796,
+              -0.12067727294932336,
+              1.0487137609041155
+            ],
+            "current_z": 1.0487137609041155,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.1876073720986391,
+            "gripper_z": 1.0522042518367105,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2999286363815652,
+              -0.12493249767128836,
+              1.0522042518367105
+            ],
+            "object_minus_gripper": [
+              0.004167970008932764,
+              0.0042552247219650036,
+              -0.003490490932595014
+            ],
+            "object_to_gripper_xy": 0.00595641766750663,
+            "object_to_gripper_z": -0.003490490932595014,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30409660639049796,
+              -0.1446562188005576,
+              1.0487137609041155
+            ],
+            "finger_b": [
+              0.293493924043445,
+              -0.12067727294932336,
+              1.0487137609041155
+            ],
+            "finger_midpoint": [
+              0.2987952652169715,
+              -0.13266674587494048,
+              1.0487137609041155
+            ],
+            "object_minus_finger_midpoint": [
+              0.005301341173526486,
+              0.011989472925617126,
+              0.0
+            ],
+            "finger_gap": 0.02621844230859134,
+            "fingertip_max_gap": 0.09402848275690115,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013109221154295676,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487137609041155,
+            "object_top_z": 1.0994035321361983,
+            "finger_top_clearance": 0.05068977123208285,
+            "fingertip_min_top_clearance": 0.01520693136962482,
+            "object_projection_between_fingers": 0.8364623589531132,
+            "object_to_finger_line_xy": 0.009697034739341095,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04951424137845058,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.29507072950165,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30321237268622714,
+              -0.12485070205935667,
+              1.2448767464947241
+            ],
+            "held_position": [
+              0.3075979211966102,
+              -0.12076065421494969,
+              1.2413917686572171
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006935891985489427,
+            "max_held_gripper_dist": 0.0069456838744370655,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034849778375070084,
+            "max_held_gripper_z_dist": 0.0034964421313590233,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08643435208186724,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3075979211966102,
+              -0.14545517587265933,
+              1.2413917686572171
+            ],
+            "held_grasp_finger_b": [
+              0.29879281133043134,
+              -0.12076065421494969,
+              1.2413917686572171
+            ],
+            "held_grasp_midpoint": [
+              0.3031953662635208,
+              -0.1331079150438045,
+              1.2413917686572171
+            ],
+            "held_grasp_object_position": [
+              0.3075979211966102,
+              -0.12076065421494969,
+              1.2413917686572171
+            ],
+            "held_grasp_finger_gap": 0.026217348448280785,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024430419359566233,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02797366318374852,
+              -0.9992795519306826,
+              -0.025648611293721972
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004067903370699172,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03725872921261955,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2877319962443303,
+              -0.41251422924934333,
+              0.8515395849802064
+            ],
+            "target_position": [
+              0.2828582153835469,
+              -0.41337770691280656,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004949680146659871,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843170496635022,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395849802064,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562552945178408,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08786590071608401,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521291796548751,
+            "release_required_pad_clearance": 0.053932950358042006,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8760768173727533,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008904993534088135,
+            "max_z_decrease": 0.008904993534088135,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502840902781494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008904993534088135,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021044428997937358,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008904993534088135,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00890521911499918,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1385581344366073,
+              -0.46963915228843683,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1385581344366073,
+              -0.46963915228843683,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13800986988961336,
+              -0.47120262491319176,
+              0.8036578048094912
+            ],
+            "closest_button": [
+              0.1385474652051925,
+              -0.46958974003791804,
+              0.7686706781387329
+            ],
+            "closest_ee_minus_button": [
+              -0.000537595315579148,
+              -0.0016128848752737235,
+              0.03498712667075832
+            ],
+            "button_min_z_position": [
+              0.13853724300861353,
+              -0.4695793092250824,
+              0.7679038643836975
+            ],
+            "min_active_finger_to_button": 0.14608446428626873,
+            "closest_active_finger": [
+              -0.0025430619716644287,
+              -0.45365145802497864,
+              0.8109694719314575
+            ],
+            "closest_active_finger_button": [
+              0.13856060802936548,
+              -0.46963718533515925,
+              0.7766929268836975
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1411036700010299,
+              0.01598572731018061,
+              0.03427654504776001
+            ],
+            "min_contact_pad_to_button": 0.021044428997937358,
+            "closest_contact_pad": [
+              0.13853724300861353,
+              -0.4724931166648857,
+              0.7887455945914555
+            ],
+            "closest_contact_pad_button": [
+              0.13853724300861353,
+              -0.4695793092250824,
+              0.7679038643836975
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029138074398032954,
+              0.020841730207758036
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e0ff43a862fcb427dc8c8eb5db323e6a862df0e9c7700ef3112aef11ebd616d",
+    "visual_seed": 3488796594130104355,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cae4e91bf97f87acdcb7ca769738b9368cdac4a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29923360402283794,
+              -0.11936608849519849,
+              1.0517168275882796
+            ],
+            "current_z": 1.0517168275882796,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.19061043878280315,
+            "gripper_z": 1.0553878852620138,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29449226108545046,
+              -0.12392218055751922,
+              1.0553878852620138
+            ],
+            "object_minus_gripper": [
+              0.004741342937387483,
+              0.00455609206232073,
+              -0.0036710576737342127
+            ],
+            "object_to_gripper_xy": 0.006575584212087632,
+            "object_to_gripper_z": -0.0036710576737342127,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29923360402283794,
+              -0.14370651735919332,
+              1.0517168275882796
+            ],
+            "finger_b": [
+              0.28813694100245946,
+              -0.11936608849519849,
+              1.0517168275882796
+            ],
+            "finger_midpoint": [
+              0.2936852725126487,
+              -0.1315363029271959,
+              1.0517168275882796
+            ],
+            "object_minus_finger_midpoint": [
+              0.005548331510189242,
+              0.012170214431997409,
+              0.0
+            ],
+            "finger_gap": 0.026750559012309032,
+            "fingertip_max_gap": 0.09504275969574069,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01337527950615451,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0517168275882796,
+            "object_top_z": 1.103458291659877,
+            "finger_top_clearance": 0.05174146407159741,
+            "fingertip_min_top_clearance": 0.015522439221479238,
+            "object_projection_between_fingers": 0.8279244875962148,
+            "object_to_finger_line_xy": 0.010096893180847614,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05002137984787035,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.008682077191467,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29777941692601395,
+              -0.1245997251082927,
+              1.245754687905434
+            ],
+            "held_position": [
+              0.3027642986683141,
+              -0.12025108852742104,
+              1.2420919417694143
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007561441354274979,
+            "max_held_gripper_dist": 0.007570761595534311,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00366274613601969,
+            "max_held_gripper_z_dist": 0.0036738215684715136,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08683021539313751,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3027642986683141,
+              -0.14527050316990733,
+              1.2420919417694143
+            ],
+            "held_grasp_finger_b": [
+              0.2937142181572314,
+              -0.12025108852742104,
+              1.2420919417694143
+            ],
+            "held_grasp_midpoint": [
+              0.29823925841277277,
+              -0.13276079584866418,
+              1.2420919417694143
+            ],
+            "held_grasp_object_position": [
+              0.3027642986683141,
+              -0.12025108852742104,
+              1.2420919417694143
+            ],
+            "held_grasp_finger_gap": 0.026605921639923247,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024566356003062683,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0464189288375148,
+              -0.9986824793194841,
+              -0.02187666669915678
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003949129084745868,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037016977025345996,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28797585760322497,
+              -0.41343065638736376,
+              0.8515395802777617
+            ],
+            "target_position": [
+              0.2836211009354301,
+              -0.41365805822008606,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004360689994625795,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18283991093078736,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395802777617,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534545729283959,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665222785994335,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1511722958741146,
+            "release_required_pad_clearance": 0.05332611392997168,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6697193478730978,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008757472038269043,
+            "max_z_decrease": 0.008757472038269043,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507367013016388,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008757472038269043,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021047964023089172,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008757472038269043,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008757658540211466,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13932102918624872,
+              -0.46991950273513794,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13932102918624872,
+              -0.46991950273513794,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14108905387162726,
+              -0.47141835244763575,
+              0.8030469417733315
+            ],
+            "closest_button": [
+              0.13933931291103357,
+              -0.4698653519153595,
+              0.7680513858795166
+            ],
+            "closest_ee_minus_button": [
+              0.0017497409605936876,
+              -0.0015530005322762497,
+              0.03499555589381487
+            ],
+            "button_min_z_position": [
+              0.13933931291103357,
+              -0.4698653519153595,
+              0.7680513858795166
+            ],
+            "min_active_finger_to_button": 0.1438946164900032,
+            "closest_active_finger": [
+              0.00042698532342910767,
+              -0.4544774889945984,
+              0.8107951283454895
+            ],
+            "closest_active_finger_button": [
+              0.13932101428508753,
+              -0.46991750597953796,
+              0.7765064239501953
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13889402896165842,
+              0.015440016984939575,
+              0.03428870439529419
+            ],
+            "min_contact_pad_to_button": 0.021047964023089172,
+            "closest_contact_pad": [
+              0.13933931291103357,
+              -0.4726754461739972,
+              0.7889109199053482
+            ],
+            "closest_contact_pad_button": [
+              0.13933931291103357,
+              -0.4698653519153595,
+              0.7680513858795166
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028100942586377076,
+              0.020859534025831628
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "913579ec101ae269f5bb805601d15f2a0d94d3a13cd6f74fa87dd0f8df397879",
+    "visual_seed": 4855259846272103850,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2991afa5c6335abeab0bdff5efe264de87b8e6ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.29717155161557873,
+              -0.11502447125870498,
+              1.0506131038779412
+            ],
+            "current_z": 1.0506131038779412,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.18950659586317486,
+            "gripper_z": 1.0537777445766179,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29313462285939673,
+              -0.11934073441187938,
+              1.0537777445766179
+            ],
+            "object_minus_gripper": [
+              0.004036928756182001,
+              0.0043162631531744045,
+              -0.003164640698676724
+            ],
+            "object_to_gripper_xy": 0.00590990028595578,
+            "object_to_gripper_z": -0.003164640698676724,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.29717155161557873,
+              -0.1386209333122725,
+              1.0506131038779412
+            ],
+            "finger_b": [
+              0.2861474197946008,
+              -0.11502447125870498,
+              1.0506131038779412
+            ],
+            "finger_midpoint": [
+              0.29165948570508976,
+              -0.12682270228548873,
+              1.0506131038779412
+            ],
+            "object_minus_finger_midpoint": [
+              0.005512065910488972,
+              0.011798231026783748,
+              0.0
+            ],
+            "finger_gap": 0.026044663634836023,
+            "fingertip_max_gap": 0.09252186437490886,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013022331817418005,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506131038779412,
+            "object_top_z": 1.1005206480295844,
+            "finger_top_clearance": 0.049907544151643224,
+            "fingertip_min_top_clearance": 0.014972263245492966,
+            "object_projection_between_fingers": 0.8208357773953281,
+            "object_to_finger_line_xy": 0.009987862075488482,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048760932187454434,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1622829507967807,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.29636092732403996,
+              -0.12003843874270272,
+              1.2458235126044848
+            ],
+            "held_position": [
+              0.3007406156603907,
+              -0.11602651832617267,
+              1.2426536023150097
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006732422045256619,
+            "max_held_gripper_dist": 0.006741060263589003,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031699102894751086,
+            "max_held_gripper_z_dist": 0.003180222014812273,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08599667023565254,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3007406156603907,
+              -0.14082588503265264,
+              1.2426536023150097
+            ],
+            "held_grasp_finger_b": [
+              0.29232667501077303,
+              -0.11602651832617267,
+              1.2426536023150097
+            ],
+            "held_grasp_midpoint": [
+              0.29653364533558185,
+              -0.12842620167941265,
+              1.2426536023150097
+            ],
+            "held_grasp_object_position": [
+              0.3007406156603907,
+              -0.11602651832617267,
+              1.2426536023150097
+            ],
+            "held_grasp_finger_gap": 0.026187840428293353,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02419644375429875,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0636240528770344,
+              -0.9972743680035966,
+              -0.037360605168110794
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034415314451198553,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037086699188150184,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28451246314851764,
+              -0.40377700674861655,
+              0.8515395545480431
+            ],
+            "target_position": [
+              0.278690849707967,
+              -0.4048984182560303,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005928637855372849,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18428009228550726,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395545480431,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527996212433104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559585606244878,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15288561104312734,
+            "release_required_pad_clearance": 0.05279792803122439,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6428508313580988,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008535206317901611,
+            "max_z_decrease": 0.008535206317901611,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501899629505024,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008535206317901611,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021012084511233254,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008535206317901611,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008535384687558637,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13439077138900754,
+              -0.461159884929657,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13439077138900754,
+              -0.461159884929657,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1324498465441349,
+              -0.4628596336610041,
+              0.8035114543434071
+            ],
+            "closest_button": [
+              0.13444320857524872,
+              -0.4611297547817231,
+              0.7685920596122742
+            ],
+            "closest_ee_minus_button": [
+              -0.0019933620311138045,
+              -0.0017298788792809994,
+              0.034919394731132924
+            ],
+            "button_min_z_position": [
+              0.13443174958229062,
+              -0.4611229300498963,
+              0.768273651599884
+            ],
+            "min_active_finger_to_button": 0.14751756343060973,
+            "closest_active_finger": [
+              -0.008406110107898712,
+              -0.4475204050540924,
+              0.8109129071235657
+            ],
+            "closest_active_finger_button": [
+              0.13439156115055081,
+              -0.46115991473197937,
+              0.776500403881073
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14279767125844953,
+              0.013639509677886963,
+              0.034412503242492676
+            ],
+            "min_contact_pad_to_button": 0.021012084511233254,
+            "closest_contact_pad": [
+              0.13444320857524872,
+              -0.4639808766704742,
+              0.7894098116398753
+            ],
+            "closest_contact_pad_button": [
+              0.13444320857524872,
+              -0.4611297547817231,
+              0.7685920596122742
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028511218887511403,
+              0.020817752027601166
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "637ff3efeafcad20d5f189ffaf192cfca559134124e312878c630a29753ef60d",
+    "visual_seed": 4765594112021772575,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ab22114a7a749f7fc9afb00dfebab5e9d209946
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30645419397382395,
+              -0.11848874194809918,
+              1.0526158678507214
+            ],
+            "current_z": 1.0526158678507214,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.19150947904524496,
+            "gripper_z": 1.0557191390741179,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3022997761136019,
+              -0.12283122574863387,
+              1.0557191390741179
+            ],
+            "object_minus_gripper": [
+              0.004154417860222026,
+              0.004342483800534688,
+              -0.0031032712233964865
+            ],
+            "object_to_gripper_xy": 0.006009688287693294,
+            "object_to_gripper_z": -0.0031032712233964865,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30645419397382395,
+              -0.14224631459600887,
+              1.0526158678507214
+            ],
+            "finger_b": [
+              0.2954554125205835,
+              -0.11848874194809918,
+              1.0526158678507214
+            ],
+            "finger_midpoint": [
+              0.3009548032472037,
+              -0.13036752827205403,
+              1.0526158678507214
+            ],
+            "object_minus_finger_midpoint": [
+              0.005499390726620257,
+              0.011878786323954851,
+              0.0
+            ],
+            "finger_gap": 0.026180058280623687,
+            "fingertip_max_gap": 0.09349603232883638,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013090029140311862,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0526158678507214,
+            "object_top_z": 1.1032431388974517,
+            "finger_top_clearance": 0.05062727104673037,
+            "fingertip_min_top_clearance": 0.015188181314019077,
+            "object_projection_between_fingers": 0.82349869235661,
+            "object_to_finger_line_xy": 0.009981045367161696,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04924801616441819,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9455924609466597,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3060474278246619,
+              -0.12338518407512529,
+              1.247104973575262
+            ],
+            "held_position": [
+              0.3105023262607151,
+              -0.11932604129935621,
+              1.2439764263619875
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006790476258357393,
+            "max_held_gripper_dist": 0.006799336235694762,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031285472132744907,
+            "max_held_gripper_z_dist": 0.0031369058871875133,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08697781137943718,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3105023262607151,
+              -0.14414100372945762,
+              1.2439764263619875
+            ],
+            "held_grasp_finger_b": [
+              0.3019207275135787,
+              -0.11932604129935621,
+              1.2439764263619875
+            ],
+            "held_grasp_midpoint": [
+              0.3062115268871469,
+              -0.13173352251440693,
+              1.2439764263619875
+            ],
+            "held_grasp_object_position": [
+              0.3105023262607151,
+              -0.11932604129935621,
+              1.2439764263619875
+            ],
+            "held_grasp_finger_gap": 0.026256926656869004,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024270518938045316,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05771820800927909,
+              -0.9980201867862952,
+              -0.024986300871595805
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035812219339507495,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708967609953301,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28255089227781327,
+              -0.4130573188165117,
+              0.8515395877627708
+            ],
+            "target_position": [
+              0.27770592581889314,
+              -0.41383383442246685,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004906799004886277,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18317990182135577,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395877627708,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556630460760899,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633495412005836,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15100532157420565,
+            "release_required_pad_clearance": 0.05316747706002918,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3590994188750802,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008756160736083984,
+            "max_z_decrease": 0.008756160736083984,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504096295996431,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008756160736083984,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020859339439456726,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008756160736083984,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008756489201659135,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1334058493375778,
+              -0.4700953066349029,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1334058493375778,
+              -0.4700953066349029,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13184379229223533,
+              -0.4685664933747027,
+              0.8030239323104691
+            ],
+            "closest_button": [
+              0.13347263634204862,
+              -0.47005936503410334,
+              0.7680526971817017
+            ],
+            "closest_ee_minus_button": [
+              -0.0016288440498132828,
+              0.001492871659400652,
+              0.03497123512876743
+            ],
+            "button_min_z_position": [
+              0.13347263634204862,
+              -0.47005936503410334,
+              0.7680526971817017
+            ],
+            "min_active_finger_to_button": 0.14661798313449356,
+            "closest_active_finger": [
+              0.0054029375314712524,
+              -0.5328060984611511,
+              0.8106398582458496
+            ],
+            "closest_active_finger_button": [
+              0.13340692222118375,
+              -0.4700933992862701,
+              0.776304304599762
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1280039846897125,
+              -0.06271269917488104,
+              0.034335553646087646
+            ],
+            "min_contact_pad_to_button": 0.020859339439456726,
+            "closest_contact_pad": [
+              0.13347263634204862,
+              -0.47005936503410334,
+              0.7889120366211584
+            ],
+            "closest_contact_pad_button": [
+              0.13347263634204862,
+              -0.47005936503410334,
+              0.7680526971817017
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020859339439456726
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10f861e626f88fdaddbf2f70690380a88b77552224e67e4df46af750f9ca5ebc",
+    "visual_seed": 3847908168805582736,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a040ef4445d82f7f212385bcfad52e6b15358c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3011016202427358,
+              -0.11268087489040449,
+              1.049875934142528
+            ],
+            "current_z": 1.049875934142528,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18876942612776204,
+            "gripper_z": 1.0535501879820612,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2969007716481097,
+              -0.11699243354991287,
+              1.0535501879820612
+            ],
+            "object_minus_gripper": [
+              0.004200848594626105,
+              0.0043115586595083855,
+              -0.003674253839533348
+            ],
+            "object_to_gripper_xy": 0.006019689941297132,
+            "object_to_gripper_z": -0.003674253839533348,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3011016202427358,
+              -0.13658190735530681,
+              1.049875934142528
+            ],
+            "finger_b": [
+              0.29028147322362885,
+              -0.11268087489040449,
+              1.049875934142528
+            ],
+            "finger_midpoint": [
+              0.2956915467331823,
+              -0.12463139112285565,
+              1.049875934142528
+            ],
+            "object_minus_finger_midpoint": [
+              0.00541007350955347,
+              0.011950516232451164,
+              0.0
+            ],
+            "finger_gap": 0.026236137947560113,
+            "fingertip_max_gap": 0.09815559531582721,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013118068973780057,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049875934142528,
+            "object_top_z": 1.1027687565425641,
+            "finger_top_clearance": 0.05289282240003623,
+            "fingertip_min_top_clearance": 0.01586784672001087,
+            "object_projection_between_fingers": 0.8299148050410067,
+            "object_to_finger_line_xy": 0.009857117144893714,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05157779765791361,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.2600763472463705,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3005903294597194,
+              -0.11711781822909106,
+              1.2435154780399804
+            ],
+            "held_position": [
+              0.3050396182919378,
+              -0.11302206747907188,
+              1.239824158100959
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007084997403740027,
+            "max_held_gripper_dist": 0.0070942840405359715,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003691319939021387,
+            "max_held_gripper_z_dist": 0.003700440497260704,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08650076662959773,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3050396182919378,
+              -0.13780892413046456,
+              1.239824158100959
+            ],
+            "held_grasp_finger_b": [
+              0.29642410728653545,
+              -0.11302206747907188,
+              1.239824158100959
+            ],
+            "held_grasp_midpoint": [
+              0.30073186278923664,
+              -0.1254154958047682,
+              1.239824158100959
+            ],
+            "held_grasp_object_position": [
+              0.3050396182919378,
+              -0.11302206747907188,
+              1.239824158100959
+            ],
+            "held_grasp_finger_gap": 0.02624148038013287,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024492091249120652,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03264622004272034,
+              -0.999455294618472,
+              -0.004830980855445421
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003901325417247071,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719294057747189,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2812876931494576,
+              -0.40576839395538195,
+              0.851539611575946
+            ],
+            "target_position": [
+              0.27872995604466666,
+              -0.4052039051528133,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002619287442311329,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17994350246863638,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539611575946,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543409840356287,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08759642491270835,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14798645146226092,
+            "release_required_pad_clearance": 0.053798212456354175,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6056239952467513,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008440136909484863,
+            "max_z_decrease": 0.008440136909484863,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500754083857344,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008440136909484863,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02084681057957619,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008440136909484863,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00844036800680753,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13442988693714142,
+              -0.4614653587341308,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13442988693714142,
+              -0.4614653587341308,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13357728307688244,
+              -0.4603353459651424,
+              0.8037087592959631
+            ],
+            "closest_button": [
+              0.13444785773754117,
+              -0.46143889427185053,
+              0.7687294483184814
+            ],
+            "closest_ee_minus_button": [
+              -0.000870574660658735,
+              0.001103548306708113,
+              0.03497931097748164
+            ],
+            "button_min_z_position": [
+              0.13448603451251984,
+              -0.4614380002021789,
+              0.7683687210083008
+            ],
+            "min_active_finger_to_button": 0.14613903801424552,
+            "closest_active_finger": [
+              0.006448850035667419,
+              -0.5231322050094604,
+              0.810850203037262
+            ],
+            "closest_active_finger_button": [
+              0.13443028926849365,
+              -0.4614631831645965,
+              0.7765821218490601
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12798143923282623,
+              -0.06166902184486395,
+              0.034268081188201904
+            ],
+            "min_contact_pad_to_button": 0.02084681057957619,
+            "closest_contact_pad": [
+              0.13448603451251984,
+              -0.461530584530655,
+              0.7892153259952729
+            ],
+            "closest_contact_pad_button": [
+              0.13448603451251984,
+              -0.4614380002021789,
+              0.7683687210083008
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -9.258432847608633e-05,
+              0.020846604986972106
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5299a3f7248dd46cec38ee2155fe95744ff85f20a4ef795541a7e61f08647d00",
+    "visual_seed": 7200959359669496014,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8bc499afa0fe2f3d3850738a88cb9b4d55faf00
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30362895620600255,
+              -0.11978515371014549,
+              1.0517881731108623
+            ],
+            "current_z": 1.0517881731108623,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19068160549145152,
+            "gripper_z": 1.0557437301347181,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2991916643233722,
+              -0.12421922129436912,
+              1.0557437301347181
+            ],
+            "object_minus_gripper": [
+              0.0044372918826303676,
+              0.004434067584223628,
+              -0.00395555702385586
+            ],
+            "object_to_gripper_xy": 0.006272998851675338,
+            "object_to_gripper_z": -0.00395555702385586,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30362895620600255,
+              -0.14386076956518537,
+              1.0517881731108623
+            ],
+            "finger_b": [
+              0.2926537035764323,
+              -0.11978515371014549,
+              1.0517881731108623
+            ],
+            "finger_midpoint": [
+              0.29814132989121744,
+              -0.13182296163766544,
+              1.0517881731108623
+            ],
+            "object_minus_finger_midpoint": [
+              0.00548762631478511,
+              0.012037807927519947,
+              0.0
+            ],
+            "finger_gap": 0.026459241279415725,
+            "fingertip_max_gap": 0.09775371488670612,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013229620639707857,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0517881731108623,
+            "object_top_z": 1.1040171154530434,
+            "finger_top_clearance": 0.05222894234218112,
+            "fingertip_min_top_clearance": 0.015668682702654303,
+            "object_projection_between_fingers": 0.8279422346312324,
+            "object_to_finger_line_xy": 0.009986528465845166,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05137685744335306,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.696896937725876,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3024490010137464,
+              -0.1241503749566385,
+              1.2481053251089653
+            ],
+            "held_position": [
+              0.30710874980621095,
+              -0.11990130597405782,
+              1.2441539466621796
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007441857137659044,
+            "max_held_gripper_dist": 0.007451965358962122,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003951378446785725,
+            "max_held_gripper_z_dist": 0.003966198270579646,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08645122584037214,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30710874980621095,
+              -0.14472346143981035,
+              1.2441539466621796
+            ],
+            "held_grasp_finger_b": [
+              0.2979997491774619,
+              -0.11990130597405782,
+              1.2441539466621796
+            ],
+            "held_grasp_midpoint": [
+              0.3025542494918364,
+              -0.1323123837069341,
+              1.2441539466621796
+            ],
+            "held_grasp_object_position": [
+              0.30710874980621095,
+              -0.11990130597405782,
+              1.2441539466621796
+            ],
+            "held_grasp_finger_gap": 0.02644075064026244,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024730761873282398,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.009759750865909413,
+              -0.999899605185393,
+              -0.010272624451947097
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004434993876114709,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726596755667986,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.280971672540975,
+              -0.4048068117728435,
+              0.8515395753349139
+            ],
+            "target_position": [
+              0.2771999379823849,
+              -0.40506845554396637,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037807987308808404,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18276016355683114,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395753349139,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577134201544294,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08896265293128121,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1501551088577203,
+            "release_required_pad_clearance": 0.054481326465640606,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.992903775027631,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008613646030426025,
+            "max_z_decrease": 0.008613646030426025,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350657507126325,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008613646030426025,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02112947489879103,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008613646030426025,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008613785783179046,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13289986550807947,
+              -0.4613299071788787,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13289986550807947,
+              -0.4613299071788787,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13397895085920825,
+              -0.4633477023116102,
+              0.803591262025571
+            ],
+            "closest_button": [
+              0.1329237669706344,
+              -0.461296260356903,
+              0.7686014771461487
+            ],
+            "closest_ee_minus_button": [
+              0.0010551838885738407,
+              -0.0020514419547071894,
+              0.03498978487942228
+            ],
+            "button_min_z_position": [
+              0.13291314244270325,
+              -0.4612826704978942,
+              0.7681952118873596
+            ],
+            "min_active_finger_to_button": 0.1446192932293893,
+            "closest_active_finger": [
+              -0.006963230669498444,
+              -0.4483053684234619,
+              0.8108510375022888
+            ],
+            "closest_active_finger_button": [
+              0.13290046155452725,
+              -0.46132725477218617,
+              0.7764516472816467
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1398636922240257,
+              0.013021886348724254,
+              0.03439939022064209
+            ],
+            "min_contact_pad_to_button": 0.02112947489879103,
+            "closest_contact_pad": [
+              0.13291314244270325,
+              -0.46448797667982955,
+              0.7890801519585853
+            ],
+            "closest_contact_pad_button": [
+              0.13291314244270325,
+              -0.4612826704978942,
+              0.7681952118873596
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0032053061819353745,
+              0.020884940071225655
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d7b2ce4af04155596cb96b27992d212c5a66de8c901333d2f83dbaf83ab9599",
+    "visual_seed": 4839454382268515023,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bace5237ff7f7bdc0412dc836e7552d7ec7589f1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3068444344336839,
+              -0.12052594310207353,
+              1.0498251010338016
+            ],
+            "current_z": 1.0498251010338016,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18871847380974605,
+            "gripper_z": 1.0529847587864098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3024282652775704,
+              -0.12497778041447423,
+              1.0529847587864098
+            ],
+            "object_minus_gripper": [
+              0.004416169156113536,
+              0.004451837312400703,
+              -0.0031596577526082914
+            ],
+            "object_to_gripper_xy": 0.006270678230581733,
+            "object_to_gripper_z": -0.0031596577526082914,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3068444344336839,
+              -0.14452297404169104,
+              1.0498251010338016
+            ],
+            "finger_b": [
+              0.2957543806142233,
+              -0.12052594310207353,
+              1.0498251010338016
+            ],
+            "finger_midpoint": [
+              0.3012994075239536,
+              -0.13252445857188228,
+              1.0498251010338016
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055450269097302995,
+              0.011998515469808749,
+              0.0
+            ],
+            "finger_gap": 0.026435710462090718,
+            "fingertip_max_gap": 0.09853329310365291,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013217855231045354,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498251010338016,
+            "object_top_z": 1.1029337917847035,
+            "finger_top_clearance": 0.053108690750901966,
+            "fingertip_min_top_clearance": 0.01593260722527057,
+            "object_projection_between_fingers": 0.8240110766844051,
+            "object_to_finger_line_xy": 0.010067002549799163,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05176664655182646,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.325577671549206,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30596066616235473,
+              -0.12528800437107263,
+              1.2436430665241873
+            ],
+            "held_position": [
+              0.31064069915181,
+              -0.1210815836466541,
+              1.2404662732615805
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007049021175067563,
+            "max_held_gripper_dist": 0.007057391311613419,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031767932626067807,
+            "max_held_gripper_z_dist": 0.003186243542311784,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0870972313692094,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31064069915181,
+              -0.14590621311827368,
+              1.2404662732615805
+            ],
+            "held_grasp_finger_b": [
+              0.3016965447137646,
+              -0.1210815836466541,
+              1.2404662732615805
+            ],
+            "held_grasp_midpoint": [
+              0.30616862193278727,
+              -0.1334938983824639,
+              1.2404662732615805
+            ],
+            "held_grasp_object_position": [
+              0.31064069915181,
+              -0.1210815836466541,
+              1.2404662732615805
+            ],
+            "held_grasp_finger_gap": 0.026386741500511384,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024532911303801957,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03124867694781705,
+              -0.9995075384619242,
+              -0.0028636946059337194
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00408218132413289,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03717430142558822,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.27843887917552274,
+              -0.40843378152061943,
+              0.851539613890814
+            ],
+            "target_position": [
+              0.2758025862938122,
+              -0.4080058948009336,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0026707914937413387,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18033203448605403,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539613890814,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519583322344259,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649338596357749,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14911388156590327,
+            "release_required_pad_clearance": 0.053246692981788746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5138448684497654,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008612275123596191,
+            "max_z_decrease": 0.008612275123596191,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035032451852161736,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008612275123596191,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02090844466047846,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008612275123596191,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008612353420249103,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1315025091171264,
+              -0.4642673432826995,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1315025091171264,
+              -0.4642673432826995,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1328251591763525,
+              -0.463931389447565,
+              0.8035685144405658
+            ],
+            "closest_button": [
+              0.13149780035018918,
+              -0.46423047780990584,
+              0.7685624957084656
+            ],
+            "closest_ee_minus_button": [
+              0.0013273588261633051,
+              0.0002990883623408269,
+              0.035006018732100186
+            ],
+            "button_min_z_position": [
+              0.13149003684520716,
+              -0.46423280239105214,
+              0.7681965827941895
+            ],
+            "min_active_finger_to_button": 0.14455742518770556,
+            "closest_active_finger": [
+              -0.007985599339008331,
+              -0.44822970032691956,
+              0.8108437657356262
+            ],
+            "closest_active_finger_button": [
+              0.13150298595428464,
+              -0.46426522731780995,
+              0.7764541506767273
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13948858529329297,
+              0.016035526990890392,
+              0.034389615058898926
+            ],
+            "min_contact_pad_to_button": 0.02090844466047846,
+            "closest_contact_pad": [
+              0.13149003684520716,
+              -0.46507654378994495,
+              0.7890879963072116
+            ],
+            "closest_contact_pad_button": [
+              0.13149003684520716,
+              -0.46423280239105214,
+              0.7681965827941895
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008437413988928166,
+              0.02089141351302215
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf1bf2f8d03987bd94cf709aa99fc8174a3d80df8a3c48d26d6876e7a8e0ea88",
+    "visual_seed": 333667221513619940,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e5139b186d8fc9d5a84cc1b2b559cf4eb424640
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30474664277501606,
+              -0.11520711346582009,
+              1.0524518191002787
+            ],
+            "current_z": 1.0524518191002787,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.19134531108551256,
+            "gripper_z": 1.0558048935163877,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3002923416521952,
+              -0.11965152502386746,
+              1.0558048935163877
+            ],
+            "object_minus_gripper": [
+              0.0044543011228208584,
+              0.0044444115580473675,
+              -0.003353074416108992
+            ],
+            "object_to_gripper_xy": 0.006292343966286982,
+            "object_to_gripper_z": -0.003353074416108992,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30474664277501606,
+              -0.1392909322397703,
+              1.0524518191002787
+            ],
+            "finger_b": [
+              0.29373260505311705,
+              -0.11520711346582009,
+              1.0524518191002787
+            ],
+            "finger_midpoint": [
+              0.29923962391406655,
+              -0.12724902285279518,
+              1.0524518191002787
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055070188609495085,
+              0.012041909386975094,
+              0.0
+            ],
+            "finger_gap": 0.026482812420056345,
+            "fingertip_max_gap": 0.0928905084462319,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013241406210028167,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0524518191002787,
+            "object_top_z": 1.1027410495752816,
+            "finger_top_clearance": 0.05028923047500289,
+            "fingertip_min_top_clearance": 0.015086769142500832,
+            "object_projection_between_fingers": 0.8270323399027814,
+            "object_to_finger_line_xy": 0.010016311117424091,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04894525422311595,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.816967423785335,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30417071549691477,
+              -0.11990738307483484,
+              1.248704482211942
+            ],
+            "held_position": [
+              0.30890184137140553,
+              -0.11572357978678038,
+              1.2453342491808628
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007158647405564021,
+            "max_held_gripper_dist": 0.007168157872170713,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003370233031079195,
+            "max_held_gripper_z_dist": 0.00338182464477077,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08680027002694488,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30890184137140553,
+              -0.14071562399433252,
+              1.2453342491808628
+            ],
+            "held_grasp_finger_b": [
+              0.3000438180764006,
+              -0.11572357978678038,
+              1.2453342491808628
+            ],
+            "held_grasp_midpoint": [
+              0.3044728297239031,
+              -0.12821960189055645,
+              1.2453342491808628
+            ],
+            "held_grasp_object_position": [
+              0.30890184137140553,
+              -0.11572357978678038,
+              1.2453342491808628
+            ],
+            "held_grasp_finger_gap": 0.026515407791830953,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024510965727265566,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04973821217958865,
+              -0.9983796348225233,
+              -0.027644439238722063
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003817937063622759,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702418496432359,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2821220483651693,
+              -0.40613432831000085,
+              0.8515395646263714
+            ],
+            "target_position": [
+              0.2768572781860645,
+              -0.4070980897880844,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005352255713755576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18377402596515882,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395646263714,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566031791001761,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08717033486554444,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15149229859748267,
+            "release_required_pad_clearance": 0.053585167432772224,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1811201191741243,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008538663387298584,
+            "max_z_decrease": 0.008538663387298584,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499859944382349,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008538663387298584,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02088699265798306,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008538663387298584,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008538715140318868,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13255719840526575,
+              -0.4633595347404479,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13255719840526575,
+              -0.4633595347404479,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13233232996839384,
+              -0.4629225717532265,
+              0.8036297961481499
+            ],
+            "closest_button": [
+              0.13256353139877314,
+              -0.46332374215126026,
+              0.7686342597007751
+            ],
+            "closest_ee_minus_button": [
+              -0.00023120143037930196,
+              0.00040117039803377885,
+              0.03499553644737474
+            ],
+            "button_min_z_position": [
+              0.13256059587001795,
+              -0.4633300006389617,
+              0.7682701945304871
+            ],
+            "min_active_finger_to_button": 0.14589229120962066,
+            "closest_active_finger": [
+              0.005201742053031921,
+              -0.5257260799407959,
+              0.8107861280441284
+            ],
+            "closest_active_finger_button": [
+              0.13255770504474634,
+              -0.46335756778717035,
+              0.7765051126480103
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12735596299171442,
+              -0.062368512153625544,
+              0.034281015396118164
+            ],
+            "min_contact_pad_to_button": 0.02088699265798306,
+            "closest_contact_pad": [
+              0.13256059587001795,
+              -0.4641204098683069,
+              0.7891422264283355
+            ],
+            "closest_contact_pad_button": [
+              0.13256059587001795,
+              -0.4633300006389617,
+              0.7682701945304871
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007904092293452014,
+              0.020872031897848475
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f66b9619ff600a3abbf5fd931d0c680c09205bd604e9a5769f47f26db67949ec",
+    "visual_seed": 5210373634000962785,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..51789a3cafc6da4bf7cde874201714fc0ebc6ba6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30447710581118015,
+              -0.11396999404009836,
+              1.051349131298922
+            ],
+            "current_z": 1.051349131298922,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.19024262328415587,
+            "gripper_z": 1.0545450594078036,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.300256374022067,
+              -0.1183248035713555,
+              1.0545450594078036
+            ],
+            "object_minus_gripper": [
+              0.004220731789113141,
+              0.004354809531257137,
+              -0.003195928108881585
+            ],
+            "object_to_gripper_xy": 0.006064564525929147,
+            "object_to_gripper_z": -0.003195928108881585,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30447710581118015,
+              -0.1378361540527513,
+              1.051349131298922
+            ],
+            "finger_b": [
+              0.29353179868563983,
+              -0.11396999404009836,
+              1.051349131298922
+            ],
+            "finger_midpoint": [
+              0.29900445224841,
+              -0.1259030740464248,
+              1.051349131298922
+            ],
+            "object_minus_finger_midpoint": [
+              0.005472653562770158,
+              0.011933080006326452,
+              0.0
+            ],
+            "finger_gap": 0.026256300992751384,
+            "fingertip_max_gap": 0.09312710752141248,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01312815049637568,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051349131298922,
+            "object_top_z": 1.1015800186849047,
+            "finger_top_clearance": 0.05023088738598269,
+            "fingertip_min_top_clearance": 0.015069266215794807,
+            "object_projection_between_fingers": 0.8262243906275744,
+            "object_to_finger_line_xy": 0.009948943353364664,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049063553760706244,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1500213432105686,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3040751253534243,
+              -0.11839382322042911,
+              1.248403867315831
+            ],
+            "held_position": [
+              0.30858400596734303,
+              -0.11431661846895314,
+              1.2451893526830902
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00687653308725669,
+            "max_held_gripper_dist": 0.006885881245353978,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003214514632740917,
+            "max_held_gripper_z_dist": 0.003225071048805317,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08706280637090547,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30858400596734303,
+              -0.13920432349489223,
+              1.2451893526830902
+            ],
+            "held_grasp_finger_b": [
+              0.2998742967043715,
+              -0.11431661846895314,
+              1.2451893526830902
+            ],
+            "held_grasp_midpoint": [
+              0.30422915133585726,
+              -0.12676047098192267,
+              1.2451893526830902
+            ],
+            "held_grasp_object_position": [
+              0.30858400596734303,
+              -0.11431661846895314,
+              1.2451893526830902
+            ],
+            "held_grasp_finger_gap": 0.02636772453025946,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024434486350578846,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04783454865254046,
+              -0.998529648923715,
+              -0.025502866025022268
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037682355108216463,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708638188331654,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2870107031122934,
+              -0.4048541048143075,
+              0.8515395808020266
+            ],
+            "target_position": [
+              0.2814054940971965,
+              -0.40604811099244204,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005730970149664595,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466167969909433,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395808020266,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757958531753645,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08759158800803517,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521213411918689,
+            "release_required_pad_clearance": 0.053795794004017586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6008130318647527,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008601844310760498,
+            "max_z_decrease": 0.008601844310760498,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504451338517679,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008601844310760498,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021083107618860744,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008601844310760498,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008601952670232334,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13710542023181915,
+              -0.462309569120407,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13710542023181915,
+              -0.462309569120407,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13623549484621958,
+              -0.46417016518775844,
+              0.8035566056414859
+            ],
+            "closest_button": [
+              0.1370992809534073,
+              -0.46227678656578053,
+              0.7685739398002625
+            ],
+            "closest_ee_minus_button": [
+              -0.0008637861071877084,
+              -0.0018933786219779147,
+              0.03498266584122345
+            ],
+            "button_min_z_position": [
+              0.13708624243736267,
+              -0.46227088570594776,
+              0.7682070136070251
+            ],
+            "min_active_finger_to_button": 0.1463994956703573,
+            "closest_active_finger": [
+              -0.0044347867369651794,
+              -0.4474051594734192,
+              0.8107936978340149
+            ],
+            "closest_active_finger_button": [
+              0.1371050477027893,
+              -0.46230846643447865,
+              0.7764836549758911
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14153983443975449,
+              0.01490330696105946,
+              0.03431004285812378
+            ],
+            "min_contact_pad_to_button": 0.021083107618860744,
+            "closest_contact_pad": [
+              0.13708624243736267,
+              -0.4654044308359946,
+              0.7890559541505258
+            ],
+            "closest_contact_pad_button": [
+              0.13708624243736267,
+              -0.46227088570594776,
+              0.7682070136070251
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003133545130046822,
+              0.020848940543500616
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cdc0487eba9c56d5116f39e1c4a3a77601e3f6cb24133ca41e92ad5f307ec3d4",
+    "visual_seed": 342650537482183784,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac268253c048b6cc10aed3dd948238093a29ba9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30543012024204763,
+              -0.11586784492625732,
+              1.0497428675653602
+            ],
+            "current_z": 1.0497428675653602,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18863635955059432,
+            "gripper_z": 1.0530376105725003,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3008412348525541,
+              -0.12046308664061621,
+              1.0530376105725003
+            ],
+            "object_minus_gripper": [
+              0.0045888853894935355,
+              0.004595241714358891,
+              -0.003294743007140166
+            ],
+            "object_to_gripper_xy": 0.00649416010976718,
+            "object_to_gripper_z": -0.003294743007140166,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30543012024204763,
+              -0.13991719071060543,
+              1.0497428675653602
+            ],
+            "finger_b": [
+              0.29403445418547863,
+              -0.11586784492625732,
+              1.0497428675653602
+            ],
+            "finger_midpoint": [
+              0.2997322872137631,
+              -0.12789251781843136,
+              1.0497428675653602
+            ],
+            "object_minus_finger_midpoint": [
+              0.005697833028284527,
+              0.012024672892174043,
+              0.0
+            ],
+            "finger_gap": 0.026612633043875632,
+            "fingertip_max_gap": 0.10057720951270763,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013306316521937816,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497428675653602,
+            "object_top_z": 1.1038959515483227,
+            "finger_top_clearance": 0.05415308398296248,
+            "fingertip_min_top_clearance": 0.016245925194888728,
+            "object_projection_between_fingers": 0.8166403645700917,
+            "object_to_finger_line_xy": 0.010298053296175298,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052788604756353816,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.076837511284093,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30483019568789455,
+              -0.12122674344542049,
+              1.2442049712362233
+            ],
+            "held_position": [
+              0.30977129462492486,
+              -0.11698461808732093,
+              1.2408780689528847
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007312890335717979,
+            "max_held_gripper_dist": 0.0073212245401341755,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003326902283338651,
+            "max_held_gripper_z_dist": 0.0033405257655207965,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08706750843156992,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30977129462492486,
+              -0.14213871052033886,
+              1.2408780689528847
+            ],
+            "held_grasp_finger_b": [
+              0.30096365226184735,
+              -0.11698461808732093,
+              1.2408780689528847
+            ],
+            "held_grasp_midpoint": [
+              0.3053674734433861,
+              -0.1295616643038299,
+              1.2408780689528847
+            ],
+            "held_grasp_object_position": [
+              0.30977129462492486,
+              -0.11698461808732093,
+              1.2408780689528847
+            ],
+            "held_grasp_finger_gap": 0.02665150896524787,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024755779722167782,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04245484608491953,
+              -0.9990305509920658,
+              0.011642346344073573
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038687073680167767,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0369684331081157,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2792758332466385,
+              -0.41122134930273563,
+              0.8515395650779253
+            ],
+            "target_position": [
+              0.2770518314036747,
+              -0.4102853252175214,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0024129494991830328,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17784751351570657,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395650779253,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562044283855361,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0882753185898461,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1454727699724897,
+            "release_required_pad_clearance": 0.05413765929492305,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2899347251491062,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00872039794921875,
+            "max_z_decrease": 0.00872039794921875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502784013965783,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00872039794921875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020970727854825653,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00872039794921875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008720546106330813,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13275176286697388,
+              -0.46654677391052235,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13275176286697388,
+              -0.46654677391052235,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13383233796117439,
+              -0.4671990277339688,
+              0.8030919509527353
+            ],
+            "closest_button": [
+              0.13272829353809357,
+              -0.46650168299674977,
+              0.7680884599685669
+            ],
+            "closest_ee_minus_button": [
+              0.0011040444230808188,
+              -0.0006973447372190522,
+              0.03500349098416844
+            ],
+            "button_min_z_position": [
+              0.13272829353809357,
+              -0.46650168299674977,
+              0.7680884599685669
+            ],
+            "min_active_finger_to_button": 0.1446702029894742,
+            "closest_active_finger": [
+              -0.006915159523487091,
+              -0.450998455286026,
+              0.8107125759124756
+            ],
+            "closest_active_finger_button": [
+              0.13275198638439178,
+              -0.4665445387363433,
+              0.7763487100601196
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13966714590787888,
+              0.015546083450317272,
+              0.03436386585235596
+            ],
+            "min_contact_pad_to_button": 0.020970727854825653,
+            "closest_contact_pad": [
+              0.13272829353809357,
+              -0.4683931568739604,
+              0.7889737120219416
+            ],
+            "closest_contact_pad_button": [
+              0.13272829353809357,
+              -0.46650168299674977,
+              0.7680884599685669
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018914738772106143,
+              0.02088525205337466
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "928b23f2a5dd399f18bbe78e6077294206c8e83642716ed02c34e0978c2445aa",
+    "visual_seed": 2878055753197137152,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2cd50a146502e82cf3a8405887ed1cc69918928
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.30275286804646684,
+              -0.1169016535076505,
+              1.0501567021736935
+            ],
+            "current_z": 1.0501567021736935,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18905013455428277,
+            "gripper_z": 1.0537777641520483,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2982603276234502,
+              -0.12139979141596838,
+              1.0537777641520483
+            ],
+            "object_minus_gripper": [
+              0.004492540423016611,
+              0.0044981379083178785,
+              -0.003621061978354767
+            ],
+            "object_to_gripper_xy": 0.006357370847660581,
+            "object_to_gripper_z": -0.003621061978354767,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.30275286804646684,
+              -0.14114309144454315,
+              1.0501567021736935
+            ],
+            "finger_b": [
+              0.29184186259370315,
+              -0.1169016535076505,
+              1.0501567021736935
+            ],
+            "finger_midpoint": [
+              0.297297365320085,
+              -0.12902237247609682,
+              1.0501567021736935
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054555027263818445,
+              0.012120718968446326,
+              0.0
+            ],
+            "finger_gap": 0.026583779889971577,
+            "fingertip_max_gap": 0.09481260939792588,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013291889944985789,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501567021736935,
+            "object_top_z": 1.1012220656254434,
+            "finger_top_clearance": 0.051065363451749946,
+            "fingertip_min_top_clearance": 0.015319609035525,
+            "object_projection_between_fingers": 0.8315402775393322,
+            "object_to_finger_line_xy": 0.009949618248684327,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04990630469896294,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.237299537682574,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30171255093918703,
+              -0.121427552788631,
+              1.2461323495783216
+            ],
+            "held_position": [
+              0.3064347882569959,
+              -0.11712682446000171,
+              1.2425134381830814
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00734113813580572,
+            "max_held_gripper_dist": 0.00735117025346192,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036189113952402874,
+            "max_held_gripper_z_dist": 0.003631219953559306,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668744388528579,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3064347882569959,
+              -0.14210117810874848,
+              1.2425134381830814
+            ],
+            "held_grasp_finger_b": [
+              0.29740768913551235,
+              -0.11712682446000171,
+              1.2425134381830814
+            ],
+            "held_grasp_midpoint": [
+              0.3019212386962541,
+              -0.12961400128437509,
+              1.2425134381830814
+            ],
+            "held_grasp_object_position": [
+              0.3064347882569959,
+              -0.11712682446000171,
+              1.2425134381830814
+            ],
+            "held_grasp_finger_gap": 0.026555731184092064,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024661598608336163,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.032378586025579546,
+              -0.999180345756606,
+              -0.02429534565906866
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004118187072748217,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037097166060460596,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2878623049955691,
+              -0.4088301910545865,
+              0.8515396048309589
+            ],
+            "target_position": [
+              0.283010475009348,
+              -0.40979164659631095,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004946175388510468,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825851402879964,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396048309589,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531009694251783,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08727907301989472,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15126517803169204,
+            "release_required_pad_clearance": 0.053639536509947364,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2889839844524364,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008796453475952148,
+            "max_z_decrease": 0.008796453475952148,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501844906688709,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008796453475952148,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020871640982845552,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008796453475952148,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008796565239315131,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13871039450168607,
+              -0.4660530984401703,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13871039450168607,
+              -0.4660530984401703,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13889028529522335,
+              -0.4646793217245801,
+              0.8030050264349686
+            ],
+            "closest_button": [
+              0.1386987864971161,
+              -0.46601030230522156,
+              0.7680124044418335
+            ],
+            "closest_ee_minus_button": [
+              0.00019149879810725912,
+              0.001330980580641461,
+              0.03499262199313513
+            ],
+            "button_min_z_position": [
+              0.1386987864971161,
+              -0.46601030230522156,
+              0.7680124044418335
+            ],
+            "min_active_finger_to_button": 0.14516366863976168,
+            "closest_active_finger": [
+              0.012599639594554901,
+              -0.5292408466339111,
+              0.8105331659317017
+            ],
+            "closest_active_finger_button": [
+              0.13871075212955472,
+              -0.4660509824752807,
+              0.7762473225593567
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12611111253499982,
+              -0.06318986415863043,
+              0.03428584337234497
+            ],
+            "min_contact_pad_to_button": 0.020871640982845552,
+            "closest_contact_pad": [
+              0.1386987864971161,
+              -0.46601030230522156,
+              0.788884045424679
+            ],
+            "closest_contact_pad_button": [
+              0.1386987864971161,
+              -0.46601030230522156,
+              0.7680124044418335
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020871640982845552
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9217f07159734c9e1d2f23909aff95637f17314d557e81b507a6cf00a9d8c88b",
+    "visual_seed": 3519686612247522595,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..331c35e4f7dd9415cd064047e1aa459ff15060b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3012272377589934,
+              -0.11807588469732012,
+              1.052591881074195
+            ],
+            "current_z": 1.052591881074195,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.19148543266407392,
+            "gripper_z": 1.0555890374185875,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2973521325685412,
+              -0.12229932005531625,
+              1.0555890374185875
+            ],
+            "object_minus_gripper": [
+              0.0038751051904521994,
+              0.00422343535799613,
+              -0.00299715634439246
+            ],
+            "object_to_gripper_xy": 0.005731827497425361,
+            "object_to_gripper_z": -0.00299715634439246,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3012272377589934,
+              -0.1415837176497936,
+              1.052591881074195
+            ],
+            "finger_b": [
+              0.2903570593195751,
+              -0.11807588469732012,
+              1.052591881074195
+            ],
+            "finger_midpoint": [
+              0.29579214853928426,
+              -0.12982980117355686,
+              1.052591881074195
+            ],
+            "object_minus_finger_midpoint": [
+              0.005435089219709144,
+              0.011753916476236734,
+              0.0
+            ],
+            "finger_gap": 0.02589940133335503,
+            "fingertip_max_gap": 0.09265815577412687,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012949700666677508,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052591881074195,
+            "object_top_z": 1.1029952861716574,
+            "finger_top_clearance": 0.05040340509746244,
+            "fingertip_min_top_clearance": 0.015121021529238698,
+            "object_projection_between_fingers": 0.8238454376666254,
+            "object_to_finger_line_xy": 0.009866418749545764,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048829077887063435,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.465334437551363,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3009563233735151,
+              -0.12336575506020299,
+              1.2465842418201756
+            ],
+            "held_position": [
+              0.30517947719814154,
+              -0.11944924628969286,
+              1.2435668573040992
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006502205663757275,
+            "max_held_gripper_dist": 0.006513062979316433,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00301738451607636,
+            "max_held_gripper_z_dist": 0.0030272787719261007,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08586555947649073,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.30517947719814154,
+              -0.14421404683427297,
+              1.2435668573040992
+            ],
+            "held_grasp_finger_b": [
+              0.29709006889638684,
+              -0.11944924628969286,
+              1.2435668573040992
+            ],
+            "held_grasp_midpoint": [
+              0.3011347730472642,
+              -0.13183164656198293,
+              1.2435668573040992
+            ],
+            "held_grasp_object_position": [
+              0.30517947719814154,
+              -0.11944924628969286,
+              1.2435668573040992
+            ],
+            "held_grasp_finger_gap": 0.0260525214266361,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024021457892771252,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08044809471059011,
+              -0.9962622284629336,
+              -0.031459119433091993
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0030610003355014915,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037058743638497246,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2848407891885066,
+              -0.4075066701857042,
+              0.8515395205555321
+            ],
+            "target_position": [
+              0.27999195020096085,
+              -0.4079608862568527,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004870066916011843,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18136561349248673,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395205555321,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536482455652695,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08508471196038823,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14974473572953612,
+            "release_required_pad_clearance": 0.05254235598019412,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1532333622471529,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008652985095977783,
+            "max_z_decrease": 0.008652985095977783,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504005029972433,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008652985095977783,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020886651608875817,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008652985095977783,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008653224654337523,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13569188117980951,
+              -0.46422234177589405,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13569188117980951,
+              -0.46422234177589405,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1359021956602787,
+              -0.4623945303938922,
+              0.8036290671835088
+            ],
+            "closest_button": [
+              0.13572815060615537,
+              -0.4641929268836974,
+              0.768635630607605
+            ],
+            "closest_ee_minus_button": [
+              0.0001740450541233285,
+              0.0017983964898051763,
+              0.034993436575903814
+            ],
+            "button_min_z_position": [
+              0.1357459723949432,
+              -0.4641874134540557,
+              0.7681558728218079
+            ],
+            "min_active_finger_to_button": 0.14497840365561213,
+            "closest_active_finger": [
+              0.010005518794059753,
+              -0.5277963280677795,
+              0.8107955455780029
+            ],
+            "closest_active_finger_button": [
+              0.13569262623786923,
+              -0.464219719171524,
+              0.7764516472816467
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12568710744380948,
+              -0.06357660889625555,
+              0.0343438982963562
+            ],
+            "min_contact_pad_to_button": 0.020886651608875817,
+            "closest_contact_pad": [
+              0.1357459723949432,
+              -0.4641874134540557,
+              0.7890425244306837
+            ],
+            "closest_contact_pad_button": [
+              0.1357459723949432,
+              -0.4641874134540557,
+              0.7681558728218079
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020886651608875817
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6658796726011171620,
+    "physical_seed": 2487175486347543466,
+    "layout_id": "layout_00030",
+    "step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "workflow_spec_digest": "b5efea0a95f6403b2d8f3f7beeb1c3cc880fadf1de2ee52c90d04df1a63e57a0",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7588e7f30e17ff77f1d25f59a32bdf852cb423110fa2d31a9b33701a362808ef",
+    "visual_seed": 8092562147495878173,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3188608099509189937,
+      4949622282959698655,
+      6590206372818194557,
+      3957288070049760871
+    ],
+    "runtime_workflow_digest": "7240355b12559912a5dc95d9f3797474fbcc8712b9277b25f45463776ba79bdc"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..53d03c145221a5357457c340fa5e7a6a9fce7f27
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00030/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s04_pslr_htb_00030",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..82acd8617b0322d7230c03987a3e02be253f9c34
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dfe4c25d343bab807306321127571b6c17609fc16116034722109694871b46b
+size 5248962
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..65006a183df806e91397e2550206d76ee73e8b5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf2f791b9613261743d6f18d887e1c4e81848886ba10ae6cf5da938f79835a31
+size 6543765
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..616265582e981d4d14855340a4576177c80458f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:756aa552fe1e2da25eb7ba8bbc60c97f87b9fc0bb6c488cca023d037f4925459
+size 5948058
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..be16449c90be4d8fe899a1e46a78ba1802dbc863
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c96158a9fa2fd51a9128e3c0ef0a178ecbcdd897eb0139ced46e363b8a09de05
+size 5856989
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f9e7616ea90c2e15a7a4577227512994ca4c8915
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ac52eddba65d17a2a72f2d785aa3f61bfe39985f5dd51895c1910ae945c399d
+size 6434664
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a15194c5f69ffba39b3103e090750581f44d2360
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b2158e8347cb21bba3135c90dffdd0ec9120fc273f055bd6432f4e62fcdbb61
+size 5909194
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..83ab266b61de49cd0df78705969f17d8559563f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ca8d721d1d12fbeb7e72fadd9241febe17b021943adf1a964dfc404a7888baa
+size 6871575
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..181b7da4dae27a381ad6e3a2b96246ccd3234e3c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adf9fa9a1ee0dc0e661b0a5684710efbef9959bce4f124b7fe28a9796b70a976
+size 5734122
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..55f8701c6a4534dfdf93a66995aa043c9143c234
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e29b9871c1baf8593abd93af7a456532487d489327acf1a527f95ea68415e66
+size 6743970
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e096018e0c1497d6153badf03fb4eb04870c03c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6088ec4ff263ccc0342fd4bf0903639ccace453bd16300b69355196c070847e7
+size 5746889
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..33184023df30a356a62e86eddb0d1138a607dd5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb18a05dd35ed1423e96fd548514c03f6d324187047caccf48af0710921c01d0
+size 7138832
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2a8d2a495441675c3e8f74802fed3d2548e3c975
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd2891cdd78c804ba248cd88b9b0ec0108ef4baffa4d74dda392aae6cfafa5ad
+size 7137174
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f35ed71827ba93a037e7183d1edc3e54730c3f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555dd69b4d54f086a09dd70fecf4583506da48f47698e53ab29ec6ba9953a162
+size 6233875
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..03951b57b3c9d47e39595c0be9684b1c6b2366aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e286aae7abb212977c3d334cde18defafa36d7e37856dcb8963569c488ada0aa
+size 7854165
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0b94634d96b8b569dfd81f53d2f36a0262443096
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63f9c8578fe1dca168dfa02b050d2ab6d37899a87964766f7a9fa1e0f226c25b
+size 5886922
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..04ab212e1b7db4bdbdbe81ddb1f70d466b0229e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:574761c678aa569e5d9c76d114edb9fcbb1a9d9759b73998a9ec602c2cb0a9c8
+size 6523112
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e9e26ed36384a0281eac7a114631a48b11d846cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:141af93739cc0531d41c0cda2fb1f6e47ed73797fe35b69c5d444afc38922ef2
+size 4592823
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..833a2562c21221859172176962593f6fcc531ef0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2802bedd3cdc958ba496bd46851595fab682463540263073679bdd4c2ad70d1
+size 7852232
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fc4d817ac446ddeac7273fd85527d2af79c22d79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0386067d986733afaac51ea2c5b11754207534e5f9270616118323a059c00d67
+size 6035690
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..50015e2eab9f15cff6ac0ea27e48b091264d603b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3f49e1c093707a89b1ad9a868713e110629a4db3dc40a7c842593db11f220ce
+size 6708497
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..75eb378114370ddb3e5cf6273fd31d20e4e9ccca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:958ea6f34183a10ff4b7459c07ff839ab04cf480b67ea29ee5d56275ee394fbc
+size 5427421
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6bde403183497bca1a9ebef635ff1cd9c3ef3196
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bcc6c072dde14e8a4362dcba715c13e34c4396e5f40c9ca76e7d01f28f9da937
+size 5719837
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0b59855327cc3fc4f4d3b1c1ce9c91ab8e49b675
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b7559e63b18cc37c446636f50ffb8da08272d1cc239ed3cf2f094e7b86fbc0
+size 5246271
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dcc69ee7eaa41077143e0e1b3d8cb045b2732eba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1f218ffecf0dae80ca4618d7dc6b2bfd3e409c3f7b8545df82dec156aa4745c
+size 6459481
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7daa83e539a7d655224ff60b21d82d710e768108
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:508db0a4f2eba9b293556756666bdfa31c2bba669e5a10aaf61e7fcb208e73a3
+size 6059301
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1baf5eb7ba881ebed79b2213c0b8a5c60f51538f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fea6bd43cf1f36d18465d5d32295f74ca32c7213c5ec27e392f94cc2c06d03c
+size 6297763
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6a67357926a2733338e4685a0717fa9e26c550a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81e2c3aaef886fa1d2b345e49c066d61d2e5c343960f5f9310d0319a6f93c247
+size 6866866
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ac6e3f3d731381d719cae9919f547f75a96f14e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0ff83836c9294fb5d4db89d8dab4599133dda1d75901e1f98d83288007be8de
+size 6742310
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..71759c9dacda141402e9aa927c7d1f0b435331fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d0a47b1fc376e4b29268a8489364da549ffd21cf894ce9e68cb5e5f02454fda
+size 5848290
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0773496bfb9c99d5e6631b6781b54659c5950b90
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aabd427e3c894caf6574a8c0452a1ad72cb60b2b3aeb96fae6d709bc400dfad9
+size 6165713
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cd39f457284c24180183c4301dc07cc9c8cfd70a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e54bbc2f3b7f03e470730fc812f748a556ac5c10668b3e2f7b553b3a9895e6f7
+size 5252844
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a537ab9dc75d4941178859a79dffc6df7603512a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2df9192217e4ee96177fd9bbb8999e22c58145082ff664ca9b9e202b381405ac
+size 5374858
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..19e7cd132df768eec92765075023ff07f231cf3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:092f64853a65a15d378ea2f82ba4fb62a0164656140bc0ad4a96075b1cf4f8e7
+size 5944414
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4960b9f6c8354f60ec63691b684a0391972ca389
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0593b65d84e8fd8ca45ac50d6b9123d42505defced8d20211e27f03bb7c6871
+size 7293107
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2396eb8d7aa360fb4386bee13365b552ff58ad31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4575a18682e26d9adf72748bfa7e2976128a9de0648346f5850ee54677313bd
+size 6451091
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..35a60d25465d1828bbc5db64537f4a3f5f25f453
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5d775ca73d8a9b2890ac6b354c0bd53f496181ef360cfee8e0d8663cacb3e19
+size 7078843
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6d7c9dcd29cf527794f7562a834d4ece20c85325
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ffcf5136c436ae30825288ca0de67e3d341f968063e0ff6f439a6c6460dff23
+size 6290363
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ca951fc95151f747c0b44e8d70c5e99d5128c5e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:584f7b7584f5cceadfe704ca0a148e81032b6fd9d69fa21f65c299d39d21a4e2
+size 5569519
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eb156bdb3362c64873d26e9e413eeeefc386877c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6ac38b70b3246ae602d5f6cf6e88e7a29215fac04015cc350684cbc6ca9e43c
+size 8553958
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7c5e9e7ad647a4cbeeb79cba27e68fbb2fb57a6e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc3111ece387d3dfb9ee29bd9ac1a9d95d008d9b5c5a96ba0f4c05d018bec2bf
+size 7938922
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..78aaefcfb0bb8878b5542d92ee86d2a2d9e6c78d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1414217d543d2d6c4958055bf0c213afaa919d4237573ce10bcf8cde057f8fe1
+size 4899955
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..edb7c71d2e4888337b1a440266ea2fa2e9683b71
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeb638c8a9a836a190b3a6319a9460eab5631fbb689cef53d4d625f614182700
+size 6694252
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..24fe61945dabf09b0afc5cef7a2bee31666a99b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5852061116bac9df7ef5cdedf659236c264621012168e9dd5e7e6f8f77426a54
+size 6546484
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0736811b318a39edd146ab107b6e67e0977906a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a04046bf01ef209d0f4795ca3f20353cfa9c2b07f742f2f70eddc2ad8d9351c
+size 6949121
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7fdb7fb7c8e9c37f2de3a73801b0ae253250a09b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0ad45756c4450221740345982380a90a280078f72531eaa772bd8ecdaa0f82b
+size 5788655
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..99af16d36ddd8c3afabdeb4037c245c2ca7e0b10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bfbe7074158c9ea9c50d24247459a2a9dd9465e6c4a51c002ae06e29d511b80
+size 4962873
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..52f16c89360c3b3b13c4d0d4f979f80e161918d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69d66bb0077a159936379da67ab522bce78e739e902c7102e1e1d33a4d20c1ae
+size 6279108
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..41fbf2244bdbe410b5791757f66d4e23b0c342a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c457864665b8e3378c449fbf73b40ecb803cbc57d5cd47935bdcf33c94626e73
+size 6756559
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11d652e66e7a8429f5d6e210c2ce65176fda6a54
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:269419e16fcd845824d8702b30b41e09675dc8b8b1d4dc417b426144bfb8cbf2
+size 6040147
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..72817bbd4130abecc075a2b6da93a91ee5ef808c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94f5ab68181e52243cba85eaae95465880a0c838bc7588b8d2aa8f09d31f328b
+size 6792219
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c65f0e5859d88efde85a5107b1b2d0480b8d1f07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d469e7889cabb2fb5771bf6a4542cd8d4895b2762585275897097a7c9958691
+size 7895633
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2d36ecfbd2f193506d83dcff4080127862422dce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a691e11eb9a5dfa4a8d7deeed77517c6506d0eafefbe50f5d90d64978dac7f44
+size 6989159
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..df4cea11b14ca0304ba3374d085f8244814045dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c28e5c57580c0ea3f6fb87ed0be7d6a24b21fdf1f1ff806b0f1b62c663d0e5d3
+size 5810998
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f8634685d336ed4dfef1a593f9f0e17ce686affd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b246ee0851aea5dced3113cd27ddbef83988e4cfbeadba0eb4669e97c555857b
+size 5432087
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6f2eb2e3eea5730d18e754c0c5ce063301d32ae7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6504b114e1659e2601eb37da45df7b453762c44fdfbacb039bf03b23094e7e1
+size 6947905
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c272bc119c9293b5a1b2c3010b3c686e8df65184
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16dd3962dd9547b14565b91b462c1110aa0b89d697621aaa86fa055a273826ea
+size 6733794
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9820f0b580185832cee2292f7507b7231eef8bd9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:953f850e268e217916ff5b34fd0027ad3c6b6cc729240d5bda890019582e3485
+size 5866606
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e978c5501e6638dc03f0feba44fd64c193c5173d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e34f398693f220b7ddcbca568bfcacbda131730828100cd5de92dcb091b8464f
+size 6098337
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..107d1479ec3a06d82e6895f8ce623db3a1187d44
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:975e07469f3355f5402bbc9316c40a2ab525d71d893837ed1596cc47c9735dc5
+size 7430662
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2aa9c2311cd8bd3f9d14b62ba584caf6f62bc6e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b087d11adaf7b18f154b237a222bc4caef3d59a31584052ef15387e5310c24ba
+size 7140862
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..feeef4b4f402f7b580cf53441fe159158d31c716
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ab90d065ff7186efa98e27d9aedb1b8397fef9cb42ed9fb38651acb215af12
+size 4856444
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aff5bf40e441328ae0045934553bef1c02cb5666
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a20dd21a350e9dafbd8e988736d95f5927adab952562c43e0c4b63605ba8a52
+size 6036275
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1ed34d24832584de80c8663452165c8ba1355ad8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbff2a86826605965c4c4d11cfa73fc342c1ee8d1b369975e64d017bda71b316
+size 6295027
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c49f0694c5ab6080beab0cc8ffe4cc0bac4dd25a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:166cd426aeed30aa9354776fdcf86ab67edb296419dfd3203112250d2fc8dc37
+size 6820932
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0370ac556a5dca5959b4bef6be890dffaa756b90
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e781cc8871fd533d1e56bbf6a45b2ee51a5c3e917d9e85ad47d9c518b2ed585
+size 6206408
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e49f547484661fc1fbec3bfff2f4ecbd07496e86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36c7d78f1e606e4cbd44c39c2b4d7ab5f2bfa99ebb091d92d9dac80357848399
+size 4511859
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f42d2f558ebb21bae494719f0b4895052d65614a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d62270d8bdfd8fa885e47cca96dd8672c7ba0c38f3fa363edf10eb1354c2665e
+size 6643125
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..83f2db0b9e335d6e7ce0e4d0b187c04f93cb7e0b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2035847e3a946aff525048db0909fe06ddd65015a7cb7e8112ad61d9328f2b70
+size 7145919
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0fd23c7e82af2cfbaf0d923926fac7effbde3deb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f0dfb597e52d3c56312da49cf250d5aa796b05bb7ef65f2cc9938fa33f99a46
+size 8153101
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4b51365c1572a011aa2ff253d8b5d34bf2fea9c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b06d51e9fa2b4dc2b3b6a4d2d601ea1160c0b8a1311f25a080ca73a44894346
+size 7445072
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..196698157d07435e83f4b7e28b43ffa0b784b3de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95981ca1e61233e0a9b01639d2323eab77af318f6fc643e702c26ddf4f37ee73
+size 7974938
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..03b3766f07a0b7b104ec65c01973301269ffa9d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1c6241bf4b999fe4ae91365fa6ef4ed9a3555a4e94f86e5bcf2573b7bc006a8
+size 7758661
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4cef5a46b07d5dba463776e7acc96f42946999b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43897f57ea5887251aeb84bc08fec07fdd28a053a7d2310b25702b5abc86fae5
+size 5739839
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0d20c5827e4ea2f6ff69ab87ff0013a6c1b5250b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda2c8f5d704d8a5ca6b64a43201921fe5176f16751af9f1dc383ab6e7282078
+size 5677474
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..17cbf8e7dd0d33087e4ff2fc296a4b13193bc86e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2235204804311bb13abb3579b7c0fa322dc387a6453a2e2c5ef8381a482a0b0
+size 6535828
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4905e21f7453c885735b134643c362e4862957e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02628fc2a24be6b87ebbcf0d1957fef34ad332f75f490ca553d759fd88b77ac5
+size 5322231
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cb493d32d2d1f9cc01e58639aab4ee1e57ba60c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7f23d347578bd483e734a546a8ae7d3e99f96d1c2e755426027aa2f937a4d7c
+size 6280398
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0102.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0102.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b9252f2719a77aecd52d627aeb13e1fd9546480c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0102.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15a65e773b788fa617da8bf0dd6b17f69e692637436ea350db8f0b6ce639ef2b
+size 6952498
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0103.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0103.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dbe2f3e9c307ea9ccdda4793271f9dcc908bc271
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0103.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78be997d6158a8666698be6e94fe3d78dce6c3e00e5da11a8d3f890645fbc6d3
+size 5878434
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0104.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0104.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d7f3fc74b5e4db4694f01b0b0aa905beeb0855ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0104.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a70a7060b9b4760e9afe81c8eebb31c32e2318a4175093f935108a977ece05bd
+size 6069033
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0106.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0106.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c969bb14839e1e17cfb6c31429c0760f352d1f99
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0106.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f705d44ed7503c0307aa3ca0866b1c1a3cff5e77d0a7c6ddbfacd44441b84f7
+size 6855377
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0107.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0107.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d17ed583ebecb06f82e61f48c5bf6c189b26ac8f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0107.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f775750bef195e38439540512731995b148b1a9989709fd368ca4ba8aa1f2df5
+size 6309218
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0108.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0108.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c8d75f705e693fda87d48ba989091767384ed9f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0108.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f3644a7b10e2bf224a93ad1732adb110914dd64519b415645e4d003e0c522b
+size 5455154
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0109.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0109.h5
new file mode 100644
index 0000000000000000000000000000000000000000..19d2e91fec78af5f9847c4579518c4341a9a3239
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0109.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96d8f47259b9cd6470877a9f00edb2e4b99c28f3038e19fc327670656696e748
+size 6303017
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0110.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0110.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6c9cd89f2c86fa0effb9df09374eb4a17bb49ba5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0110.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd0926ea9ef50de04a902ce972f7173511da05d75d12ada70cda4f83bbe010af
+size 6405848
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0111.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0111.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ef9d494dd159772910e19b5152f43cbf2244185
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0111.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f61b22c4f06cffa0b6a0c42a401bf924011fe7ab32bbaaf9d4ae23a5bc96227
+size 7413874
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0112.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0112.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7ebbf60917e7966b8ee510bfed2fe3273c1a8e57
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0112.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af3f96678bf8119509eb24a635c0b01c2c1db1f12effebe771853c894d57e44a
+size 7342331
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0113.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0113.h5
new file mode 100644
index 0000000000000000000000000000000000000000..87a7a67931e24ad65225552db51d8c98138dfbdc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0113.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4deb5fda6fb03b1422a850a0df2afe6e0b1baecb3718fe6ba2e5951d546aca7
+size 5831557
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0114.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0114.h5
new file mode 100644
index 0000000000000000000000000000000000000000..92b47aefa132cf3df1b9d41433b26cf83c1cc455
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0114.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adbc9f344aa50917bc667839c9d69fca931e26d4178b8a11a9727ff78b6da5bc
+size 6913660
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0115.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0115.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e8a8c35a07935cd0a4d4a33671773e563c789abd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0115.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3016cca5558479f1674960106906251178a76f3f0859c0c56a29b19f778a2c5b
+size 6582123
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0116.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0116.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a0b555ff62a2651237b55757e9ec9b05bb52b022
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0116.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e1ee87b23fec952443d1f4cf40a63fa379c066d2cce565725a6ac4544efbe36
+size 5803599
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0117.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0117.h5
new file mode 100644
index 0000000000000000000000000000000000000000..270c52b7acbb9edbfa090f782ab88066ed9449dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0117.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b35c8a02d2aa0aea06556bfa7f5c2eba1675432f41b7b5255c2bacd8cbe84ad
+size 5228564
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0119.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0119.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ecabab1abe915dc82790a77775ef334e53d65874
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0119.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db2fc39951e3316c8466a4b24ac03bdc658e10742d048bcf7c8ef6a129920c76
+size 5846483
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0121.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0121.h5
new file mode 100644
index 0000000000000000000000000000000000000000..921fd42d1bf6649d82d2bf075e01dcb5802ea553
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0121.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e6eedc2993bf71908a68ee2712e1e5803bde34598291713d515e189d105d517
+size 6576218
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0122.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0122.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d22c1dc7fa5e2bbec0f504fc2d20f34a0d78be2c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0122.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b228bc304f218eec16e1de05dce92392a160fa353d413df0ace5d94865f40e5
+size 7459504
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0123.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0123.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e1bf20b86e5dca877bd2bc3e11db67b0ebc64611
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0123.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac50d9d9c5a43f9b18890cd5fb6486dc1b52b54072906c2fc706f82657f8378
+size 7631534
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0124.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0124.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4d977084038e0e83543edda82614a9d4bc4ef1e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0124.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d4b1d2e0d95589fdbed38e3ba7482897b6d7f19909ad76b6c85d141ba2e619c
+size 6376333
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0125.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0125.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c77d5fc29b4cd9af9564742707528b737d525a20
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0125.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfec9741c214f31cc3cf3898c6330df875b3493881ef1b21204cc0e0506f0d55
+size 5841968
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0126.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0126.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b10b0bd8de4f032441e848fa3a84564bbdba9e2c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0126.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4c82c78920c0189283d1892034b83eea9746271ce7cdc419fc393314f265242
+size 5695940
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0127.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0127.h5
new file mode 100644
index 0000000000000000000000000000000000000000..85573f0862bd4143f7bf8370bcfb10a323d4ba07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0127.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88df000bb6bdd2ed3499ac1e4dc4b9e19adbe374d5fdabe9f1ca4c09338b2f5d
+size 5568336
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..76af0233d9b9cd29facadb40c82c3e448dc51f79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1140,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1141,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":102,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":106,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":107,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":109,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":110,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":111,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":112,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":113,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1136,"success":true,"robot_type":"ur5e"}
+{"episode_index":114,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":115,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":116,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":117,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":119,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1134,"success":true,"robot_type":"ur5e"}
+{"episode_index":121,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1133,"success":true,"robot_type":"ur5e"}
+{"episode_index":122,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":123,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1137,"success":true,"robot_type":"ur5e"}
+{"episode_index":124,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":125,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1138,"success":true,"robot_type":"ur5e"}
+{"episode_index":126,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1135,"success":true,"robot_type":"ur5e"}
+{"episode_index":127,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1139,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2cad6bda6befb2cada56cbf349d426e663b31c31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-05T00:14:48","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[-0.2080228262669095,-1.0150466318587923,0.71338606911949],"aabb_xy":[[-0.25302282773313833,-1.0600464887202732],[-0.16302282480068062,-0.9700467749973118]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.2768269686648649,-0.7499699901312065,0.71338606911949],"aabb_xy":[[-0.34082696904239845,-0.7997152569820187],[-0.21282696828733122,-0.7002247232803942]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[-0.5202106796197664,-1.2691132004962427,0.71338606911949],"aabb_xy":[[-0.526712316127771,-1.2788810225225524],[-0.5137090431117618,-1.2593453784699329]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.059205467800851785,0.9210486214775782,0.71338606911949],"aabb_xy":[[-0.020794529602741637,0.8410560502793953],[0.13920546520444518,1.001041192675761]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.22990079959884502,-2.557160779769344,0.71338606911949],"aabb_xy":[[-0.2474007330328284,-2.5746607796895784],[-0.21240086616486165,-2.5396607798491093]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[0.13398701678389535,-2.480510980491595,0.71338606911949],"aabb_xy":[[0.1035027666568652,-2.5305109802730907],[0.1644712669109255,-2.430510980710099]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[-0.6448146251026787,-1.461311443174922,0.71338606911949],"aabb_xy":[[-0.653528594152613,-1.48381144383411],[-0.636100656052744,-1.4388114425157335]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[-0.5299466345367377,-0.6866349996743377,0.71338606911949],"aabb_xy":[[-0.5359131734774736,-0.6925961443337018],[-0.5239800955960019,-0.6806738550149737]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[0.49018107764220153,0.35036159133687805,0.71338606911949],"aabb_xy":[[0.4813998504949654,0.3415818440483479],[0.49896230478943787,0.3591413386254082]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[-0.012808655734243168,-0.7990164019361008,0.71338606911949],"aabb_xy":[[-0.025680559235183305,-0.8790164023499368],[6.324776669697217e-05,-0.7190164015222645]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[0.4270055405749822,-2.499647006715482,0.71338606911949],"aabb_xy":[[0.4178456616311056,-2.5061782247590187],[0.4361654195188588,-2.493115788671945]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[0.08222220997933638,-1.3132292347680417,0.71338606911949],"aabb_xy":[[0.07165473032123737,-1.3237742648810502],[0.09278968963743539,-1.302684204655033]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[0.6857776917086313,-1.2925815826424698,0.71338606911949],"aabb_xy":[[0.6607776921568927,-1.3027240665076043],[0.7107776912603697,-1.2824390987773349]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[0.11884994663779813,1.6115938058969923,0.71338606911949],"aabb_xy":[[0.06884994799187692,1.56167426223753],[0.16884994528371933,1.6615133495564547]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[-0.06605535439115173,-2.1821188223364985,0.71338606911949],"aabb_xy":[[-0.1300553576097896,-2.2288419342355072],[-0.002055351172513875,-2.1353957104374905]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[-0.19139200477060947,0.6075262196603703,0.71338606911949],"aabb_xy":[[-0.1955079548826821,0.6034106646275247],[-0.18727605465853678,0.6116417746932158]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.35149905126592323,-0.5098671830458752,0.71338606911949],"aabb_xy":[[-0.3826459701095063,-0.5798671817326824],[-0.32035213242234006,-0.439867184359068]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.3183201743466459,-1.9782369977134515,0.71338606911949],"aabb_xy":[[-0.40832017406981996,-2.0013103502486307],[-0.22832017462347162,-1.9551636451782715]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[-0.2417455229471353,1.2080802590481334,0.71338606911949],"aabb_xy":[[-0.2680343472675759,1.181808825393482],[-0.2154566986266946,1.2343516927027844]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[0.2872598462081605,-0.8565137765643516,0.71338606911949],"aabb_xy":[[0.23777942499420168,-0.9205137744772034],[0.33674026742211927,-0.7925137786514997]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.5789311042471792,1.4146938599228247,0.71338606911949],"aabb_xy":[[-0.6589311012102184,1.3376182182790513],[-0.49893110728414003,1.4917695015665982]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[-0.46575779043351756,-2.279643076890808,0.71338606911949],"aabb_xy":[[-0.503257791098096,-2.2953301348910298],[-0.42825778976893875,-2.2639560188905854]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[-0.20116360369402952,-1.8159713536189952,0.71338606911949],"aabb_xy":[[-0.22144790641742826,-1.8362539787617036],[-0.18087930097063074,-1.795688728476286]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[0.5634789729487037,1.4966262666746695,0.71338606911949],"aabb_xy":[[0.5034789724408507,1.439779532988748],[0.6234789734565566,1.5534730003605906]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[-0.3056895351297654,-1.640049771122709,0.71338606911949],"aabb_xy":[[-0.3257479467430056,-1.6601148580318665],[-0.28563112351652503,-1.6199846842135517]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_25","position":[0.40899954729235954,-2.0758594415463794,0.71338606911949],"aabb_xy":[[0.3839995480203972,-2.0922048051425417],[0.43399954656432177,-2.059514077950217]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[-0.4711134633259838,-1.1774507591175443,0.71338606911949],"aabb_xy":[[-0.4826824440729205,-1.202450759234476],[-0.45954448257904734,-1.1524507590006126]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.677425880513709,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1007.png","name":"1007"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1007.png","name":"1007"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4237.png","name":"4237"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7690.png","name":"7690"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4464.png","name":"4464"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6708.png","name":"6708"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":725.5970482960946,"rotation_z_degrees":351.0910680637451,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005623112257681452,0.0011738522553445471,-0.013752516749089878]},{"name":"camera_2","offset_m":[0.016496496623821046,0.015322615748831429,-0.007395885211077369]},{"name":"camera_3","offset_m":[-0.0038109793644551526,-0.008189555783913557,-0.008564046697582373]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008235658231053331,-0.0011500770054374261,-0.0008065301669286282],"end_effector_yaw_offset_degrees":0.03515776405619264},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00012394639521145926,-0.001746137731208735,-2.346767175279282e-05],"end_effector_yaw_offset_degrees":0.5962770251523779},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013599243819286694,-0.00011822401928998616,0.0018227413503304388],"end_effector_yaw_offset_degrees":0.7458386025736612},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006482955577005135,-0.001365474657264386,0.00011243677168622538],"end_effector_yaw_offset_degrees":-0.49766524948727664}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002815426114821049,-0.0006650333628594358],"position_m":[0.351284573885179,-0.08466503336285944,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036011950529559154,0.004739609093964692],"position_m":[0.2709988049470441,-0.3255603909060353,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037376150753745977,0.0035194721839675704],"position_m":[0.1644376150753746,0.21771947218396756,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015857081465317367,0.0013440082649494069],"position_m":[0.34251429185346827,0.1165440082649494,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"297799a12d73c262f73503cfda000648e3d7bb797543c87fa757240778a9a9ee","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1007/tex_ceiling_textures_6708/tex_floor_textures_4464/tex_table_textures_4237/tex_wall_textures_7690","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5992801983746781966,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5992801983746781966,"visual_seed":5992801983746781966,"scene_id":"lab_003","finished_at":"2026-09-05T00:18:17"}
+{"episode_id":"ep_000001","started_at":"2026-09-05T00:18:22","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.301969054554004,-2.3238520975405668,0.71338606911949],"aabb_xy":[[0.27838393109010917,-2.3888520997859986],[0.3255541780178989,-2.258852095295135]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[-0.20474186511713766,-2.480702488675418,0.71338606911949],"aabb_xy":[[-0.22724186562917825,-2.5031943470408162],[-0.18224186460509706,-2.4582106303100195]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[0.27356830037100843,1.785170366336248,0.71338606911949],"aabb_xy":[[0.26381231086183454,1.7754078322770135],[0.2833242898801823,1.7949329003954824]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[-0.21340179657824937,0.1068990149319009,0.71338606911949],"aabb_xy":[[-0.21803691173048273,0.10303167985475223],[-0.20876668142601595,0.11076635000904952]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.5111727179692453,-0.6819503670974565,0.71338606911949],"aabb_xy":[[0.43117271653911815,-0.7614675221100659],[0.5911727193993725,-0.6024332120848469]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.16680769004500529,1.3837937235764373,0.71338606911949],"aabb_xy":[[0.12930768993941233,1.3769715617234561],[0.20430769015059824,1.3906158854294184]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_6","position":[-0.615898105357051,1.7926700288654627,0.71338606911949],"aabb_xy":[[-0.6285248926442473,1.7831239551638896],[-0.6032713180698546,1.8022161025670353]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[-0.24225065854581118,-1.2251858504075597,0.71338606911949],"aabb_xy":[[-0.24875229505381577,-1.2349536724338692],[-0.23574902203780654,-1.2154180283812497]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.45296251909932894,0.656014520348509,0.71338606911949],"aabb_xy":[[0.3979625208975841,0.6154925537220716],[0.5079625173010738,0.6965364869749467]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[-0.15472715383329272,0.8740965261047613,0.71338606911949],"aabb_xy":[[-0.19222715462528817,0.8677286851465712],[-0.11722715304129727,0.8804643670629514]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.6381073193660429,-2.4277723888977625,0.71338606911949],"aabb_xy":[[0.5881073190054766,-2.4777523761073654],[0.6881073197266088,-2.3777924016881595]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[0.5525847598929998,0.8874448295694544,0.71338606911949],"aabb_xy":[[0.5408165730983424,0.8024448296642331],[0.5643529466876575,0.9724448294746763]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[-0.24815445155155563,-0.24574416166499136,0.71338606911949],"aabb_xy":[[-0.3081544518029568,-0.30002548670145596],[-0.18815445130015446,-0.19146283662852664]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[-0.12089800790926009,1.8141130099193847,0.71338606911949],"aabb_xy":[[-0.20089800898238042,1.8043349635820003],[-0.04089800683613974,1.8238910562567692]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[0.24134662560465903,-0.4937962105567504,0.71338606911949],"aabb_xy":[[0.23263265655472448,-0.5162962112159385],[0.2500605946545934,-0.4712962098975621]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[-0.29869735965336497,-1.0641739465863609,0.71338606911949],"aabb_xy":[[-0.34397597453451423,-1.1281739459345443],[-0.2534187447722157,-1.000173947238177]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[0.3481721076863,-0.45721044659785415,0.71338606911949],"aabb_xy":[[0.32188328336585925,-0.4834818802525054],[0.3744609320067406,-0.4309390129432029]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[-0.4532007061209491,0.9799866361752976,0.71338606911949],"aabb_xy":[[-0.47820070567268763,0.9698441523101629],[-0.42820070656921067,0.9901291200404323]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.2957536466074347,1.6035424207225204,0.71338606911949],"aabb_xy":[[-0.33075364491813014,1.5958274057989748],[-0.26075364829673925,1.611257435646066]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.06001060273924064,-2.304560551054151,0.71338606911949],"aabb_xy":[[0.052386334649062394,-2.3121937745906953],[0.06763487082941888,-2.296927327517608]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[-0.42914467837733666,-0.8907293362709785,0.71338606911949],"aabb_xy":[[-0.4492030899905769,-0.910794423180136],[-0.4090862667640963,-0.870664249361821]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[-0.4877237193647049,-1.081391649648122,0.71338606911949],"aabb_xy":[[-0.5577237157746664,-1.1018295852998032],[-0.41772372295474297,-1.0609537139964398]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[0.2842416745626608,1.0097277732352818,0.71338606911949],"aabb_xy":[[0.24674167598703997,0.9969914775717238],[0.32174167313828156,1.0224640688988396]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[-0.28119218883806735,1.2597210671664238,0.71338606911949],"aabb_xy":[[-0.28918617741577074,1.2517209870713333],[-0.27319820026036395,1.267721147261514]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.16357699043466056,1.1146692974891685,0.71338606911949],"aabb_xy":[[-0.233576992243406,1.0933155287249812],[-0.09357698862591513,1.136023066253356]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[0.4342025730361434,-2.188503514343478,0.71338606911949],"aabb_xy":[[0.4186468036258782,-2.2040539475878855],[0.4497583424464087,-2.172953081099071]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_26","position":[-0.3274657475260097,1.5459614740812175,0.71338606911949],"aabb_xy":[[-0.3335603754141281,1.5373920795295488],[-0.32137111963789144,1.5545308686328863]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[-0.6042469606334298,-0.33557486586629626,0.71338606911949],"aabb_xy":[[-0.654229910820909,-0.38557486550885667],[-0.5542640104459503,-0.28557486622373585]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_28","position":[0.25605350557642603,1.5402227940101532,0.71338606911949],"aabb_xy":[[0.2150355621900552,1.4902227933791958],[0.29707144896279697,1.5902227946411105]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[-0.5487020629054679,-0.9045450342804362,0.71338606911949],"aabb_xy":[[-0.5719839051035991,-0.9895450355776643],[-0.5254202207073364,-0.8195450329832081]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_30","position":[0.35425200297207726,-1.0981852536133108,0.71338606911949],"aabb_xy":[[0.33297399482860496,-1.1631852559393838],[0.37553001111554946,-1.0331852512872377]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_31","position":[-0.49432757376961345,-2.3064138218004353,0.71338606911949],"aabb_xy":[[-0.510389501228131,-2.391413823613027],[-0.47826564631109575,-2.2214138199878435]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_32","position":[0.49609207008853695,1.4696175891899492,0.71338606911949],"aabb_xy":[[0.4160920679257744,1.3896624055638056],[0.5760920722512994,1.5495727728160928]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6829092702499635,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4815.png","name":"4815"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4815.png","name":"4815"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3093.png","name":"3093"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8713.png","name":"8713"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4563.png","name":"4563"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6046.png","name":"6046"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":823.8472154763282,"rotation_z_degrees":194.60663681627787,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006376589772544721,-0.012678460641678463,0.017766315348009678]},{"name":"camera_2","offset_m":[0.015331333775381376,0.01812376093494279,0.010022167306197961]},{"name":"camera_3","offset_m":[0.0008715729580924189,0.01389151370869483,0.017036365523920963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011432973218846066,-0.001993806176273079,-0.0010404674820624611],"end_effector_yaw_offset_degrees":0.8180088421865979},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010884025783640956,0.0006311473526044932,-0.0002624181187475454],"end_effector_yaw_offset_degrees":-0.11347061001458392},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013260894866869255,-0.0011348933587454764,-0.0002112892588514118],"end_effector_yaw_offset_degrees":-0.8438169454730837},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006929040016475543,-0.0010431203543529765,0.0006146153186996073],"end_effector_yaw_offset_degrees":-0.7433205433643169}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006423454791327473,0.004991995584218512],"position_m":[0.35474234547913275,-0.0790080044157815,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013509278052930953,0.0023663074143743957],"position_m":[0.2759509278052931,-0.3279336925856256,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006867422438798934,0.001939115913224718],"position_m":[0.1600132577561201,0.2161391159132247,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008117346397160594,0.004131818776292794],"position_m":[0.34328826536028395,0.11933181877629279,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"64d89f0f0737a7054ee15c94f8c34ad04070e8dda412acb570fc3219c2aabf8f","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4815/tex_ceiling_textures_6046/tex_floor_textures_4563/tex_table_textures_3093/tex_wall_textures_8713","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":347350052836641324,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":347350052836641324,"visual_seed":347350052836641324,"scene_id":"lab_003","finished_at":"2026-09-05T00:22:22"}
+{"episode_id":"ep_000002","started_at":"2026-09-05T00:24:57","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[0.3820114291214072,-0.7564714564597372,0.71338606911949],"aabb_xy":[[0.34551560849412843,-0.7929553988864948],[0.4185072497486859,-0.7199875140329797]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.5785076838991907,-0.1396998158670537,0.71338606911949],"aabb_xy":[[0.533507682432962,-0.18469967272853438],[0.6235076853654197,-0.09469995900557304]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.5249449412772428,-0.0484595631939273,0.71338606911949],"aabb_xy":[[-0.5744253624912016,-0.11245956110677913],[-0.475464520063284,0.015540434718924523]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[-0.5636666907949226,-1.1621201806147472,0.71338606911949],"aabb_xy":[[-0.6007008002229822,-1.1964973879484564],[-0.5266325813668628,-1.1277429732810376]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.2749220080335767,-2.1431717553700027,0.71338606911949],"aabb_xy":[[0.2574220077885273,-2.160671543209569],[0.2924220082786261,-2.1256719675304354]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.5687560156851077,-0.6337383757608366,0.71338606911949],"aabb_xy":[[0.5607196809838227,-0.6417764950652534],[0.5767923503863924,-0.6257002564564198]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.052688374594882625,1.0913284597841613,0.71338606911949],"aabb_xy":[[-0.05997069097154627,1.001328456174652],[-0.045406058218218956,1.18132846339367]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.675840194089445,-1.1182331707870707,0.71338606911949],"aabb_xy":[[0.6717620361823953,-1.1223141510353338],[0.6799183519964946,-1.1141521905388072]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.25089563100416795,-0.625363246784749,0.71338606911949],"aabb_xy":[[-0.30089563044436357,-0.6753311712690652],[-0.20089563156397233,-0.5753953223004326]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.3504804872042022,-0.8595825284631056,0.71338606911949],"aabb_xy":[[0.3455244670193211,-0.8820825286652273],[0.35543650738908344,-0.8370825282609841]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.030397963963314845,-2.565032028717549,0.71338606911949],"aabb_xy":[[0.005397964411576361,-2.575174512582684],[0.05539796351505333,-2.5548895448524145]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[-0.13425436660004086,0.3235144014658431,0.71338606911949],"aabb_xy":[[-0.1982543630273628,0.27634477764374665],[-0.07025437017271899,0.37068402528793953]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[0.5744950855384028,0.42018955524133883,0.71338606911949],"aabb_xy":[[0.5519950860146953,0.397693607790718],[0.5969950850621101,0.44268550269195955]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.21631886692934266,-0.28815271627289984,0.71338606911949],"aabb_xy":[[-0.2216513815839557,-0.29347704451813544],[-0.21098635227472973,-0.28282838802766425]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[-0.220847572619645,-1.668428150739393,0.71338606911949],"aabb_xy":[[-0.23852320320824333,-1.6861083670187953],[-0.20317194203104666,-1.6507479344599898]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.21718951613517407,1.2960815306948845,0.71338606911949],"aabb_xy":[[-0.2235016156715125,1.2903145914416656],[-0.21087741659883563,1.3018484699481034]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[0.036112170827087176,-1.7143165128828146,0.71338606911949],"aabb_xy":[[0.016221130946746935,-1.7269723241675117],[0.056003210707427434,-1.701660701598118]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.6132104950425206,-0.8641973691601021,0.71338606911949],"aabb_xy":[[0.6044965259925859,-0.8866973698192903],[0.6219244640924548,-0.8416973685009138]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[-0.4955523053982884,-0.7382806111788374,0.71338606911949],"aabb_xy":[[-0.5298685825729064,-0.7882806111520151],[-0.46123602822367044,-0.6882806112056596]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.4117123514232772,-1.8512740323754353,0.71338606911949],"aabb_xy":[[0.374212350925919,-1.8552427159235536],[0.44921235192063547,-1.8473053488273166]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.4949347675583935,-0.760455526521872,0.71338606911949],"aabb_xy":[[0.48409428933187865,-0.7776418078125208],[0.5057752457849085,-0.7432692452312232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839515486503143,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2919.png","name":"2919"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2919.png","name":"2919"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1020.png","name":"1020"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1363.png","name":"1363"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2224.png","name":"2224"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4190.png","name":"4190"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":574.5729442694319,"rotation_z_degrees":307.09606219765664,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004319175839119217,-0.007637059252497403,-0.018067397378277502]},{"name":"camera_2","offset_m":[0.010635263241207966,0.01022610479943559,0.007602793922520543]},{"name":"camera_3","offset_m":[-0.003860837201510394,0.0022326734426909474,0.001411269783714357]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00165029404794155,-0.0010387852678195935,0.0009545571670188692],"end_effector_yaw_offset_degrees":-0.5991840590120141},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018162952749077822,0.0010595808402065173,0.00015181867490249691],"end_effector_yaw_offset_degrees":0.47142293559272397},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006320923771153644,-0.0002137431904476266,0.0005552663501945262],"end_effector_yaw_offset_degrees":-0.937371780841749},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009224733189384265,0.0011103056248662705,-0.0015590931028475721],"end_effector_yaw_offset_degrees":-0.7432343124001346}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034305409470715585,0.00048550646779864284],"position_m":[0.3575305409470716,-0.08351449353220136,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-4.1664704908235366e-05,-0.00231315742010521],"position_m":[0.27455833529509177,-0.33261315742010517,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002152789173012547,0.0032807240320183078],"position_m":[0.15854721082698747,0.21748072403201832,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018639212019493766,0.0026638060744719715],"position_m":[0.3459639212019494,0.11786380607447197,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9f569fd4eaff1057252b83bef655d3bcbca406f416106f1bf18bed1c6885a082","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0003.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2919/tex_ceiling_textures_4190/tex_floor_textures_2224/tex_table_textures_1020/tex_wall_textures_1363","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7259076142811380376,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7259076142811380376,"visual_seed":7259076142811380376,"scene_id":"lab_003","finished_at":"2026-09-05T00:28:51"}
+{"episode_id":"ep_000003","started_at":"2026-09-05T00:28:54","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[0.22551366880947354,-1.7786557971402686,0.71338606911949],"aabb_xy":[[0.1755205567002817,-1.8286557978144644],[0.2755067809186655,-1.7286557964660731]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.09901538999900816,-1.8417993103955164,0.71338606911949],"aabb_xy":[[0.06455304260086635,-1.8762931927933388],[0.13347773739714994,-1.8073054279976934]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[-0.08350735943875909,1.7757820038311212,0.71338606911949],"aabb_xy":[[-0.09153363006938509,1.7670305088537686],[-0.07548108880813309,1.7845334988084738]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.0492128009328926,1.0859963749310273,0.71338606911949],"aabb_xy":[[-0.07171280117640799,1.0737917402712553],[-0.026712800689377196,1.0982010095907992]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.3402877335642389,0.8275121732610935,0.71338606911949],"aabb_xy":[[-0.3776190100894815,0.7928591184662411],[-0.3029564570389963,0.8621652280559456]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.10585611307842135,1.1509961550518097,0.71338606911949],"aabb_xy":[[0.1024154368383642,1.1471347220774455],[0.10929678931847854,1.1548575880261744]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_6","position":[0.3926211056215019,0.8688110340565158,0.71338606911949],"aabb_xy":[[0.3749454750329035,0.851130817777113],[0.41029673621010015,0.8864912503359185]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.23550939904504647,-1.1424523934843227,0.71338606911949],"aabb_xy":[[-0.2530560939611654,-1.179952395048574],[-0.21796270412892754,-1.1049523919200714]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.36344316236136454,0.5530391344071504,0.71338606911949],"aabb_xy":[[0.35287568270326547,0.5424941042941418],[0.3740106420194635,0.5635841645201589]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[-0.667276833684843,1.6894247068128698,0.71338606911949],"aabb_xy":[[-0.6922768328504761,1.6824724611075135],[-0.6422768345192099,1.6963769525182266]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.4647027862150066,-1.1092222017853948,0.71338606911949],"aabb_xy":[[0.447272071136,-1.1264943164492454],[0.482133501294013,-1.0919500871215437]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[0.4546067834061138,-2.382767166072548,0.71338606911949],"aabb_xy":[[0.38460678001455184,-2.4180829397759784],[0.5246067867976758,-2.3474513923691167]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.03203740783195819,1.5732419844113985,0.71338606911949],"aabb_xy":[[0.007037408559995905,1.5568966208152364],[0.05703740710392046,1.589587348007561]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[0.40401203871044755,-1.3390445599139846,0.71338606911949],"aabb_xy":[[0.3942560492012736,-1.3488070939732189],[0.4137680282196214,-1.32928202585475]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[-0.6499633417152916,-1.9171542219155278,0.71338606911949],"aabb_xy":[[-0.6834425089763325,-1.9506333352866347],[-0.6164841744542506,-1.8836751085444208]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[0.3608450510358183,-0.9324214627190208,0.71338606911949],"aabb_xy":[[0.35526337940168956,-0.9449214625367963],[0.3664267226699471,-0.9199214629012453]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[-0.1356841934757882,1.632697912609974,0.71338606911949],"aabb_xy":[[-0.17318419397314644,1.6287292290618554],[-0.09818419297842995,1.6366665961580924]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.6140516833354801,-0.5756478725961398,0.71338606911949],"aabb_xy":[[0.5340578597569219,-0.6556478751889814],[0.6940455069140383,-0.49564787000329824]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[-0.2579639135005241,0.3975776339877788,0.71338606911949],"aabb_xy":[[-0.32196391679023223,0.3542427149838612],[-0.19396391021081602,0.4409125529916964]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[-0.40201650527823224,-2.155206805118261,0.71338606911949],"aabb_xy":[[-0.4094289608196207,-2.1610580155398886],[-0.39460404973684376,-2.1493555946966327]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.36025253481557656,-0.2107968161954994,0.71338606911949],"aabb_xy":[[-0.3977525360003693,-0.21521503889155993],[-0.3227525336307837,-0.20637859349943885]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[0.6396145245304616,-1.6432286559021911,0.71338606911949],"aabb_xy":[[0.5796145239344455,-1.6980411284474146],[0.6996145251264778,-1.5884161833569677]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_22","position":[0.37751243510622357,-1.5401889393478663,0.71338606911949],"aabb_xy":[[0.36428148957154227,-1.5534163583698655],[0.39074338064090486,-1.5269615203258666]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[0.17092099587028386,0.6409931890590612,0.71338606911949],"aabb_xy":[[0.15102995598994365,0.6283373777743645],[0.19081203575062416,0.6536490003437582]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[0.46603816201519543,-1.9739132029446211,0.71338606911949],"aabb_xy":[[0.4161554651374993,-2.023913202190896],[0.5159208588928916,-1.9239132036983464]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[0.560306648363365,-0.8697506520279348,0.71338606911949],"aabb_xy":[[0.5003066478555119,-0.9265973857138561],[0.6203066488712178,-0.8129039183420135]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[0.47373021693678496,0.2789805849815892,0.71338606911949],"aabb_xy":[[0.4242497957228262,0.21498058706873735],[0.5232106381507438,0.342980582894441]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839457024042469,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4373.png","name":"4373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4373.png","name":"4373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3343.png","name":"3343"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1413.png","name":"1413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3724.png","name":"3724"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4557.png","name":"4557"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":545.7443230672131,"rotation_z_degrees":261.657917424297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014788965805059225,0.0022873463821653887,-0.01979966738277363]},{"name":"camera_2","offset_m":[-0.01714575295771833,-0.0067076215640189535,-0.013054561513695342]},{"name":"camera_3","offset_m":[0.004689691606996581,0.01826282960306169,-0.008370098573255049]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004928021657453429,-0.00039471214700517493,0.0002786957080814596],"end_effector_yaw_offset_degrees":0.786589503188349},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001767516164368487,-0.0004067496443223462,-0.00016984614979613207],"end_effector_yaw_offset_degrees":-0.6140583398924593},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001156700145569086,-0.0016028572419228108,-0.0007264712957553569],"end_effector_yaw_offset_degrees":-0.38866384151333255},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013766263953485726,0.0010166828147792073,0.0009803753625796303],"end_effector_yaw_offset_degrees":-0.006565147635473112}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029945511943073938,0.004542550413853436],"position_m":[0.35709455119430744,-0.07945744958614658,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023854007744632637,0.0020976929045632264],"position_m":[0.27698540077446326,-0.32820230709543674,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003568087583086842,0.0026224360587849514],"position_m":[0.16034319124169133,0.21682243605878496,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027628564589812312,-0.0038756750570922175],"position_m":[0.3413371435410188,0.11132432494290778,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4aa6cc4fda965369e23b4302c63e67bbf94e077ae545186d08d24e9d7fe3f24b","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4373/tex_ceiling_textures_4557/tex_floor_textures_3724/tex_table_textures_3343/tex_wall_textures_1413","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5112542029277481328,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5112542029277481328,"visual_seed":5112542029277481328,"scene_id":"lab_003","finished_at":"2026-09-05T00:32:27"}
+{"episode_id":"ep_000004","started_at":"2026-09-05T00:32:30","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[-0.6028451352824454,-1.6437657243216601,0.71338606911949],"aabb_xy":[[-0.6204779708759729,-1.661388670337283],[-0.5852122996889177,-1.6261427783060372]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[-0.2802860846832591,-0.6629650145849935,0.71338606911949],"aabb_xy":[[-0.2895797029204097,-0.7004650130731273],[-0.2709924664461085,-0.6254650160968594]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[-0.08149102978672118,-2.362776303919375,0.71338606911949],"aabb_xy":[[-0.16149103025693715,-2.3710870115337235],[-0.001491029316505244,-2.354465596305027]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.5700119989556036,1.1015847789851896,0.71338606911949],"aabb_xy":[[0.5627507513851961,1.08879776872168],[0.5772732465260111,1.114371789248699]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.18006530331109827,-0.85712174379337,0.71338606911949],"aabb_xy":[[-0.217565303659326,-0.8689131393744535],[-0.14256530296287048,-0.8453303482122864]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[0.3970954326714007,1.2297541843220912,0.71338606911949],"aabb_xy":[[0.3851626983095726,1.2173720315142318],[0.40902816703322875,1.2421363371299505]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.014607950787684842,-1.3557990965736257,0.71338606911949],"aabb_xy":[[-0.03940764549421516,-1.4197990994658827],[0.06862354706958484,-1.2917990936813684]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[0.5393814007862376,-1.9714034938271492,0.71338606911949],"aabb_xy":[[0.5218347058701187,-2.0089034953914005],[0.5569280957023566,-1.933903492262898]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[0.4904540687685448,-1.3244121236570376,0.71338606911949],"aabb_xy":[[0.4054540700764701,-1.3563979870519165],[0.5754540674606194,-1.2924262602621588]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.1351732691400257,-1.5995066225747616,0.71338606911949],"aabb_xy":[[-0.15767326965206627,-1.6219984809401597],[-0.11267326862798507,-1.577014764209363]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.15860572383331695,-0.9195549112423869,0.71338606911949],"aabb_xy":[[0.15490246250417805,-0.9232569295511045],[0.1623089851624558,-0.9158528929336688]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[0.3700760381146464,-0.5653707736179676,0.71338606911949],"aabb_xy":[[0.29007603952732697,-0.6446863755561285],[0.45007603670196583,-0.4860551716798068]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.09282552065813288,-2.2385826261443085,0.71338606911949],"aabb_xy":[[0.04569614165629718,-2.3025826271887095],[0.13995489965996852,-2.1745826250999056]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.21105953763843133,1.8009835053864545,0.71338606911949],"aabb_xy":[[-0.24855953793060612,1.796942029985851],[-0.17355953734625648,1.805024980787058]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_14","position":[0.638409130315674,-1.0090060682013098,0.71338606911949],"aabb_xy":[[0.6342931802036013,-1.013121623234155],[0.6425250804277466,-1.004890513168464]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_15","position":[0.004540098449111851,1.6958709627537112,0.71338606911949],"aabb_xy":[[-0.0432660691646568,1.630870960046652],[0.052346266062880495,1.76087096546077]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[0.11327026974563925,-0.6771588714575956,0.71338606911949],"aabb_xy":[[0.10717564185752095,-0.6857282660092642],[0.11936489763375759,-0.6685894769059267]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.3401902328887354,-2.1571935582736974,0.71338606911949],"aabb_xy":[[0.27519023433166256,-2.18694609168758],[0.40519023144580824,-2.127441024859815]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.49061098128735225,1.34815848503158,0.71338606911949],"aabb_xy":[[0.481913018996637,1.336033510724105],[0.4993089435780676,1.3602834593390545]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.4327504056932199,-2.254423741547013,0.71338606911949],"aabb_xy":[[0.42118142494628324,-2.279423741663945],[0.4443193864401564,-2.2294237414300815]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[-0.4657102125242133,-0.14623750449028217,0.71338606911949],"aabb_xy":[[-0.5257102127756144,-0.20051882952674682],[-0.40571021227281207,-0.09195617945381751]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[0.40598869221892175,0.4770231641011309,0.71338606911949],"aabb_xy":[[0.37098869086743996,0.45666342814431],[0.44098869357040343,0.49738290005795166]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[0.5430264100415949,-0.232287415325382,0.71338606911949],"aabb_xy":[[0.5255264766076114,-0.24978741524561654],[0.5605263434755782,-0.21478741540514745]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_23","position":[0.051149906733121364,-1.9520146234580649,0.71338606911949],"aabb_xy":[[0.01614990846300146,-1.959088751153053],[0.08614990500324127,-1.9449404957630767]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[-0.5193451502477859,0.4471754665252625,0.71338606911949],"aabb_xy":[[-0.5568451514325786,0.4427572438292019],[-0.4818451490629931,0.4515936892213229]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[0.2310687155447938,0.9064211302151648,0.71338606911949],"aabb_xy":[[0.19660636814665194,0.8719272478173419],[0.2655310629429355,0.9409150126129873]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6818501009903789,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4444.png","name":"4444"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4444.png","name":"4444"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9085.png","name":"9085"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9416.png","name":"9416"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1619.png","name":"1619"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9187.png","name":"9187"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":689.3022409095929,"rotation_z_degrees":173.67914214569956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005933265642306699,0.01452704906146873,0.0024750821819946728]},{"name":"camera_2","offset_m":[-0.00407264920373537,0.0019074288968674094,-0.015137713701015482]},{"name":"camera_3","offset_m":[-0.016999586069120286,0.008416326493898198,0.012826851429269173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012940803086093464,0.001080883708003032,-0.0015606952571067664],"end_effector_yaw_offset_degrees":0.29742845324671285},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001449228236838566,0.0018503395202808131,-0.0013312819394548083],"end_effector_yaw_offset_degrees":0.6128822977926149},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007509057198444593,0.0019305579837579521,-0.0018711607890131467],"end_effector_yaw_offset_degrees":0.3581577300568022},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018254009214072717,0.001588483939919374,-0.001907556544491948],"end_effector_yaw_offset_degrees":0.4908836677328663}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033746870744514696,0.0014981962654543367],"position_m":[0.3574746870744515,-0.08250180373454567,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003989605079194672,0.0013800430140793315],"position_m":[0.2742010394920805,-0.32891995698592064,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003910471134472322,0.0036444096024983537],"position_m":[0.16461047113447233,0.21784440960249835,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031197255949199686,0.0027164320633959347],"position_m":[0.34721972559492,0.11791643206339593,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6fc6fa7ebecc0f07e0884b0ec4405965ae9b4717476c417ccea6ee92a81cc9cc","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4444/tex_ceiling_textures_9187/tex_floor_textures_1619/tex_table_textures_9085/tex_wall_textures_9416","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5739242008452293198,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5739242008452293198,"visual_seed":5739242008452293198,"scene_id":"lab_003","finished_at":"2026-09-05T00:36:27"}
+{"episode_id":"ep_000005","started_at":"2026-09-05T00:36:30","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.16169466896368,1.5681185631763177,0.71338606911949],"aabb_xy":[[0.11159720498260639,1.504118562666506],[0.21179213294475363,1.6321185636861295]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.5289254105667872,-0.26584911458890836,0.71338606911949],"aabb_xy":[[-0.5929254069623602,-0.3298124030076419],[-0.464925414171214,-0.2018858261701748]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[-0.3623622913557265,-0.9256032018186917,0.71338606911949],"aabb_xy":[[-0.4473622900478011,-0.9575890652135706],[-0.2773622926636518,-0.8936173384238129]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[-0.24834297506857028,-2.246111890806145,0.71338606911949],"aabb_xy":[[-0.31234297741137185,-2.291052742050277],[-0.18434297272576872,-2.201171039562012]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.3622519354697513,-0.7542144524164458,0.71338606911949],"aabb_xy":[[0.2972519344692508,-0.8050008175711206],[0.42725193647025184,-0.7034280872617708]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[0.040484441775046065,-1.1184459960067032,0.71338606911949],"aabb_xy":[[-0.009494366735269828,-1.168445996012422],[0.09046325028536195,-1.0684459960009844]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.3631187434079495,-1.446110796965394,0.71338606911949],"aabb_xy":[[0.3031187435613827,-1.5029294191584324],[0.42311874325451626,-1.389292174772355]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[-0.4691435055960144,-0.06161263380918758,0.71338606911949],"aabb_xy":[[-0.5037345884500596,-0.1266126340942186],[-0.43455242274196915,0.003387366475843471]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[-0.4711895419234047,1.72417596451155,0.71338606911949],"aabb_xy":[[-0.47922587662468946,1.716137845207133],[-0.4631532072221198,1.7322140838159665]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.557630342952599,0.11000167557436269,0.71338606911949],"aabb_xy":[[-0.586279675313015,0.08135611629728687],[-0.5289810105921825,0.13864723485143846]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.23989966317268968,1.0733760306338773,0.71338606911949],"aabb_xy":[[-0.2698672200825154,1.0433760303359916],[-0.20993210626286404,1.103376030931763]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.29867854651071835,-1.524611059183497,0.71338606911949],"aabb_xy":[[-0.36367854466663746,-1.5509073037334091],[-0.23367854835479934,-1.4983148146335847]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[0.5702383999875371,1.3602807989829873,0.71338606911949],"aabb_xy":[[0.5327383993229583,1.3445937409827649],[0.6077384006521157,1.3759678569832092]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.04036244390616861,1.3016810599573354,0.71338606911949],"aabb_xy":[[0.03233617327554262,1.2929295649799828],[0.048388714536794615,1.310432554934688]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[-0.22319685402564626,1.643225343321236,0.71338606911949],"aabb_xy":[[-0.260696855210439,1.638807120625175],[-0.18569685284085344,1.6476435660172961]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[0.2802849955323593,1.3604315563016462,0.71338606911949],"aabb_xy":[[0.20028499336959682,1.2804763726755026],[0.3602849976951218,1.4403867399277899]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.07307775522185844,-0.9226899565703119,0.71338606911949],"aabb_xy":[[-0.1230777555824245,-0.9726699437799147],[-0.023077754861292373,-0.8727099693607088]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[-0.07687539489686313,-0.7658094716978412,0.71338606911949],"aabb_xy":[[-0.0884443756437997,-0.7908094718147729],[-0.06530641414992655,-0.7408094715809095]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.5164524937172065,0.4663758894946821,0.71338606911949],"aabb_xy":[[-0.5663351905949028,0.41637589024840743],[-0.4665697968395104,0.5163758887409569]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[-0.5229762958782311,-1.277541940879199,0.71338606911949],"aabb_xy":[[-0.563994239264602,-1.3275419415101564],[-0.48195835249186025,-1.2275419402482417]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[-0.3522041438551765,1.3735028437814467,0.71338606911949],"aabb_xy":[[-0.3772041430208097,1.3665505980760904],[-0.32720414468954345,1.3804550894868035]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[0.500044836344981,1.1384448802181066,0.71338606911949],"aabb_xy":[[0.4200448349148538,1.0589277252054972],[0.5800448377751082,1.2179620352307161]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[-0.26655443938317963,0.20466897277414686,0.71338606911949],"aabb_xy":[[-0.31655443895951435,0.15468839382204094],[-0.2165544398068449,0.2546495517262528]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6853206293349208,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2182.png","name":"2182"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2182.png","name":"2182"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6360.png","name":"6360"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9388.png","name":"9388"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4709.png","name":"4709"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6755.png","name":"6755"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":781.6481153869506,"rotation_z_degrees":48.292178142782866,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0009228831510762689,-0.0043834678880150385,0.0013190531267951444]},{"name":"camera_2","offset_m":[0.015928150511324953,-0.00097202679847554,-0.012726243487013948]},{"name":"camera_3","offset_m":[-0.0010461339698700257,0.007275709890871122,-0.007760202293372816]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006242682464308832,-0.0008907301838904837,-0.0019954932824529843],"end_effector_yaw_offset_degrees":0.931869422032789},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018747545835063042,0.0005117512285462396,0.000829429817398899],"end_effector_yaw_offset_degrees":-0.42359452766326555},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001553494092699989,-0.0018346348825660473,0.0010255213357616977],"end_effector_yaw_offset_degrees":0.8633738901263457},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017997932090563717,-0.0013827442414421558,0.0014178303990001048],"end_effector_yaw_offset_degrees":0.45301593858206357}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004786654582208709,0.001108972284951006],"position_m":[0.35888665458220875,-0.082891027715049,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0044405681833449276,0.0029946685555060056],"position_m":[0.27904056818334494,-0.327305331444494,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00230019964826201,-0.0023432272881620054],"position_m":[0.163000199648262,0.211856772711838,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004651352023001604,-0.004761714739135931],"position_m":[0.3487513520230016,0.11043828526086406,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2036c3fbd9a2e304659ac90b106ceef8322aa4e3ce4c321814a8b44cf2adfb93","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2182/tex_ceiling_textures_6755/tex_floor_textures_4709/tex_table_textures_6360/tex_wall_textures_9388","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7322422396285020453,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7322422396285020453,"visual_seed":7322422396285020453,"scene_id":"lab_003","finished_at":"2026-09-05T00:40:16"}
+{"episode_id":"ep_000006","started_at":"2026-09-05T00:40:20","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[0.2986272331687164,0.8363225022613423,0.71338606911949],"aabb_xy":[[0.2734063963088767,0.8110987514084553],[0.32384807002855603,0.8615462531142288]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.08696915332915489,1.1996301762152992,0.71338606911949],"aabb_xy":[[0.022969156933581814,1.1356668877965654],[0.15096914972472797,1.2635934646340325]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.023935301442466583,1.4668173951819106,0.71338606911949],"aabb_xy":[[-0.013564699222112118,1.4511303371816882],[0.06143530210704528,1.4825044531821325]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.03780916411893198,0.6338571625725571,0.71338606911949],"aabb_xy":[[-0.055484794707530316,0.6161769462931543],[-0.02013353353033365,0.6515373788519598]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[0.2802492147006391,-1.6149573666656314,0.71338606911949],"aabb_xy":[[0.2573335018155893,-1.6378616638020553],[0.3031649275856891,-1.5920530695292083]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.5340703279220853,-1.577698282524023,0.71338606911949],"aabb_xy":[[0.4972756947971789,-1.6146041576206054],[0.5708649610469915,-1.5407924074274408]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[0.22786746872664865,-1.2292256136002788,0.71338606911949],"aabb_xy":[[0.1728742573895119,-1.2842256139390724],[0.2828606800637854,-1.1742256132614852]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[-0.20851390418888893,-2.345162746686309,0.71338606911949],"aabb_xy":[[-0.27251390348305715,-2.4091488870551636],[-0.1445139048947207,-2.2811766063174552]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[-0.26940968063183507,-1.5571871855140273,0.71338606911949],"aabb_xy":[[-0.29190968087535046,-1.5693918201737995],[-0.24690968038831967,-1.5449825508542556]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_9","position":[0.3938210320195561,-2.3200709460443507,0.71338606911949],"aabb_xy":[[0.38785449307882025,-2.326032090703715],[0.3997875709602918,-2.3141098013849866]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[-0.5376762848025038,-0.8707262910025964,0.71338606911949],"aabb_xy":[[-0.6016762868522358,-0.9108207740919044],[-0.47367628275277185,-0.8306318079132885]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.6332699708522864,-2.1399846709062462,0.71338606911949],"aabb_xy":[[0.5837895496383277,-2.203984668819098],[0.6827503920662453,-2.0759846729933944]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[-0.4334451285179488,1.5857492255587329,0.71338606911949],"aabb_xy":[[-0.47094512881012357,1.5817077501581291],[-0.39594512822577393,1.5897907009593362]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[0.5019111885563627,-0.2629339014671479,0.71338606911949],"aabb_xy":[[0.4219111880861469,-0.27124460908149634],[0.5819111890265788,-0.2546231938527996]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[0.30311331073583236,-1.361830350228468,0.71338606911949],"aabb_xy":[[0.28561331160146514,-1.3717099772660557],[0.3206133098701995,-1.35195072319088]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.4054076197611345,-0.6627792496605094,0.71338606911949],"aabb_xy":[[0.38551657988079435,-0.6754350609452062],[0.42529865964147484,-0.6501234383758125]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.3053946964417548,1.0471633666292002,0.71338606911949],"aabb_xy":[[-0.31502633266218444,1.0375260538494913],[-0.2957630602213252,1.056800679408909]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.12258573424162411,0.4204298170581309,0.71338606911949],"aabb_xy":[[-0.1766013305235241,0.35642981416587366],[-0.0685701379597241,0.484429819950388]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.3150073822614159,-0.8897798475632579,0.71338606911949],"aabb_xy":[[0.23501355868285767,-0.9697798501560996],[0.3950012058399741,-0.8097798449704164]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.5649423745203755,0.6316858683616036,0.71338606911949],"aabb_xy":[[-0.6024423748686032,0.6198944727805199],[-0.5274423741721477,0.643477263942687]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.10447232855884725,1.5997526953401304,0.71338606911949],"aabb_xy":[[0.034472326427417696,1.5769907297144345],[0.1744723306902768,1.6225146609658259]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.5092338759273954,1.2377587748633632,0.71338606911949],"aabb_xy":[[-0.5305118840708677,1.17275877253729],[-0.4879558677839232,1.3027587771894362]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[-0.12328374866047087,-0.26812141805590617,0.71338606911949],"aabb_xy":[[-0.16078374708387122,-0.28128563202373674],[-0.08578375023707051,-0.2549572040880755]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850268807916394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8170.png","name":"8170"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8170.png","name":"8170"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9390.png","name":"9390"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7937.png","name":"7937"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4729.png","name":"4729"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6629.png","name":"6629"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":671.2205713382939,"rotation_z_degrees":319.6504742084227,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019208462915045684,-0.01250414692208215,0.013280520265220527]},{"name":"camera_2","offset_m":[-0.00035742387188362687,-0.004238698527920238,0.009485766073174681]},{"name":"camera_3","offset_m":[-0.007276535625968816,-0.005504122076639178,-0.016841727601687752]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002845148312299833,0.0010132512445583468,-0.0014910479078627118],"end_effector_yaw_offset_degrees":0.7803156008698491},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016472752335644364,0.0007153379703197077,-0.0016093939726432446],"end_effector_yaw_offset_degrees":0.06476167646815245},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010336763015683114,-0.00044614786305487977,0.0018056355655508994],"end_effector_yaw_offset_degrees":0.8528565265585839},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012143788581522627,0.0009009137874282005,0.00013910384693899703],"end_effector_yaw_offset_degrees":-0.535744251378101}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026504272402463436,0.003751273846452478],"position_m":[0.3514495727597537,-0.08024872615354753,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002576080902731731,0.00019705133246414406],"position_m":[0.2771760809027317,-0.3301029486675358,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004598024015686478,0.003959433783536639],"position_m":[0.1652980240156865,0.21815943378353664,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002378700508439277,-0.00365948286174514],"position_m":[0.3464787005084393,0.11154051713825486,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"443c491990987717a907cdebf79e4668e06adc1be551f912cb5f75350895ebec","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8170/tex_ceiling_textures_6629/tex_floor_textures_4729/tex_table_textures_9390/tex_wall_textures_7937","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":177719393665380959,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":177719393665380959,"visual_seed":177719393665380959,"scene_id":"lab_003","finished_at":"2026-09-05T00:43:50"}
+{"episode_id":"ep_000007","started_at":"2026-09-05T00:43:54","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.36335015178190205,-1.5125326970925776,0.71338606911949],"aabb_xy":[[-0.40085015172566846,-1.520825787127414],[-0.32585015183813565,-1.5042396070577408]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[-0.2371991323339761,-2.231792837344487,0.71338606911949],"aabb_xy":[[-0.2746991321510096,-2.2364310486556285],[-0.19969913251694252,-2.227154626033345]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.2749045911313932,-1.3188193682018872,0.71338606911949],"aabb_xy":[[0.2678631401806456,-1.3258461199396814],[0.2819460420821408,-1.3117926164640925]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[-0.5842087905169354,-0.932094904156687,0.71338606911949],"aabb_xy":[[-0.620122294941925,-0.9680084123734415],[-0.5482952860919457,-0.8961813959399322]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.4482349301687325,1.7425554268840098,0.71338606911949],"aabb_xy":[[-0.5282349334265755,1.6625589190920258],[-0.3682349269108895,1.8225519346759937]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.5924074133635637,-1.626159118586174,0.71338606911949],"aabb_xy":[[0.5574074150528683,-1.6338741335097196],[0.6274074116742592,-1.6184441036626283]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.14964830703387033,-1.091569733611713,0.71338606911949],"aabb_xy":[[0.13214830678882092,-1.1090695214512796],[0.1671483072789197,-1.0740699457721459]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[0.3472751822183262,-1.1075584921304897,0.71338606911949],"aabb_xy":[[0.32477518197481076,-1.1197631267902615],[0.36977518246184155,-1.0953538574707176]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[0.3153150618550826,-0.5640318841104404,0.71338606911949],"aabb_xy":[[0.2742971184687117,-0.6140318847413977],[0.35633300524145345,-0.514031883479483]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.6166933394897447,1.5894516828202314,0.71338606911949],"aabb_xy":[[0.5996832421996939,1.5733171943219575],[0.6337034367797952,1.6055861713185053]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.3340116585151431,-1.6685595530752073,0.71338606911949],"aabb_xy":[[-0.4240116571096131,-1.6848101393886283],[-0.2440116599206732,-1.6523089667617863]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[0.6979602513877363,-0.8056468869843012,0.71338606911949],"aabb_xy":[[0.6878072358335868,-0.8417164285570413],[0.7081132669418856,-0.7695773454115606]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_12","position":[-0.43242717006176135,0.051495618482996885,0.71338606911949],"aabb_xy":[[-0.46992717035393616,0.04745414308239329],[-0.39492716976958653,0.05553709388360048]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[0.10731179058624152,-0.9607010933204538,0.71338606911949],"aabb_xy":[[0.03731178794965517,-0.9808059583163191],[0.17731179322282786,-0.9405962283245881]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[-0.37704089996332263,-2.2114306548660396,0.71338606911949],"aabb_xy":[[-0.3851545546366997,-2.219536471320069],[-0.36892724528994547,-2.2033248384120103]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.4384793630596482,-0.7431919179564537,0.71338606911949],"aabb_xy":[[-0.5084793594696098,-0.7636298536081353],[-0.3684793666496863,-0.7227539823047718]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.2548080923620119,1.0647171703268818,0.71338606911949],"aabb_xy":[[-0.32480809417075734,1.0433634015626942],[-0.18480809055326647,1.086070939091069]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[-0.4168690710797062,1.4440987643930234,0.71338606911949],"aabb_xy":[[-0.45541476390490726,1.4055529933368347],[-0.3783233782545052,1.4826445354492122]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[0.29522293651586884,0.5277955542047077,0.71338606911949],"aabb_xy":[[0.24994432163471952,0.4637955548565239],[0.34050155139701804,0.5917955535528913]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.5967839223686724,1.4476780508724674,0.71338606911949],"aabb_xy":[[0.5067839229503014,1.4143025540282776],[0.6867839217870432,1.481053547716657]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.44602084274990283,-1.5908883661803013,0.71338606911949],"aabb_xy":[[0.4032541358704827,-1.6548883696021037],[0.4887875496293231,-1.5268883627584988]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_21","position":[-0.5640411528428364,-2.278917417677404,0.71338606911949],"aabb_xy":[[-0.5713024004132439,-2.2917044279409136],[-0.5567799052724289,-2.2661304074138946]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_22","position":[-0.09063914297492082,0.5094471211288512,0.71338606911949],"aabb_xy":[[-0.10326593026211717,0.49990104742727814],[-0.07801235568772447,0.5189931948304239]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[0.2585533275602133,-0.9074944306117425,0.71338606911949],"aabb_xy":[[0.24510680092617,-0.9209642822648336],[0.27199985419425665,-0.8940245789586512]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.5097039125302347,-0.3031129460463089,0.71338606911949],"aabb_xy":[[-0.5349247493900742,-0.3283366968991956],[-0.4844830756703949,-0.2778891951934221]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[0.66401303585593,-1.1154994026625427,0.71338606911949],"aabb_xy":[[0.641840508879279,-1.1376750698186657],[0.6861855628325807,-1.0933237355064196]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[0.22885956830946774,-1.6344477145701957,0.71338606911949],"aabb_xy":[[0.2043459442124619,-1.6587123078722321],[0.2533731924064736,-1.6101831212681592]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_27","position":[0.48403919929460204,-2.1570617155876337,0.71338606911949],"aabb_xy":[[0.46153919948069966,-2.1615363319581142],[0.5065391991085044,-2.152587099217153]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[0.10779832375578369,1.3188897266005486,0.71338606911949],"aabb_xy":[[0.024076098255701228,1.2288897230658524],[0.19152054925586615,1.4088897301352443]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6775207247114887,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3692.png","name":"3692"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3692.png","name":"3692"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7467.png","name":"7467"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5356.png","name":"5356"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9853.png","name":"9853"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4109.png","name":"4109"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":646.4605686277176,"rotation_z_degrees":121.78053447481744,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014709731302969199,0.009044628577383754,0.00462204005378148]},{"name":"camera_2","offset_m":[-0.017184619285686015,0.010302956143471109,-0.014647631355301392]},{"name":"camera_3","offset_m":[0.011563899620367194,0.006057599491137801,-0.009852017171789757]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015723990299400322,-0.0019990932207938268,-0.0002226052184385284],"end_effector_yaw_offset_degrees":0.4461695556584795},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00034868437923720385,-0.00012173258257708623,-0.0015638844091052557],"end_effector_yaw_offset_degrees":-0.21286532595398588},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017378244682450098,0.001178511928244412,-0.0018410014320230474],"end_effector_yaw_offset_degrees":0.732847556863504},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00136289610976911,0.000238514441822971,-0.001233155732864597],"end_effector_yaw_offset_degrees":0.4478896376302768}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025108954949504634,0.0001923817123190459],"position_m":[0.3566108954949505,-0.08380761828768096,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0048312105252372554,0.002309237853360184],"position_m":[0.26976878947476274,-0.3279907621466398,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00028019213948442777,-0.00285559623183829],"position_m":[0.16041980786051557,0.21134440376816171,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002999357098254346,-0.003161288256375793],"position_m":[0.34709935709825435,0.1120387117436242,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2ef7b90e278ffe3714149f49491ec81878cdae576a17f9671e31c5e5afba7aa9","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3692/tex_ceiling_textures_4109/tex_floor_textures_9853/tex_table_textures_7467/tex_wall_textures_5356","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6974939614104795970,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6974939614104795970,"visual_seed":6974939614104795970,"scene_id":"lab_003","finished_at":"2026-09-05T00:47:23"}
+{"episode_id":"ep_000008","started_at":"2026-09-05T00:47:26","dimensions":{"distractor":{"count":25,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.4435800939988226,0.02799127327365536,0.71338606911949],"aabb_xy":[[-0.46546984158776333,-0.06200872401559375],[-0.42169034640988173,0.11799127056290447]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.40779422031347523,-1.36526760682152,0.71338606911949],"aabb_xy":[[-0.4248043176035259,-1.3814020953197939],[-0.3907841230234246,-1.349133118323246]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[0.6298677111473112,-1.9932428786162921,0.71338606911949],"aabb_xy":[[0.6127656331889431,-2.0103496841475623],[0.6469697891056794,-1.9761360730850226]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[0.4745759189497396,0.784366439314788,0.71338606911949],"aabb_xy":[[0.4570759187046902,0.766866651475221],[0.492075919194789,0.8018662271543547]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[0.5096462370117063,-2.4683066426447615,0.71338606911949],"aabb_xy":[[0.4596462374353717,-2.5182872215968675],[0.5596462365880411,-2.4183260636926556]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[0.3055375307729973,-1.5174346995528754,0.71338606911949],"aabb_xy":[[0.25054431943586053,-1.5724346998916694],[0.36053074211013403,-1.462434699214082]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[0.0742259755619944,-1.9817749877699058,0.71338606911949],"aabb_xy":[[0.024343278684298204,-2.0317749870161803],[0.12410867243969062,-1.9317749885236313]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.3406523547372277,1.3171458463717851,0.71338606911949],"aabb_xy":[[-0.38582367258539674,1.2531458492272467],[-0.29548103688905875,1.3811458435163235]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.17215552825548652,-1.744198552399148,0.71338606911949],"aabb_xy":[[0.1371555269040048,-1.7645582883559687],[0.20715552960696826,-1.723838816442327]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[0.4287430911305825,-0.44210298938535963,0.71338606911949],"aabb_xy":[[0.3737693690942496,-0.49710298894959276],[0.4837168131669154,-0.3871029898211264]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.36708426481415835,0.6475612411292797,0.71338606911949],"aabb_xy":[[0.3295842646422864,0.6148605057463724],[0.4045842649860303,0.6802619765121868]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[-0.1505518090229725,-1.1262959145675513,0.71338606911949],"aabb_xy":[[-0.21055180927437367,-1.1805772396040157],[-0.09055180877157132,-1.0720145895310864]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[0.2077222719565931,1.1047470638045387,0.71338606911949],"aabb_xy":[[0.19216650254632786,1.0891966305601317],[0.2232780413668584,1.120297497048946]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[-0.5549478442084097,1.655173503766298,0.71338606911949],"aabb_xy":[[-0.6189478445859433,1.6054282369154855],[-0.4909478438308761,1.70491877061711]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[-0.633496235171846,-2.4585125085806,0.71338606911949],"aabb_xy":[[-0.6709962355200736,-2.4703039041616837],[-0.5959962348236181,-2.4467211129995166]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[0.16436796197228887,-1.172219839697352,0.71338606911949],"aabb_xy":[[0.08436796331540289,-1.1867246986216147],[0.2443679606291749,-1.1577149807730893]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[0.6478175790597509,-0.600588933273762,0.71338606911949],"aabb_xy":[[0.61031758048413,-0.6133252289373198],[0.6853175776353716,-0.5878526376102039]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[0.4780416167541235,-1.464063843651119,0.71338606911949],"aabb_xy":[[0.4280416154702835,-1.5140426980417412],[0.5280416180379635,-1.414084989260497]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.41458390916462545,-1.9772494896763635,0.71338606911949],"aabb_xy":[[-0.47858390627673114,-2.026281859470774],[-0.35058391205251976,-1.9282171198819529]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.0862581564826147,1.3685945505206467,0.71338606911949],"aabb_xy":[[0.006258159079021274,1.288601979322464],[0.1662581538862081,1.4485871217188295]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[0.6344419455229195,-1.2829840672153712,0.71338606911949],"aabb_xy":[[0.623590339274044,-1.2938433579430224],[0.6452935517717951,-1.2721247764877204]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[-0.41170856403976736,-0.8175545164332378,0.71338606911949],"aabb_xy":[[-0.47170856463578353,-0.8723669889784613],[-0.3517085634437512,-0.7627420438880144]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[0.21129574350252822,0.7587810398766677,0.71338606911949],"aabb_xy":[[0.19362011291392983,0.7411008235972647],[0.2289713740911265,0.7764612561560702]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[-0.3054670611682559,0.10776850959417494,0.71338606911949],"aabb_xy":[[-0.35546633633669206,0.057768508318227774],[-0.25546778599981973,0.15776851087012211]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[-0.5161109952807789,1.545176935275594,0.71338606911949],"aabb_xy":[[-0.5287377825679752,1.535630861574021],[-0.5034842079935825,1.5547230089771669]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6852968803504069,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3395.png","name":"3395"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3395.png","name":"3395"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4091.png","name":"4091"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4750.png","name":"4750"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/836.png","name":"836"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6124.png","name":"6124"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":630.3051171817494,"rotation_z_degrees":321.86034577017904,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019466800665277197,0.009263238425365992,0.002497705685319037]},{"name":"camera_2","offset_m":[0.00918837812575243,0.009232863743980104,0.002673413351690218]},{"name":"camera_3","offset_m":[0.01066576145311704,0.001991693191600228,0.015028532075001422]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017759718451342177,-0.0013865031475260533,0.0002909752191720739],"end_effector_yaw_offset_degrees":-0.7094046016878373},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001995075945189208,-0.0019729510093346616,-0.0012693355758990376],"end_effector_yaw_offset_degrees":0.5350586765862633},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008691423875843642,-0.0002950028957225102,-0.0015338617582158708],"end_effector_yaw_offset_degrees":0.92375873174969},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007581490660394752,0.0007160462646867002,0.0019153772418916666],"end_effector_yaw_offset_degrees":0.9393093334082234}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004126169389232416,0.0018263153379531336],"position_m":[0.3499738306107676,-0.08217368466204687,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0042516946668736495,0.002697142435817153],"position_m":[0.27885169466687365,-0.32760285756418284,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001629167592048908,0.0002541055717101273],"position_m":[0.1623291675920489,0.21445410557171013,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037460434500839303,0.0026220847832739034],"position_m":[0.34035395654991607,0.1178220847832739,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aef1a81f7b479c8e2afe80ca8386e39d06413735018907816ddbaea5ed7e2114","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3395/tex_ceiling_textures_6124/tex_floor_textures_836/tex_table_textures_4091/tex_wall_textures_4750","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1144537610492321079,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1144537610492321079,"visual_seed":1144537610492321079,"scene_id":"lab_003","finished_at":"2026-09-05T00:51:28"}
+{"episode_id":"ep_000009","started_at":"2026-09-05T00:55:24","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[0.42981547046571733,-1.5658361624486505,0.71338606911949],"aabb_xy":[[0.4249718757044874,-1.5706878149276347],[0.43465906522694736,-1.5609845099696664]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.40736237596541214,-1.8673443442466302,0.71338606911949],"aabb_xy":[[0.39026029800704404,-1.8844511497779002],[0.42446445392378035,-1.8502375387153607]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.5660321020697912,-1.7052139502887944,0.71338606911949],"aabb_xy":[[-0.6300321053594992,-1.7485488692927118],[-0.5020320987800829,-1.6618790312848766]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_3","position":[0.43774787820123007,-2.150403609237138,0.71338606911949],"aabb_xy":[[0.40274787907127446,-2.156148830312802],[0.4727478773311858,-2.144658388161474]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.10945206659061968,-0.655410728045474,0.71338606911949],"aabb_xy":[[-0.1444520665671155,-0.6648753440930905],[-0.07445206661412383,-0.6459461119978572]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[0.4335133250032639,-2.053425310361534,0.71338606911949],"aabb_xy":[[0.4110133244912232,-2.075917168726932],[0.4560133255153044,-2.0309334519961353]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[-0.24960215987212175,1.116321723344691,0.71338606911949],"aabb_xy":[[-0.3396021595952959,1.0932483708095109],[-0.15960216014894754,1.1393950758798705]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[-0.1445566266280438,-1.4442275696032454,0.71338606911949],"aabb_xy":[[-0.16814175009193869,-1.5092275718486772],[-0.12097150316414898,-1.3792275673578136]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.5266852080108599,0.20342791215246026,0.71338606911949],"aabb_xy":[[-0.5641852088028554,0.19706007119427013],[-0.4891852072188645,0.20979575311065032]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[0.2242597053630052,-0.7362118215581595,0.71338606911949],"aabb_xy":[[0.19974608126599933,-0.7604764148601959],[0.24877332946001104,-0.711947228256123]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.3408994125103737,1.14916869385199,0.71338606911949],"aabb_xy":[[0.3311434230011998,1.1394061597927554],[0.3506554020195476,1.1589312279112243]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[-0.10967357048111737,-1.8789589658434178,0.71338606911949],"aabb_xy":[[-0.11766755905882074,-1.886959045938508],[-0.10167958190341396,-1.8709588857483272]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.3218561894974981,-0.8886415812143045,0.71338606911949],"aabb_xy":[[-0.3574853453974578,-0.9242742479711574],[-0.2862270335975383,-0.8530089144574515]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.46460593553083407,0.7289896969753356,0.71338606911949],"aabb_xy":[[0.40060593515330045,0.6792444301245232],[0.5286059359083677,0.7787349638261477]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[0.5945107119995532,-2.489278878707034,0.71338606911949],"aabb_xy":[[0.5744523003863128,-2.5093439656161913],[0.6145691236127934,-2.4692137917978765]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.20815612637014852,-1.5925712923438333,0.71338606911949],"aabb_xy":[[-0.22279953192418148,-1.6072300120006173],[-0.1935127208161155,-1.5779125726870489]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[0.6904349806084897,-2.5455785494918324,0.71338606911949],"aabb_xy":[[0.6705439407281496,-2.5582343607765297],[0.7103260204888301,-2.532922738207136]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.10270742378183595,0.7630641172082644,0.71338606911949],"aabb_xy":[[0.09508315569165773,0.7554308936717209],[0.11033169187201422,0.7706973407448083]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[-0.06308745248961822,-1.0731208592736026,0.71338606911949],"aabb_xy":[[-0.10836606737076748,-1.1371208586217862],[-0.017808837608468964,-1.009120859925419]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.342065053330567,-1.3337313778863809,0.71338606911949],"aabb_xy":[[-0.357167354791585,-1.3488328995174421],[-0.3269627518695488,-1.3186298562553187]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.388062419588542,0.37260690436134913,0.71338606911949],"aabb_xy":[[-0.39598569982729037,0.35010690412334583],[-0.3801391393497937,0.39510690459935255]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[-0.5528996017932053,0.6779315155958434,0.71338606911949],"aabb_xy":[[-0.5634670814513042,0.6673864854828347],[-0.5423321221351062,0.6884765457088519]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[-0.4674102047776775,1.5796636647234634,0.71338606911949],"aabb_xy":[[-0.4737223043140158,1.5738967254702447],[-0.46109810524133893,1.5854306039766826]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[0.3690599115958477,-1.3638244032154176,0.71338606911949],"aabb_xy":[[0.28905991112563184,-1.3721351108297661],[0.44905991206606377,-1.3555136956010696]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.134452416758292,-1.6550225000332146,0.71338606911949],"aabb_xy":[[0.05445241459552952,-1.734977683659358],[0.2144524189210545,-1.5750673164070708]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_25","position":[-0.3669177688912338,-2.456640493821886,0.71338606911949],"aabb_xy":[[-0.4219177670929786,-2.497162460448324],[-0.31191777068948895,-2.4161185271954486]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_26","position":[-0.3811731115495677,-1.9914656881507375,0.71338606911949],"aabb_xy":[[-0.4186731114933341,-1.999758778185574],[-0.3436731116058013,-1.9831725981159007]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[-0.11659979127479725,-2.209363346738197,0.71338606911949],"aabb_xy":[[-0.17659979187081343,-2.2641758192834205],[-0.05659979067878107,-2.1545508741929735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6796369086194124,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3012.png","name":"3012"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3012.png","name":"3012"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/547.png","name":"547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9298.png","name":"9298"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2317.png","name":"2317"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1013.png","name":"1013"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":548.4294942761821,"rotation_z_degrees":237.70894503188575,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015978020206319776,0.015112129296261764,0.008603118272237222]},{"name":"camera_2","offset_m":[-0.002904947725326991,-0.014043104766577202,0.019329892305550763]},{"name":"camera_3","offset_m":[0.017886445027757412,0.007176443151909861,0.010306000213634824]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012811019329480476,-7.62048060746934e-05,0.0017463985930057367],"end_effector_yaw_offset_degrees":0.9686388491373776},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005714120364490377,-0.00046565995888543025,0.001653266173499427],"end_effector_yaw_offset_degrees":-0.7206167209860139},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005033952570983259,0.0006843453267470377,0.00045309823060461687],"end_effector_yaw_offset_degrees":-0.9694988265106519},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00013517328148862314,0.00021543618981495613,0.001594457908611729],"end_effector_yaw_offset_degrees":0.4924419944870333}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001904854306410274,-0.001237682259658206],"position_m":[0.35219514569358973,-0.0852376822596582,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002993220166847128,0.0012600374056711801],"position_m":[0.2716067798331529,-0.3290399625943288,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003267135189721785,0.0024408679508199724],"position_m":[0.1574328648102782,0.21664086795081997,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[6.048811630113629e-05,-0.003091806989346935],"position_m":[0.3441604881163012,0.11210819301065306,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"59d5b7f1a6ec2639a5a9c34d304b82d105bb95cf0661877fa11bcb5c96a2dbeb","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0011.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3012/tex_ceiling_textures_1013/tex_floor_textures_2317/tex_table_textures_547/tex_wall_textures_9298","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3282367450975921416,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3282367450975921416,"visual_seed":3282367450975921416,"scene_id":"lab_003","finished_at":"2026-09-05T00:59:07"}
+{"episode_id":"ep_000010","started_at":"2026-09-05T00:59:11","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.006121486109498697,-0.7575684340839104,0.71338606911949],"aabb_xy":[[-0.010555649883596807,-0.7742683580578408],[0.0227986221025942,-0.7408685101099802]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.2299056556929296,0.2110484532395338,0.71338606911949],"aabb_xy":[[-0.23486167587781082,0.18854845303741222],[-0.22494963550804842,0.23354845344165545]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[0.6787722848745501,-0.33556020422238975,0.71338606911949],"aabb_xy":[[0.6336009670263811,-0.3995602013669282],[0.7239436027227191,-0.27156020707785133]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.5105947815998771,-2.307975856201832,0.71338606911949],"aabb_xy":[[-0.5159323572658817,-2.3329758571309718],[-0.5052572059338726,-2.282975855272692]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[-0.5398693390712697,-0.6583866477386175,0.71338606911949],"aabb_xy":[[-0.5898693400218025,-0.6899357947421388],[-0.48986933812073685,-0.626837500735096]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.025613716860529823,-1.923079048562756,0.71338606911949],"aabb_xy":[[-0.07549641373822602,-1.973079047809031],[0.02426898001716639,-1.8730790493164815]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.48201217893542814,-1.4656927051568516,0.71338606911949],"aabb_xy":[[-0.5190462883634878,-1.5000699124905608],[-0.4449780695073683,-1.431315497823142]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[0.696487964505895,-1.7640414376611644,0.71338606911949],"aabb_xy":[[0.6745982169169542,-1.8540414349504135],[0.7183777120948358,-1.6740414403719153]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.6228830627415276,-1.1998952962429592,0.71338606911949],"aabb_xy":[[0.575076895127759,-1.264895298950018],[0.6706892303552963,-1.1348952935359]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.1763259683816213,-1.9048808178391932,0.71338606911949],"aabb_xy":[[-0.18640767546019474,-1.9848808157313078],[-0.16624426130304779,-1.8248808199470785]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[-0.017144898498802408,0.23032212702527177,0.71338606911949],"aabb_xy":[[-0.021105382268536782,0.22265426243975117],[-0.013184414729068034,0.23798999161079237]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[0.2377374720725539,0.722589841952106,0.71338606911949],"aabb_xy":[[0.17373747290278396,0.6758231548331435],[0.30173747124232386,0.7693565290710684]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[-0.3919334032068623,0.1814559011224426,0.71338606911949],"aabb_xy":[[-0.4719334064647052,0.10145939333045859],[-0.3119333999490193,0.26145240891442656]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.037335148673069085,1.322382825509412,0.71338606911949],"aabb_xy":[[-0.05078167530711242,1.3089129738563205],[-0.023888622039025753,1.3358526771625032]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.23671904887504558,-0.576274274999919,0.71338606911949],"aabb_xy":[[0.18671904943484993,-0.6262421994842352],[0.2867190483152412,-0.5263063505156026]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.10258314656284151,-1.1440841885504802,0.71338606911949],"aabb_xy":[[0.012583147144470591,-1.1774596853946697],[0.19258314598121237,-1.1107086917062903]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.6362535909147258,-0.7856147751048721,0.71338606911949],"aabb_xy":[[-0.6705698680893436,-0.8356147750780498],[-0.6019373137401077,-0.7356147751316944]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.1576311488640415,0.39498717398417593,0.71338606911949],"aabb_xy":[[-0.21763114911544265,0.3407058489477113],[-0.0976311486126403,0.4492684990206406]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[0.6361853990153219,-0.046670359634096936,0.71338606911949],"aabb_xy":[[0.6296837625073174,-0.05643818166040671],[0.6426870355233266,-0.03690253760778717]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[-0.4339370862602915,-0.29740262872373435,0.71338606911949],"aabb_xy":[[-0.518937084952366,-0.3293884921186132],[-0.3489370875682168,-0.2654167653288555]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.0884377543717847,-0.08609694420812142,0.71338606911949],"aabb_xy":[[-0.16843775464539168,-0.15904649203383814],[-0.00843775409817772,-0.013147396382404709]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[-0.350248656616691,-0.5201397740099205,0.71338606911949],"aabb_xy":[[-0.358274927247317,-0.5288912689872731],[-0.342222385986065,-0.5113882790325679]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.03772111437672654,-1.4900116562170926,0.71338606911949],"aabb_xy":[[0.029684779675441697,-1.498049775521509],[0.04575744907801138,-1.4819735369126754]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[0.1975029295120434,1.5371915686167257,0.71338606911949],"aabb_xy":[[0.11750292843892304,1.5274135222793412],[0.27750293058516373,1.5469696149541101]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.68358590189152,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2669.png","name":"2669"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2669.png","name":"2669"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9348.png","name":"9348"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9565.png","name":"9565"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2570.png","name":"2570"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1406.png","name":"1406"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":762.9727206752157,"rotation_z_degrees":230.10439549682854,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005152650767463386,-0.01245253373425883,-0.00440768311177552]},{"name":"camera_2","offset_m":[0.012186387475668668,-0.009975722038135819,0.012941527127172215]},{"name":"camera_3","offset_m":[-0.0004943834512647662,-0.0013146460249203115,0.014240300853012523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013285821814409248,0.0002533740603251869,0.0009458236782103227],"end_effector_yaw_offset_degrees":0.9128850003943072},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016819500270538379,0.000494840150388275,-0.0004808014957341355],"end_effector_yaw_offset_degrees":0.15255265456320322},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004335441092594664,0.00026729417297641483,-0.0010870383454014041],"end_effector_yaw_offset_degrees":0.8701371257861579},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.992080058797453e-05,-0.0009375001959756695,-0.0015249646282188061],"end_effector_yaw_offset_degrees":-0.7908019276372253}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0041660474103849795,-0.004830026511019885],"position_m":[0.358266047410385,-0.08883002651101989,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033400679947079457,0.00460359579485635],"position_m":[0.27794006799470794,-0.3256964042051436,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013749308558757569,0.004799620070543819],"position_m":[0.15932506914412425,0.21899962007054383,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004349618912835918,-0.003033850038087492],"position_m":[0.34844961891283593,0.1121661499619125,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"51dbb4ae61a62667ba02af12f0041bb9d50e49a7ea40f349b9fded26e0a5b6d9","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2669/tex_ceiling_textures_1406/tex_floor_textures_2570/tex_table_textures_9348/tex_wall_textures_9565","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":369753916734770485,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":369753916734770485,"visual_seed":369753916734770485,"scene_id":"lab_003","finished_at":"2026-09-05T01:02:57"}
+{"episode_id":"ep_000011","started_at":"2026-09-05T01:03:01","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[-0.35842609693710015,1.616689052068192,0.71338606911949],"aabb_xy":[[-0.3632696916983302,1.6118373995892081],[-0.35358250217587023,1.6215407045471764]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[0.6715836191296463,-0.47721103574934354,0.71338606911949],"aabb_xy":[[0.6516925792493061,-0.48986684703404043],[0.6914746590099866,-0.46455522446464675]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.10914481062072534,-1.8038642599862889,0.71338606911949],"aabb_xy":[[0.10305018273260703,-1.8124336545379576],[0.11523943850884368,-1.7952948654346201]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[0.22892509320627852,1.241860884149542,0.71338606911949],"aabb_xy":[[0.14892508994843554,1.161864376357558],[0.3089250964641215,1.321857391941526]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.6356050718250424,-1.808578591298388,0.71338606911949],"aabb_xy":[[-0.685702535806116,-1.8725785918081999],[-0.5855076078439687,-1.7445785907885762]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[0.37684384695337236,-2.1274254828569608,0.71338606911949],"aabb_xy":[[0.32684384529187754,-2.177423925112663],[0.42684384861486707,-2.0774270406012576]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[0.46897728327052723,1.791112138627804,0.71338606911949],"aabb_xy":[[0.46294027026986256,1.7850854375588563],[0.475014296271192,1.7971388396967525]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.2814039803583828,-2.343212194157759,0.71338606911949],"aabb_xy":[[-0.28939796893608616,-2.3512122742528487],[-0.2734099917806794,-2.3352121140626685]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[-0.6342097390663142,0.6700185292713217,0.71338606911949],"aabb_xy":[[-0.6842097400854495,0.6335523135334938],[-0.584209738047179,0.7064847450091497]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[0.15860694874424053,-1.298245961389223,0.71338606911949],"aabb_xy":[[0.10879016927940577,-1.3482459598735261],[0.2084237282090753,-1.2482459629049194]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.013488072200222745,-0.6571421674323756,0.71338606911949],"aabb_xy":[[0.005273527084538764,-0.6658187577300168],[0.02170261731590672,-0.6484655771347341]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[-0.08971006248841562,-2.076162939998973,0.71338606911949],"aabb_xy":[[-0.10662079492475739,-2.089635145591587],[-0.07279933005207383,-2.062690734406358]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[-0.15419884293635644,1.6028499419843505,0.71338606911949],"aabb_xy":[[-0.2341988443664836,1.5233327869717408],[-0.07419884150622921,1.6823670969969597]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[0.04032572442940818,1.6928022774469915,0.71338606911949],"aabb_xy":[[0.030569734920234293,1.6830397433877569],[0.05008171393858207,1.7025648115062257]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.5298723240421146,0.5436764706126653,0.71338606911949],"aabb_xy":[[0.493021776105127,0.5061764697896316],[0.5667228719791022,0.5811764714356991]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.13007918077458358,-1.4135473009533068,0.71338606911949],"aabb_xy":[[0.1055655566775777,-1.437811894255343],[0.1545928048715894,-1.3892827076512702]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.5165152825920365,1.710674683506435,0.71338606911949],"aabb_xy":[[-0.5965152858560496,1.6971146511975217],[-0.43651527932802336,1.7242347158153484]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[0.1599664024015407,0.867464193383042,0.71338606911949],"aabb_xy":[[0.15054892783167795,0.858048016245323],[0.16938387697140345,0.8768803705207611]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[-0.5558539984106641,-1.6133409715291056,0.71338606911949],"aabb_xy":[[-0.6198539987881976,-1.6630862383799179],[-0.49185399803313035,-1.5635957046782933]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.3502479569647932,0.4609133720115657,0.71338606911949],"aabb_xy":[[-0.3754687938246328,0.4356896211586788],[-0.32502712010495344,0.4861371228644523]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.44874862616402456,-0.24237530536778795,0.71338606911949],"aabb_xy":[[-0.4770783361125647,-0.246836047561505],[-0.4204189162154843,-0.2379145631740709]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[0.2050121583789386,0.6478503669722815,0.71338606911949],"aabb_xy":[[0.19870005884260017,0.6420834277190627],[0.21132425791527704,0.6536173062255003]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[-0.4565614518756389,-1.2807433298109823,0.71338606911949],"aabb_xy":[[-0.46943335537657904,-1.3607433302248184],[-0.44368954837469876,-1.2007433293971461]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[0.5664279203309148,-2.1846162422329938,0.71338606911949],"aabb_xy":[[0.5555763140820392,-2.1954755329606446],[0.5772795265797904,-2.173756951505343]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[0.2044342323601156,-1.1212709572052837,0.71338606911949],"aabb_xy":[[0.1394342313596151,-1.1720573223599584],[0.2694342333606161,-1.0704845920506085]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_25","position":[-0.04063669347767174,0.5250969901257885,0.71338606911949],"aabb_xy":[[-0.04867302817895657,0.5170588708213717],[-0.03260035877638689,0.5331351094302053]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[-0.48793425805032803,1.3266354162562966,0.71338606911949],"aabb_xy":[[-0.522934256320448,1.3195612885613082],[-0.4529342597802081,1.3337095439512845]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_27","position":[-0.08018262531204978,-2.2490479418717535,0.71338606911949],"aabb_xy":[[-0.08659643895523472,-2.255457762119421],[-0.07376881166886484,-2.242638121624085]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_28","position":[-0.4271256567823794,-0.11681393092839665,0.71338606911949],"aabb_xy":[[-0.4646256553580001,-0.12955022659195456],[-0.3896256582067585,-0.1040776352648387]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_29","position":[0.11969949862591311,-1.900407044360469,0.71338606911949],"aabb_xy":[[0.08523702061282533,-1.9070707215433915],[0.15416197663900089,-1.893743367177546]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6791863669557974,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1147.png","name":"1147"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1147.png","name":"1147"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2285.png","name":"2285"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8677.png","name":"8677"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2275.png","name":"2275"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1059.png","name":"1059"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":602.8017192076921,"rotation_z_degrees":328.61058046108184,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014334771599979031,-0.0006144053293494073,0.015311737335179678]},{"name":"camera_2","offset_m":[-0.01450350377590887,-0.018389711112163334,0.012124314112873489]},{"name":"camera_3","offset_m":[0.0032750940969509257,0.013232027702345158,-0.004262635901695778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008374968782096622,0.000775078621305483,-0.0008834870535536026],"end_effector_yaw_offset_degrees":0.4348762472295371},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016321683407722653,0.0007841548625971539,-0.0009912698919534648],"end_effector_yaw_offset_degrees":-0.7183748326621553},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001554735446656985,0.0010694938691168895,-0.00022905877065291765],"end_effector_yaw_offset_degrees":-0.5543871175689326},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012914920872976496,0.0007769958097934952,0.0014823011319191662],"end_effector_yaw_offset_degrees":0.8929447968139861}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00032523569788625237,0.0002959073113963295],"position_m":[0.3537747643021138,-0.08370409268860368,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004720140016891541,-0.0009189205474006805],"position_m":[0.2698798599831085,-0.33121892054740065,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00452027134157425,-0.0037698457981571666],"position_m":[0.16522027134157427,0.21043015420184283,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018316367731222348,-0.0005994313157021815],"position_m":[0.34226836322687776,0.11460056868429781,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f6e4a10e2dff3daaf229792c0199b878d4b0ec4786ae5a19d33696375a53673","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1147/tex_ceiling_textures_1059/tex_floor_textures_2275/tex_table_textures_2285/tex_wall_textures_8677","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4422796142947438826,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4422796142947438826,"visual_seed":4422796142947438826,"scene_id":"lab_003","finished_at":"2026-09-05T01:06:29"}
+{"episode_id":"ep_000012","started_at":"2026-09-05T01:06:33","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.24360773800851754,-2.1050322609096885,0.71338606911949],"aabb_xy":[[0.23634649043811012,-2.117819271173198],[0.25086898557892495,-2.092245250646179]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[0.5472336524408317,0.13217969383148231,0.71338606911949],"aabb_xy":[[0.48223365144033115,0.08139332867680737],[0.6122336534413322,0.18296605898615725]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[0.21277336752723763,0.7782110396432573,0.71338606911949],"aabb_xy":[[0.1771442116272779,0.7425783728864045],[0.24840252342719737,0.8138437064001104]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[0.48904132707386005,-0.373296275644011,0.71338606911949],"aabb_xy":[[0.4786297683933763,-0.37864200897990946],[0.4994528857543437,-0.36795054230811247]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.022867032995919523,-2.172693098948355,0.71338606911949],"aabb_xy":[[-0.06713296559855042,-2.1889436852617763],[0.11286703159038947,-2.156442512634934]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[-0.29051729123400155,-1.2838904316356556,0.71338606911949],"aabb_xy":[[-0.35451729193747095,-1.3299088141085766],[-0.22651729053053227,-1.2378720491627346]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.11127966950465362,-1.6992182844203403,0.71338606911949],"aabb_xy":[[-0.12891250509818117,-1.716841230435963],[-0.09364683391112603,-1.681595338404717]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[-0.5303892772743758,0.18562849157034433,0.71338606911949],"aabb_xy":[[-0.6103892805322187,0.10563198377836039],[-0.45038927401653284,0.2656249993623283]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[-0.6306226869903908,-0.28341883642013244,0.71338606911949],"aabb_xy":[[-0.6855964090267236,-0.3384188359843657],[-0.5756489649540578,-0.2284188368558993]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[0.6849147644998483,1.0256610526754013,0.71338606911949],"aabb_xy":[[0.6648563528866082,1.0055959657662439],[0.7049731761130887,1.0457261395845587]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.43902725987770563,1.0755067431938463,0.71338606911949],"aabb_xy":[[-0.4541901328546428,1.0603412858987278],[-0.42386438690076866,1.0906722004889653]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[-0.3253880664343492,-0.4456182107912108,0.71338606911949],"aabb_xy":[[-0.33546977351292256,-0.5256182086833253],[-0.3153063593557756,-0.365618212899096]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.4362089777530577,-1.2494402574978773,0.71338606911949],"aabb_xy":[[-0.4406396071078979,-1.2548886292325603],[-0.43177834839821755,-1.2439918857631949]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.4848329638336557,0.8824861677723077,0.71338606911949],"aabb_xy":[[-0.5260817748635702,0.8274861682600901],[-0.44358415280374086,0.937486167284525]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.3705236561583495,1.4633025767589136,0.71338606911949],"aabb_xy":[[-0.4321144153823423,1.399302578649867],[-0.30893289693435666,1.5273025748679607]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[-0.2889928402477183,-1.0824555133998293,0.71338606911949],"aabb_xy":[[-0.35399283880479115,-1.1122080468137119],[-0.22399284169064548,-1.0527029799859466]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[0.47635902261535024,-1.5578373966369776,0.71338606911949],"aabb_xy":[[0.45135902306361175,-1.5679798805021123],[0.5013590221670887,-1.547694912771843]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[-0.3296877289871665,-2.5399047928154763,0.71338606911949],"aabb_xy":[[-0.33502530465317104,-2.564904793744616],[-0.3243501533211619,-2.5149047918863365]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.028728068058467504,-1.7312070133495434,0.71338606911949],"aabb_xy":[[0.010858960304012007,-1.7450399213267542],[0.046597175812923,-1.7173741053723326]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[-0.44848160157879274,0.3863119725159332,0.71338606911949],"aabb_xy":[[-0.48598160309442445,0.37508519949978814],[-0.41098160006316103,0.39753874553207824]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.16570024037725828,-0.26740975756925867,0.71338606911949],"aabb_xy":[[-0.23070024148320156,-0.29237513063738696],[-0.100700239271315,-0.24244438450113037]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[0.5132634099071336,-1.1666926045748551,0.71338606911949],"aabb_xy":[[0.504103530963257,-1.1732238226183922],[0.5224232888510102,-1.160161386531318]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[0.132922488844479,0.6810374774503019,0.71338606911949],"aabb_xy":[[0.1273408172103502,0.6685374776325262],[0.13850416047860772,0.6935374772680772]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[-0.45098809953698415,-1.0516781770993995,0.71338606911949],"aabb_xy":[[-0.5009655164022375,-1.101678178588648],[-0.40101068267173046,-1.001678175610151]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[0.45866204328486426,1.2434811061961075,0.71338606911949],"aabb_xy":[[0.3946663458897676,1.1794811078953986],[0.5226577406799608,1.307481104496816]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[-0.6647086862509592,1.1025978024286607,0.71338606911949],"aabb_xy":[[-0.6773113853880358,1.090002406203795],[-0.6521059871138829,1.115193198653526]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_26","position":[0.05608144468475895,-1.5511401360312582,0.71338606911949],"aabb_xy":[[0.03858151125077557,-1.5686401359514925],[0.07358137811874232,-1.5336401361110235]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_27","position":[-0.528579796746175,-1.64108962364516,0.71338606911949],"aabb_xy":[[-0.5332149118984082,-1.6449569587223087],[-0.5239446815939415,-1.6372222885680112]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_28","position":[0.4733945384072329,1.627944971849217,0.71338606911949],"aabb_xy":[[0.4450648284586927,1.6234842296554999],[0.5017242483557731,1.632405714042934]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_29","position":[-0.5477539149983045,1.102433945431211,0.71338606911949],"aabb_xy":[[-0.574042739318745,1.0761625117765596],[-0.5214650906778637,1.128705379085862]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6782363045606173,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8771.png","name":"8771"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8771.png","name":"8771"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5401.png","name":"5401"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5793.png","name":"5793"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3288.png","name":"3288"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8035.png","name":"8035"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":539.9706130361193,"rotation_z_degrees":244.33703487485337,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012149280213691466,0.012631361729015935,0.0015357440748525152]},{"name":"camera_2","offset_m":[-0.010286097405987307,-0.006749131987007004,-0.005323387670561716]},{"name":"camera_3","offset_m":[-0.01931634671091839,0.003682467883972723,-0.007535532733853234]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011289933018054487,0.0012143263544155043,-0.0018660952363269909],"end_effector_yaw_offset_degrees":0.5498352428464703},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019099395642830452,-0.0011635291951962703,-0.0013410901907273934],"end_effector_yaw_offset_degrees":0.7440086106344244},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008257419728942336,0.0018786015019987765,0.0019321432991070116],"end_effector_yaw_offset_degrees":0.5414150825621704},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013417845033153117,-0.0011367366553806583,0.0017197828016990544],"end_effector_yaw_offset_degrees":-0.8189202574159231}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0001664485018043763,-0.0018276748016247514],"position_m":[0.3542664485018044,-0.08582767480162476,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003247000504511488,0.003700459699624914],"position_m":[0.2713529994954885,-0.3265995403003751,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037185935188718553,0.003282434399602148],"position_m":[0.15698140648112816,0.21748243439960216,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007452947704244435,0.0015827876181108893],"position_m":[0.34484529477042447,0.11678278761811088,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"be4168a945b2b29f27a5da8ca5f004b68f64df7ae505b172bdd3e5a3e2b4897e","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8771/tex_ceiling_textures_8035/tex_floor_textures_3288/tex_table_textures_5401/tex_wall_textures_5793","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6042190636037265681,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6042190636037265681,"visual_seed":6042190636037265681,"scene_id":"lab_003","finished_at":"2026-09-05T01:10:04"}
+{"episode_id":"ep_000013","started_at":"2026-09-05T01:10:07","dimensions":{"distractor":{"count":29,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[-0.20934142272570322,-1.7115506863302312,0.71338606911949],"aabb_xy":[[-0.28934142598971635,-1.7251107186391448],[-0.1293414194616901,-1.697990654021318]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.1282305889559987,1.1173747993380814,0.71338606911949],"aabb_xy":[[-0.145906219544597,1.0996945830586786],[-0.11055495836740035,1.1350550156174841]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.2144807962865441,0.7490169718346085,0.71338606911949],"aabb_xy":[[-0.23036528955186927,0.7346640315357843],[-0.19859630302121897,0.7633699121334324]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[-0.3638711798599064,-1.1376030890712476,0.71338606911949],"aabb_xy":[[-0.40137118052448506,-1.1532901470714696],[-0.32637117919532765,-1.1219160310710252]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.6169264175817495,-0.9456345735838649,0.71338606911949],"aabb_xy":[[0.5669264162979095,-0.995613427974487],[0.6669264188655895,-0.8956557191932428]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[-0.1249561102414194,-2.1590708430077816,0.71338606911949],"aabb_xy":[[-0.17493491875173528,-2.2090708430135004],[-0.07497730173110351,-2.109070843002063]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[-0.018110642753852768,-1.7172477316501196,0.71338606911949],"aabb_xy":[[-0.02306666293873397,-1.7397477318522414],[-0.013154622568971572,-1.6947477314479982]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[0.6273536282869898,-2.3165445961788773,0.71338606911949],"aabb_xy":[[0.6193601384917079,-2.3245427281193534],[0.635347118082272,-2.308546464238402]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_8","position":[0.5400870519975052,-1.526263629693297,0.71338606911949],"aabb_xy":[[0.5035912313702263,-1.562747572120054],[0.5765828726247838,-1.489779687266539]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.46045755534701516,0.23892928724631313,0.71338606911949],"aabb_xy":[[-0.47129803357353006,0.22174300595566432],[-0.44961707712050025,0.25611556853696194]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.6480121193203168,-1.84421964826559,0.71338606911949],"aabb_xy":[[0.6431685245590869,-1.8490713007445738],[0.6528557140815469,-1.8393679957866056]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.3571477202382254,0.7381631043388839,0.71338606911949],"aabb_xy":[[0.3076672990242666,0.674163106426032],[0.4066281414521842,0.8021631022517357]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[-0.28385964347905085,1.215280367269619,0.71338606911949],"aabb_xy":[[-0.3088596427510131,1.1989350036734565],[-0.2588596442070885,1.2316257308657812]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.40745268691125464,1.0091197683979294,0.71338606911949],"aabb_xy":[[-0.41354731479937296,1.0005503738462607],[-0.4013580590231363,1.017689162949598]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[-0.15490491893762337,-0.2078275626316164,0.71338606911949],"aabb_xy":[[-0.180125755797463,-0.23305131348450311],[-0.12968408207778367,-0.1826038117787296]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.6374762127604854,-0.4741696447440531,0.71338606911949],"aabb_xy":[[0.6330455834056452,-0.4796180164787357],[0.6419068421153256,-0.4687212730093705]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.17926953145633107,-1.4143287354402403,0.71338606911949],"aabb_xy":[[-0.20176953098003841,-1.4368246828908608],[-0.1567695319326236,-1.3918327879896193]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[-0.2040651007339747,-2.4157595611631364,0.71338606911949],"aabb_xy":[[-0.24156510191876748,-2.420177783859196],[-0.1665650995491819,-2.411341338467075]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_18","position":[0.6256853193279506,-0.6087462848801464,0.71338606911949],"aabb_xy":[[0.5804067044468013,-0.67274628422833],[0.6709639342090998,-0.5447462855319627]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_19","position":[-0.25377854837378416,-1.6022677891715542,0.71338606911949],"aabb_xy":[[-0.34377854487465587,-1.6481794315900122],[-0.16377855187291238,-1.5563561467530957]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.4216474830135164,-1.4767830965685917,0.71338606911949],"aabb_xy":[[0.3841474825161582,-1.4807517801167098],[0.4591474835108747,-1.4728144130204732]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[-0.06574108629543496,-1.3285436345671924,0.71338606911949],"aabb_xy":[[-0.10253571942034123,-1.3654495096637747],[-0.028946453170528685,-1.29163775947061]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.0344222250077274,-1.1448026363783896,0.71338606911949],"aabb_xy":[[-0.04483378368821111,-1.1501483697142878],[-0.024010666327243683,-1.139456903042491]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[0.5114169052244191,-2.1649752437748218,0.71338606911949],"aabb_xy":[[0.49535497776590137,-2.249975245587413],[0.5274788326829366,-2.0799752419622295]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[0.5917660031420893,1.4772371996975138,0.71338606911949],"aabb_xy":[[0.5277660024386199,1.431218817224593],[0.6557660038455586,1.5232555821704352]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.5041301519051432,-1.4351010903829295,0.71338606911949],"aabb_xy":[[-0.5681301551237811,-1.4818242022819381],[-0.44013014868650535,-1.3883779784839214]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[-0.4743159947755069,-2.3706228307538812,0.71338606911949],"aabb_xy":[[-0.4813574457262545,-2.3776495824916757],[-0.4672745438247593,-2.363596079016087]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_27","position":[-0.5221139508797248,-2.1919158617545653,0.71338606911949],"aabb_xy":[[-0.5285277645229096,-2.1983256820022334],[-0.5157001372365397,-2.1855060415068963]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_28","position":[0.030069282665730612,1.210947833404866,0.71338606911949],"aabb_xy":[[-0.004930715604389298,1.2038737057098778],[0.06506928093585052,1.2180219610998542]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6815795259944473,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4762.png","name":"4762"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4762.png","name":"4762"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7450.png","name":"7450"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/75.png","name":"75"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3711.png","name":"3711"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3476.png","name":"3476"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":547.6242094493695,"rotation_z_degrees":256.1015840877424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008133269150580751,-0.009221040685559156,-0.009520403690759736]},{"name":"camera_2","offset_m":[-0.0004730918455886704,-0.00850655609871041,-0.018093673209175213]},{"name":"camera_3","offset_m":[0.019909032049082776,-0.006286983489168674,0.010469269515390796]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00016083857161511067,0.001368137254345632,-0.0015982659839062481],"end_effector_yaw_offset_degrees":0.12120496801950709},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018518725976292135,0.0004764447256081655,0.0003841712875453729],"end_effector_yaw_offset_degrees":-0.36938414211770776},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009488842110298727,0.0006801470286701343,-0.0007362103097711032],"end_effector_yaw_offset_degrees":-0.31663641860347713},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002177970459010096,-0.0006264486995750912,-0.0015459960090080313],"end_effector_yaw_offset_degrees":-0.5075737166275665}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00282463874874543,-0.0025663384738869354],"position_m":[0.35692463874874547,-0.08656633847388694,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026328990806152685,-0.002089669396578596],"position_m":[0.27196710091938475,-0.3323896693965786,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00300168307201407,-0.004947572317126816],"position_m":[0.15769831692798594,0.2092524276828732,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003137228275231398,-0.0008853028377312812],"position_m":[0.3472372282752314,0.11431469716226872,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4c2aade63b1c623c75e80ad97de30fd997807c1da39b1b68a678f7be4e6f52a9","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0015.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4762/tex_ceiling_textures_3476/tex_floor_textures_3711/tex_table_textures_7450/tex_wall_textures_75","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4795215787941284360,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4795215787941284360,"visual_seed":4795215787941284360,"scene_id":"lab_003","finished_at":"2026-09-05T01:13:49"}
+{"episode_id":"ep_000014","started_at":"2026-09-05T01:13:52","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[0.42038089820626934,-2.088885409452786,0.71338606911949],"aabb_xy":[[0.41504332254026477,-2.1138854103819256],[0.4257184738722739,-2.063885408523646]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.4946248892492515,0.6920348954268234,0.71338606911949],"aabb_xy":[[0.4849932530288219,0.6823975826471144],[0.5042565254696811,0.7016722082065322]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[0.18623778846732064,1.6708441915397567,0.71338606911949],"aabb_xy":[[0.16373778822380528,1.658639556879985],[0.20873778871083606,1.683048826199529]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[-0.6195564396133105,-1.7171674776335082,0.71338606911949],"aabb_xy":[[-0.6795564412562323,-1.7691676269254524],[-0.5595564379703886,-1.665167328341564]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[-0.4478734513457123,0.1644757677284132,0.71338606911949],"aabb_xy":[[-0.46776449122605257,0.1518199564437164],[-0.4279824114653721,0.17713157901311008]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[0.5901155383746364,-0.39644373908327735,0.71338606911949],"aabb_xy":[[0.5261155361542293,-0.44081682320856563],[0.6541155405950434,-0.35207065495798906]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[0.4755920492382222,-0.9016705766451798,0.71338606911949],"aabb_xy":[[0.4380920485736434,-0.917357634645402],[0.5130920499028008,-0.8859835186449576]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.44609928863260495,-0.7561031304971755,0.71338606911949],"aabb_xy":[[0.41981046431216423,-0.7823745641518267],[0.47238811295304556,-0.7298316968425242]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.6520773714261111,0.63793604295507,0.71338606911949],"aabb_xy":[[-0.6739671190150519,0.5479360456658208],[-0.6301876238371703,0.727936040244319]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[0.022621487626182546,-2.0408151760751165,0.71338606911949],"aabb_xy":[[0.0007128054868315026,-2.0627158428952073],[0.04453016976553359,-2.018914509255026]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.1971486257694584,0.13363559319575913,0.71338606911949],"aabb_xy":[[-0.233999173706446,0.0961355923727254],[-0.16029807783247077,0.17113559401879286]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.5845729035952473,1.4879129875819905,0.71338606911949],"aabb_xy":[[-0.594328893104421,1.4781504535227559],[-0.5748169140860733,1.4976755216412247]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[-0.0688021277463956,-1.5480932553241298,0.71338606911949],"aabb_xy":[[-0.07642639583657385,-1.555726478860674],[-0.06117785965621736,-1.5404600317875865]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[-0.35540127739026106,-1.115431256430695,0.71338606911949],"aabb_xy":[[-0.39290127596588187,-1.1281675520942527],[-0.31790127881464025,-1.1026949607671368]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.21869236783480267,-2.212297265321073,0.71338606911949],"aabb_xy":[[-0.26869236727499823,-2.2622651898053894],[-0.16869236839460702,-2.1623293408367568]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.5078273559712944,0.6978636028680798,0.71338606911949],"aabb_xy":[[-0.5578273569218271,0.6663144558645584],[-0.45782735502076144,0.7294127498716012]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[-0.47470217720455166,-0.9464473777784741,0.71338606911949],"aabb_xy":[[-0.4923350127980792,-0.9640703237940972],[-0.457069341611024,-0.9288244317628512]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.19615909356640693,-0.28179383394816027,0.71338606911949],"aabb_xy":[[-0.24396526118017553,-0.34679383665521923],[-0.14835292595263824,-0.2167938312411013]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.5086670693460682,-1.0777184342983703,0.71338606911949],"aabb_xy":[[0.4586670680622282,-1.127697288688992],[0.5586670706299081,-1.0277395799077478]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[0.2962608644912199,-1.2971209002474835,0.71338606911949],"aabb_xy":[[0.2619639534734792,-1.3314177864574248],[0.3305577755089605,-1.2628240140375422]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.3255832793946764,1.6197658023342707,0.71338606911949],"aabb_xy":[[-0.3895832810726737,1.5712484108549565],[-0.261583277716679,1.668283193813585]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[-0.15747687391336318,1.443780908639574,0.71338606911949],"aabb_xy":[[-0.17636125768187338,1.4248949838592213],[-0.13859249014485298,1.4626668334199269]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850606430586831,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9241.png","name":"9241"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9241.png","name":"9241"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1192.png","name":"1192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8709.png","name":"8709"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4261.png","name":"4261"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6931.png","name":"6931"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":830.7140304609823,"rotation_z_degrees":74.93756115720981,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019561825652413874,0.007635683741862711,0.012643068346089994]},{"name":"camera_2","offset_m":[-0.0015548149803471002,-0.013947468173747675,0.00740310403380208]},{"name":"camera_3","offset_m":[-0.018663785044397002,0.0016001962809240322,-0.011544660298063393]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00020087765495812064,-0.0013557479787404483,0.0007015662794555731],"end_effector_yaw_offset_degrees":0.6406287730607818},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00010071890586384972,-0.0011009367137243772,-0.0016489767033208646],"end_effector_yaw_offset_degrees":-0.015613585068726898},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002788375160292756,-0.00012269168937057546,0.0011331662513614357],"end_effector_yaw_offset_degrees":-0.9491426257206894},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001692673050760398,0.00035674252362300407,-0.0016805658488028895],"end_effector_yaw_offset_degrees":0.772953832377862}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013723597908594284,-0.001849644115431408],"position_m":[0.35547235979085945,-0.08584964411543142,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032761375000904805,0.001402845803103717],"position_m":[0.2778761375000905,-0.32889715419689625,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014402808598960926,0.0032581053329681043],"position_m":[0.15925971914010392,0.2174581053329681,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002196080060670228,0.004776076565565709],"position_m":[0.34629608006067025,0.1199760765655657,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"366ec92e782966402350acbdf13a0efe8e5b315a8f2ab69ec62261a37d94204e","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0016.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9241/tex_ceiling_textures_6931/tex_floor_textures_4261/tex_table_textures_1192/tex_wall_textures_8709","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":276760321130809334,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":276760321130809334,"visual_seed":276760321130809334,"scene_id":"lab_003","finished_at":"2026-09-05T01:17:34"}
+{"episode_id":"ep_000015","started_at":"2026-09-05T01:20:02","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[-0.31990360341108337,0.18911789022633796,0.71338606911949],"aabb_xy":[[-0.38990360521982886,0.1677641214621506],[-0.249903601602338,0.21047165899052536]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.0069780440532942745,-1.0083928909414086,0.71338606911949],"aabb_xy":[[-0.0830219556698799,-1.0314662434765884],[0.09697804377646844,-0.9853195384062289]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.10620343709473168,1.6018843693748788,0.71338606911949],"aabb_xy":[[0.07787372714619145,1.5974236271811617],[0.1345331470432719,1.6063451115685958]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.5542789438204359,-0.9843042410422032,0.71338606911949],"aabb_xy":[[0.4642789414864167,-1.0617865956273158],[0.6442789461544548,-0.9068218864570905]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[-0.6337038678268139,0.6274192769830171,0.71338606911949],"aabb_xy":[[-0.6712038686188092,0.6210514360248269],[-0.5962038670348183,0.6337871179412071]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[-0.4532010441848392,-2.517775318292837,0.71338606911949],"aabb_xy":[[-0.5332010452579595,-2.5275533646302213],[-0.37320104311171887,-2.5079972719554524]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[-0.6077237425038006,-0.5366462457221854,0.71338606911949],"aabb_xy":[[-0.6376912994136261,-0.5666462460200713],[-0.5777561855939748,-0.5066462454242998]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[-0.48652803082316964,-2.2184731281903227,0.71338606911949],"aabb_xy":[[-0.5054124145916798,-2.2373590529706755],[-0.46764364705465944,-2.19958720340997]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_8","position":[-0.16271665126932255,-0.0674029153494291,0.71338606911949],"aabb_xy":[[-0.171430620319257,-0.08990291600861731],[-0.154002682219388,-0.044902914690240874]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[0.4545748140305661,0.9413475734718713,0.71338606911949],"aabb_xy":[[0.44170291052962596,0.8613475730580352],[0.46744671753150624,1.0213475738857074]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[-0.6433830652285897,-2.0811411950562273,0.71338606911949],"aabb_xy":[[-0.6542888413161524,-2.161141191455056],[-0.632477289141027,-2.0011411986573977]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.5914209818171707,1.7441507358303885,0.71338606911949],"aabb_xy":[[-0.6289209803927915,1.7314144401668305],[-0.5539209832415499,1.7568870314939464]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[0.3727075716132424,-2.3550855781168343,0.71338606911949],"aabb_xy":[[0.3087075723190742,-2.4190717184856885],[0.43670757090741064,-2.29109943774798]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[0.06215276874546116,1.2854743759668894,0.71338606911949],"aabb_xy":[[0.0502200343836331,1.2730922231590298],[0.07408550310728923,1.2978565287747486]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[0.3509550543128346,-0.7035711604946371,0.71338606911949],"aabb_xy":[[0.28595505575576174,-0.7333236939085197],[0.4159550528699074,-0.6738186270807545]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[-0.3254431429720736,1.6414707591821478,0.71338606911949],"aabb_xy":[[-0.3954431451035031,1.618708793556452],[-0.255443140840644,1.6642327248078432]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[0.49711014329455394,0.07330216508128551,0.71338606911949],"aabb_xy":[[0.43311014600890524,0.031795446128441526],[0.5611101405802026,0.11480888403412946]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.05579707614445151,1.7250501918514343,0.71338606911949],"aabb_xy":[[0.04853582857404409,1.712263181587925],[0.06305832371485892,1.737837202114944]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.47546254460786164,-0.8450724601939328,0.71338606911949],"aabb_xy":[[-0.5554625432647478,-0.8595773191181956],[-0.39546254595097574,-0.83056760126967]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.633221593006535,-1.6384303689081883,0.71338606911949],"aabb_xy":[[-0.6803509720083707,-1.70243036995259],[-0.5860922140046994,-1.574430367863786]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.45194918553781627,0.4762080788474212,0.71338606911949],"aabb_xy":[[-0.45608504187051646,0.43870807940306417],[-0.4478133292051161,0.5137080782917782]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[-0.44458242165727196,0.9749947437621089,0.71338606911949],"aabb_xy":[[-0.4621607238462188,0.9574202541880039],[-0.4270041194683251,0.9925692333362137]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.3240140213344734,1.23235346067667,0.71338606911949],"aabb_xy":[[-0.3880140232468157,1.1764423114186595],[-0.26001401942213104,1.2882646099346804]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[-0.2050255464006112,-1.6383785712641075,0.71338606911949],"aabb_xy":[[-0.2599992684369441,-1.6933785708283406],[-0.15005182436427836,-1.5833785716998743]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[-0.12143734674403228,0.33299365155819194,0.71338606911949],"aabb_xy":[[-0.1714215824522095,0.2829936527446963],[-0.07145311103585504,0.3829936503716875]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_25","position":[-0.6126696287269078,0.48617719417169747,0.71338606911949],"aabb_xy":[[-0.6301696289862445,0.47208565198292496],[-0.5951696284675713,0.5002687363604702]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_26","position":[-0.2926852392434731,-0.6630477391925871,0.71338606911949],"aabb_xy":[[-0.29664572301320746,-0.6707156037781077],[-0.28872475547373877,-0.6553798746070665]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_27","position":[0.018874943569644587,-1.2242386592193215,0.71338606911949],"aabb_xy":[[-0.06612505512243005,-1.2562245226142006],[0.10387494226171923,-1.1922527958244429]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6861073278622074,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8072.png","name":"8072"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8072.png","name":"8072"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2530.png","name":"2530"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8440.png","name":"8440"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6367.png","name":"6367"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3366.png","name":"3366"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":508.69097733922746,"rotation_z_degrees":348.93549252716446,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016910035942051534,-0.013789303870217387,-0.01225372187669246]},{"name":"camera_2","offset_m":[0.013060312333804999,0.0024787052126176816,0.01235095836877954]},{"name":"camera_3","offset_m":[-0.01683986493201117,0.003471676861573351,-0.015397655740328683]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.455518897477766e-06,-0.0010364875077585962,0.0005381266287975057],"end_effector_yaw_offset_degrees":0.9084723666942613},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002861336037579382,-0.0010432068729504817,0.0015257851090650708],"end_effector_yaw_offset_degrees":0.970110426561287},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007765805445586736,-0.0012974725494756224,1.8985563385653242e-05],"end_effector_yaw_offset_degrees":0.16554595691049467},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000695099933542049,-0.0015495649405454356,-0.00011890063819862732],"end_effector_yaw_offset_degrees":-0.6055987060996466}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004771397269824454,-0.004483684057689158],"position_m":[0.3588713972698245,-0.08848368405768917,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002204232759136889,-0.0027099212029661145],"position_m":[0.2768042327591369,-0.3330099212029661,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003903233365054398,0.0011627966356429738],"position_m":[0.16460323336505442,0.21536279663564298,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009253636695328651,-0.003435287834754689],"position_m":[0.3450253636695329,0.1117647121652453,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"862d52cf2761dc88b53f186456ffc050aa4f7b158242c684afab8a92510bc1d9","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0018.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8072/tex_ceiling_textures_3366/tex_floor_textures_6367/tex_table_textures_2530/tex_wall_textures_8440","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7067998621582951518,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7067998621582951518,"visual_seed":7067998621582951518,"scene_id":"lab_003","finished_at":"2026-09-05T01:23:48"}
+{"episode_id":"ep_000016","started_at":"2026-09-05T01:23:52","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.19299148816316203,-1.9503538869883252,0.71338606911949],"aabb_xy":[[0.13299148756714585,-2.005166359533549],[0.2529914887591782,-1.8955414144431022]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[0.04602362623201384,-1.6206782101802681,0.71338606911949],"aabb_xy":[[0.008523625939839012,-1.6247196855808714],[0.08352362652418865,-1.6166367347796644]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[-0.5992508090326276,1.0089207341252573,0.71338606911949],"aabb_xy":[[-0.6367508105482593,0.9976939611091122],[-0.5617508075169959,1.0201475071414023]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.5124009629816411,-1.1215384352044935,0.71338606911949],"aabb_xy":[[0.48990096246960035,-1.1440302935698916],[0.5349009634936815,-1.099046576839095]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.23576703803923882,-0.6052109769091196,0.71338606911949],"aabb_xy":[[0.17076703693329556,-0.6301763499772479],[0.3007670391451821,-0.5802456038409913]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[-0.2771194596813714,-0.5965748477666293,0.71338606911949],"aabb_xy":[[-0.35711946184413385,-0.6765300313927729],[-0.19711945751860888,-0.5166196641404857]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[-0.1991232424801595,1.7176926668466286,0.71338606911949],"aabb_xy":[[-0.20828312142403607,1.7111614488030913],[-0.18996336353628288,1.7242238848901654]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.6538784510261841,-1.295113942968803,0.71338606911949],"aabb_xy":[[0.6305966088280527,-1.380113944266031],[0.6771602932243154,-1.210113941671575]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.6787466226792606,-0.902991692744354,0.71338606911949],"aabb_xy":[[-0.6863708907694388,-0.9106249162808976],[-0.6711223545890823,-0.8953584692078101]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.4415340118513129,-2.3568634178510317,0.71338606911949],"aabb_xy":[[0.3765340118170102,-2.403564094531359],[0.5065340118856156,-2.3101627411707044]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[0.26441383393887463,0.6336753063082377,0.71338606911949],"aabb_xy":[[0.24678099834534709,0.6160523602926146],[0.2820466695324022,0.6512982523238605]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.5196618151467035,-1.2497929441858295,0.71338606911949],"aabb_xy":[[-0.5267021250802406,-1.329792943585501],[-0.5126215052131666,-1.1697929447861581]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[0.01622290395766568,0.8298409547059276,0.71338606911949],"aabb_xy":[[0.0036202048205892234,0.8172455584810621],[0.028825603094742136,0.842436350930793]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.022067544918698556,-1.3732775680337233,0.71338606911949],"aabb_xy":[[-0.08206754517009973,-1.4275588930701877],[0.03793245533270262,-1.3189962429972584]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.35518367075621177,-1.1678458585927498,0.71338606911949],"aabb_xy":[[-0.36002726551744174,-1.172697511071734],[-0.3503400759949818,-1.1629942061137657]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.16299999031893597,1.67272990219556,0.71338606911949],"aabb_xy":[[0.12737083441897626,1.637097235438707],[0.19862914621889574,1.708362568952413]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[-0.13775851922127247,0.6759138047847744,0.71338606911949],"aabb_xy":[[-0.1736720236462622,0.6400002965680195],[-0.10184501479628282,0.7118273130015288]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[-0.23561140684069753,-0.9980044444301992,0.71338606911949],"aabb_xy":[[-0.2726455162687572,-1.0323816517639086],[-0.1985772974126378,-0.9636272370964898]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[0.6731922534020016,-1.0879958158509195,0.71338606911949],"aabb_xy":[[0.6543078696334915,-1.1068817406312723],[0.6920766371705119,-1.0691098910705668]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.18944715919748656,-0.3628439422533818,0.71338606911949],"aabb_xy":[[-0.2534471608754839,-0.411361333732696],[-0.12544715751948918,-0.31432655077406757]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.68492585611774,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2586.png","name":"2586"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2586.png","name":"2586"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/100.png","name":"100"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8077.png","name":"8077"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/911.png","name":"911"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/220.png","name":"220"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":569.5599081593897,"rotation_z_degrees":73.31019163660407,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009960475213641526,0.01844902740695711,-0.013075550509485572]},{"name":"camera_2","offset_m":[-0.006712660445412194,-0.006506193556964229,-0.01336165565356231]},{"name":"camera_3","offset_m":[0.004741687906271937,-0.005077614356920019,-0.0066538834680838176]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001530239182652613,0.0005550187699105268,4.087392198540889e-05],"end_effector_yaw_offset_degrees":0.664156051183926},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001636463618687349,0.0009093670550028776,0.0012457351262138623],"end_effector_yaw_offset_degrees":-0.08399482708363104},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015742333330979537,-0.0005230679063954779,0.001173643220881968],"end_effector_yaw_offset_degrees":-0.18153271820632577},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013685148017267908,0.0010770044370857022,-0.0008173325447489649],"end_effector_yaw_offset_degrees":-0.018707831918689966}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014644848095167894,0.0030533504747578552],"position_m":[0.35263551519048325,-0.08094664952524215,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024888774294785044,0.00024812982665932057],"position_m":[0.2770888774294785,-0.33005187017334064,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018594707029640878,0.0005503323154009317],"position_m":[0.15884052929703593,0.21475033231540094,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002952610827075609,0.004765775439669489],"position_m":[0.3411473891729244,0.11996577543966949,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fcfa5e3486ffdee9705defd12477d9f4d7a21e6f1069e29ae9317afe6cf61ad0","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2586/tex_ceiling_textures_220/tex_floor_textures_911/tex_table_textures_100/tex_wall_textures_8077","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":952973198495587853,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":952973198495587853,"visual_seed":952973198495587853,"scene_id":"lab_003","finished_at":"2026-09-05T01:27:20"}
+{"episode_id":"ep_000017","started_at":"2026-09-05T01:27:24","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.435289969168281,1.6396895611349822,0.71338606911949],"aabb_xy":[[0.4150056664448822,1.619406935992273],[0.4555742718916797,1.6599721862776906]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[0.19923794788101334,-1.7056817188605697,0.71338606911949],"aabb_xy":[[0.16332444345602365,-1.741595227077324],[0.23515145230600304,-1.669768210643815]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.5774791572920444,-0.7215413345772024,0.71338606911949],"aabb_xy":[[-0.5941562932851397,-0.7382412585511327],[-0.5608020212989487,-0.7048414106032721]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.2876374852768848,-1.470214264476462,0.71338606911949],"aabb_xy":[[0.2803762377064774,-1.4830012747399715],[0.29489873284729223,-1.4574272542129525]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.45081955041816313,0.7018722660807493,0.71338606911949],"aabb_xy":[[0.4394578157648769,0.6905037996744611],[0.46218128507144923,0.7132407324870372]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.47898075044091276,-1.3645043986164889,0.71338606911949],"aabb_xy":[[-0.5289807498811082,-1.4144723231008052],[-0.42898075100071703,-1.3145364741321726]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[-0.26162797703791113,-0.18916248727379692,0.71338606911949],"aabb_xy":[[-0.32321873626190395,-0.2531624853828438],[-0.2000372178139183,-0.12516248916475006]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.355155446376498,1.5674279139111662,0.71338606911949],"aabb_xy":[[-0.4046358675904567,1.5034279159983144],[-0.30567502516253914,1.631427911824018]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[0.2469351066104255,-1.1340491092716012,0.71338606911949],"aabb_xy":[[0.1918099009808347,-1.194049110712888],[0.3020603122400162,-1.0740491078303138]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[-0.11407045257816761,0.5366275888879972,0.71338606911949],"aabb_xy":[[-0.14853293059125536,0.5299639117050743],[-0.07960797456507981,0.5432912660709199]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[0.3381314000931348,-1.0042404822181614,0.71338606911949],"aabb_xy":[[0.30313140096317914,-1.0099857032938255],[0.37313139922309047,-0.9984952611424973]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.5881605422433908,1.7342690241077894,0.71338606911949],"aabb_xy":[[-0.6581605438456704,1.7208362309061316],[-0.5181605406411114,1.7477018173094467]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.11802878950250073,-1.9303398141205719,0.71338606911949],"aabb_xy":[[-0.16802879086338796,-1.9803177186959875],[-0.0680287881416135,-1.8803619095451563]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.7068287271291722,-1.489443494302011,0.71338606911949],"aabb_xy":[[0.7007917141285076,-1.495470195370959],[0.712865740129837,-1.4834167932330629]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[0.6034304822447174,-0.7623483555920998,0.71338606911949],"aabb_xy":[[0.565930481452722,-0.7687161965502899],[0.6409304830367129,-0.7559805146339097]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.4530967580922296,1.2752179594680024,0.71338606911949],"aabb_xy":[[0.37309676107798156,1.255083407794591],[0.5330967551064776,1.2953525111414135]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_16","position":[-0.4414540359704567,-0.9891281146509454,0.71338606911949],"aabb_xy":[[-0.5054540383132582,-1.034068965895078],[-0.3774540336276551,-0.944187263406813]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[0.29133999133173827,-0.8148093540817496,0.71338606911949],"aabb_xy":[[0.28638397114685715,-0.8373093542838714],[0.2962960115166195,-0.7923093538796282]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[0.6113836248301747,1.1318646140951945,0.71338606911949],"aabb_xy":[[0.5513836243223218,1.0750178804092732],[0.6713836253380276,1.1887113477811158]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[-0.5139214848304385,-1.2169881222405252,0.71338606911949],"aabb_xy":[[-0.5219149746257207,-1.224986254181001],[-0.5059279950351566,-1.2089899903000498]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.14529410728008518,1.0643383602720036,0.71338606911949],"aabb_xy":[[-0.22901633278016764,0.9743383567373076],[-0.061571881780002724,1.1543383638066995]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6775145362206636,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9694.png","name":"9694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9694.png","name":"9694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7302.png","name":"7302"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7554.png","name":"7554"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4927.png","name":"4927"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1178.png","name":"1178"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":694.2405486153677,"rotation_z_degrees":324.3294368380109,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006203683458702525,-0.004863160455358107,-0.011784286703098034]},{"name":"camera_2","offset_m":[-0.0180950287492984,-0.002763099048432291,-0.007965683325031812]},{"name":"camera_3","offset_m":[0.007668187994774672,0.0032648288000185627,0.016000968278267375]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001423726781920702,-0.001290343052960771,0.0007511838093132153],"end_effector_yaw_offset_degrees":-0.42106921769241223},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016054606177033476,-0.000422967579331599,-0.0017883818058120845],"end_effector_yaw_offset_degrees":0.16019149571963553},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011995588286893518,-0.0004343221801532144,-0.0019726356448577613],"end_effector_yaw_offset_degrees":-0.03298635972714181},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007326981583710003,0.0008097320169767443,-0.00016673844645350658],"end_effector_yaw_offset_degrees":-0.4579232297558373}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003507071806872648,0.004735915004169451],"position_m":[0.3576070718068727,-0.07926408499583056,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004559096316561424,0.0028143490546553218],"position_m":[0.2700409036834386,-0.32748565094534465,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038224627337049436,-0.0049930257572201025],"position_m":[0.16452246273370497,0.2092069742427799,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004006055079387234,0.0012080782822933376],"position_m":[0.3400939449206128,0.11640807828229334,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cb442c54ff3a382b4e81d0e9df0c6a3799ef8a1880880cf5927a4963ef4b0719","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0020.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9694/tex_ceiling_textures_1178/tex_floor_textures_4927/tex_table_textures_7302/tex_wall_textures_7554","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7014812361551413126,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7014812361551413126,"visual_seed":7014812361551413126,"scene_id":"lab_003","finished_at":"2026-09-05T01:30:52"}
+{"episode_id":"ep_000018","started_at":"2026-09-05T01:30:55","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[-0.5617814701616787,0.9252042720434162,0.71338606911949],"aabb_xy":[[-0.625781470865148,0.8791858895704953],[-0.49778146945820934,0.9712226545163373]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.5905509514563414,0.14734936610963123,0.71338606911949],"aabb_xy":[[-0.6205185083661671,0.11734936581174546],[-0.5605833945465157,0.17734936640751695]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.34186648092640365,-2.0377058353529014,0.71338606911949],"aabb_xy":[[-0.3516224704355775,-2.0474683694121354],[-0.3321104914172297,-2.0279433012936665]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[0.21906326565557932,-1.1089216372407886,0.71338606911949],"aabb_xy":[[0.16909020012306383,-1.1589216370533215],[0.2690363311880948,-1.0589216374282557]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.18167281333700114,0.463789617053862,0.71338606911949],"aabb_xy":[[-0.2356884096189011,0.3997896141616048],[-0.1276572170551011,0.5277896199461192]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[-0.14091925265791672,-1.6905280890747585,0.71338606911949],"aabb_xy":[[-0.17841925300614445,-1.7023194846558418],[-0.10341925230968893,-1.6787366934936747]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[-0.26093834636071456,-2.552735866711991,0.71338606911949],"aabb_xy":[[-0.27761548235381006,-2.569435790685921],[-0.24426121036761905,-2.5360359427380605]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[0.27908580741020084,0.6707807917209201,0.71338606911949],"aabb_xy":[[0.2150858041204927,0.6274458727170024],[0.3430858106999089,0.7141157107248376]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.456649323209007,-1.3119075114435006,0.71338606911949],"aabb_xy":[[0.44608184355090796,-1.322452541556509],[0.467216802867106,-1.3013624813304918]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.374736200108537,0.31553410147161465,0.71338606911949],"aabb_xy":[[-0.4547361986958564,0.23621849953345378],[-0.29473620152121754,0.39484970340977554]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[0.32098860749959734,-2.0566718032583715,0.71338606911949],"aabb_xy":[[0.2609886069917444,-2.113518536944292],[0.38098860800745027,-1.99982506957245]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[0.4041515284707038,-0.38900962113719073,0.71338606911949],"aabb_xy":[[0.38409311685746345,-0.4090747080463483],[0.424209940083944,-0.36894453422803325]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[-0.010829610317908855,1.4410471378764345,0.71338606911949],"aabb_xy":[[-0.057958989319744525,1.3770471368320325],[0.036299768683926814,1.5050471389208364]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.016972977681552148,1.6368728172485674,0.71338606911949],"aabb_xy":[[-0.06802702073587108,1.5519985217862824],[0.10197297609897538,1.7217471127108523]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.5633210384097443,-0.5228302915119847,0.71338606911949],"aabb_xy":[[-0.61332103784994,-0.5727982159963009],[-0.5133210389695487,-0.47286236702766826]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.5312812882958942,1.2869222414548362,0.71338606911949],"aabb_xy":[[-0.5671947927208837,1.2510087332380815],[-0.49536778387090435,1.3228357496715906]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.08785083989314113,1.0303079164755728,0.71338606911949],"aabb_xy":[[-0.13794830387421475,0.966307915965761],[-0.03775337591206751,1.0943079169853847]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[0.48829731361754636,1.80977541095486,0.71338606911949],"aabb_xy":[[0.4713865811812046,1.7963032053622454],[0.5052080460538881,1.8232476165474747]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[0.5135235022293911,0.7540531547961749,0.71338606911949],"aabb_xy":[[0.4984212007683729,0.7389516331651129],[0.528625803690409,0.7691546764272366]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[-0.35792735618140437,0.8255471022368597,0.71338606911949],"aabb_xy":[[-0.3633853018184244,0.7455470989292005],[-0.35246941054438424,0.9055471055445187]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[0.6538102495993634,0.8615144013880336,0.71338606911949],"aabb_xy":[[0.6193477715862756,0.8548507242051107],[0.6882727276124512,0.8681780785709563]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[-0.27427770220592657,-0.3936932265912194,0.71338606911949],"aabb_xy":[[-0.28563943685921267,-0.40506169299750744],[-0.26291596755264035,-0.3823247601849313]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.5880838052782504,-2.026080475669423,0.71338606911949],"aabb_xy":[[0.5505838046136716,-2.0417675336696446],[0.625583805942829,-2.0103934176692]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[0.6270184191875794,1.6716174707276568,0.71338606911949],"aabb_xy":[[0.5895184183955839,1.6652496297694666],[0.6645184199795748,1.677985311685847]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[-0.1658492764613021,-0.1013961131790948,0.71338606911949],"aabb_xy":[[-0.16976314965672462,-0.11014512858565156],[-0.16193540326587957,-0.09264709777253805]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6795188918709036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8398.png","name":"8398"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8398.png","name":"8398"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8592.png","name":"8592"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3700.png","name":"3700"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3219.png","name":"3219"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2859.png","name":"2859"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":807.1718228642125,"rotation_z_degrees":279.71861124184056,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014436200152513613,-0.018847798662117356,0.013753291176512968]},{"name":"camera_2","offset_m":[0.013913783344222944,0.0008534501896235135,-0.014533671691865372]},{"name":"camera_3","offset_m":[0.011736346374481985,0.0052166890796265485,-0.01476867808705492]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001488731396316056,-0.001961392685947716,0.0016613320897115413],"end_effector_yaw_offset_degrees":0.686171171040987},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001072271928265708,0.0007716267982619106,-0.001732443463751813],"end_effector_yaw_offset_degrees":-0.9418563358984207},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.433704934705794e-05,0.0014699152934519143,-0.001657472313109567],"end_effector_yaw_offset_degrees":0.5734797236357481},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00029682064834114655,0.0009805570510415863,-0.0011237564240774512],"end_effector_yaw_offset_degrees":-0.9844123638676952}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030040459404703417,-0.0011779647072804444],"position_m":[0.35710404594047035,-0.08517796470728045,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002790944101459888,0.0018699664558776332],"position_m":[0.2718090558985401,-0.32843003354412237,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011474340037624063,0.0008031154252879725],"position_m":[0.1595525659962376,0.21500311542528797,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003275294826501786,0.001499658496736788],"position_m":[0.3473752948265018,0.11669965849673679,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"06e42e999302c80d3d6b5c13466f9a4c7024b059545035c96e73eecfd9d2e041","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8398/tex_ceiling_textures_2859/tex_floor_textures_3219/tex_table_textures_8592/tex_wall_textures_3700","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1836725742329464176,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1836725742329464176,"visual_seed":1836725742329464176,"scene_id":"lab_003","finished_at":"2026-09-05T01:34:38"}
+{"episode_id":"ep_000019","started_at":"2026-09-05T01:37:10","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[0.3888231593584468,-2.2002010186997443,0.71338606911949],"aabb_xy":[[0.347574348328532,-2.2552010182119613],[0.4300719703883615,-2.1452010191875264]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.36644955373775456,1.0000821296033053,0.71338606911949],"aabb_xy":[[0.3439531323038905,0.9775821297965577],[0.3889459751716187,1.0225821294100526]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.3392251701343648,1.0792170708805213,0.71338606911949],"aabb_xy":[[-0.35672516941245164,1.0618789708141751],[-0.3217251708562779,1.096555170946867]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[0.48794451036617037,-1.077469708342629,0.71338606911949],"aabb_xy":[[0.4727723410845371,-1.0926385652708324],[0.5031166796478037,-1.0623008514144257]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.3579452545796595,-2.170088302715021,0.71338606911949],"aabb_xy":[[-0.39253633743370464,-2.2350883030000515],[-0.3233541717256142,-2.1050883024299893]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.17296237686650384,0.7103288824414342,0.71338606911949],"aabb_xy":[[-0.20410929571008693,0.640328883754627],[-0.1418154580229207,0.7803288811282414]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[-0.4637483324049052,0.530678016418026,0.71338606911949],"aabb_xy":[[-0.48621310237631027,0.5081780155391654],[-0.44128356243350003,0.5531780172968864]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[-0.32673801459013263,-0.7643612521737553,0.71338606911949],"aabb_xy":[[-0.334732003167836,-0.7723613322688456],[-0.31874402601242924,-0.7563611720786649]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.46985126069169914,-1.8614416416543338,0.71338606911949],"aabb_xy":[[0.41985126033113296,-1.9114216288639367],[0.519851261052265,-1.8114616544447308]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[0.4975021010513325,0.34783207071946665,0.71338606911949],"aabb_xy":[[0.43750210045531635,0.29301959817424317],[0.5575021016473487,0.4026445432646901]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.44595784779696396,1.1325416919046214,0.71338606911949],"aabb_xy":[[-0.4509138679818452,1.1100416917025],[-0.44100182761208273,1.1550416921067432]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.17885018735296454,-0.19269709477349872,0.71338606911949],"aabb_xy":[[-0.24285018465531094,-0.23706352174135548],[-0.11485019005061814,-0.14833066780564197]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[0.5359456956429824,1.084087803220319,0.71338606911949],"aabb_xy":[[0.4659456992330205,1.0636498675686368],[0.605945692052944,1.1045257388720002]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[0.5906808290097627,-2.0808346974393026,0.71338606911949],"aabb_xy":[[0.5789126422151053,-2.1658346973445246],[0.6024490158044203,-1.9958346975340815]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[0.6378542699144896,-0.6682339161928588,0.71338606911949],"aabb_xy":[[0.5678542677830599,-0.6909958818185543],[0.707854272045919,-0.645471950567163]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[-0.009945126418743677,1.2892767860300025,0.71338606911949],"aabb_xy":[[-0.07494512905653716,1.2377971873305555],[0.05505487621904981,1.3407563847294495]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.38548978465449946,-0.9283243840863942,0.71338606911949],"aabb_xy":[[-0.4654836082330577,-1.008324386679236],[-0.30549596107594124,-0.8483243814935528]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.4459529348246636,-2.120046484529872,0.71338606911949],"aabb_xy":[[-0.45008879115736383,-2.157546483974229],[-0.44181707849196344,-2.082546485085515]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.19031491012337354,-0.6206133658356168,0.71338606911949],"aabb_xy":[[-0.21531490967511202,-0.6307558497007514],[-0.16531491057163505,-0.6104708819704819]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[0.6185131913054303,0.5685496574844855,0.71338606911949],"aabb_xy":[[0.5385131891426677,0.48859447385834176],[0.6985131934681926,0.648504841110629]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[-0.617177960327545,0.622450872383006,0.71338606911949],"aabb_xy":[[-0.6721779595041344,0.5674611976080483],[-0.5621779611509554,0.6774405471579635]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[0.07591684195909543,-1.7482075523654208,0.71338606911949],"aabb_xy":[[0.04243767469805449,-1.7816866657365278],[0.10939600922013637,-1.7147284389943138]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[0.2643879153994966,-1.8508228627403676,0.71338606911949],"aabb_xy":[[0.2143929044400446,-1.9008228617759597],[0.31438292635894866,-1.8008228637047763]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.5424936779877102,-1.5798810730607504,0.71338606911949],"aabb_xy":[[-0.597493676189455,-1.6204030396871878],[-0.4874936797859654,-1.5393591064343126]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[0.6345676808631844,-1.1069888194794308,0.71338606911949],"aabb_xy":[[0.5495676824457612,-1.1918631149417158],[0.7195676792806076,-1.0221145240171459]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[0.6017270042689027,1.6342827372839106,0.71338606911949],"aabb_xy":[[0.5377270078733296,1.570319448865177],[0.6657270006644758,1.6982460257026442]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6835355938751775,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6481.png","name":"6481"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6481.png","name":"6481"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5334.png","name":"5334"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1755.png","name":"1755"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7436.png","name":"7436"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4868.png","name":"4868"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":749.064571333043,"rotation_z_degrees":157.47028550254166,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007599817197981511,-0.014599205659379267,-0.018539400611135952]},{"name":"camera_2","offset_m":[-0.0063966307785901805,0.007021645481967265,-0.014776002070110629]},{"name":"camera_3","offset_m":[-0.005791270786594733,-0.013045649527394489,0.008114878385963194]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001144351997624664,0.0015254120640840617,0.0009878045759798134],"end_effector_yaw_offset_degrees":0.712541763880943},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007462080895515107,-0.0003488120325178569,-7.503565442581865e-05],"end_effector_yaw_offset_degrees":-0.8073664321333756},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019341408080864554,0.000798204386284048,-0.001121725609333621],"end_effector_yaw_offset_degrees":0.2514822221605051},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001996633679835679,-0.0018127887064261655,-0.0009087242551748748],"end_effector_yaw_offset_degrees":-0.9471412028979871}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003918159302503814,0.004186831155213345],"position_m":[0.35801815930250386,-0.07981316884478666,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018428185208689894,-0.004680954222756506],"position_m":[0.27275718147913103,-0.3349809542227565,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003843129322457649,0.004818782164262385],"position_m":[0.16454312932245765,0.21901878216426238,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001856000215679352,0.0008561298215852475],"position_m":[0.34595600021567935,0.11605612982158524,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3fa79a9b11b93800c1d333e5a954c0693d58c2a8e3141efdcd09fb9bfbc1fca7","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6481/tex_ceiling_textures_4868/tex_floor_textures_7436/tex_table_textures_5334/tex_wall_textures_1755","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4864414767959667596,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4864414767959667596,"visual_seed":4864414767959667596,"scene_id":"lab_003","finished_at":"2026-09-05T01:40:55"}
+{"episode_id":"ep_000020","started_at":"2026-09-05T01:40:59","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[0.10948539460765194,-1.1947611317875395,0.71338606911949],"aabb_xy":[[0.09127957094640426,-1.2057865323695311],[0.12769121826889962,-1.1837357312055479]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[0.05947825516911831,-1.6996201660282524,0.71338606911949],"aabb_xy":[[0.021978254997246364,-1.7323209014111598],[0.09697825534099025,-1.6669194306453454]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[-0.4307639178939564,-0.28701154402693607,0.71338606911949],"aabb_xy":[[-0.4735306247733766,-0.35101154744873847],[-0.3879972110145362,-0.22301154060513356]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.2936431399148955,-1.4362000532864987,0.71338606911949],"aabb_xy":[[-0.3281056179279832,-1.4428637304694214],[-0.25918066190180766,-1.429536376103576]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[-0.2905316487816693,-1.578457608806782,0.71338606911949],"aabb_xy":[[-0.35453165100207634,-1.6228306929320702],[-0.2265316465612623,-1.5340845246814936]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[0.6097710956633924,1.2244301604015715,0.71338606911949],"aabb_xy":[[0.5457710923736842,1.1810952413976539],[0.6737710989531004,1.267765079405489]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[0.22564642430418036,-1.517404044737557,0.71338606911949],"aabb_xy":[[0.14564642564729435,-1.5319089036618199],[0.30564642296106637,-1.5028991858132945]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.4776538714221248,-2.2689966689375516,0.71338606911949],"aabb_xy":[[-0.5676538708404957,-2.302372165781741],[-0.3876538720037539,-2.2356211720933614]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[-0.5788142463984755,-1.715129319531344,0.71338606911949],"aabb_xy":[[-0.6438142473556027,-1.7670775314650495],[-0.5138142454413482,-1.6631811075976384]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_9","position":[-0.6227574660024229,-0.6194292361550948,0.71338606911949],"aabb_xy":[[-0.64025746513679,-0.6293088631926826],[-0.6052574668680557,-0.609549609117507]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[0.2638357999875721,-0.9863006412027446,0.71338606911949],"aabb_xy":[[0.2333515498605419,-1.0363006409842406],[0.2943200501146022,-0.9363006414212486]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.30726380017430266,0.9169114279711228,0.71338606911949],"aabb_xy":[[0.26976379865867095,0.9056846549549776],[0.34476380168993437,0.9281382009872677]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.3412035403586824,-1.9909915649342422,0.71338606911949],"aabb_xy":[[0.2862298183223495,-2.0459915644984754],[0.3961772623950153,-1.935991565370009]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[-0.48138538014226195,1.7073890186639455,0.71338606911949],"aabb_xy":[[-0.5613853781230469,1.6997874777020936],[-0.40138538216147684,1.7149905596257975]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.45696703916615034,-0.8460183822599783,0.71338606911949],"aabb_xy":[[-0.4808032568067555,-0.9360183830684649],[-0.4331308215255454,-0.7560183814514919]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.686081946448081,0.046977340631957354,0.71338606911949],"aabb_xy":[[0.679041636514544,-0.03302265876771405],[0.693122256381618,0.12697734003162878]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[0.6050481547863535,-2.146409093538778,0.71338606911949],"aabb_xy":[[0.5550481538358206,-2.177958240542299],[0.6550481557368862,-2.114859946535256]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[0.2839920317546911,1.4284283472449313,0.71338606911949],"aabb_xy":[[0.2793569166024577,1.4245610121677823],[0.2886271469069244,1.4322956823220798]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.19010073577165665,-0.8309305119930241,0.71338606911949],"aabb_xy":[[0.1451081490532062,-0.8759305112674729],[0.23509332249010703,-0.7859305127185754]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[0.18735167391450935,0.8033579697844293,0.71338606911949],"aabb_xy":[[0.1832158175818092,0.7658579703400723],[0.19148753024720958,0.8408579692287863]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_20","position":[-0.4346556405645709,1.284855255461351,0.71338606911949],"aabb_xy":[[-0.5146556375276101,1.2077796138175774],[-0.3546556436015317,1.3619308971051243]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[-0.15194254091495618,-1.8673775969844897,0.71338606911949],"aabb_xy":[[-0.1653890675489995,-1.8808474486375808],[-0.13849601428091285,-1.8539077453313981]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.21718976849130173,0.42247533774062385,0.71338606911949],"aabb_xy":[[-0.23410050092764348,0.4090031321480093],[-0.20027903605495992,0.4359475433332384]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_23","position":[0.02183860693423334,-2.4842687988090484,0.71338606911949],"aabb_xy":[[-0.02816139250596228,-2.5342367232933642],[0.07183860637442896,-2.4343008743247316]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_24","position":[-0.35555033973131556,0.30528710670597325,0.71338606911949],"aabb_xy":[[-0.44555033623218737,0.25937546428751496],[-0.26555034323044385,0.35119874912443144]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_25","position":[-0.1733466270950632,-0.2540510103646745,0.71338606911949],"aabb_xy":[[-0.1814602817684403,-0.26215682681870356],[-0.1652329724216861,-0.2459451939106454]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_26","position":[-0.10894807611114776,1.6053277492555842,0.71338606911949],"aabb_xy":[[-0.18894807827391025,1.5253725656294403],[-0.028948073948385264,1.6852829328817276]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_27","position":[0.5031409756370877,0.3144623863817513,0.71338606911949],"aabb_xy":[[0.4884975700830547,0.299803666724967],[0.5177843811911207,0.32912110603853556]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_28","position":[0.34444950337932223,1.0927906797090583,0.71338606911949],"aabb_xy":[[0.32153379049427233,1.069886382572635],[0.36736521626437213,1.115694976845482]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.680994081907275,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6028.png","name":"6028"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6028.png","name":"6028"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2348.png","name":"2348"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9463.png","name":"9463"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4679.png","name":"4679"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9398.png","name":"9398"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":593.3081324544778,"rotation_z_degrees":136.02167434219294,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01856821961910491,-0.0038167549425339037,0.009472654892442131]},{"name":"camera_2","offset_m":[-0.013743890879571197,0.015240550105599628,0.005647095463042175]},{"name":"camera_3","offset_m":[0.0011461189598527925,-0.010520805013682221,-0.003042197830037542]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019091523875596848,0.0009283169559265881,-0.001425088360201913],"end_effector_yaw_offset_degrees":0.8821551477553908},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00031676048182311864,0.0013550408515546506,0.0017734053017838662],"end_effector_yaw_offset_degrees":-0.3778614511156284},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005760465283796245,0.0010897909611756853,-0.0015481595380049114],"end_effector_yaw_offset_degrees":-0.9659663420034084},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014600176825726183,0.001646853751923146,0.001989102027395876],"end_effector_yaw_offset_degrees":-0.6324464672430568}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033322247470203795,-0.0002184301790793819],"position_m":[0.35076777525297964,-0.08421843017907939,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001780803237690586,0.0006479856993741075],"position_m":[0.2728191967623094,-0.32965201430062585,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000372553029557271,0.0049471376793098635],"position_m":[0.16107255302955728,0.21914713767930988,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001943427804488992,-0.0007125698828441629],"position_m":[0.346043427804489,0.11448743011715583,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cbd9ebde83f6b248a24576e5942d78e97a941870f2a93716d2de497e15870f3e","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6028/tex_ceiling_textures_9398/tex_floor_textures_4679/tex_table_textures_2348/tex_wall_textures_9463","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1646890622580899831,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1646890622580899831,"visual_seed":1646890622580899831,"scene_id":"lab_003","finished_at":"2026-09-05T01:44:31"}
+{"episode_id":"ep_000021","started_at":"2026-09-05T01:44:37","dimensions":{"distractor":{"count":28,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.3999006247937362,-1.9040797675595906,0.71338606911949],"aabb_xy":[[0.30990062111681804,-1.9655121741366945],[0.48990062847065435,-1.8426473609824858]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.27378321558463614,-2.574121441948517,0.71338606911949],"aabb_xy":[[-0.2791157302392492,-2.579445770193753],[-0.2684507009300232,-2.5687971137032815]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[-0.4890566830390553,1.222303932818118,0.71338606911949],"aabb_xy":[[-0.549056683899868,1.1708775028116314],[-0.42905668217824244,1.2737303628246042]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.49410413794151786,-0.5194966040149742,0.71338606911949],"aabb_xy":[[0.4528553269116031,-0.5744966035271916],[0.5353529489714325,-0.4644966045027567]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[0.2322501178663755,1.4716007607510462,0.71338606911949],"aabb_xy":[[0.22729409768149433,1.4491007605489243],[0.23720613805125673,1.4941007609531676]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[0.33088656751855217,0.6875387078079744,0.71338606911949],"aabb_xy":[[0.2668865702329035,0.6460319888551305],[0.3948865648042008,0.7290454267608184]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[-0.11300047739717778,-0.9379334183917796,0.71338606911949],"aabb_xy":[[-0.13751410149418364,-0.9621980116938159],[-0.08848685330017193,-0.913668825089743]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.3269078079965675,0.10506017089828212,0.71338606911949],"aabb_xy":[[-0.3444545029126864,0.06756016933403086],[-0.30936111308044856,0.14256017246253339]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[0.6519492853779774,0.7427247574052345,0.71338606911949],"aabb_xy":[[0.6294501496517504,0.7202247566269715],[0.6744484211042043,0.7652247581834974]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.5529822965609079,-0.46703575916180773,0.71338606911949],"aabb_xy":[[-0.5904822980765396,-0.4782625321779527],[-0.5154822950452762,-0.4558089861456626]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[0.06167559230497288,-1.615550038793774,0.71338606911949],"aabb_xy":[[0.011692642117493544,-1.6655500384363342],[0.1116585424924522,-1.5655500391512134]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.5775466242822689,1.7685360102262409,0.71338606911949],"aabb_xy":[[0.5556379421429178,1.7466353434061503],[0.5994553064216199,1.7904366770463318]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[-0.07693831979396915,-0.35901802094477864,0.71338606911949],"aabb_xy":[[-0.09249408920423441,-0.3745684541891859],[-0.06138255038370388,-0.3434675877003715]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.6228283092374653,1.38586587068048,0.71338606911949],"aabb_xy":[[-0.6269641655701655,1.3483658712361233],[-0.6186924529047652,1.4233658701248373]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.12769792986624606,-2.3833876100090405,0.71338606911949],"aabb_xy":[[-0.13233304501847942,-2.387254945086189],[-0.12306281471401266,-2.3795202749318913]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.4500752836963222,-1.5785099177427657,0.71338606911949],"aabb_xy":[[0.4300168720830819,-1.5985750046519231],[0.4701336953095625,-1.5584448308336083]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.4799668430507415,-1.5520028645928732,0.71338606911949],"aabb_xy":[[-0.4931977885854228,-1.5652302836148724],[-0.4667358975160602,-1.5387754455708735]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.24020480600426997,1.4149955772081122,0.71338606911949],"aabb_xy":[[-0.24890276829498525,1.4028706029006375],[-0.23150684371355468,1.427120551515587]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.1521099661570029,-1.5118269097763641,0.71338606911949],"aabb_xy":[[-0.2161099632691086,-1.5608592795707747],[-0.08810996904489724,-1.4627945399819535]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[0.5825505671640545,-1.410844544607456,0.71338606911949],"aabb_xy":[[0.575138111622666,-1.416695755029084],[0.589963022705443,-1.404993334185828]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.2968775853599289,-0.6343193774147722,0.71338606911949],"aabb_xy":[[0.2328775850859507,-0.6843854776120601],[0.36087758563390715,-0.5842532772174842]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[0.06645386276608234,1.310727573269498,0.71338606911949],"aabb_xy":[[0.04882102717255476,1.2931046272538749],[0.0840866983596099,1.3283505192851208]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[0.07363527760520705,-2.2012591399635517,0.71338606911949],"aabb_xy":[[0.013635277009190871,-2.256071612508775],[0.13363527820122323,-2.1464466674183282]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.3843838827045279,-0.465923180639328,0.71338606911949],"aabb_xy":[[-0.40688388321656843,-0.4884150390047264],[-0.36188388219248724,-0.4434313222739297]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.47079760818439165,0.8990760700387512,0.71338606911949],"aabb_xy":[[-0.5347976104047987,0.8547029859134629],[-0.4067976059639847,0.9434491541640395]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_25","position":[0.5038859553167967,-1.6846241683456669,0.71338606911949],"aabb_xy":[[0.4398859520270884,-1.7279590873495845],[0.5678859586065046,-1.6412892493417492]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[0.46151257084009667,0.029966582144974385,0.71338606911949],"aabb_xy":[[0.41651998412164626,-0.015033417129474369],[0.5065051575585471,0.07496658141942314]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[0.44745310184405995,-2.465866341650131,0.71338606911949],"aabb_xy":[[0.4331186767178965,-2.47792655720467],[0.4617875269702234,-2.453806126095592]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.680663559771841,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2296.png","name":"2296"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2296.png","name":"2296"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3227.png","name":"3227"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3638.png","name":"3638"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6812.png","name":"6812"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1337.png","name":"1337"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":546.4888449851132,"rotation_z_degrees":333.3063088918382,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016038044136475284,0.0060665279027887695,0.005736556425647077]},{"name":"camera_2","offset_m":[0.018823402490095977,-0.003889834383398308,-0.006716866152613297]},{"name":"camera_3","offset_m":[0.011603953263099005,-0.0006275672827645434,-0.011003018105829999]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00035113691136970057,-0.0017598085692810067,0.0012089699847185596],"end_effector_yaw_offset_degrees":0.4302426238862449},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013771922035691088,-0.0011827985507458748,0.000852718507793949],"end_effector_yaw_offset_degrees":0.5343766876798424},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00016474144772461773,-0.0009665050620059565,-0.0008394519176428852],"end_effector_yaw_offset_degrees":0.25980253301406386},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002134554972440016,-0.00010522579712576212,-0.00052417091827503],"end_effector_yaw_offset_degrees":-0.06497918355408516}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004852168106259105,0.0021309048891530406],"position_m":[0.35895216810625913,-0.08186909511084696,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015427519193605323,0.0017628612856817102],"position_m":[0.27305724808063947,-0.3285371387143183,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013199505716741432,0.004843580714918254],"position_m":[0.16201995057167415,0.21904358071491825,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038227321074771102,-0.0033105370352579126],"position_m":[0.34792273210747715,0.11188946296474209,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9d573b2ca66cc89ba1f30ba9e2bf084bd3447f4d934a37b40e6c8947f485aeb7","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0025.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2296/tex_ceiling_textures_1337/tex_floor_textures_6812/tex_table_textures_3227/tex_wall_textures_3638","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7354300284087700416,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7354300284087700416,"visual_seed":7354300284087700416,"scene_id":"lab_003","finished_at":"2026-09-05T01:48:26"}
+{"episode_id":"ep_000022","started_at":"2026-09-05T01:48:30","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[-0.08038950169580883,1.0587443522172317,0.71338606911949],"aabb_xy":[[-0.08973650927810407,1.0444407299995877],[-0.07104249411351361,1.0730479744348758]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.4142978510586972,1.4211135362287446,0.71338606911949],"aabb_xy":[[-0.42251239617438113,1.4124369459311028],[-0.4060833059430132,1.4297901265263855]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.6443214039523871,0.2643011029633482,0.71338606911949],"aabb_xy":[[-0.6539530401728166,0.25466379018363927],[-0.6346897677319574,0.2739384157430571]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.0831714914769176,-1.473066493330006,0.71338606911949],"aabb_xy":[[0.033171490116030385,-1.5230443979054213],[0.13317149283780483,-1.42308858875459]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.3673298503809731,-1.8281837974260495,0.71338606911949],"aabb_xy":[[-0.3747423059223615,-1.8340350078476773],[-0.35991739483958457,-1.8223325870044214]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[0.21866765041989245,-1.2293511315695889,0.71338606911949],"aabb_xy":[[0.20950777147601587,-1.235882349613126],[0.22782752936376907,-1.2228199135260518]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.17729713642809342,0.40322206328799437,0.71338606911949],"aabb_xy":[[-0.2222971378943223,0.3582222064265137],[-0.13229713496186457,0.4482219201494751]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[-0.05193558684490396,0.6028122814418153,0.71338606911949],"aabb_xy":[[-0.07321359498837621,0.5378122791157423],[-0.030657578701431702,0.6678122837678884]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.3162912128610318,-2.387042932622261,0.71338606911949],"aabb_xy":[[-0.32891800014822814,-2.3965890063238335],[-0.30366442557383544,-2.377496858920688]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.36803481414169537,-1.551320238066133,0.71338606911949],"aabb_xy":[[0.33053481396982337,-1.5840209734490402],[0.40553481431356725,-1.5186195026832259]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.2874666351232939,-0.9969971105245881,0.71338606911949],"aabb_xy":[[-0.3374399291265543,-1.0469971110791352],[-0.2374933411200334,-0.9469971099700405]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.476702500537703,-1.9577691325040822,0.71338606911949],"aabb_xy":[[0.42670250017713696,-2.0077491197136847],[0.5267025008982691,-1.907789145294479]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[-0.16395228852872945,-1.8387324388168822,0.71338606911949],"aabb_xy":[[-0.18586097066808047,-1.8606331056369727],[-0.14204360638937838,-1.8168317719967912]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.6304654465322769,-0.8192557046949953,0.71338606911949],"aabb_xy":[[-0.6804385120647923,-0.8692557045075283],[-0.5804923809997614,-0.7692557048824625]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[0.12166708959690986,1.2463047108099605,0.71338606911949],"aabb_xy":[[0.10387358266199341,1.2285049652141629],[0.1394605965318263,1.2641044564057582]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[0.18357866667283096,-1.8800315571899762,0.71338606911949],"aabb_xy":[[0.14607866656723797,-1.886853719042957],[0.2210786667784239,-1.8732093953369948]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[0.2319329940178576,0.7733892339165771,0.71338606911949],"aabb_xy":[[0.1819379830584056,0.7233892348809855],[0.2819280049773097,0.823389232952169]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.6199274982756663,-2.452176573161036,0.71338606911949],"aabb_xy":[[-0.6839274999536636,-2.5006939646403503],[-0.5559274965976689,-2.403659181681722]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[-0.18680075625464987,-0.6793702260353229,0.71338606911949],"aabb_xy":[[-0.2253464490798509,-0.7179159970915115],[-0.14825506342944883,-0.6408244549791343]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[0.6107657832924858,-1.3420488326260787,0.71338606911949],"aabb_xy":[[0.6028425030537374,-1.3645488328640822],[0.6186890635312341,-1.3195488323880755]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[0.19526332353996367,-2.510264090362991,0.71338606911949],"aabb_xy":[[0.10526332412159278,-2.5436395872071804],[0.28526332295833456,-2.476888593518801]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.6414641676266057,1.448543026733463,0.71338606911949],"aabb_xy":[[0.6245534351902639,1.435070821140848],[0.6583749000629474,1.4620152323260773]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6828449401613852,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8096.png","name":"8096"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8096.png","name":"8096"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1936.png","name":"1936"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1637.png","name":"1637"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9528.png","name":"9528"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":688.90649220864,"rotation_z_degrees":201.69164197000865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0037018975208506118,0.01796877859121129,0.013579216386064772]},{"name":"camera_2","offset_m":[-0.0060704159007757726,-0.013151650037314356,-0.019544578187624707]},{"name":"camera_3","offset_m":[-0.012157086868835277,-0.018249303072916327,0.011314354797107667]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014376843996083363,0.0002285853454295013,0.00021578415539189608],"end_effector_yaw_offset_degrees":0.8394105984099902},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009801369738599575,0.00010464921866489138,0.0009915871247515883],"end_effector_yaw_offset_degrees":0.06176082368858937},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015623214349542252,0.001877138073017238,-0.0006173252602718487],"end_effector_yaw_offset_degrees":-0.37030118146189483},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016477904037498887,0.0016314784247829185,-0.0013664125057409762],"end_effector_yaw_offset_degrees":-0.06150986690882809}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000688414987905079,-0.0017034355038203952],"position_m":[0.35341158501209496,-0.0857034355038204,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002349921481059689,0.004332432277254424],"position_m":[0.2769499214810597,-0.32596756772274554,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009764412431868229,-0.001687761488712406],"position_m":[0.16167644124318684,0.2125122385112876,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034367477785195158,-0.0009556761355934296],"position_m":[0.3475367477785195,0.11424432386440657,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"38bb4ade101f6b5136155108e8c629e6f7ac0c8ff5f13c67b70ceb1156ef07f6","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0026.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8096/tex_ceiling_textures_9528/tex_floor_textures_1637/tex_table_textures_1936/tex_wall_textures_6430","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5057055475892797160,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5057055475892797160,"visual_seed":5057055475892797160,"scene_id":"lab_003","finished_at":"2026-09-05T01:52:01"}
+{"episode_id":"ep_000023","started_at":"2026-09-05T01:52:06","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.5687039664404461,-2.4042501730506456,0.71338606911949],"aabb_xy":[[0.5312039656484506,-2.410618014008836],[0.6062039672324415,-2.3978823320924554]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[0.6689346903360707,-0.6849472178844092,0.71338606911949],"aabb_xy":[[0.6346184131614526,-0.7349472178575869],[0.7032509675106885,-0.6349472179112314]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.1787590846320155,1.2394203453624266,0.71338606911949],"aabb_xy":[[0.1726644567438972,1.2308509508107581],[0.18485371252013383,1.2479897399140956]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[0.3963221102101031,-1.520186227469741,0.71338606911949],"aabb_xy":[[0.34632210984953693,-1.5701662146793438],[0.44632211057066906,-1.470206240260138]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[-0.04597169228231002,-0.07068742288985064,0.71338606911949],"aabb_xy":[[-0.05081528704354,-0.07553907536883475],[-0.04112809752108005,-0.06583577041086652]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.5636504161473895,-2.257856335215775,0.71338606911949],"aabb_xy":[[-0.5812287183363363,-2.27543082478988],[-0.5460721139584426,-2.24028184564167]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.17239055091582756,-0.0799636165678761,0.71338606911949],"aabb_xy":[[-0.20942466034388726,-0.11434082390158552],[-0.13535644148776785,-0.04558640923416663]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[0.5495144754398247,0.975147115736668,0.71338606911949],"aabb_xy":[[0.4855144790125029,0.9279774919145717],[0.6135144718671467,1.0223167395587645]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[0.6450990911201722,0.6954270453361029,0.71338606911949],"aabb_xy":[[0.6075990925445514,0.6826907496725448],[0.682599089695793,0.7081633409996607]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[0.15358507120362552,-2.26701306300895,0.71338606911949],"aabb_xy":[[0.10358506991978554,-2.3169919173995717],[0.20358507248746546,-2.2170342086183275]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[-0.5431072011815428,-0.2018401662811442,0.71338606911949],"aabb_xy":[[-0.6331071979171529,-0.25502362959843866],[-0.45310720444593244,-0.14865670296384964]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.5958026186292873,0.13070066569972605,0.71338606911949],"aabb_xy":[[-0.6457976295887394,0.08070066666413435],[-0.5458076076698354,0.1807006647353178]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[0.6117215870927111,-0.44511309113542064,0.71338606911949],"aabb_xy":[[0.5220345107845956,-0.5351130913898712],[0.7014086634008265,-0.35511309088097015]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.10800658438008082,-1.265789110663507,0.71338606911949],"aabb_xy":[[-0.19800658088095258,-1.311700753081965],[-0.018006587879209068,-1.2198774682450486]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[-0.6763144548301327,-1.2236929576579976,0.71338606911949],"aabb_xy":[[-0.6868819344882318,-1.2342379877710061],[-0.6657469751720337,-1.213147927544989]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[0.37883652954038705,-1.2645418098877266,0.71338606911949],"aabb_xy":[[0.3715752819699796,-1.277328820151236],[0.3860977771107944,-1.251754799624217]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.5558945856971744,-0.86155052123044,0.71338606911949],"aabb_xy":[[0.5427433397258851,-0.8865505209871266],[0.5690458316684638,-0.8365505214737535]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[-0.31482610603336647,-1.977861935640949,0.71338606911949],"aabb_xy":[[-0.3601047209145157,-2.0418619349891323],[-0.26954749115221716,-1.9138619362927651]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.31444242443456893,-0.5095021709205816,0.71338606911949],"aabb_xy":[[0.26446935890205353,-0.5595021707331146],[0.36441548996708445,-0.4595021711080488]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.0628891076679422,-0.744206548029481,0.71338606911949],"aabb_xy":[[0.05164405209732437,-0.7554483457535763],[0.07413416323856004,-0.7329647503053858]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.37146812045939887,-2.288398351498397,0.71338606911949],"aabb_xy":[[-0.45646811915147356,-2.3203842148932754],[-0.2864681217673243,-2.2564124881035177]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[0.1769657915933679,-1.6817656989142273,0.71338606911949],"aabb_xy":[[0.11296579519779482,-1.745728987332961],[0.24096578798894097,-1.6178024104954938]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.5066776043777133,-1.690475366900277,0.71338606911949],"aabb_xy":[[0.4884717807164656,-1.7015007674822686],[0.5248834280389609,-1.6794499663182854]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[0.26547466948774734,-0.755979160598524,0.71338606911949],"aabb_xy":[[0.2561810512505967,-0.7934791590866578],[0.27476828772489786,-0.71847916211039]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[-0.21747163194053376,-0.8353077734281065,0.71338606911949],"aabb_xy":[[-0.27747163280134646,-0.8867342034345927],[-0.1574716310797209,-0.78388134342162]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[0.02565949842159765,-1.6908711324510959,0.71338606911949],"aabb_xy":[[-0.020425592833133825,-1.7548711297036512],[0.07174458967632912,-1.626871135198541]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[-0.4209316651728303,1.1001558204881778,0.71338606911949],"aabb_xy":[[-0.43843166430719743,1.0902761934505898],[-0.4034316660384631,1.1100354475257654]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_27","position":[0.1215599003300063,-1.5040212580052483,0.71338606911949],"aabb_xy":[[0.08655989897852456,-1.524380993962069],[0.15655990168148803,-1.4836615220484273]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.681652383578355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3523.png","name":"3523"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3523.png","name":"3523"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/273.png","name":"273"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7475.png","name":"7475"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6102.png","name":"6102"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8455.png","name":"8455"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":819.8516063342212,"rotation_z_degrees":12.097832920908079,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01183023053801546,-0.005430493232928506,-0.016587234193287594]},{"name":"camera_2","offset_m":[0.0004585750618336937,-0.018603652632117856,-0.01005650732488875]},{"name":"camera_3","offset_m":[0.005425857850421097,0.01817517764531496,0.008354460713802553]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003571791858595721,0.0002863320284754406,0.0007492777247242034],"end_effector_yaw_offset_degrees":0.05027850124357425},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018291946149277,-0.0014368918573425976,-0.0005545012006001877],"end_effector_yaw_offset_degrees":-0.054199532464757505},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002625146945666986,0.0017516253493373383,-0.00015011032814656782],"end_effector_yaw_offset_degrees":0.9310483968478365},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010439302470236335,0.0018272038844141616,-0.0004753034718946046],"end_effector_yaw_offset_degrees":0.65484079994842}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002348529295364289,0.004274738412524155],"position_m":[0.3564485292953643,-0.07972526158747585,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003888042589437757,0.0018085624239310193],"position_m":[0.27421119574105624,-0.32849143757606897,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003761586079774208,-0.003849163751240955],"position_m":[0.1644615860797742,0.21035083624875905,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004006012329497859,-0.002254665071445081],"position_m":[0.34009398767050214,0.11294533492855492,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2b5e81347647451e49fa843da6e4b782e9b911eda14b64196bda7e88cf8c2e6e","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0027.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3523/tex_ceiling_textures_8455/tex_floor_textures_6102/tex_table_textures_273/tex_wall_textures_7475","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3706724362747794675,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3706724362747794675,"visual_seed":3706724362747794675,"scene_id":"lab_003","finished_at":"2026-09-05T01:55:43"}
+{"episode_id":"ep_000024","started_at":"2026-09-05T01:55:47","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.13427335132921303,1.1094913364194205,0.71338606911949],"aabb_xy":[[0.07027334927948106,1.0693968533301126],[0.19827335337894506,1.1495858195087285]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[-0.4913323609996863,-0.39704902575476053,0.71338606911949],"aabb_xy":[[-0.50174391968017,-0.40239475909065897],[-0.4809208023192025,-0.391703292418862]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[-0.22918396831956583,-1.7231050608905916,0.71338606911949],"aabb_xy":[[-0.2636463157177076,-1.7575989432884138],[-0.19472162092142398,-1.6886111784927684]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[0.6859036668501977,-0.8204960062645288,0.71338606911949],"aabb_xy":[[0.6753361871920986,-0.8310410363775373],[0.6964711465082967,-0.8099509761515202]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[0.3865257849621544,-1.7494823786025182,0.71338606911949],"aabb_xy":[[0.29652578262813534,-1.826964733187631],[0.47652578729617345,-1.6720000240174058]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.256300676090336,1.5118634770036166,0.71338606911949],"aabb_xy":[[-0.297605219154072,1.4478634774354997],[-0.21499613302660003,1.5758634765717339]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[-0.6179105037296089,-1.0261703665351258,0.71338606911949],"aabb_xy":[[-0.6249508136631459,-1.1061703659347975],[-0.6108701937960719,-0.9461703671354547]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.20265544619403092,-0.8064891586842509,0.71338606911949],"aabb_xy":[[-0.25265544714456367,-0.838038305687772],[-0.15265544524349806,-0.7749400116807292]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.5395175660346935,-2.183423654468465,0.71338606911949],"aabb_xy":[[-0.6035175624302666,-2.2473869428871986],[-0.4755175696391204,-2.1194603660497315]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[-0.006736636074881508,1.5618851679878234,0.71338606911949],"aabb_xy":[[-0.05655341553971627,1.51188516950352],[0.04308014338995325,1.6118851664721268]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.10175149394605298,-2.536714204983131,0.71338606911949],"aabb_xy":[[0.09779101017631862,-2.5443820695686514],[0.10571197771578737,-2.5290463403976102]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[-0.1827547233673662,-0.2206760545350388,0.71338606911949],"aabb_xy":[[-0.2052547238794068,-0.24316791290043713],[-0.1602547228553256,-0.19818419616964042]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[0.6439850562223277,-1.2326674710989636,0.71338606911949],"aabb_xy":[[0.5899694599404276,-1.2966674739912205],[0.6980006525042276,-1.1686674682067062]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[-0.15367263571369272,1.615363977867792,0.71338606911949],"aabb_xy":[[-0.16180032390700594,1.6064503694570842],[-0.1455449475203795,1.6242775862784997]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.4822613827503508,0.5766144912602633,0.71338606911949],"aabb_xy":[[0.4597613825068354,0.5644098566004914],[0.5047613829938662,0.5888191259200353]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.1510643770433332,0.47754337071341224,0.71338606911949],"aabb_xy":[[-0.18606437701982903,0.4680787546657957],[-0.11606437706683737,0.4870079867610289]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.07123973725686328,-0.2049117697810261,0.71338606911949],"aabb_xy":[[-0.10583082011090848,-0.2699117700660571],[-0.03664865440281805,-0.13991176949599501]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.09400896333508257,0.7398567339009721,0.71338606911949],"aabb_xy":[[-0.10865236888911556,0.7251980142441878],[-0.07936555778104959,0.7545154535577563]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[0.5321136965620119,-0.8195713557981614,0.71338606911949],"aabb_xy":[[0.4871211098435615,-0.8645713550726102],[0.5771062832804623,-0.7745713565237127]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.18257117058526107,-2.3292320112665346,0.71338606911949],"aabb_xy":[[-0.18790368523987408,-2.3345563395117703],[-0.1772386559306481,-2.323907683021299]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.1283341124186943,-1.4016016631977148,0.71338606911949],"aabb_xy":[[0.11917423347481768,-1.408132881241252],[0.13749399136257087,-1.3950704451541778]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[-0.5528330509161239,1.5629467860861088,0.71338606911949],"aabb_xy":[[-0.5878330522676055,1.5425870501292878],[-0.517833049564642,1.5833065220429294]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_22","position":[-0.27377844661648587,1.3392453770215798,0.71338606911949],"aabb_xy":[[-0.3237784469770519,1.2892653898119766],[-0.22377844625591978,1.3892253642311825]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.2871154045063835,0.9172143427567017,0.71338606911949],"aabb_xy":[[-0.3771154039247544,0.8838388459125118],[-0.19711540508801262,0.9505898396008913]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[-0.2778136169947992,-1.0386058485158056,0.71338606911949],"aabb_xy":[[-0.36281361568687376,-1.0705917119106845],[-0.19281361830272448,-1.0066199851209268]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[0.43582772155798755,1.3069079776444181,0.71338606911949],"aabb_xy":[[0.4245826659873697,1.2956661799203228],[0.4470727771286054,1.3181497753685134]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_26","position":[0.7054939266024076,1.6167613108998284,0.71338606911949],"aabb_xy":[[0.68786109100888,1.5991383648842055],[0.7231267621959352,1.6343842569154514]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[-0.6050380886206412,-2.368846737982802,0.71338606911949],"aabb_xy":[[-0.6127412792947181,-2.37655610868154],[-0.5973348979465641,-2.361137367284064]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[-0.49625198465177756,1.266608782637907,0.71338606911949],"aabb_xy":[[-0.503664440193166,1.260757572216279],[-0.488839529110389,1.2724599930595348]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_29","position":[0.41479849329572493,-2.3894524224665306,0.71338606911949],"aabb_xy":[[0.3772984925037295,-2.3958202634247208],[0.4522984940877204,-2.3830845815083403]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_30","position":[-0.6136095428424956,-1.9481210056733964,0.71338606911949],"aabb_xy":[[-0.6267607888137849,-1.973121005430083],[-0.6004582968712062,-1.9231210059167099]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6865191388730428,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6755.png","name":"6755"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6755.png","name":"6755"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6080.png","name":"6080"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9482.png","name":"9482"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4939.png","name":"4939"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7043.png","name":"7043"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":503.8249199782234,"rotation_z_degrees":191.00362840476197,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019835169059317558,-0.008211893119279674,-0.008227702746232817]},{"name":"camera_2","offset_m":[-0.013506854309348712,-0.0029808274827530304,-0.01462642572468964]},{"name":"camera_3","offset_m":[-0.005920283743501842,0.0025307432847192952,0.00718528332637431]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013554125678296933,-0.0015651449538269463,-0.0005785275064824908],"end_effector_yaw_offset_degrees":0.9075852219360172},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006251856238988869,0.001286306419531218,0.00022304254005259348],"end_effector_yaw_offset_degrees":-0.18462072124877427},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005572569191579107,-0.0008096475675026112,-0.0013684706719311794],"end_effector_yaw_offset_degrees":-0.1058658736580318},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007676683435880358,0.0006682688547319606,0.0016559553797920504],"end_effector_yaw_offset_degrees":-0.4997747701468862}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004966520893071878,0.0016442265083147015],"position_m":[0.3590665208930719,-0.0823557734916853,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004188293938376649,3.249586637115755e-05],"position_m":[0.2787882939383767,-0.3302675041336288,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0039554132883225625,0.0016473086400941748],"position_m":[0.16465541328832256,0.2158473086400942,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004816029070759558,-0.0021038872030289114],"position_m":[0.3489160290707596,0.11309611279697108,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4bb122e1da502b53481283ff0c09107d406c5562430f97c5dc46fe9848c1aa78","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6755/tex_ceiling_textures_7043/tex_floor_textures_4939/tex_table_textures_6080/tex_wall_textures_9482","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8405994140424131772,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8405994140424131772,"visual_seed":8405994140424131772,"scene_id":"lab_003","finished_at":"2026-09-05T01:59:40"}
+{"episode_id":"ep_000025","started_at":"2026-09-05T01:59:44","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[-0.2790428104881868,-2.0410264668122258,0.71338606911949],"aabb_xy":[[-0.3290428100645215,-2.0910070457643317],[-0.22904281091185208,-1.9910458878601198]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.2962134816937394,0.2410388885498458,0.71338606911949],"aabb_xy":[[-0.3174914898372116,0.1760388862237727],[-0.2749354735502671,0.30603889087591885]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[-0.568196489443324,-0.3436015205912737,0.71338606911949],"aabb_xy":[[-0.5914783316414554,-0.42860152188850176],[-0.5449146472451927,-0.2586015192940456]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[-0.5279487670291545,0.9430072352483578,0.71338606911949],"aabb_xy":[[-0.5919487663233227,0.8790210948795036],[-0.4639487677349863,1.006993375617212]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[-0.6266122126307136,-2.4208989901663176,0.71338606911949],"aabb_xy":[[-0.6744183802444823,-2.4858989928733766],[-0.578806045016945,-2.3558989874592586]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.06752840808846339,-1.2102434066033,0.71338606911949],"aabb_xy":[[0.05628335251784554,-1.2214852043273952],[0.07877346365908121,-1.1990016088792046]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.17184728581796704,1.3980725325863226,0.71338606911949],"aabb_xy":[[0.1431979534575508,1.3694269733092466],[0.20049661817838324,1.4267180918633982]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.29000436871947,0.409440689949236,0.71338606911949],"aabb_xy":[[0.2825919131780815,0.40358947952760804],[0.29741682426085847,0.41529190037086394]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.4042065871902915,1.4388660606580506,0.71338606911949],"aabb_xy":[[-0.4417065879822869,1.4324982196998604],[-0.366706586398296,1.4452339016162408]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[0.4251855749681508,-0.746276766627153,0.71338606911949],"aabb_xy":[[0.4127182168584152,-0.7587420912604766],[0.4376529330778865,-0.7338114419938296]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[0.12065922855848732,-2.28687589731205,0.71338606911949],"aabb_xy":[[0.05565922755798679,-2.337662262466725],[0.18565922955898784,-2.2360895321573753]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.2043859227034759,0.7862670402784464,0.71338606911949],"aabb_xy":[[0.11938592428605263,0.7013927448161614],[0.2893859211208991,0.8711413357407314]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[-0.03473570092598077,-1.734244936675018,0.71338606911949],"aabb_xy":[[-0.08421612213993956,-1.7982449345878697],[0.01474472028797802,-1.670244938762166]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.47679248393409557,-2.238922900660707,0.71338606911949],"aabb_xy":[[0.4609079906687703,-2.253275840959531],[0.4926769771994206,-2.224569960361883]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.1438694841107876,-1.3098338675551755,0.71338606911949],"aabb_xy":[[0.10957257309304694,-1.3441307537651164],[0.1781663951285282,-1.2755369813452337]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[-0.5851708773774391,1.7248172891149802,0.71338606911949],"aabb_xy":[[-0.6501708800152326,1.6733376904155333],[-0.5201708747396456,1.7762968878144272]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[0.42665540963294024,-0.5528975762086583,0.71338606911949],"aabb_xy":[[0.34665541104562075,-0.6322131781468192],[0.5066554082202596,-0.4735819742704975]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[0.5198301158429723,0.7347353285981395,0.71338606911949],"aabb_xy":[[0.42983011216605405,0.6733029220210349],[0.6098301195198904,0.7961677351752435]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_18","position":[0.657354287363658,-1.1467553975187292,0.71338606911949],"aabb_xy":[[0.6370699846402592,-1.1670380226614376],[0.6776385900870567,-1.12647277237602]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.6096368656487168,-0.25740865621479836,0.71338606911949],"aabb_xy":[[0.5456368635989849,-0.2975031393041063],[0.6736368676984489,-0.2173141731254904]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[0.2891936710647399,-0.6296868515190928,0.71338606911949],"aabb_xy":[[0.2809791259490559,-0.6383634418167339],[0.29740821618042385,-0.6210102612214512]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[-0.20992926844466953,-2.5313939464611925,0.71338606911949],"aabb_xy":[[-0.2230805144159589,-2.556393946217879],[-0.1967780224733802,-2.506393946704506]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[0.00023945687991799858,-2.0600515127228416,0.71338606911949],"aabb_xy":[[-0.008562598429054711,-2.0678628388777702],[0.009041512188890708,-2.052240186567912]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.031339495697984776,-1.091827893317863,0.71338606911949],"aabb_xy":[[-0.0036605041980340976,-1.1002021288298025],[0.06633949559400364,-1.0834536578059228]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[0.3919429864525814,-1.7561997397997664,0.71338606911949],"aabb_xy":[[0.38636131481845265,-1.768699739617542],[0.39752465808671017,-1.743699739981991]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6808591290351609,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7961.png","name":"7961"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7961.png","name":"7961"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9235.png","name":"9235"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/573.png","name":"573"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7412.png","name":"7412"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7408.png","name":"7408"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":691.0975114265585,"rotation_z_degrees":283.0612264058994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019560676592170517,-0.010966901064031092,-0.0029967854548242807]},{"name":"camera_2","offset_m":[0.004483048568144007,0.007782719292419776,-0.016582621575169668]},{"name":"camera_3","offset_m":[-0.008541247203257947,0.01287911589150505,0.015691716804866102]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007603196765950959,0.0008902095429571214,5.5875705092087516e-05],"end_effector_yaw_offset_degrees":0.9884820344308747},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003126820207163168,0.0019142378967109026,-0.0016876432282214786],"end_effector_yaw_offset_degrees":-0.4513122726606891},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011258708198530311,-0.0004118830362705567,0.0006727173410998838],"end_effector_yaw_offset_degrees":0.10824998376432426},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007501705950356628,0.0004918776856830962,0.0011260474687391315],"end_effector_yaw_offset_degrees":0.9660947460375839}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00023351081972253912,0.0005118292934192239],"position_m":[0.35386648918027747,-0.08348817070658078,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-6.230705997719004e-05,0.004055127298777813],"position_m":[0.27453769294002284,-0.32624487270122215,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003911779648474411,-0.003961779786682281],"position_m":[0.16461177964847443,0.21023822021331773,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013535131484680462,0.0023310998006198],"position_m":[0.342746486851532,0.11753109980061979,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6e2e419e24a41fa4034e7780ac3a7b8dadb62c7ea5be520c0ddec27220428eb1","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7961/tex_ceiling_textures_7408/tex_floor_textures_7412/tex_table_textures_9235/tex_wall_textures_573","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3726927729541216157,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3726927729541216157,"visual_seed":3726927729541216157,"scene_id":"lab_003","finished_at":"2026-09-05T02:03:31"}
+{"episode_id":"ep_000026","started_at":"2026-09-05T02:03:35","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_0","position":[-0.1371918803012424,-1.8441912922272898,0.71338606911949],"aabb_xy":[[-0.1476034389817261,-1.849537025563188],[-0.12678032162075867,-1.8388455588913912]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[0.05881344319720172,1.6752792108215595,0.71338606911949],"aabb_xy":[[0.024222360343156505,1.6102792105365284],[0.09340452605124694,1.7402792111065906]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.13992128718719,-1.0919955327537862,0.71338606911949],"aabb_xy":[[-0.22960836349530542,-1.1819955330082368],[-0.05023421087907451,-1.0019955324993357]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.49564598534743953,1.363026935906296,0.71338606911949],"aabb_xy":[[0.4731812153760344,1.3405269350274356],[0.5181107553188447,1.3855269367851566]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[0.4043101612594906,0.9724676907918286,0.71338606911949],"aabb_xy":[[0.3864410535050351,0.9586347828146174],[0.4221792690139461,0.9863005987690393]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.21181889812225457,1.7798892545641345,0.71338606911949],"aabb_xy":[[-0.2171514127768676,1.7745649263188992],[-0.20648638346764162,1.7852135828093703]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.4454617456754161,0.4845266087572644,0.71338606911949],"aabb_xy":[[-0.4586129916467055,0.4595266090005779],[-0.43231049970412677,0.5095266085139509]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.49084097908959956,0.7907481973107959,0.71338606911949],"aabb_xy":[[0.4733409788445502,0.7732484094712291],[0.508340979334649,0.8082479851503628]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.11627232729905423,-0.6334272703745907,0.71338606911949],"aabb_xy":[[0.10747027199008152,-0.6412385965295196],[0.12507438260802695,-0.6256159442196615]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.6298528177119447,-1.590531147744422,0.71338606911949],"aabb_xy":[[-0.6938528184154141,-1.6365495302173432],[-0.5658528170084755,-1.5445127652715012]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.013749176859641832,-1.4529610583365948,0.71338606911949],"aabb_xy":[[-0.028083601985805284,-1.4650212738911337],[0.0005852482665216208,-1.440900842782056]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.5426728044650562,-0.544296567118935,0.71338606911949],"aabb_xy":[[0.5377167842801751,-0.5667965673210568],[0.5476288246499375,-0.5217965669168135]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.6044419025230123,-1.4195000256304922,0.71338606911949],"aabb_xy":[[0.5883799750644946,-1.5045000274430838],[0.6205038299815299,-1.3345000238179001]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.12892897935585312,0.7667995998968844,0.71338606911949],"aabb_xy":[[0.11375681007421978,0.7516307429686812],[0.14410114863748646,0.7819684568250879]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[0.5598271536752379,-0.8183370317633532,0.71338606911949],"aabb_xy":[[0.5407148463172591,-0.8374718106405951],[0.5789394610332168,-0.799202252886111]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.23730467594342375,-2.111696834923572,0.71338606911949],"aabb_xy":[[0.2196290453548254,-2.129377051202974],[0.254980306532022,-2.0940166186441687]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[-0.3840936158739545,-0.5549540651297313,0.71338606911949],"aabb_xy":[[-0.4226393086991555,-0.59349983618592],[-0.3455479230487534,-0.5164082940735427]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[-0.48081639293957085,-0.37966836762157596,0.71338606911949],"aabb_xy":[[-0.5151133039573115,-0.41396525383151733],[-0.44651948192183016,-0.3453714814116346]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.30493508315312456,-1.5732593019703605,0.71338606911949],"aabb_xy":[[0.2549562746428087,-1.6232593019760793],[0.35491389166344045,-1.5232593019646417]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.01652646951627923,-2.209427524388423,0.71338606911949],"aabb_xy":[[-0.02568634846015583,-2.21595874243196],[-0.007366590572402635,-2.2028963063448863]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[0.6763796632663377,0.8074158751947782,0.71338606911949],"aabb_xy":[[0.6719490339114975,0.8019675034600957],[0.6808102926211779,0.8128642469294609]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.20416107091108193,1.1533772975190875,0.71338606911949],"aabb_xy":[[-0.2541610718616147,1.121828150515566],[-0.15416106996054907,1.1849264445226089]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[-0.22149342052548882,0.21354021704517168,0.71338606911949],"aabb_xy":[[-0.23091089509535156,0.20412403990745262],[-0.21207594595562607,0.22295639418289068]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[0.49790083273747765,-0.24210553629722353,0.71338606911949],"aabb_xy":[[0.40790082906055947,-0.30353794287432784],[0.5879008364143958,-0.18067312972011915]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_24","position":[0.30151457694250416,0.6152014365417222,0.71338606911949],"aabb_xy":[[0.23651457906085643,0.5640777728351815],[0.366514574824152,0.6663251002482632]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6842906500318167,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7136.png","name":"7136"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7136.png","name":"7136"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3467.png","name":"3467"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1874.png","name":"1874"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3089.png","name":"3089"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/151.png","name":"151"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":679.8668685600194,"rotation_z_degrees":247.4405990656588,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015558963019087154,-0.007745802701949099,-0.007859074686723843]},{"name":"camera_2","offset_m":[-0.01001074349729261,0.004296060448603537,0.01906564534242582]},{"name":"camera_3","offset_m":[-0.007736075247138095,-0.01120551195699397,-0.013949840073629653]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00034614445323159814,0.0006222120269476173,-1.0698082273958437e-07],"end_effector_yaw_offset_degrees":0.2636047425874506},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-6.184906322652048e-05,-0.0013248661371212847,0.001223607037899266],"end_effector_yaw_offset_degrees":-0.497382308683739},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017929515626335726,0.0016430301142849745,-0.0009463269855025777],"end_effector_yaw_offset_degrees":0.8185486399044726},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018467285511345518,3.275630356384387e-05,-0.0013126282599951336],"end_effector_yaw_offset_degrees":-0.38317236376264896}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020550569446153313,-0.0033569513803850025],"position_m":[0.3520449430553847,-0.087356951380385,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003257804650573224,0.0029759934726951735],"position_m":[0.27785780465057325,-0.3273240065273048,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010278858867972989,0.000699431509350942],"position_m":[0.1596721141132027,0.21489943150935095,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006525133616928766,0.001079807497818234],"position_m":[0.3447525133616929,0.11627980749781823,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a2d15fa22d71b7cc633591a18a42ed2772d4f6b10fe74ecb43701548cdd434d3","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7136/tex_ceiling_textures_151/tex_floor_textures_3089/tex_table_textures_3467/tex_wall_textures_1874","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3557081364641146979,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3557081364641146979,"visual_seed":3557081364641146979,"scene_id":"lab_003","finished_at":"2026-09-05T02:07:22"}
+{"episode_id":"ep_000027","started_at":"2026-09-05T02:07:25","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[-0.6233400758616441,1.3772839411759223,0.71338606911949],"aabb_xy":[[-0.683340076369497,1.320437207490001],[-0.5633400753537912,1.4341306748618436]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.23530334516954954,0.9545429470227993,0.71338606911949],"aabb_xy":[[0.15530334820651034,0.8774673053790257],[0.3153033421325887,1.0316185886665727]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.12028205400521741,-1.359094744391971,0.71338606911949],"aabb_xy":[[0.05028205187378787,-1.3818567100176664],[0.19028205613664695,-1.336332778766275]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.1376973536908942,0.8112655782239773,0.71338606911949],"aabb_xy":[[-0.19928811291488702,0.7472655801149304],[-0.07610659446690138,0.8752655763330242]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[0.5072905163466146,0.47182007977653795,0.71338606911949],"aabb_xy":[[0.48482574637520937,0.44932007889767744],[0.5297552863180196,0.49432008065539845]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[-0.4399539831552694,-0.810188091870832,0.71338606911949],"aabb_xy":[[-0.4649539824272316,-0.8265334554669941],[-0.41495398388330706,-0.7938427282746694]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.5570689439273058,0.7714738309880378,0.71338606911949],"aabb_xy":[[0.5526383145724656,0.7660254592533552],[0.561499573282146,0.7769222027227204]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[-0.18577595083045462,0.3674509683680731,0.71338606911949],"aabb_xy":[[-0.22796036499128536,0.3034509680908619],[-0.14359153666962388,0.4314509686452843]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_8","position":[0.6273924225062535,-2.406855048645765,0.71338606911949],"aabb_xy":[[0.6193984339285499,-2.414855128740855],[0.6353864110839567,-2.398854968550674]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.6363396228659668,-0.912062884799621,0.71338606911949],"aabb_xy":[[0.6028994476699471,-0.945506510630551],[0.6697797980619863,-0.8786192589686909]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[0.3045986031605752,-2.361329636872548,0.71338606911949],"aabb_xy":[[0.2981847895173902,-2.367739457120216],[0.3110124168037601,-2.354919816624879]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[-0.18044226250930584,0.6186443243329478,0.71338606911949],"aabb_xy":[[-0.19331416601024598,0.5386443239191117],[-0.1675703590083657,0.698644324746784]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[0.6143399954817483,-1.927313069634954,0.71338606911949],"aabb_xy":[[0.5503399947782791,-1.973331452107875],[0.6783399961852178,-1.881294687162033]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.42739694575682496,1.6560076812074356,0.71338606911949],"aabb_xy":[[-0.4773917786847665,1.6060076823121923],[-0.3774021128288833,1.7060076801026793]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[0.1420084942098787,1.524059865103791,0.71338606911949],"aabb_xy":[[0.13569639467354028,1.5182929258505722],[0.14832059374621714,1.52982680435701]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.6346775387705959,1.0731830936553473,0.71338606911949],"aabb_xy":[[0.6245245232164462,1.0371135520826067],[0.644830554324745,1.1092526352280874]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.007198767486857438,1.6710196780122266,0.71338606911949],"aabb_xy":[[-0.02969876749700573,1.6569234583726233],[0.015301232523290853,1.68511589765183]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_17","position":[-0.12837480881878527,-1.9643320234577721,0.71338606911949],"aabb_xy":[[-0.15026455640772607,-2.0543320207470215],[-0.10648506122984448,-1.874332026168523]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.3997170948663282,-0.6187851648120957,0.71338606911949],"aabb_xy":[[0.35258771586449245,-0.6827851658564975],[0.4468464738681638,-0.5547851637676936]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[-0.16172681685858614,-2.2974781817429926,0.71338606911949],"aabb_xy":[[-0.1710204350957367,-2.334978180231126],[-0.15243319862143553,-2.259978183254858]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.0962767786589096,-2.3811988323600035,0.71338606911949],"aabb_xy":[[-0.10427026845419166,-2.3891969643004796],[-0.08828328886362759,-2.3732007004195284]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[0.17663639563309708,1.0894850667581775,0.71338606911949],"aabb_xy":[[0.17293313430395818,1.0857830484494595],[0.18033965696223592,1.093187085066895]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[0.0015472301293200097,-1.0825482254401813,0.71338606911949],"aabb_xy":[[-0.07845276785146503,-1.0901497664020332],[0.08154722811010505,-1.0749466844783293]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[0.08052099716448324,-1.1851407317646454,0.71338606911949],"aabb_xy":[[-0.009478999571126967,-1.2383241950819397],[0.17052099390009345,-1.1319572684473507]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[0.3531014852466061,-0.9810523359016661,0.71338606911949],"aabb_xy":[[0.31880457422886543,-1.0153492221116074],[0.3873983962643467,-0.9467554496917248]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_25","position":[0.7151206519975355,-0.5786403565476457,0.71338606911949],"aabb_xy":[[0.7064066829476008,-0.6011403572068337],[0.7238346210474698,-0.5561403558884572]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6818601669346521,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/579.png","name":"579"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/579.png","name":"579"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4724.png","name":"4724"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1139.png","name":"1139"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7783.png","name":"7783"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2585.png","name":"2585"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":542.0104690015291,"rotation_z_degrees":104.7763727050519,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0017848020993062562,0.016243043226239876,0.01122076624921554]},{"name":"camera_2","offset_m":[0.006226784424234896,0.01776207497436848,-0.017143845472742114]},{"name":"camera_3","offset_m":[0.016781239566016386,0.01707557012889423,0.009258299356696535]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015807195972668256,-0.0005060163360934022,-0.0007104007597600953],"end_effector_yaw_offset_degrees":0.44547408417129697},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00048423580464760046,0.0007748155676543132,0.00030922109371104905],"end_effector_yaw_offset_degrees":-0.7499638044160628},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00034113087036875865,0.0007915233302576304,0.0017576673875033667],"end_effector_yaw_offset_degrees":-0.457723172717577},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007480398432684967,0.0010461056161924147,-0.0011809592167005408],"end_effector_yaw_offset_degrees":0.4400228106312163}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007904274243525312,-0.0031735349377504454],"position_m":[0.35489042742435256,-0.08717353493775046,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003055646880666586,-0.0034190830567240836],"position_m":[0.27154435311933345,-0.33371908305672404,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017028055373824592,0.0014226946628529847],"position_m":[0.15899719446261756,0.215622694662853,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021295121368085854,-0.004708670059259509],"position_m":[0.3462295121368086,0.11049132994074048,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"82992cc60104cbbc0fc66d99a7b7790b41285e29b7f5012f04026ee09df30741","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_579/tex_ceiling_textures_2585/tex_floor_textures_7783/tex_table_textures_4724/tex_wall_textures_1139","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2201754821582204028,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2201754821582204028,"visual_seed":2201754821582204028,"scene_id":"lab_003","finished_at":"2026-09-05T02:10:50"}
+{"episode_id":"ep_000028","started_at":"2026-09-05T02:10:54","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[0.37771212011771627,1.246414378726925,0.71338606911949],"aabb_xy":[[0.36426559348367293,1.2329445270738337],[0.3911586467517596,1.2598842303800164]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[0.6207433424376918,0.12737932254602047,0.71338606911949],"aabb_xy":[[0.5307433457020816,0.07419585922872593],[0.710743339173302,0.18056278586331495]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.21127212994780392,-0.13855231531595624,0.71338606911949],"aabb_xy":[[-0.2752721270599096,-0.18758468511036686],[-0.14727213283569823,-0.08951994552154563]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_3","position":[-0.5004453668632405,1.0372694556000028,0.71338606911949],"aabb_xy":[[-0.5147797919894039,1.025209240045464],[-0.48611094173707703,1.0493296711545417]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.08718908351788246,0.7350544510950319,0.71338606911949],"aabb_xy":[[-0.10274485292814775,0.7195040178506246],[-0.07163331410761721,0.7506048843394391]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[-0.36250017583116884,1.671114820823831,0.71338606911949],"aabb_xy":[[-0.39594035102718833,1.6376711949929008],[-0.3290600006351491,1.704558446654761]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.16775230412417597,1.6394727602418775,0.71338606911949],"aabb_xy":[[-0.22775230463202886,1.5826260265559562],[-0.10775230361632303,1.6963194939277988]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.57310207081967,-1.9855602317941772,0.71338606911949],"aabb_xy":[[-0.5824490784019652,-1.999863854011821],[-0.5637550632373748,-1.971256609576533]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.46327750044886096,-2.0492089489655596,0.71338606911949],"aabb_xy":[[-0.4857775002627634,-2.05368356533604],[-0.44077750063495863,-2.044734332595079]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[0.6579005885108575,-0.6467931918994094,0.71338606911949],"aabb_xy":[[0.6079231716456038,-0.696793193388658],[0.707878005376111,-0.5967931904101609]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[-0.46490040964572515,-0.36190434081486167,0.71338606911949],"aabb_xy":[[-0.5549004061465969,-0.40781598323331986],[-0.37490041314485334,-0.31599269839640337]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.5474100432347594,-1.1583568350268947,0.71338606911949],"aabb_xy":[[-0.5724100424003925,-1.1653090807322513],[-0.5224100440691263,-1.151404589321538]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.2978560293001374,0.839881730371117,0.71338606911949],"aabb_xy":[[-0.3353560294720093,0.8071809949882097],[-0.26035602912826544,0.8725824657540241]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.43785809616828586,-2.403271164421971,0.71338606911949],"aabb_xy":[[-0.5275451724764013,-2.4932711646764214],[-0.3481710198601704,-2.3132711641675203]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[0.4515250429254971,-0.07974030590068759,0.71338606911949],"aabb_xy":[[0.44709441357065705,-0.0851886776353702],[0.4559556722803374,-0.074291934166005]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.3698659098729993,-0.8263635437445076,0.71338606911949],"aabb_xy":[[0.2898720862944411,-0.9063635463373493],[0.44985973345155755,-0.7463635411516661]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[0.3959282285356658,-2.058041527142974,0.71338606911949],"aabb_xy":[[0.3616313175179251,-2.092338413352915],[0.43022513955340635,-2.023744640933032]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.21335554085291641,-2.1411143800880152,0.71338606911949],"aabb_xy":[[0.19085554034087576,-2.163606238453413],[0.23585554136495696,-2.1186225217226164]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.4959298068641864,0.3730630122658374,0.71338606911949],"aabb_xy":[[-0.5599298090845934,0.3286899281405491],[-0.4319298046437794,0.41743609639112567]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[-0.42039509862727775,-0.9708045484469001,0.71338606911949],"aabb_xy":[[-0.5003950966080627,-0.9784060894087521],[-0.34039510064649264,-0.9632030074850482]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.44516878718172936,-1.2996565240883258,0.71338606911949],"aabb_xy":[[0.43340060038707195,-1.3846565239935473],[0.456936973976387,-1.2146565241831042]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[0.031053694850340485,-1.8086196158614654,0.71338606911949],"aabb_xy":[[-0.033946306106786714,-1.8605678277951707],[0.09605369580746768,-1.7566714039277596]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.6387149721351184,1.041534382463142,0.71338606911949],"aabb_xy":[[0.6162012803116613,0.9715343818621343],[0.6612286639585757,1.1115343830641493]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[-0.40842883416219783,-0.6545288636517688,0.71338606911949],"aabb_xy":[[-0.42606166975572535,-0.6721518096673916],[-0.3907959985686702,-0.6369059176361457]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_24","position":[0.24364945056598764,0.6059592947395851,0.71338606911949],"aabb_xy":[[0.23953350045391492,0.6018437397067395],[0.24776540067806024,0.6100748497724306]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[0.4339226265401741,0.4886281084359241,0.71338606911949],"aabb_xy":[[0.4034383764131439,0.4386281086544282],[0.4644068766672042,0.53862810821742]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[0.316363680897507,-1.4126995971917689,0.71338606911949],"aabb_xy":[[0.301720275343474,-1.4273583168485529],[0.33100708645154,-1.3980408775349844]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_27","position":[-0.6287599255840745,-1.1809265813250278,0.71338606911949],"aabb_xy":[[-0.6369744706997582,-1.189603171622669],[-0.6205453804683903,-1.1722499910273863]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_28","position":[0.5825979073001171,-1.523454605662148,0.71338606911949],"aabb_xy":[[0.5733042890629665,-1.560954604150282],[0.5918915255372676,-1.4859546071740142]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_29","position":[-0.40229045687882536,0.055526979498585316,0.71338606911949],"aabb_xy":[[-0.43979045669585887,0.05088876818744345],[-0.36479045706179175,0.06016519080972718]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_30","position":[-0.35880765381216223,1.2735686601443996,0.71338606911949],"aabb_xy":[[-0.3925832130028552,1.2595301649312347],[-0.32503209462146926,1.2876071553575645]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6843184557720224,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5857.png","name":"5857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5857.png","name":"5857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/425.png","name":"425"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8679.png","name":"8679"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1109.png","name":"1109"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6210.png","name":"6210"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":551.8275737776411,"rotation_z_degrees":182.0319051580063,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008680337547114707,-0.005228488327202369,-0.016662229157641383]},{"name":"camera_2","offset_m":[-0.004747686385665957,0.012544719064359857,0.0019026122196455358]},{"name":"camera_3","offset_m":[0.01947422480659287,0.017908712242487395,0.017752932513308676]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019997033134013915,0.00011808392807021459,0.0002526132729690142],"end_effector_yaw_offset_degrees":-0.1998098719324748},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017396964472403673,0.0007899946075412244,0.0019285888248612845],"end_effector_yaw_offset_degrees":-0.19128867355226165},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015931333380832672,-0.00016087050118912625,-0.0008282839072909654],"end_effector_yaw_offset_degrees":-0.7352688557246485},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013128275023434025,0.0012153871406132516,0.0011578003329259321],"end_effector_yaw_offset_degrees":0.7257494689630932}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003056083956008977,0.004975912563429175],"position_m":[0.357156083956009,-0.07902408743657083,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003451039121799812,0.0032727993823287857],"position_m":[0.27805103912179985,-0.3270272006176712,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001084045244946953,0.0022261421646430383],"position_m":[0.16178404524494697,0.21642614216464304,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034792109768509417,-0.003464667476000288],"position_m":[0.3406207890231491,0.11173533252399971,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2276f7e8acad51f8b8d8a6a4a82611d17e4af2ce98f3debc935e6420b878d86a","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5857/tex_ceiling_textures_6210/tex_floor_textures_1109/tex_table_textures_425/tex_wall_textures_8679","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":194406033721627006,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":194406033721627006,"visual_seed":194406033721627006,"scene_id":"lab_003","finished_at":"2026-09-05T02:14:34"}
+{"episode_id":"ep_000029","started_at":"2026-09-05T02:14:39","dimensions":{"distractor":{"count":24,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[-0.215078531370406,-2.067358496645294,0.71338606911949],"aabb_xy":[[-0.24007853092214448,-2.0775009805104285],[-0.19007853181866752,-2.057216012780159]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.44558902346292517,-0.5412586879973031,0.71338606911949],"aabb_xy":[[0.437461335269612,-0.5501722964080109],[0.45371671165623845,-0.5323450795865956]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[0.6427844198602988,-1.188727419797403,0.71338606911949],"aabb_xy":[[0.6252377249441798,-1.2262274213616542],[0.6603311147764177,-1.1512274182331517]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.3853363308250613,-1.7329556642867798,0.71338606911949],"aabb_xy":[[-0.440461536454652,-1.792955665728067],[-0.33021112519547047,-1.6729556628454927]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.0190619037783174,1.657809770388209,0.71338606911949],"aabb_xy":[[-0.054061903754813234,1.6483451543405925],[0.015938096198178427,1.6672743864358257]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[-0.23294559279002736,-2.164061200292143,0.71338606911949],"aabb_xy":[[-0.24639211942407066,-2.1775310519452344],[-0.219499066155984,-2.1505913486390518]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[0.6520173110982317,-0.031331711409213536,0.71338606911949],"aabb_xy":[[0.6070247243797812,-0.07633171068366229],[0.697009897816682,0.013668287865235225]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[-0.3929505752130848,-0.4281578705544513,0.71338606911949],"aabb_xy":[[-0.45295057572093766,-0.48500460424037256],[-0.3329505747052318,-0.37131113686852996]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_8","position":[0.0271975908813068,-0.907895474287244,0.71338606911949],"aabb_xy":[[0.01995382483506147,-0.9878954724908465],[0.034441356927552125,-0.8278954760836418]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[0.3326587308840172,0.4840448732359275,0.71338606911949],"aabb_xy":[[0.30636990656357654,0.45777343958127625],[0.35894755520445787,0.5103163068905787]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[0.596996277053667,-0.9437133819172061,0.71338606911949],"aabb_xy":[[0.5170024534751088,-1.0237133845100477],[0.6769901006322252,-0.8637133793243646]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[0.3305946903363777,-1.3023643821754418,0.71338606911949],"aabb_xy":[[0.2955946904403588,-1.3107386176873819],[0.36559469023239655,-1.2939901466635018]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.38501316462525936,1.7931350208993178,0.71338606911949],"aabb_xy":[[-0.41334287457379965,1.7886742787056005],[-0.3566834546767192,1.7975957630930346]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[0.5629485741606282,1.5754373428963215,0.71338606911949],"aabb_xy":[[0.5579925539757471,1.5529373426942004],[0.5679045943455094,1.5979373430984436]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[-0.06919275384137014,1.1993316708791255,0.71338606911949],"aabb_xy":[[-0.1041927529713258,1.1935864498034612],[-0.034192754711414475,1.2050768919547894]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.250538703176888,-1.990095931755314,0.71338606911949],"aabb_xy":[[0.23064766329654773,-2.002751743040011],[0.2704297430572282,-1.9774401204706171]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.5008116864298742,-1.4951074144821215,0.71338606911949],"aabb_xy":[[0.41581168773779953,-1.5270932778770003],[0.5858116851219488,-1.4631215510872426]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_17","position":[-0.262966085686135,-0.8199524521923094,0.71338606911949],"aabb_xy":[[-0.31796608486272443,-0.874942126967267],[-0.20796608650954546,-0.7649627774173517]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.049003617404826505,-1.5369278508540865,0.71338606911949],"aabb_xy":[[-0.06650361653919366,-1.5468074778916743],[-0.031503618270459326,-1.5270482238164986]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[-0.5560425994340898,-1.9761684572278266,0.71338606911949],"aabb_xy":[[-0.6360425965936651,-1.9877160581856437],[-0.47604260227451456,-1.9646208562700096]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.5499985267974941,-2.271770504986797,0.71338606911949],"aabb_xy":[[-0.6049940046181533,-2.3267705064207034],[-0.49500304897683456,-2.2167705035528895]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.41312010064794213,-1.806133989995949,0.71338606911949],"aabb_xy":[[0.4017583659946559,-1.8175024564022368],[0.42448183530122824,-1.7947655235896607]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[0.194279697133261,-2.4332772473433577,0.71338606911949],"aabb_xy":[[0.18486222256339824,-2.4426934244810763],[0.20369717170312374,-2.4238610702056382]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_23","position":[-0.6836429833120572,1.2551521122669231,0.71338606911949],"aabb_xy":[[-0.6937246903906306,1.1751521143748085],[-0.6735612762334836,1.3351521101590378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841332529859249,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6619.png","name":"6619"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6619.png","name":"6619"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9423.png","name":"9423"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/251.png","name":"251"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6842.png","name":"6842"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3075.png","name":"3075"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":751.7612812612701,"rotation_z_degrees":223.30576013018884,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01925201405592403,0.007751835865019197,0.0072093861290437634]},{"name":"camera_2","offset_m":[-0.01666269269346591,-0.01786434217240765,-0.003827040986537432]},{"name":"camera_3","offset_m":[-0.013787428700131145,-0.010977351574145212,-0.013477847168777656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014216291068557597,-0.0015496318231299879,-0.001337186625152044],"end_effector_yaw_offset_degrees":0.4302558515392001},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014782139555270094,0.0004145645416486548,-0.0005958123945029596],"end_effector_yaw_offset_degrees":-0.8808766379718946},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009150195031782805,0.00014800659294189828,-0.0012242935223667577],"end_effector_yaw_offset_degrees":-0.2336847035463614},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000519120017564545,0.0015047301447564856,0.0004547362844387493],"end_effector_yaw_offset_degrees":0.9618153948419914}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036937746753184725,-0.0032961272187713377],"position_m":[0.3577937746753185,-0.08729612721877135,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002117897896634479,-0.002991765783915482],"position_m":[0.27438821021033655,-0.33329176578391545,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015166211548047872,0.004407106779923931],"position_m":[0.16221662115480479,0.21860710677992393,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003305406276395961,0.002573972373620066],"position_m":[0.347405406276396,0.11777397237362006,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26424dd212a809f1285ac433ac9ddb0a3a82cd9f0b7e42ba5e968efa440c66ed","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0033.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6619/tex_ceiling_textures_3075/tex_floor_textures_6842/tex_table_textures_9423/tex_wall_textures_251","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1211347256595484125,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1211347256595484125,"visual_seed":1211347256595484125,"scene_id":"lab_003","finished_at":"2026-09-05T02:18:11"}
+{"episode_id":"ep_000030","started_at":"2026-09-05T02:18:16","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.05140055564955637,-2.2904472129038282,0.71338606911949],"aabb_xy":[[-0.0035926556875803895,-2.345447213242622],[0.10639376698669314,-2.2354472125650346]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.39669875786043063,-0.4853013625225895,0.71338606911949],"aabb_xy":[[0.37378304497538073,-0.508205659659013],[0.4196144707454806,-0.46239706538616593]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[-0.24238985763288828,-1.9950648272457123,0.71338606911949],"aabb_xy":[[-0.27988985829746693,-2.010751885245934],[-0.20488985696830958,-1.97937776924549]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[0.2398348905162211,-2.2534820120474515,0.71338606911949],"aabb_xy":[[0.17583488729758323,-2.30020512394646],[0.30383489373485895,-2.206758900148443]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.5555176596708712,-2.5074310780990645,0.71338606911949],"aabb_xy":[[-0.6195176569732176,-2.5517975050669213],[-0.4915176623685248,-2.4630646511312078]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.45364881568450355,-1.7260379488486235,0.71338606911949],"aabb_xy":[[-0.46625151482158,-1.738633345073489],[-0.4410461165474271,-1.713442552623758]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.5637921393786883,0.6789250389693202,0.71338606911949],"aabb_xy":[[-0.5983832222327334,0.6139250386842889],[-0.529201056524643,0.743925039254351]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[0.3939629172390966,-2.165576704273699,0.71338606911949],"aabb_xy":[[0.3604837499780557,-2.199055817644806],[0.4274420845001376,-2.132097590902592]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.21117286070166752,0.976535568024635,0.71338606911949],"aabb_xy":[[0.1886591688782103,0.9065355674236274],[0.23368655252512469,1.0465355686256426]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[-0.6366006682576848,1.811843794513218,0.71338606911949],"aabb_xy":[[-0.650047194891728,1.7983739428601264],[-0.6231541416236414,1.825313646166309]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[-0.052640671797621,-1.9488120510402098,0.71338606911949],"aabb_xy":[[-0.05608134803767817,-1.9526734840145745],[-0.049199995557563825,-1.9449506180658456]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.3307659078575131,-1.1376326989548013,0.71338606911949],"aabb_xy":[[-0.34201096342813087,-1.1488744966788964],[-0.3195208522868952,-1.1263909012307058]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.5263312128972897,-1.629715590946559,0.71338606911949],"aabb_xy":[[0.4918688654991477,-1.6642094733443815],[0.5607935602954313,-1.5952217085487361]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.09117830372282432,0.09036900777348578,0.71338606911949],"aabb_xy":[[-0.18117830739974244,0.028936601196381397],[-0.0011783000459061191,0.15180141435059008]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.11777076173238421,-1.5007467736584745,0.71338606911949],"aabb_xy":[[0.10907279944166895,-1.5128717479659495],[0.12646872402309953,-1.4886217993509998]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.23834676683749423,1.3369288608985532,0.71338606911949],"aabb_xy":[[0.21050173005688713,1.3061443621602415],[0.26619180361810135,1.367713359636865]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[-0.47179864597921983,0.9948035607365848,0.71338606911949],"aabb_xy":[[-0.5170772608603691,0.930803561388401],[-0.42652003109807063,1.0588035600847685]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.3965133894135062,-2.0086131597434527,0.71338606911949],"aabb_xy":[[0.3615133880620245,-2.0289728957002735],[0.43151339076498796,-1.988253423786632]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[0.040727606000032224,0.6319353158539882,0.71338606911949],"aabb_xy":[[0.032734116204750204,0.6239371839135126],[0.048721095795314265,0.6399334477944638]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.2715262098452428,0.512894073269206,0.71338606911949],"aabb_xy":[[-0.3186555888470784,0.44889407222480393],[-0.22439683084340706,0.5768940743136078]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_20","position":[0.387480879956825,-1.637836852200833,0.71338606911949],"aabb_xy":[[0.353705320766132,-1.651875347413998],[0.4212564391475179,-1.6237983569876682]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.68633139424063,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3200.png","name":"3200"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3200.png","name":"3200"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8771.png","name":"8771"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/609.png","name":"609"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3630.png","name":"3630"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8724.png","name":"8724"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":736.6404581276677,"rotation_z_degrees":117.1653733020832,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0075134444079472534,0.016043266204439546,-0.0017310152957827236]},{"name":"camera_2","offset_m":[-0.010197487645435164,-0.004881056607409274,0.016726807928493893]},{"name":"camera_3","offset_m":[0.005774487834728052,0.017773559658833326,0.0069102530152017096]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001772382200330986,0.0004771925042366056,0.0010545738678760345],"end_effector_yaw_offset_degrees":0.44541434551271486},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005115061351624068,0.00047430194546408105,0.0015522119919059068],"end_effector_yaw_offset_degrees":0.8461189210199449},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021597349579206165,0.0014673025049997007,0.0015260478655999832],"end_effector_yaw_offset_degrees":-0.027529830811092282},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013519035559207116,-0.0009446357718606775,-0.0015109796911151165],"end_effector_yaw_offset_degrees":-0.313851666704293}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014282280298616537,-0.00423495412957188],"position_m":[0.3526717719701384,-0.08823495412957189,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001598739303382616,-0.004258167311158783],"position_m":[0.2761987393033826,-0.3345581673111588,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007032668084234438,0.0012602151185352765],"position_m":[0.16140326680842346,0.21546021511853528,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004621994664597139,0.0019504068228533723],"position_m":[0.34872199466459713,0.11715040682285337,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a962af0d2a0750b3c8339128665128511be587dc9915a571a29397ad8cb4f77d","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3200/tex_ceiling_textures_8724/tex_floor_textures_3630/tex_table_textures_8771/tex_wall_textures_609","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1279495443501923125,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1279495443501923125,"visual_seed":1279495443501923125,"scene_id":"lab_003","finished_at":"2026-09-05T02:21:51"}
+{"episode_id":"ep_000031","started_at":"2026-09-05T02:21:54","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[0.5141940287450193,-1.16736919084826,0.71338606911949],"aabb_xy":[[0.4341940301576998,-1.2466847927864209],[0.5941940273323386,-1.088053588910099]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[0.6856747815081738,-1.5771540575998362,0.71338606911949],"aabb_xy":[[0.6686646842181232,-1.5932885460981103],[0.7026848787982245,-1.5610195691015625]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[0.20491462320772336,-1.417026788027862,0.71338606911949],"aabb_xy":[[0.18712111627280692,-1.4348265336236596],[0.2227081301426398,-1.3992270424320643]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.4558992022380014,-1.0307887296616958,0.71338606911949],"aabb_xy":[[-0.5198992055277094,-1.0741236486656134],[-0.39189919894829317,-0.9874538106577783]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[0.707075293232893,-1.976202126474915,0.71338606911949],"aabb_xy":[[0.7009806653447747,-1.9847715210265837],[0.7131699211210113,-1.9676327319232463]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.6111671371291407,-0.8567342376621938,0.71338606911949],"aabb_xy":[[0.5736671371853743,-0.8650273276970303],[0.6486671370729071,-0.8484411476273571]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.21459878173475277,-1.2831097775933011,0.71338606911949],"aabb_xy":[[0.16459950656631667,-1.3331097788692483],[0.264598056903189,-1.233109776317354]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.3946838464325246,-0.049342863228703404,0.71338606911949],"aabb_xy":[[-0.4171975382559817,-0.11934286382971093],[-0.3721701546090673,0.020657137372304124]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.00719952022872683,-1.41427173333581,0.71338606911949],"aabb_xy":[[-0.04469952174435854,-1.425498506351955],[0.03030048128690488,-1.4030449603196649]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[-0.4485386468870357,0.6956089674227326,0.71338606911949],"aabb_xy":[[-0.49852159707451493,0.6456089677801721],[-0.39855569669955626,0.7456089670652929]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.5724647031984474,0.5987314986714423,0.71338606911949],"aabb_xy":[[-0.5853366066993875,0.5187314982576061],[-0.5595927996975072,0.6787314990852784]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.44438332747414055,1.6837726778882316,0.71338606911949],"aabb_xy":[[-0.462252435228596,1.6699397699110206],[-0.426514219719685,1.6976055858654426]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.19847811540797217,-1.1803521078806636,0.71338606911949],"aabb_xy":[[-0.2624781156819504,-1.2304182080779518],[-0.13447811513399394,-1.1302860076833758]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[0.3701281698264778,0.7856310265487294,0.71338606911949],"aabb_xy":[[0.3575013825392814,0.7760849528471564],[0.3827549571136741,0.7951771002503022]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.32942430826318825,1.727578812526485,0.71338606911949],"aabb_xy":[[-0.3794243077033838,1.6776108880421685],[-0.2794243088229926,1.7775467370108011]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.15167193344675167,0.9836342752963643,0.71338606911949],"aabb_xy":[[0.10667193198052285,0.9386344184348837],[0.19667193491298057,1.028634132157845]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.5689359390845015,-0.4862242870593434,0.71338606911949],"aabb_xy":[[0.5639799188996204,-0.508724287261465],[0.5738919592693827,-0.46372428685722183]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_17","position":[-0.4141209895560753,-1.879712028107098,0.71338606911949],"aabb_xy":[[-0.5041209862916856,-1.9328954914243925],[-0.324120992820465,-1.8265285647898035]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[0.09964771710113529,-0.8726371226940091,0.71338606911949],"aabb_xy":[[0.06214771660377705,-0.8766058062421275],[0.13714771759849353,-0.8686684391458906]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[0.2407965543745607,1.685813050475828,0.71338606911949],"aabb_xy":[[0.18079655386670776,1.6289663167899064],[0.3007965548824136,1.742659784161749]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[0.3615287573182058,0.6091692567969487,0.71338606911949],"aabb_xy":[[0.31152875603436575,0.5591904024063266],[0.4115287586020457,0.6591481111875708]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.22919777910580585,-1.537778734180068,0.71338606911949],"aabb_xy":[[0.16919777885440465,-1.5920600592165326],[0.28919777935720703,-1.4834974091436033]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863323389032563,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2540.png","name":"2540"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2540.png","name":"2540"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/698.png","name":"698"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1430.png","name":"1430"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8301.png","name":"8301"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7286.png","name":"7286"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":584.7506115602503,"rotation_z_degrees":87.18249276726827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013931216080633768,0.013765056202346793,0.0027743165518883083]},{"name":"camera_2","offset_m":[-0.005725414085561096,0.014513597465625184,0.019058729802759206]},{"name":"camera_3","offset_m":[-0.011089611430779666,0.00782296914887616,-0.005650465405564575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013611650744201169,-0.00011757100716277549,0.0010829437024160661],"end_effector_yaw_offset_degrees":0.8228562359996614},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003751625819929873,-0.0018870342379944023,0.00020582563228090534],"end_effector_yaw_offset_degrees":-0.904999649829239},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001395405297287362,-0.0007441398530076842,-2.4325269221497046e-06],"end_effector_yaw_offset_degrees":-0.9792963379854009},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001929140102660187,0.001971294524294281,-0.0010986282699988578],"end_effector_yaw_offset_degrees":0.7987462876561005}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008520200035028501,0.001920999307343435],"position_m":[0.3549520200035029,-0.08207900069265657,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00404720724485481,0.0001636877770799629],"position_m":[0.2786472072448548,-0.33013631222292,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002371747018479222,-0.004693196470384091],"position_m":[0.16307174701847924,0.2095068035296159,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-2.1642930919853892e-06,0.0008445827086017762],"position_m":[0.34409783570690805,0.11604458270860177,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2936e9cb6e599892613a87f9adf363f098cb73cbf508b62c967c43ec606769c9","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0035.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2540/tex_ceiling_textures_7286/tex_floor_textures_8301/tex_table_textures_698/tex_wall_textures_1430","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5531795578878527999,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5531795578878527999,"visual_seed":5531795578878527999,"scene_id":"lab_003","finished_at":"2026-09-05T02:25:30"}
+{"episode_id":"ep_000032","started_at":"2026-09-05T02:30:30","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.16124352527639807,-1.8287692901084918,0.71338606911949],"aabb_xy":[[0.15311583708308485,-1.8376828985191997],[0.1693712134697113,-1.8198556816977842]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[-0.12943279643082206,-2.269983614800551,0.71338606911949],"aabb_xy":[[-0.15193279595452944,-2.2924795622511716],[-0.10693279690711464,-2.24748766734993]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_2","position":[0.6092987836618746,1.0104423461095702,0.71338606911949],"aabb_xy":[[0.5452987819838773,0.961924954630256],[0.673298785339872,1.0589597375888844]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.6686406128511779,-0.01637370138461014,0.71338606911949],"aabb_xy":[[-0.6779876204334732,-0.03067732360225417],[-0.6592936052688827,-0.00207007916696611]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.3586536365508852,-1.2149566117889068,0.71338606911949],"aabb_xy":[[0.2786536395878461,-1.2920322534326802],[0.43865363351392445,-1.1378809701451333]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.03137898009243201,1.4731489462871346,0.71338606911949],"aabb_xy":[[-0.12137897682804222,1.4199654829698398],[0.0586210166431782,1.5263324096044288]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[-0.2573216364068275,0.8015875493082412,0.71338606911949],"aabb_xy":[[-0.2802373492918774,0.7786832521718178],[-0.23440592352177758,0.8244918464446648]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[0.2348549308004919,1.5558802940565726,0.71338606911949],"aabb_xy":[[0.16985492979999134,1.5050939289018976],[0.2998549318009924,1.6066666592112475]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.2330952765494541,-0.8577790431895909,0.71338606911949],"aabb_xy":[[-0.32309527514392405,-0.8740296295030119],[-0.14309527795498417,-0.8415284568761698]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.14514297382815233,-2.3144842192264674,0.71338606911949],"aabb_xy":[[0.0901497624910156,-2.369484219565261],[0.20013618516528914,-2.259484218887674]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[-0.277427352531746,-1.3085171431385685,0.71338606911949],"aabb_xy":[[-0.3414273527922168,-1.3535259424914963],[-0.2134273522712752,-1.2635083437856403]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[-0.07005860733009628,-1.8926049825349165,0.71338606911949],"aabb_xy":[[-0.09255502876396038,-1.915104982341664],[-0.04756218589623218,-1.870104982728169]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[-0.015701998576397203,1.1424840850845985,0.71338606911949],"aabb_xy":[[-0.028853244547686566,1.117484085327912],[-0.002550752605107839,1.167484084841285]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[0.6702193902517553,-1.3728480857811411,0.71338606911949],"aabb_xy":[[0.6605877540313255,-1.3824853985608498],[0.6798510264721848,-1.363210773001432]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.02809002228709845,-1.0896321974241348,0.71338606911949],"aabb_xy":[[-0.08321522791668921,-1.1496321988654217],[0.027035183342492327,-1.0296321959828474]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[0.5010629153563029,-1.0392655413407446,0.71338606911949],"aabb_xy":[[0.4923489463063682,-1.0617655419999326],[0.5097768844062371,-1.0167655406815561]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[-0.46748821354072145,-1.9955723411229833,0.71338606911949],"aabb_xy":[[-0.4849189286197279,-2.0128444557868344],[-0.4500574984617149,-1.9783002264591325]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.23742194242889914,0.4833236317572611,0.71338606911949],"aabb_xy":[[-0.2679061925559293,0.4333236319757652],[-0.20693769230186898,0.5333236315387571]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[0.10976175773476415,0.8881072977624616,0.71338606911949],"aabb_xy":[[0.07476175638328243,0.8677475618056407],[0.1447617590862459,0.9084670337192824]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.39747000331072513,-1.5400873065355627,0.71338606911949],"aabb_xy":[[-0.4349700034163181,-1.5469094683885436],[-0.35997000320513217,-1.5332651446825813]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.44505365206624403,0.5167243876184808,0.71338606911949],"aabb_xy":[[0.3650536499034815,0.4367692039923371],[0.5250536542290065,0.5966795712446243]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[0.34384922135719775,-2.109560719928823,0.71338606911949],"aabb_xy":[[0.2898336250752977,-2.1735607228210796],[0.3978648176390977,-2.0455607170365653]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.10984767508951154,0.6587583015133278,0.71338606911949],"aabb_xy":[[-0.18984767616263187,0.6489802551759434],[-0.029847674016391212,0.6685363478507123]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[0.26934650710196406,1.3000671236954005,0.71338606911949],"aabb_xy":[[0.2393789501921384,1.270067123397515],[0.2993140640117897,1.3300671239932864]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.5143075295607351,0.18511161697158673,0.71338606911949],"aabb_xy":[[-0.5943075281480544,0.10579601503342582],[-0.4343075309734156,0.2644272189097476]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_25","position":[-0.4259755156990669,0.8297243467918394,0.71338606911949],"aabb_xy":[[-0.44030994082523034,0.8176641312373003],[-0.41164109057290343,0.841784562346378]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[-0.14218804255600037,-1.5930112934646432,0.71338606911949],"aabb_xy":[[-0.1921880442174951,-1.6430097357203457],[-0.0921880408945056,-1.5430128512089403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6827353892410675,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/530.png","name":"530"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/530.png","name":"530"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8991.png","name":"8991"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8237.png","name":"8237"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2698.png","name":"2698"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8118.png","name":"8118"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":837.1080527472627,"rotation_z_degrees":352.2628837069201,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0031708143044421253,-0.008732505819708894,-0.017959563536492848]},{"name":"camera_2","offset_m":[0.004477516787999208,0.010755940351394044,0.0047888509621365274]},{"name":"camera_3","offset_m":[-0.013054138007362957,0.005142818898728495,-0.016389007641355324]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012481383369658228,0.0013722188402487128,-0.00011766268750261445],"end_effector_yaw_offset_degrees":0.9978588596084004},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017634244569145281,-0.0013462189358526668,-0.0017223148139961376],"end_effector_yaw_offset_degrees":0.7389060594057404},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011153191866751506,0.0005768855413105069,0.0017392505736496268],"end_effector_yaw_offset_degrees":-0.9778939287673283},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008418591904831457,0.0007335288535894194,0.0008360545997840212],"end_effector_yaw_offset_degrees":-0.8646154178710241}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029278993319499427,0.0030230923604243837],"position_m":[0.3511721006680501,-0.08097690763957562,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00011468313351966665,6.264586782624235e-05],"position_m":[0.27448531686648037,-0.33023735413217375,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002142884867551379,0.0038910217761638386],"position_m":[0.16091428848675515,0.21809102177616385,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015106572729037793,0.0027610887395237635],"position_m":[0.34258934272709624,0.11796108873952377,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"49b26d528af96dcc94405a1d20d0a43db33fc5a17bff65a99fdd104f3309ca3b","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0038.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_530/tex_ceiling_textures_8118/tex_floor_textures_2698/tex_table_textures_8991/tex_wall_textures_8237","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1062246784151409920,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1062246784151409920,"visual_seed":1062246784151409920,"scene_id":"lab_003","finished_at":"2026-09-05T02:34:00"}
+{"episode_id":"ep_000033","started_at":"2026-09-05T02:34:04","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[0.5352140258356926,-0.2988736810001358,0.71338606911949],"aabb_xy":[[0.4852140244748054,-0.3488515855755514],[0.5852140271965798,-0.2488957764247202]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.5900826325699429,0.6360321981386812,0.71338606911949],"aabb_xy":[[0.5100826311398157,0.5565150431260717],[0.6700826340000701,0.7155493531512906]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[0.6713916756264109,1.0746672475834482,0.71338606911949],"aabb_xy":[[0.636391674274929,1.0543075116266274],[0.7063916769778925,1.095026983540269]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[-0.6039533480078821,-1.7473027123015352,0.71338606911949],"aabb_xy":[[-0.6317983847884893,-1.778087211039847],[-0.576108311227275,-1.7165182135632235]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[0.06611747176458938,-1.835720286952277,0.71338606911949],"aabb_xy":[[0.016124359655397495,-1.885720287626473],[0.11611058387378129,-1.7857202862780817]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[0.20549294648421357,1.6929537226116307,0.71338606911949],"aabb_xy":[[0.1879930130502302,1.6754537226913961],[0.22299287991819694,1.7104537225318652]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[0.04860708997085239,1.3936422472945464,0.71338606911949],"aabb_xy":[[0.02669840783150134,1.3717415804744555],[0.07051577211020343,1.415542914114637]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.03178298920573286,1.0735645597726768,0.71338606911949],"aabb_xy":[[-0.11178298621998084,1.0534300080992656],[0.04821700780851512,1.0936991114460881]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[0.5559612490530959,1.6660235374505281,0.71338606911949],"aabb_xy":[[0.506144469588261,1.6160235389662245],[0.6057780285179305,1.7160235359348313]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[0.5820153400500025,-2.392294352402201,0.71338606911949],"aabb_xy":[[0.5649132620916344,-2.4094011579334706],[0.5991174180083707,-2.375187546870931]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[-0.4743077817349687,0.31713304361107886,0.71338606911949],"aabb_xy":[[-0.5543077820085756,0.24418349578536216],[-0.3943077814613617,0.3900825914367956]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[-0.3992203848945054,1.1601824610164178,0.71338606911949],"aabb_xy":[[-0.406502701271169,1.0701824574069083],[-0.3919380685178417,1.2501824646259263]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[-0.08272670430863283,-2.3870738264872906,0.71338606911949],"aabb_xy":[[-0.08830837594276157,-2.3995738263050663],[-0.07714503267450405,-2.374573826669515]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[-0.1561536533224508,-0.5043600960646568,0.71338606911949],"aabb_xy":[[-0.1667211329805498,-0.5149051261776654],[-0.14558617366435178,-0.49381506595164826]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[0.4747258964283536,1.412332486741009,0.71338606911949],"aabb_xy":[[0.46008249087432057,1.397673767084225],[0.48936930198238654,1.4269912063977934]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[0.5012068717347462,-2.315407264440897,0.71338606911949],"aabb_xy":[[0.49636327697351623,-2.3202589169198813],[0.5060504664959762,-2.310555611961913]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[0.4232725459700075,-0.9832974602057931,0.71338606911949],"aabb_xy":[[0.4073880527046824,-0.9976504005046172],[0.4391570392353327,-0.9689445199069691]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.09524949531538174,0.8860065809651423,0.71338606911949],"aabb_xy":[[0.06528193840555607,0.8560065806672564],[0.1252170522252074,0.9160065812630279]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.11275056893465396,1.571290979841383,0.71338606911949],"aabb_xy":[[0.10333309436479121,1.5618748027036637],[0.12216804350451671,1.5807071569791018]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.34607942825672827,-1.8844441301190233,0.71338606911949],"aabb_xy":[[-0.35523930720060487,-1.8909753481625604],[-0.3369195493128517,-1.8779129120754863]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.36318090322103963,0.517552752591969,0.71338606911949],"aabb_xy":[[-0.4006809030380732,0.5129145412808271],[-0.3256809034040061,0.5221909639031108]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.5227657398990389,0.3777220473841658,0.71338606911949],"aabb_xy":[[0.467765740277293,0.3227383545966931],[0.5777657395207847,0.43270574017163854]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[-0.27470196185469936,-1.206596130197141,0.71338606911949],"aabb_xy":[[-0.309701960984655,-1.2123413512728052],[-0.2397019627247437,-1.200850909121477]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847209776840097,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3538.png","name":"3538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3538.png","name":"3538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/237.png","name":"237"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1822.png","name":"1822"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4470.png","name":"4470"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6688.png","name":"6688"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":823.8920282772108,"rotation_z_degrees":83.11953471525108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0030908353815411807,0.015618866203331676,-0.011469769772905689]},{"name":"camera_2","offset_m":[0.009566073136124249,0.013570749250233775,0.007582812218381845]},{"name":"camera_3","offset_m":[-0.015334529533133563,-0.011749300817707004,0.008387016662189769]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014267229028268828,0.0016096990087221775,-0.0015752559250844914],"end_effector_yaw_offset_degrees":0.2801905420215265},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007744425278358408,0.0018554541761648855,0.001826840902124086],"end_effector_yaw_offset_degrees":0.08574657006046893},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006298235494188455,0.00019227473341298885,-8.26206129980829e-05],"end_effector_yaw_offset_degrees":0.1058088495268148},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00010046060997692327,0.0019202789785218288,0.0009943014378927012],"end_effector_yaw_offset_degrees":0.7677826272663641}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-6.949814693987897e-05,0.0010222980165590454],"position_m":[0.3540305018530601,-0.08297770198344095,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00040569629618924814,-0.004542572955947092],"position_m":[0.27419430370381076,-0.33484257295594705,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008211456449962731,-0.002387734656785042],"position_m":[0.15987885435500374,0.21181226534321496,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029286024654450885,0.004688047390527846],"position_m":[0.3470286024654451,0.11988804739052784,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7df678edab49a3825bb7845b3cb2c721f02310a1862cac98db71ac35d074ef85","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3538/tex_ceiling_textures_6688/tex_floor_textures_4470/tex_table_textures_237/tex_wall_textures_1822","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7598958497796506875,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7598958497796506875,"visual_seed":7598958497796506875,"scene_id":"lab_003","finished_at":"2026-09-05T02:37:47"}
+{"episode_id":"ep_000034","started_at":"2026-09-05T02:37:51","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.26521630746611624,-1.067288097758904,0.71338606911949],"aabb_xy":[[-0.3064651184960309,-1.1222880972711213],[-0.22396749643620148,-1.0122880982466864]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.11166116925678715,0.6151836568901907,0.71338606911949],"aabb_xy":[[-0.1204423964040234,0.6064039096016607],[-0.10287994210955095,0.623963404178721]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[0.12241560415640551,-1.3336896735131063,0.71338606911949],"aabb_xy":[[0.05841560498663557,-1.3804563606320688],[0.18641560332617546,-1.2869229863941438]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.06552160034537746,-1.7193469123715066,0.71338606911949],"aabb_xy":[[0.01552676741743586,-1.7693469112667501],[0.11551643327331906,-1.669346913476263]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[-0.30275881232111135,1.4738478045389916,0.71338606911949],"aabb_xy":[[-0.3924458886292268,1.383847804284541],[-0.2130717360129959,1.563847804793442]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[-0.35040024509960216,0.933121015988581,0.71338606911949],"aabb_xy":[[-0.3630270323867985,0.9235749422870081],[-0.3377734578124058,0.9426670896901539]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[0.05099596086724134,-1.5109898353651734,0.71338606911949],"aabb_xy":[[0.044958947866576615,-1.517016536434122],[0.057032973867906074,-1.5049631342962257]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.5437415100699936,0.9489848940147145,0.71338606911949],"aabb_xy":[[0.5204596678718622,0.8639848927174864],[0.5670233522681248,1.0339848953119424]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.2793441176247479,-1.6617873626136723,0.71338606911949],"aabb_xy":[[-0.36934411621921787,-1.6780379489270933],[-0.18934411903027798,-1.6455367763002513]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.6777897181663943,1.5240283233959793,0.71338606911949],"aabb_xy":[[-0.6929525911433315,1.5088628661008607],[-0.6626268451894574,1.5391937806910982]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_10","position":[0.5116033339952675,-2.1262454406392974,0.71338606911949],"aabb_xy":[[0.4663247191141182,-2.190245439987481],[0.5568819488764167,-2.0622454412911138]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.5432892643236311,-0.8294205867596622,0.71338606911949],"aabb_xy":[[-0.5932623298561467,-0.8794205865721954],[-0.49331619879111577,-0.7794205869471296]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[-0.33863824795829983,1.7596719127948028,0.71338606911949],"aabb_xy":[[-0.4086382513498617,1.7243561390913718],[-0.26863824456673774,1.7949876864982335]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[-0.3509851970828499,1.275503110278407,0.71338606911949],"aabb_xy":[[-0.3582464446532574,1.2627161000148974],[-0.34372394951244256,1.2882901205419164]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[0.3038048068214628,1.0893534370532145,0.71338606911949],"aabb_xy":[[0.2989055145148993,1.0616765177506458],[0.30870409912802627,1.1170303563557833]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[-0.621432288174829,-2.5046230233749,0.71338606911949],"aabb_xy":[[-0.671432289458669,-2.5546018777655215],[-0.571432286890989,-2.4546441689842773]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.6102207788027445,1.1335592993382289,0.71338606911949],"aabb_xy":[[0.6060849224700443,1.096059299893872],[0.6143566351354447,1.171059298782586]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[0.3916601147723202,1.663902599734422,0.71338606911949],"aabb_xy":[[0.31166011611543426,1.649397740810159],[0.4716601134292063,1.6784074586586848]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.6258561405829763,-0.05492434090584952,0.71338606911949],"aabb_xy":[[0.6140879537883188,-0.1399243408110711],[0.6376243273776339,0.03007565899937205]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[-0.09473334183798787,1.1912430515695962,0.71338606911949],"aabb_xy":[[-0.09843660316712673,1.1875410332608782],[-0.09103008050884899,1.1949450698783137]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.3231788514100853,-1.9727412824596047,0.71338606911949],"aabb_xy":[[0.25917884812037717,-2.0160762014635223],[0.3871788546997934,-1.9294063634556873]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[-0.6720633453807947,1.3246096599797474,0.71338606911949],"aabb_xy":[[-0.6801910335741079,1.3156960515690397],[-0.6639356571874815,1.3335232683904552]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[-0.11429986322321417,-2.2313516488967697,0.71338606911949],"aabb_xy":[[-0.16942506885280495,-2.291351650338057],[-0.0591746575936234,-2.1713516474554826]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6834165534772201,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3752.png","name":"3752"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3752.png","name":"3752"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4538.png","name":"4538"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8534.png","name":"8534"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1260.png","name":"1260"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3991.png","name":"3991"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":791.6352741757838,"rotation_z_degrees":58.69699037540436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011652302717805645,0.014004710882924053,0.012633737636175885]},{"name":"camera_2","offset_m":[-0.019531951974795018,-0.016484592947144532,0.0047535416726137494]},{"name":"camera_3","offset_m":[-0.0005589573874013355,0.015317122516387716,0.002605127156400086]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006870642213376717,0.0015051866521476635,0.0006295373552867405],"end_effector_yaw_offset_degrees":0.21826901454555014},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004595377839994759,-0.0019843185436570114,0.001466677146334576],"end_effector_yaw_offset_degrees":0.5528099775280291},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001791962501509849,0.0017990903549701858,-0.0006336243131626414],"end_effector_yaw_offset_degrees":0.47391444933752735},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00017382170208143054,-0.0016747236481766232,0.0010995684520881178],"end_effector_yaw_offset_degrees":0.06710966274087227}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027028850922971802,0.00022517119732058492],"position_m":[0.35139711490770287,-0.08377482880267942,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001978769507685751,0.0024569667487974326],"position_m":[0.2765787695076858,-0.32784303325120256,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004542693483483365,-0.0016822118290543107],"position_m":[0.15615730651651666,0.2125177881709457,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011826618424892535,-0.003097595011793283],"position_m":[0.3452826618424893,0.11210240498820671,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e8626a1de915de50c2afa75512c043f7ee2e28ad593046f73da809efd496fab6","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3752/tex_ceiling_textures_3991/tex_floor_textures_1260/tex_table_textures_4538/tex_wall_textures_8534","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1739877272348375024,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1739877272348375024,"visual_seed":1739877272348375024,"scene_id":"lab_003","finished_at":"2026-09-05T02:41:18"}
+{"episode_id":"ep_000035","started_at":"2026-09-05T02:41:22","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.37783808007633257,-1.6449589358464427,0.71338606911949],"aabb_xy":[[0.3138380827739861,-1.6893253628142997],[0.4418380773786789,-1.6005925088785862]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[0.4786856704029796,-1.2016659129377507,0.71338606911949],"aabb_xy":[[0.45618924896911545,-1.2241659127444982],[0.5011820918368437,-1.1791659131310033]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[0.507327330680031,0.8685785003673869,0.71338606911949],"aabb_xy":[[0.47232733236933555,0.8608634854438413],[0.5423273289907264,0.8762935152909326]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.09250319564681397,-0.8239271238327175,0.71338606911949],"aabb_xy":[[0.02750319468968677,-0.8758753357664231],[0.1575031966039412,-0.7719789118990119]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.12018755157035421,1.5342198092087629,0.71338606911949],"aabb_xy":[[-0.1294811698075048,1.496719810720629],[-0.11089393333320362,1.5717198076968968]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[-0.49503862627337714,1.7531338765115465,0.71338606911949],"aabb_xy":[[-0.5450228619815544,1.7031338776980511],[-0.4450543905651999,1.8031338753250423]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.5148078882242413,-0.4291392674020811,0.71338606911949],"aabb_xy":[[-0.5220902046009047,-0.5191392710115899],[-0.5075255718475774,-0.3391392637925719]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[-0.4444653622846628,-1.2389974670376434,0.71338606911949],"aabb_xy":[[-0.48196536294924147,-1.254684525037865],[-0.40696536162008407,-1.2233104090374207]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[0.2749403013016172,0.9601027255880843,0.71338606911949],"aabb_xy":[[0.21334954207762435,0.8961027274790373],[0.33653106052561,1.0241027236971312]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[0.5465778436777462,0.13713607899241254,0.71338606911949],"aabb_xy":[[0.5004927524230147,0.07313608173985743],[0.5926629349324777,0.20113607624496765]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.3215659188257194,-1.341007286160465,0.71338606911949],"aabb_xy":[[0.3127638635167467,-1.348818612315394],[0.3303679741346921,-1.3331959600055359]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[-0.016562704661354122,1.2917438057787138,0.71338606911949],"aabb_xy":[[-0.0815627057672974,1.2667784327105855],[0.04843729644458916,1.3167091788468421]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.13636695387216857,-1.392823103265863,0.71338606911949],"aabb_xy":[[0.0663669512355822,-1.4129279682617284],[0.2063669565087549,-1.3727182382699974]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.5634889587630034,-1.0201790877751722,0.71338606911949],"aabb_xy":[[0.5284889574115217,-1.0405388237319928],[0.5984889601144852,-0.9998193518183512]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[-0.3433570502334252,-0.16449228496813184,0.71338606911949],"aabb_xy":[[-0.35941897769194286,-0.24949228678072363],[-0.3272951227749076,-0.07949228315554001]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.4737666411889944,-2.305882914209476,0.71338606911949],"aabb_xy":[[-0.5238641051700681,-2.369882914719288],[-0.42366917720792074,-2.2418829136996643]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[-0.5740972289968032,0.4931513023384011,0.71338606911949],"aabb_xy":[[-0.634097230639725,0.44115115304645686],[-0.5140972273538813,0.5451514516303453]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.5013146439855305,0.6481197044753348,0.71338606911949],"aabb_xy":[[0.4958566983485104,0.5681197011676756],[0.5067725896225506,0.7281197077829938]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.19553198029958924,-0.4894910152610712,0.71338606911949],"aabb_xy":[[-0.24550504583210475,-0.5394910150736041],[-0.1455589147670738,-0.43949101544853836]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[0.24217552060774372,-1.8553355334272768,0.71338606911949],"aabb_xy":[[0.22661975119747854,-1.8708859666716842],[0.2577312900180091,-1.8397851001828698]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.3380984931100659,1.3996323757552274,0.71338606911949],"aabb_xy":[[0.3155984928665505,1.3874277410954554],[0.3605984933535813,1.4118370104149993]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.6028164993739099,0.22701549382584618,0.71338606911949],"aabb_xy":[[-0.6378164993504057,0.21755087777822957],[-0.5678164993974141,0.2364801098734628]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.6060932723357879,1.295271559166768,0.71338606911949],"aabb_xy":[[0.5835932723256396,1.2811753395271648],[0.6285932723459362,1.3093677788063713]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[-0.08994448954446976,0.013298323099360854,0.71338606911949],"aabb_xy":[[-0.16993831312302798,-0.06670167949348071],[-0.009950665965911543,0.09329832569220242]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6848496529579108,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4138.png","name":"4138"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4138.png","name":"4138"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3466.png","name":"3466"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7464.png","name":"7464"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5915.png","name":"5915"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2143.png","name":"2143"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":636.7390518296546,"rotation_z_degrees":335.52327462395687,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018496413659663643,-0.014554287632377153,-0.006628605306333442]},{"name":"camera_2","offset_m":[0.002568034611930843,0.0020792260682406076,-0.015696056846199714]},{"name":"camera_3","offset_m":[-0.003117429109486064,-0.019729289076574383,0.011037173246268267]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006286016341121373,-0.0009292419172931287,-0.0011922587487988162],"end_effector_yaw_offset_degrees":0.4875147372771247},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010725905355379946,0.0004178827193347082,0.00043099380335872477],"end_effector_yaw_offset_degrees":0.5591745479800607},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017034301546026824,-0.0010274563709196487,0.0013420949850185293],"end_effector_yaw_offset_degrees":-0.8896180578709176},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016497994232300668,0.0013924370320612472,0.0014565679971935527],"end_effector_yaw_offset_degrees":-0.9858695111592757}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034166608978328976,0.004453960604339598],"position_m":[0.3575166608978329,-0.0795460393956604,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00436949479783373,0.0038508343218755054],"position_m":[0.27896949479783373,-0.3264491656781245,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003067320098572417,0.0047713799684304435],"position_m":[0.16376732009857242,0.21897137996843044,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000776813811160626,0.003597646492968231],"position_m":[0.3433231861888394,0.11879764649296823,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e7d3007256338a9e579d645da9b25f838b1affdf5920cac1c4c1428584b66ea","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4138/tex_ceiling_textures_2143/tex_floor_textures_5915/tex_table_textures_3466/tex_wall_textures_7464","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2403467541559244094,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2403467541559244094,"visual_seed":2403467541559244094,"scene_id":"lab_003","finished_at":"2026-09-05T02:45:22"}
+{"episode_id":"ep_000036","started_at":"2026-09-05T02:47:49","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[0.2245439917186084,1.7175592752109723,0.71338606911949],"aabb_xy":[[0.16054399144463016,1.6674931750136843],[0.2885439919925866,1.7676253754082603]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.23301129958357636,-0.7980754235770873,0.71338606911949],"aabb_xy":[[0.16901129636493853,-0.8447985354760956],[0.2970113028022142,-0.7513523116780789]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[-0.5614375610788227,-0.23070558484358195,0.71338606911949],"aabb_xy":[[-0.5788682761578291,-0.2479776995074327],[-0.5440068459998161,-0.21343347017973108]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[0.2695388195757521,0.9431448702813374,0.71338606911949],"aabb_xy":[[0.2656249463803296,0.9343958548747806],[0.2734526927711746,0.9518938856878942]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[-0.5149505504991281,-1.3840836248067532,0.71338606911949],"aabb_xy":[[-0.536859232638479,-1.4059842916268437],[-0.4930418683597769,-1.3621829579866622]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[-0.27735165934207695,-0.9477294884425649,0.71338606911949],"aabb_xy":[[-0.3413516557376501,-1.0116927768612984],[-0.21335166294650393,-0.8837662000238313]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.26034286171689447,-0.39586863923277926,0.71338606911949],"aabb_xy":[[-0.2659245333510232,-0.40836863905055476],[-0.25476119008276565,-0.38336863941500376]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.2567029943789809,-2.0956596120284594,0.71338606911949],"aabb_xy":[[0.2438310908780408,-2.175659612442295],[0.26957489787992106,-2.015659611614623]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[0.16787178414177073,1.1163905453107472,0.71338606911949],"aabb_xy":[[0.15702017789289516,1.1055312545830962],[0.17872339039064636,1.1272498360383982]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[-0.14928931275047563,0.45890766286259144,0.71338606911949],"aabb_xy":[[-0.19917200962817186,0.40890766361631675],[-0.09940661587277944,0.5089076621088662]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.45130888022605364,-1.9645521774101011,0.71338606911949],"aabb_xy":[[-0.48880888057428135,-1.9763435729911845],[-0.41380887987782583,-1.9527607818290174]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.30834087836442853,1.2664465066766706,0.71338606911949],"aabb_xy":[[-0.3308408786079439,1.2542418720168989],[-0.28584087812091313,1.2786511413364428]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[0.12944430750248404,-1.3510532033812002,0.71338606911949],"aabb_xy":[[0.06544430891591155,-1.3980601667807087],[0.19344430608905647,-1.3040462399816912]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.48710360320500135,-2.1721651437728444,0.71338606911949],"aabb_xy":[[0.42310790580990476,-2.236165142073553],[0.5510993006000979,-2.1081651454721357]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.41924353109693185,0.7858788600924878,0.71338606911949],"aabb_xy":[[-0.4367435313419812,0.7683790722529208],[-0.4017435308518824,0.8033786479320545]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.6353130645130947,-0.8899311964229553,0.71338606911949],"aabb_xy":[[0.6128166430792304,-0.9124311962297027],[0.6578094859469586,-0.8674311966162078]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[-0.045479685974736284,1.2271682076088575,0.71338606911949],"aabb_xy":[[-0.08297968591850269,1.2188751175740211],[-0.007979686030969872,1.2354612976436943]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[0.311885145629198,0.3826335789134223,0.71338606911949],"aabb_xy":[[0.30818188430005905,0.37893156060470445],[0.31558840695833684,0.38633559722214017]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[-0.1608040277232553,-1.5970566499211438,0.71338606911949],"aabb_xy":[[-0.24080403098109826,-1.6770531577131278],[-0.08080402446541235,-1.5170601421291598]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.477278247568366,0.5061348074741963,0.71338606911949],"aabb_xy":[[-0.48599221661830044,0.48363480681500787],[-0.46856427851843147,0.5286348081333843]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.6370967287638598,0.5583405864972413,0.71338606911949],"aabb_xy":[[-0.6745967285808934,0.5537023751860994],[-0.5995967289468263,0.5629787978083831]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6815576371698391,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/866.png","name":"866"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/866.png","name":"866"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8182.png","name":"8182"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9764.png","name":"9764"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7645.png","name":"7645"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1553.png","name":"1553"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":697.3956830823271,"rotation_z_degrees":12.619177486288562,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014647337121934903,0.019423535342543808,-0.013513159933902999]},{"name":"camera_2","offset_m":[0.01965166087504869,0.018108101293264175,0.017584898477745036]},{"name":"camera_3","offset_m":[-0.0042033550987043075,0.006410824332418366,-0.01945368971770094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.055255956307658e-05,0.001554547569083825,0.0012711174188756447],"end_effector_yaw_offset_degrees":0.8371508018059548},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001953442924960249,0.001687411244239189,0.0010019129808678225],"end_effector_yaw_offset_degrees":-0.4868339022049353},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[9.86346928166966e-06,0.001913597243494828,-0.00018884111469934478],"end_effector_yaw_offset_degrees":-0.34403307182316767},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005042695890705115,-0.0015850013244600044,-0.0017296852960178488],"end_effector_yaw_offset_degrees":0.28291072170081333}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015328746658870903,0.0041347737433304185],"position_m":[0.3556328746658871,-0.07986522625666959,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029363194677529104,-0.0025874350639306064],"position_m":[0.2716636805322471,-0.3328874350639306,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014840379570718312,0.0020982583998693438],"position_m":[0.15921596204292818,0.21629825839986935,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001039268061736395,0.000766089489899183],"position_m":[0.3451392680617364,0.11596608948989919,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c42e49340798d5816b5a6912ba44661e412540a519cb99395d9ebb6ef8129d5d","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_866/tex_ceiling_textures_1553/tex_floor_textures_7645/tex_table_textures_8182/tex_wall_textures_9764","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1392802386505921170,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1392802386505921170,"visual_seed":1392802386505921170,"scene_id":"lab_003","finished_at":"2026-09-05T02:51:19"}
+{"episode_id":"ep_000037","started_at":"2026-09-05T02:53:49","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.38193112777214727,-2.4849474614895373,0.71338606911949],"aabb_xy":[[-0.41058046013256344,-2.513593020766613],[-0.353281795411731,-2.4563019022124615]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[0.012925397534687022,1.261393753014278,0.71338606911949],"aabb_xy":[[-0.037074604126807735,1.211395310758575],[0.06292539919618177,1.3113921952699805]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.6718225492476307,-0.033442829256835616,0.71338606911949],"aabb_xy":[[-0.6799502374409441,-0.042356437667543274],[-0.6636948610543176,-0.02452922084612797]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.46501654986820395,-1.3102863768547663,0.71338606911949],"aabb_xy":[[-0.4826921804568022,-1.3279665931341689],[-0.4473409192796055,-1.2926061605753634]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.09299710405594763,0.9737614135984987,0.71338606911949],"aabb_xy":[[-0.1729971010189868,0.8966857719547252],[-0.012997107092908453,1.0508370552422721]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.22514736273855357,1.352550276192599,0.71338606911949],"aabb_xy":[[-0.28514736438147537,1.3005501269006545],[-0.1651473610956317,1.404550425484543]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[0.45319241746419237,-1.080018495284475,0.71338606911949],"aabb_xy":[[0.3731924169939764,-1.0883292028988234],[0.5331924179344083,-1.0717077876701264]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.43914746394265075,-0.3548745024082245,0.71338606911949],"aabb_xy":[[-0.4891304141301301,-0.40487450205078485],[-0.3891645137551714,-0.304874502765664]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.3692047231864529,-1.2696377254836286,0.71338606911949],"aabb_xy":[[-0.38476049259671824,-1.285188158728036],[-0.35364895377618766,-1.2540872922392217]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[-0.6555991959855008,0.6744209442349924,0.71338606911949],"aabb_xy":[[-0.6616938238736192,0.6658515496833237],[-0.6495045680973826,0.6829903387866612]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[-0.4753834418530427,1.7112386290134656,0.71338606911949],"aabb_xy":[[-0.4830866325271197,1.7035292583147275],[-0.4676802511789656,1.7189479997122037]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.5318084296326839,0.5946839394152241,0.71338606911949],"aabb_xy":[[0.44180843021431293,0.5613084425710344],[0.6218084290510547,0.6280594362594139]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[0.34642479963060535,1.5514184774044693,0.71338606911949],"aabb_xy":[[0.33627178407645586,1.5153489358317287],[0.3565778151847546,1.5874880189772094]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.2941151313798965,-1.7718384198115293,0.71338606911949],"aabb_xy":[[-0.33144640790513913,-1.8064914746063816],[-0.2567838548546538,-1.737185365016677]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_14","position":[0.24758440435842377,-0.9650859250163335,0.71338606911949],"aabb_xy":[[0.16758440734417576,-0.9852204766897448],[0.32758440137267175,-0.9449513733429222]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.4311929347609328,1.494205755097728,0.71338606911949],"aabb_xy":[[-0.4391162149996812,1.4717057548597245],[-0.4232696545221845,1.5167057553357313]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[0.5102327188142173,-1.4656364251565217,0.71338606911949],"aabb_xy":[[0.48994841609081846,-1.4859190502992305],[0.5305170215376159,-1.4453538000138129]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[0.3501049172062445,1.4124882629946676,0.71338606911949],"aabb_xy":[[0.28610491682871086,1.3627429961438553],[0.4141049175837781,1.4622335298454798]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.6154413914167345,-1.6471642338352686,0.71338606911949],"aabb_xy":[[-0.6804413923738617,-1.6991124457689741],[-0.5504413904596073,-1.595216021901563]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.3342287570296032,1.7476235918740506,0.71338606911949],"aabb_xy":[[0.2842287557457632,1.6976447374834283],[0.3842287583134431,1.7976024462646725]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[0.2589494471480577,1.1828519228108347,0.71338606911949],"aabb_xy":[[0.21793150376168685,1.1328519221798774],[0.2999673905344286,1.232851923441792]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_21","position":[0.19379305278800474,0.9746752563640597,0.71338606911949],"aabb_xy":[[0.12379305118572526,0.9612424631624022],[0.2637930543902842,0.9881080495657174]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[0.47162524652176296,1.0638598592252877,0.71338606911949],"aabb_xy":[[0.4598570597271055,0.9788598593200664],[0.48339343331642054,1.1488598591305095]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[0.25194702190136997,0.7248047761151684,0.71338606911949],"aabb_xy":[[0.24395353210608794,0.7168066441746929],[0.259940511696652,0.7328029080556441]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.1264372555981994,0.6974663738635791,0.71338606911949],"aabb_xy":[[-0.19043725288384805,0.6559596549107352],[-0.06243725831255076,0.7389730928164231]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[-0.17188323814035178,-1.9994619321831686,0.71338606911949],"aabb_xy":[[-0.17599918825242442,-2.003577487216014],[-0.1677672880282791,-1.995346377150323]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[-0.18831184747657714,-2.379934977129389,0.71338606911949],"aabb_xy":[[-0.23831112264501333,-2.4299349784053366],[-0.138312572308141,-2.3299349758534422]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_27","position":[0.5810907400066541,-0.9026477260598058,0.71338606911949],"aabb_xy":[[0.5610323283934138,-0.9227128129689632],[0.6011491516198944,-0.8825826391506482]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6800250073172699,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2675.png","name":"2675"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2675.png","name":"2675"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5591.png","name":"5591"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5309.png","name":"5309"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5420.png","name":"5420"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2024.png","name":"2024"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":735.322778548916,"rotation_z_degrees":267.60002486667804,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01187452605769378,0.0053098602600572704,-0.012950506246432228]},{"name":"camera_2","offset_m":[0.01764090798586698,0.00986707112135797,0.012953294742994583]},{"name":"camera_3","offset_m":[0.018025004324119815,-0.0160287187093724,0.01230687513717629]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00018664870794782968,-0.0019057849633431028,-0.0011730426123206187],"end_effector_yaw_offset_degrees":-0.08794778322005237},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019750970085831614,-0.0007903011652421669,0.0011519883251479182],"end_effector_yaw_offset_degrees":-0.8806624049805627},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016910143571954427,0.00040686384321548044,0.0014027106787911124],"end_effector_yaw_offset_degrees":-0.43819466086486347},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018509794454360951,0.0018086265884066834,6.876500437399177e-05],"end_effector_yaw_offset_degrees":0.2923023380401948}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031446356397075307,-0.0038342005726060826],"position_m":[0.35724463563970754,-0.08783420057260609,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016540076847481378,0.0028852330634561293],"position_m":[0.27294599231525185,-0.32741476693654387,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002054059657203753,-0.0015451607949891711],"position_m":[0.16275405965720377,0.21265483920501083,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[8.763745574382788e-06,0.00029825389784462683],"position_m":[0.3441087637455744,0.11549825389784463,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"98cd155659a93e4da38aeddf4aec2ee596e8cc47bfe7ce3b690044b33deb5410","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2675/tex_ceiling_textures_2024/tex_floor_textures_5420/tex_table_textures_5591/tex_wall_textures_5309","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7884688500871466057,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7884688500871466057,"visual_seed":7884688500871466057,"scene_id":"lab_003","finished_at":"2026-09-05T02:57:19"}
+{"episode_id":"ep_000038","started_at":"2026-09-05T02:57:23","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[0.5886968388708369,-2.143538039761105,0.71338606911949],"aabb_xy":[[0.5473922958071009,-2.2075380393292217],[0.6300013819345729,-2.0795380401929875]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[0.34514055070099836,-0.43530239596144016,0.71338606911949],"aabb_xy":[[0.34024125839443486,-0.46297931526400893],[0.35003984300756186,-0.4076254766588714]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.4206398880844071,1.7757311075974074,0.71338606911949],"aabb_xy":[[0.36063988823784027,1.7189124854043687],[0.48063988793097384,1.832549729790446]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[0.4715841386433812,-0.3081517827224918,0.71338606911949],"aabb_xy":[[0.4615024315648077,-0.3881517806146064],[0.48166584572195464,-0.22815178483037712]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.2740643279348116,1.4666351709319403,0.71338606911949],"aabb_xy":[[0.2652831007875754,1.4578554236434103],[0.28284555508204784,1.4754149182204708]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_5","position":[-0.5779586900627883,-0.9818034974414374,0.71338606911949],"aabb_xy":[[-0.6277754695276231,-1.0318034959257407],[-0.5281419105979536,-0.931803498957134]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.04852797210883919,1.0108522984758053,0.71338606911949],"aabb_xy":[[-0.0014549780786401454,0.9608522988332445],[0.09851092229631851,1.0608522981183652]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[0.5391105148511697,-1.5867337476557106,0.71338606911949],"aabb_xy":[[0.5141105149186518,-1.593616415876634],[0.5641105147836876,-1.5798510794347873]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[0.2806241718062433,-1.9238457735943664,0.71338606911949],"aabb_xy":[[0.27334185542957956,-2.013845777203875],[0.2879064881829069,-1.8338457699848572]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[-0.13432198340767298,-0.10811030783804476,0.71338606911949],"aabb_xy":[[-0.22432198574169204,-0.18559266242315742],[-0.04432198107365393,-0.03062795325293209]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[0.45749095737479273,-1.753602296118872,0.71338606911949],"aabb_xy":[[0.4408138213816972,-1.770302220092802],[0.47416809336788823,-1.7369023721449415]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.26430889041671346,-1.825493098968196,0.71338606911949],"aabb_xy":[[-0.27406487992588735,-1.8352556330274301],[-0.25455290090753957,-1.8157305649089612]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.49780563613367435,0.27065075977580255,0.71338606911949],"aabb_xy":[[-0.5618056393523121,0.2239276478767942],[-0.43380563291503643,0.3173738716748109]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.6278570889911632,1.4023628351435966,0.71338606911949],"aabb_xy":[[-0.6778563641595995,1.3523628338676494],[-0.5778578138227272,1.4523628364195438]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.30952610776137784,0.281165172352591,0.71338606911949],"aabb_xy":[[-0.32416951331541083,0.26650645269580664],[-0.29488270220734486,0.2958238920093752]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[0.5399621818831659,-1.4643296645488069,0.71338606911949],"aabb_xy":[[0.4971954750037457,-1.528329667970609],[0.5827288887625861,-1.4003296611270042]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.07810748463060635,-2.0063187540935092,0.71338606911949],"aabb_xy":[[-0.10060748415431374,-2.0288147015441296],[-0.05560748510689894,-1.9838228066428882]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.1678682610818839,-1.1799998965957934,0.71338606911949],"aabb_xy":[[-0.2318682634246855,-1.2249407478399257],[-0.10386825873908238,-1.1350590453516607]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[0.4139130650624472,-1.9219346351647868,0.71338606911949],"aabb_xy":[[0.408455119425427,-2.001934638472446],[0.41937101069946714,-1.8419346318571275]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[0.6072084472022925,-1.0487734273306986,0.71338606911949],"aabb_xy":[[0.5836233237383976,-1.1137734295761303],[0.6307935706661874,-0.9837734250852668]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[0.06944502323531476,-0.840255385540531,0.71338606911949],"aabb_xy":[[0.02842707984894388,-0.8902553861714882],[0.11046296662168564,-0.7902553849095736]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[0.5360948847474976,-0.7521410037933822,0.71338606911949],"aabb_xy":[[0.44609488107057915,-0.8135734103704865],[0.6260948884244155,-0.6907085972162779]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[-0.5365414317665153,-0.003463495349615986,0.71338606911949],"aabb_xy":[[-0.5441656998566936,-0.011096718886159708],[-0.5289171636763371,0.0041697281869277365]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[0.3460921999152222,-2.174439440183162,0.71338606911949],"aabb_xy":[[0.256092200192048,-2.1975127927183413],[0.43609219963839635,-2.1513660876479817]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[-0.2728508758418792,-1.0397837800024454,0.71338606911949],"aabb_xy":[[-0.2837024820907548,-1.0506430707300964],[-0.2619992695930036,-1.0289244892747944]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[-0.07799822503076281,-1.5465726989141995,0.71338606911949],"aabb_xy":[[-0.08211417514283548,-1.5506882539470446],[-0.07388227491869015,-1.5424571438813535]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[-0.46861852773829393,-1.3016397323027304,0.71338606911949],"aabb_xy":[[-0.532618531028002,-1.3449746513066478],[-0.4046185244485858,-1.2583048132988126]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[-0.599815068661059,0.5873532049301766,0.71338606911949],"aabb_xy":[[-0.633590627851752,0.5733147097170116],[-0.5660395094703661,0.6013917001433416]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[-0.4599459232685992,1.0477973002330625,0.71338606911949],"aabb_xy":[[-0.4984916160938002,1.0092515291768738],[-0.42140023044339814,1.0863430712892512]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_29","position":[-0.0071679692743428225,1.564242557403872,0.71338606911949],"aabb_xy":[[-0.03962967015627027,1.5341097252889693],[0.025293731607584632,1.5943753895187744]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_30","position":[-0.4796945898786925,-0.31140324760300864,0.71338606911949],"aabb_xy":[[-0.49679666783706067,-0.32851005313427845],[-0.46259251192032436,-0.29429644207173894]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_31","position":[-0.46519484884637197,-0.131663916647065,0.71338606911949],"aabb_xy":[[-0.545194849119979,-0.20461346447278173],[-0.385194848572765,-0.058714368821348305]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_32","position":[-0.3378667769965917,-2.0636759515928214,0.71338606911949],"aabb_xy":[[-0.4228667756886663,-2.0956618149877],[-0.25286677830451704,-2.0316900881979425]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_33","position":[-0.28958617880024695,-2.1979424279310695,0.71338606911949],"aabb_xy":[[-0.3695861820642601,-2.211502460239983],[-0.20958617553623382,-2.184382395622156]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_34","position":[-0.1881104244957914,-2.0238950576891335,0.71338606911949],"aabb_xy":[[-0.20631624815703908,-2.034920458271125],[-0.16990460083454373,-2.012869657107142]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6839217485037257,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3051.png","name":"3051"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3051.png","name":"3051"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6829.png","name":"6829"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4186.png","name":"4186"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9220.png","name":"9220"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2118.png","name":"2118"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":549.7899759258648,"rotation_z_degrees":190.62329568084775,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01567146300440651,0.010424178818963768,-0.009072670822180568]},{"name":"camera_2","offset_m":[0.004440632309031259,0.0003613693546457783,-0.013141070411356499]},{"name":"camera_3","offset_m":[-0.01105742642508631,0.015078055216514497,-0.01930676470822842]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010270059722769565,0.001872825567110996,0.0016949480784010248],"end_effector_yaw_offset_degrees":-0.45116660571895295},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000558502717706903,0.0003424150933581684,0.0017003103888804261],"end_effector_yaw_offset_degrees":0.5124818799056909},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016763343644098398,0.0011922994825525036,0.0008397496364746693],"end_effector_yaw_offset_degrees":-0.18865012913662516},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001434738666769733,0.0015245541241616844,3.580983279906358e-05],"end_effector_yaw_offset_degrees":-0.2500868650107557}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003955180927413209,0.0018071321595691777],"position_m":[0.3501448190725868,-0.08219286784043082,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[4.629868984370317e-05,-0.00209375369467287],"position_m":[0.2746462986898437,-0.33239375369467283,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00019989808709957712,0.004500955367609989],"position_m":[0.16050010191290043,0.21870095536761,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007174795148622848,0.004989704140544921],"position_m":[0.3448174795148623,0.12018970414054492,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8ba4a6d3bd146ef4222b7e55b96eb97465bc7341ce78cacf9044b36e59379d02","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0046.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3051/tex_ceiling_textures_2118/tex_floor_textures_9220/tex_table_textures_6829/tex_wall_textures_4186","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6847508241946226027,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6847508241946226027,"visual_seed":6847508241946226027,"scene_id":"lab_003","finished_at":"2026-09-05T03:01:10"}
+{"episode_id":"ep_000039","started_at":"2026-09-05T03:01:13","dimensions":{"distractor":{"count":35,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[0.333227956861877,1.6441741438069273,0.71338606911949],"aabb_xy":[[0.31133820927293615,1.554174146517678],[0.35511770445081775,1.7341741410961762]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[0.11307352280597249,-0.7454265422482764,0.71338606911949],"aabb_xy":[[0.08855989870896662,-0.7696911355503129],[0.13758714690297835,-0.72116194894624]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[-0.19867384334677513,0.28147099916810303,0.71338606911949],"aabb_xy":[[-0.2686738454782046,0.2587090335424073],[-0.12867384121534556,0.30423296479379863]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.4601468696153719,-2.3031423936583693,0.71338606911949],"aabb_xy":[[0.4440849421568542,-2.388142395470961],[0.47620879707388947,-2.2181423918457774]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[-0.10667604887370208,-1.4529685409692223,0.71338606911949],"aabb_xy":[[-0.12417598230768544,-1.4704685408894569],[-0.08917611543971869,-1.4354685410489878]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.2127228610935415,-1.5590256513084808,0.71338606911949],"aabb_xy":[[-0.22287587664769082,-1.5950951928812207],[-0.20256984553939206,-1.52295610973574]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.29160746511348323,0.926447253196772,0.71338606911949],"aabb_xy":[[-0.35160746597429593,0.8750208231902855],[-0.23160746425267034,0.9778736832032583]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.6561229931419718,-0.619841754512019,0.71338606911949],"aabb_xy":[[-0.6929176262668779,-0.6567476296086012],[-0.6193283600170654,-0.5829358794154367]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.2787170486028853,1.304820424948189,0.71338606911949],"aabb_xy":[[-0.3587170518607282,1.224823917156205],[-0.1987170453450423,1.384816932740173]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.342752688388741,-0.5076179012750117,0.71338606911949],"aabb_xy":[[-0.4077526893458682,-0.5595661132087173],[-0.2777526874316138,-0.4556696893413062]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.42070042315382705,-1.4310402325381686,0.71338606911949],"aabb_xy":[[-0.4373775591469226,-1.4477401565120989],[-0.4040232871607316,-1.4143403085642383]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[0.04936292651989571,-0.9016723759359753,0.71338606911949],"aabb_xy":[[0.015922751323876088,-0.9351160017669052],[0.08280310171591529,-0.8682287501050451]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.3777124280830279,-0.873444436678046,0.71338606911949],"aabb_xy":[[-0.3870060463201785,-0.9109444351661801],[-0.3684188098458773,-0.8359444381899123]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.5183933848981204,0.8490464556104147,0.71338606911949],"aabb_xy":[[-0.5358933851431698,0.8315466677708477],[-0.500893384653071,0.8665462434499814]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[-0.13314537016957695,0.4980903691319689,0.71338606911949],"aabb_xy":[[-0.17439418119949165,0.4430903696197514],[-0.0918965591396622,0.5530903686441863]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.3386467666783093,0.6830464550105626,0.71338606911949],"aabb_xy":[[0.3277409905907465,0.6030464586117334],[0.34955254276587194,0.7630464514093918]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[0.5341518247649697,-0.29171069242930203,0.71338606911949],"aabb_xy":[[0.4701518254708015,-0.3556968327981562],[0.5981518240591379,-0.22772455206044784]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[0.5907322333492577,0.8242558577562464,0.71338606911949],"aabb_xy":[[0.5733015182702511,0.8069837430923956],[0.6081629484282641,0.8415279724200972]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.2690614948334292,1.5270444973907673,0.71338606911949],"aabb_xy":[[-0.30656149493902213,1.5202223355377862],[-0.23156149472783624,1.5338666592437484]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[0.25593035756727933,0.8314101760070809,0.71338606911949],"aabb_xy":[[0.2514997282124392,0.8259618042723985],[0.26036098692211956,0.8368585477417637]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[-0.08797873126272115,0.6616838247874002,0.71338606911949],"aabb_xy":[[-0.09287802356928464,0.6340069054848314],[-0.08307943895615764,0.689360744089969]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[0.4394415018017708,0.43301962086464485,0.71338606911949],"aabb_xy":[[0.3894415008512379,0.4014704738611234],[0.4894415027523035,0.4645687678681662]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.6761947568926846,-0.5235303740146784,0.71338606911949],"aabb_xy":[[-0.6822317698933493,-0.5295570750836266],[-0.6701577438920199,-0.5175036729457302]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[0.6256335187221835,-1.634414980713238,0.71338606911949],"aabb_xy":[[0.5756547102118676,-1.6844149807189566],[0.6756123272324994,-1.584414980707519]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[0.11697202765747794,1.4125587811490807,0.71338606911949],"aabb_xy":[[0.06687456367640432,1.348558780639269],[0.16706949163855156,1.4765587816588925]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_25","position":[-0.32670296149309347,1.7594753012261033,0.71338606911949],"aabb_xy":[[-0.33083881782579366,1.7219753017817465],[-0.3225671051603933,1.7969753006704605]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_26","position":[-0.5081037424211148,-2.5176846373674704,0.71338606911949],"aabb_xy":[[-0.5721037456397526,-2.564407749266479],[-0.4441037392024769,-2.4709615254684625]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_27","position":[0.6468250497182311,-1.1580223316423535,0.71338606911949],"aabb_xy":[[0.6243250497080829,-1.1721185512819567],[0.6693250497283795,-1.1439261120027502]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_28","position":[-0.4611766493464409,-2.190968442439263,0.71338606911949],"aabb_xy":[[-0.5083060283482765,-2.2549684434836643],[-0.4140472703446052,-2.1269684413948604]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_29","position":[-0.23461188502363406,-0.15192880211165116,0.71338606911949],"aabb_xy":[[-0.2844286644884688,-0.20192880059595453],[-0.1847951055587993,-0.1019288036273478]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_30","position":[-0.3169419605134816,-1.9300821739182532,0.71338606911949],"aabb_xy":[[-0.3249682311441076,-1.938833668895606],[-0.3089156898828556,-1.9213306789409008]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_31","position":[0.5924712934409337,-2.4967755145414663,0.71338606911949],"aabb_xy":[[0.5699712936270314,-2.5012501309119473],[0.6149712932548361,-2.492300898170986]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_32","position":[0.1436918896302113,-1.285041943272633,0.71338606911949],"aabb_xy":[[0.07969188936974046,-1.330050742625561],[0.20769188989068207,-1.240033143919705]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_33","position":[0.5676748283398056,1.00453369933774,0.71338606911949],"aabb_xy":[[0.4876748278695898,0.9962229917233917],[0.6476748288100217,1.0128444069520883]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_34","position":[-0.006401638114380992,-1.326237710889591,0.71338606911949],"aabb_xy":[[-0.03636919502420666,-1.3562377111874768],[0.023565918795444674,-1.2962377105917053]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.686573994231032,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/397.png","name":"397"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/397.png","name":"397"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6044.png","name":"6044"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3580.png","name":"3580"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1645.png","name":"1645"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9725.png","name":"9725"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":725.263814639506,"rotation_z_degrees":280.17517689757716,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00170059432522943,-0.01482739364074388,-0.0035339845650612205]},{"name":"camera_2","offset_m":[-0.004826922685053248,0.005071234351939711,-0.0019176248533231688]},{"name":"camera_3","offset_m":[0.015563326243315658,-0.007559397616079679,0.019885306030128936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00011239033806483782,0.00098864609485064,0.0005146287266026717],"end_effector_yaw_offset_degrees":-0.2978345696418614},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006259038296284685,0.0017122342304426983,0.0002875646829698132],"end_effector_yaw_offset_degrees":0.33461265238369053},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008155185024736578,-0.0013165239715805144,0.00033868971285605986],"end_effector_yaw_offset_degrees":0.7159212260038914},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019591841607839522,0.001194324428624982,-0.0019028983650430464],"end_effector_yaw_offset_degrees":0.027782387123337138}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00378682283765125,0.0030681470652331047],"position_m":[0.3578868228376513,-0.0809318529347669,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019932922596149275,-0.0040489189606632905],"position_m":[0.27659329225961493,-0.33434891896066327,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00010571431027313859,-0.0005714969134467248],"position_m":[0.16059428568972686,0.2136285030865533,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002291729014354915,-0.0030722562524971323],"position_m":[0.34639172901435494,0.11212774374750287,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2b36c3236e300108649976def729410e0998767599e3403f9724bf61bc3426fc","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_397/tex_ceiling_textures_9725/tex_floor_textures_1645/tex_table_textures_6044/tex_wall_textures_3580","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5618521156634330322,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5618521156634330322,"visual_seed":5618521156634330322,"scene_id":"lab_003","finished_at":"2026-09-05T03:04:52"}
+{"episode_id":"ep_000040","started_at":"2026-09-05T03:04:56","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[-0.3735699954799177,1.654311292374706,0.71338606911949],"aabb_xy":[[-0.403561658213788,1.6243112930379056],[-0.3435783327460473,1.6843112917115066]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.2951994036509352,0.6086758952505384,0.71338606911949],"aabb_xy":[[0.2869848585352512,0.599999304952897],[0.30341394876661915,0.6173524855481797]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[0.33022519796041383,-1.8824646487210095,0.71338606911949],"aabb_xy":[[0.3127251977153644,-1.8999644365605761],[0.34772519820546316,-1.8649648608814424]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[0.10767484654301052,-2.4217915177845604,0.71338606911949],"aabb_xy":[[0.022674848125587288,-2.5066658132468453],[0.19267484496043374,-2.3369172223222754]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[-0.5299571193860984,-2.439932003271705,0.71338606911949],"aabb_xy":[[-0.5949571179431712,-2.469684536685587],[-0.4649571208290255,-2.410179469857822]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[0.11747290612104688,-1.4094018547985083,0.71338606911949],"aabb_xy":[[0.09997290586171029,-1.423493396987281],[0.13497290638038353,-1.3953103126097357]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[0.39583518709226717,-0.587605977054166,0.71338606911949],"aabb_xy":[[0.33183518380255905,-0.6309408960580836],[0.4598351903819753,-0.5442710580502483]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.5929045274822322,-1.9562189575061626,0.71338606911949],"aabb_xy":[[0.5707320005055813,-1.9783946246622854],[0.6150770544588829,-1.9340432903500393]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.6256929802685236,1.619233027568383,0.71338606911949],"aabb_xy":[[0.5706929806467779,1.5642493347809103],[0.6806929798902696,1.6742167203558558]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.2606681416932106,-1.1766224884073493,0.71338606911949],"aabb_xy":[[0.22820644081128308,-1.2067553205222517],[0.29312984257513797,-1.1464896562924465]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.31188383061055447,0.6928214801126926,0.71338606911949],"aabb_xy":[[0.29843730397651114,0.6793516284596014],[0.3253303572445978,0.7062913317657838]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[-0.06427576468931984,-0.043055357183870324,0.71338606911949],"aabb_xy":[[-0.09990492058927956,-0.07868802394072327],[-0.02864660878936008,-0.0074226904270173755]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[0.40495253689987254,-2.260041834105591,0.71338606911949],"aabb_xy":[[0.39560552931757736,-2.274345456323235],[0.4142995444821678,-2.245738211887947]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[0.16197516772986453,-1.8424517291279794,0.71338606911949],"aabb_xy":[[0.12447516778609813,-1.850744819162816],[0.19947516767363094,-1.8341586390931428]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[0.3054476241469579,1.0805557256521743,0.71338606911949],"aabb_xy":[[0.28724180048571024,1.0695303250701829],[0.3236534478082056,1.0915811262341661]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.4803422193665714,1.1608414204659345,0.71338606911949],"aabb_xy":[[0.4163422179585807,1.1090524689420098],[0.544342220774562,1.2126303719898592]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.1936312334017961,1.3232584319918184,0.71338606911949],"aabb_xy":[[0.15238242237188135,1.268258432479601],[0.23488004443171082,1.3782584315040358]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.6136756168984798,-1.6370165650875301,0.71338606911949],"aabb_xy":[[0.5751299240732788,-1.6755623361437189],[0.6522213097236809,-1.5984707940313414]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[-0.1412814247117522,-0.9192764299001825,0.71338606911949],"aabb_xy":[[-0.17557833572949277,-0.9535733161101236],[-0.10698451369401152,-0.884979543690241]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.0045072713302606315,-1.3714381721749167,0.71338606911949],"aabb_xy":[[-0.05450228228971267,-1.4214381712105084],[0.0454877396291914,-1.321438173139325]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[0.2929338997794748,-1.8092528265814787,0.71338606911949],"aabb_xy":[[0.28030711249227847,-1.8187989002830518],[0.30556068706667117,-1.799706752879906]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[-0.5063834670698024,1.5959136869919086,0.71338606911949],"aabb_xy":[[-0.5108140964246427,1.5904653152572263],[-0.5019528377149624,1.6013620587265913]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[0.270907979598494,-1.6391859362092895,0.71338606911949],"aabb_xy":[[0.26627286444626064,-1.6430532712864383],[0.27554309475072736,-1.6353186011321408]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_23","position":[0.5393586349896629,0.06316453107371967,0.71338606911949],"aabb_xy":[[0.5222565570312947,0.04605772554244991],[0.556460712948031,0.08027133660498942]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859413019423038,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5590.png","name":"5590"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5590.png","name":"5590"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/688.png","name":"688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1410.png","name":"1410"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9396.png","name":"9396"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5066.png","name":"5066"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":517.4794265458914,"rotation_z_degrees":62.91829571573466,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012088634571271215,-0.008398371684024526,-0.019101014145734913]},{"name":"camera_2","offset_m":[0.0138947902683552,-0.014137528684268843,0.014837795509684521]},{"name":"camera_3","offset_m":[-0.011399116586528457,0.007535143039966427,0.003785204692613252]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00015525010386813198,0.0002446195474095428,-0.0006940605218078372],"end_effector_yaw_offset_degrees":0.6850617604915972},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-8.975663144512717e-05,-3.062111749634836e-05,0.0008640430808466546],"end_effector_yaw_offset_degrees":-0.17691344487258465},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008236101312063609,-0.0005970358684174251,-0.0004489860753887939],"end_effector_yaw_offset_degrees":0.06748628705211934},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019398635596042206,-7.617874792937933e-05,-0.0001534876495956699],"end_effector_yaw_offset_degrees":-0.9205689985058427}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036948279959681278,-0.003413518703432954],"position_m":[0.3577948279959682,-0.08741351870343296,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002486080105616649,-0.0018590026534033577],"position_m":[0.27708608010561664,-0.33215900265340337,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0002520019998696688,-0.0032602729210088324],"position_m":[0.16044799800013035,0.21093972707899117,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005541278259606833,-0.004415656443386864],"position_m":[0.3435458721740393,0.11078434355661314,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba04da413fdb2e0ff986f661034afcdaa90034588c32e2a8f84f96c891d49765","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5590/tex_ceiling_textures_5066/tex_floor_textures_9396/tex_table_textures_688/tex_wall_textures_1410","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5123397937737741623,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5123397937737741623,"visual_seed":5123397937737741623,"scene_id":"lab_003","finished_at":"2026-09-05T03:08:38"}
+{"episode_id":"ep_000041","started_at":"2026-09-05T03:11:01","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.28405345757261935,-0.2030318551294248,0.71338606911949],"aabb_xy":[[-0.29001999651335514,-0.20899299978878885],[-0.27808691863188356,-0.19707071047006078]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_1","position":[0.17647800399449154,-1.2998325909642712,0.71338606911949],"aabb_xy":[[0.12867183638072285,-1.3648325936713301],[0.22428417160826014,-1.2348325882572122]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[0.5434672888499517,-2.1609534682014546,0.71338606911949],"aabb_xy":[[0.5267901528568562,-2.177653392175385],[0.5601444248430472,-2.1442535442275243]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.28498441976695865,-0.5219893253388017,0.71338606911949],"aabb_xy":[[0.23498442032676303,-0.571957249823118],[0.33498441920715427,-0.4720214008544854]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.2508488679919805,0.8852950396808263,0.71338606911949],"aabb_xy":[[-0.262617054786638,0.8002950397756049],[-0.23908068119732295,0.970295039586048]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[0.19529688126329858,0.5824090107235249,0.71338606911949],"aabb_xy":[[0.1845239073419308,0.5474090125044859],[0.20606985518466636,0.6174090089425639]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_6","position":[0.6619510208234258,-2.1745917025607278,0.71338606911949],"aabb_xy":[[0.6394510212997183,-2.197087650011348],[0.6844510203471331,-2.1520957551101065]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[-0.16542324263206476,-0.7431296389050817,0.71338606911949],"aabb_xy":[[-0.1782951461330049,-0.8231296393189178],[-0.15255133913112462,-0.6631296384912455]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.535447851752757,-1.0158878141150762,0.71338606911949],"aabb_xy":[[0.515163549029358,-1.0361704392577848],[0.5557321544761555,-0.9956051889723673]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.44710801679946477,0.13681006823726927,0.71338606911949],"aabb_xy":[[0.4388934716837806,0.12813347793962793],[0.4553225619151486,0.1454866585349105]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[-0.35780528859777855,-2.175921456030612,0.71338606911949],"aabb_xy":[[-0.3666073439067512,-2.183732782185541],[-0.3490032332888058,-2.1681101298756826]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[-0.5879113372231664,-1.8230606249389294,0.71338606911949],"aabb_xy":[[-0.6519113391355088,-1.87897177419694],[-0.5239113353108241,-1.7671494756809192]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.12872186002443842,1.4353622406769975,0.71338606911949],"aabb_xy":[[-0.21872185944280928,1.4019867438328075],[-0.0387218606060675,1.468737737521187]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[-0.2777967408938426,1.2612021300908491,0.71338606911949],"aabb_xy":[[-0.2999692678704934,1.2390264629347258],[-0.2556242139171917,1.283377797246972]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[0.524710844415927,-1.4165246379985716,0.71338606911949],"aabb_xy":[[0.48879733999093716,-1.452438146215326],[0.5606243488409165,-1.3806111297818169]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[-0.2992261257163212,0.37199495230858703,0.71338606911949],"aabb_xy":[[-0.37921994929487945,0.2919949497157455],[-0.219232302137763,0.45199495490142866]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.38324324230815954,1.034433115826805,0.71338606911949],"aabb_xy":[[0.37778529667113947,0.9544331125191456],[0.3887011879451796,1.1144331191344639]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.05930537968544669,0.8799553458529337,0.71338606911949],"aabb_xy":[[-0.10207208656486688,0.8159553424311313],[-0.016538672806026493,0.9439553492747362]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.4970773084917488,1.7462932213103692,0.71338606911949],"aabb_xy":[[-0.5024098231463618,1.740968893065134],[-0.4917447938371358,1.751617549555605]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[-0.6389856626095372,1.4912819291503756,0.71338606911949],"aabb_xy":[[-0.6564855960435205,1.473781929230141],[-0.6214857291755538,1.5087819290706102]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[0.061001954966874994,1.7353743560752766,0.71338606911949],"aabb_xy":[[0.05015034871799939,1.7245150653476253],[0.0718535612157506,1.7462336468029274]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[-0.1355153295371596,-1.0106216818641989,0.71338606911949],"aabb_xy":[[-0.21923755503724207,-1.1006216853988948],[-0.05179310403707715,-0.9206216783295029]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[0.11753498905393012,-1.4237089098634372,0.71338606911949],"aabb_xy":[[0.10493228991685366,-1.4363043060883027],[0.13013768819100657,-1.4111135136385717]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[-0.4551404258034333,-2.446160265007606,0.71338606911949],"aabb_xy":[[-0.4676077839131689,-2.4586255896409295],[-0.4426730676936976,-2.4336949403742825]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[0.3510542421884877,-1.1860554461212653,0.71338606911949],"aabb_xy":[[0.31355424100369483,-1.1904736688173256],[0.38855424337328043,-1.1816372234252046]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[0.5793909258026455,1.4284106261360257,0.71338606911949],"aabb_xy":[[0.5143909272455726,1.398658092722143],[0.6443909243597182,1.4581631595499083]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_26","position":[0.6107789021924883,-0.625288634949785,0.71338606911949],"aabb_xy":[[0.5862652780954825,-0.6495532282518214],[0.6352925262894942,-0.6010240416477485]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_27","position":[0.5201722879248374,-1.2170611683025725,0.71338606911949],"aabb_xy":[[0.5114583188749028,-1.2395611689617603],[0.5288862569747718,-1.1945611676433838]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_28","position":[-0.5481590117541107,-1.1589419543132655,0.71338606911949],"aabb_xy":[[-0.5527941269063441,-1.1628092893904138],[-0.5435238966018774,-1.1550746192361168]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[0.6511394796541798,-0.006185898913619425,0.71338606911949],"aabb_xy":[[0.6061468929357293,-0.05118589818806818],[0.6961320663726301,0.03881410036082933]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_30","position":[0.09121280691697864,-0.9222718787218547,0.71338606911949],"aabb_xy":[[0.041330110039282435,-0.9722718779681295],[0.14109550379467484,-0.87227187947558]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_31","position":[-0.23921097173663808,-2.0707086365909744,0.71338606911949],"aabb_xy":[[-0.32921096847224823,-2.1238920999082684],[-0.1492109750010278,-2.0175251732736794]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_32","position":[-0.5450330376647547,0.3119304916054011,0.71338606911949],"aabb_xy":[[-0.6090330398851618,0.2675574074801128],[-0.4810330354443477,0.3563035757306894]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841027249239879,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8243.png","name":"8243"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8243.png","name":"8243"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4225.png","name":"4225"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1597.png","name":"1597"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/850.png","name":"850"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/634.png","name":"634"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":843.7496958212848,"rotation_z_degrees":222.2806171079159,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015963346849291026,0.006854941643748908,0.005092333891162051]},{"name":"camera_2","offset_m":[-0.004960340922674588,0.016180391767472328,0.002973234002507749]},{"name":"camera_3","offset_m":[-0.0061945725316406,0.016204584253059286,0.00428703846274435]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00013465903357559074,0.0010398821632631523,-0.00031018253329226386],"end_effector_yaw_offset_degrees":0.8539757539247896},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006556489742172663,0.0011614631822554114,-0.0007685906371236615],"end_effector_yaw_offset_degrees":-0.09895743767463294},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001376575662804001,0.0018738487466484774,-0.0015141796702756389],"end_effector_yaw_offset_degrees":-0.06870531124796408},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015957327982899518,-6.97702949565694e-05,-0.0014052417931759847],"end_effector_yaw_offset_degrees":0.4238722858562445}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0031818023422452383,0.0003779430862377751],"position_m":[0.3509181976577548,-0.08362205691376223,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005316883508159629,-0.0015926251776568479],"position_m":[0.275131688350816,-0.33189262517765683,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004720531746391225,-0.0029535357838058208],"position_m":[0.15597946825360878,0.21124646421619417,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001520674532430595,9.805166921528566e-06],"position_m":[0.3425793254675694,0.11520980516692153,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"971ccdad39a5edcb2e81bba97a1dfda912f12d4776a9a64ec8b57366fc2f5a2e","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8243/tex_ceiling_textures_634/tex_floor_textures_850/tex_table_textures_4225/tex_wall_textures_1597","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":678834168397010641,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":678834168397010641,"visual_seed":678834168397010641,"scene_id":"lab_003","finished_at":"2026-09-05T03:15:09"}
+{"episode_id":"ep_000042","started_at":"2026-09-05T03:15:13","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[0.3390878953606382,-1.3695214327538574,0.71338606911949],"aabb_xy":[[0.2750878936826408,-1.4180388242331716],[0.4030878970386355,-1.3210040412745432]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.6317199849048323,1.4400050745725301,0.71338606911949],"aabb_xy":[[0.6208142088172696,1.360005078173701],[0.642625760992395,1.5200050709713593]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_2","position":[-0.4118044021634056,-0.21253651285132635,0.71338606911949],"aabb_xy":[[-0.49180440075072496,-0.29185211478948725],[-0.3318044035760861,-0.13322091091316546]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.19290768351834398,-0.14002572961508264,0.71338606911949],"aabb_xy":[[-0.2042694181716301,-0.15139419602137072],[-0.1815459488650578,-0.12865726320879456]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[-0.4073099149382775,-1.7439113310855716,0.71338606911949],"aabb_xy":[[-0.44230991324897295,-1.7516263460091173],[-0.37230991662758206,-1.736196316162026]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.41776309214572904,0.6045814984898268,0.71338606911949],"aabb_xy":[[-0.5077630915640999,0.5712060016456371],[-0.32776309272735815,0.6379569953340165]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_6","position":[-0.5787471641475095,-0.057236575487075836,0.71338606911949],"aabb_xy":[[-0.6172928569727104,-0.09578234654326448],[-0.5402014713223083,-0.01869080443088717]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[-0.4441237124625718,-1.837158787140509,0.71338606911949],"aabb_xy":[[-0.46155442754157827,-1.8544309018043594],[-0.42669299738356525,-1.8198866724766578]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[0.13260392759043393,-0.6692089651559976,0.71338606911949],"aabb_xy":[[0.08260392622954672,-0.7191868697314131],[0.18260392895132116,-0.6192310605805819]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[-0.545798563042489,-1.6091889157162842,0.71338606911949],"aabb_xy":[[-0.5879829772033197,-1.6731889159934956],[-0.5036141488816582,-1.5451889154390732]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[0.5659756635724555,-1.4278851898501443,0.71338606911949],"aabb_xy":[[0.5284756627804601,-1.4342530308083346],[0.603475664364451,-1.4215173488919541]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[0.44035894380515805,1.6649327788774806,0.71338606911949],"aabb_xy":[[0.36035894164239546,1.5849775952513367],[0.5203589459679204,1.744887962503624]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[-0.6535177724089183,-1.61591691844869,0.71338606911949],"aabb_xy":[[-0.6612209630829953,-1.623626289147428],[-0.6458145817348413,-1.6082075477499518]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[0.06778772973089775,1.1104678409946898,0.71338606911949],"aabb_xy":[[-0.017212268961176905,1.078481977599811],[0.1527877284229724,1.1424537043895686]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.2592808063993615,0.9785673927149716,0.71338606911949],"aabb_xy":[[-0.2700537803207293,0.9435673944959326],[-0.24850783247799374,1.0135673909340106]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[0.3541902299833515,-1.528522415716683,0.71338606911949],"aabb_xy":[[0.2901902326977029,-1.570029134669527],[0.4181902272690002,-1.487015696763839]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[0.3213279434118721,1.2428647195874838,0.71338606911949],"aabb_xy":[[0.2613279417689502,1.1908645702955396],[0.3813279450547939,1.294864868879428]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.5870980211363319,-1.2205778176205366,0.71338606911949],"aabb_xy":[[0.497098022541862,-1.2368284039339577],[0.6770980197308019,-1.2043272313071156]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[0.2575482427743402,-2.307480585512742,0.71338606911949],"aabb_xy":[[0.23371202513373512,-2.3974805863212287],[0.28138446041494525,-2.217480584704256]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[-0.07982146376950727,-0.34663233214085043,0.71338606911949],"aabb_xy":[[-0.09244825105670361,-0.35617840584242333],[-0.06719467648231091,-0.33708625843927753]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.24713167389357343,-2.312755421426011,0.71338606911949],"aabb_xy":[[-0.2700473867786234,-2.335659718562435],[-0.22421596100852356,-2.289851124289588]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[0.4481801980367772,-0.4520746189054221,0.71338606911949],"aabb_xy":[[0.44447693670763827,-0.45577663721413986],[0.45188345936591606,-0.44837260059670414]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[0.5888830606660911,-1.7270973977879316,0.71338606911949],"aabb_xy":[[0.5338875828454316,-1.7820973992218383],[0.6438785384867504,-1.6720973963540244]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_23","position":[0.15522752338723,-1.6901500239064688,0.71338606911949],"aabb_xy":[[0.14235561988628986,-1.7701500243203052],[0.16809942688817014,-1.610150023492633]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[-0.10948202752066716,-2.258846336751884,0.71338606911949],"aabb_xy":[[-0.13988013861981075,-2.289253238753553],[-0.07908391642152357,-2.228439434750214]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_25","position":[-0.44431867947935183,-0.6625532962336311,0.71338606911949],"aabb_xy":[[-0.4668186790030591,-0.6850492436842518],[-0.4218186799556443,-0.6400573487830102]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[-0.25699804172328994,-1.1304510492324282,0.71338606911949],"aabb_xy":[[-0.2805831651871848,-1.1954510514778602],[-0.23341291825939509,-1.0654510469869967]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[-0.6060722236189302,-1.1008370311504592,0.71338606911949],"aabb_xy":[[-0.614108558320215,-1.108875150454876],[-0.5980358889176454,-1.0927989118460424]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_28","position":[-0.4937104857742148,-2.1098575925700014,0.71338606911949],"aabb_xy":[[-0.5577104876865571,-2.165768741828012],[-0.4297104838618725,-2.053946443311991]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_29","position":[0.015057219874548,-0.9518699251734735,0.71338606911949],"aabb_xy":[[0.005639745304685251,-0.9612861023111925],[0.02447469444441075,-0.9424537480357544]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_30","position":[-0.5485965791926823,1.123051797326995,0.71338606911949],"aabb_xy":[[-0.6125965755882555,1.0590885089082611],[-0.4845965827971094,1.1870150857457282]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_31","position":[0.6236400209866175,1.0903348057029594,0.71338606911949],"aabb_xy":[[0.611172662876882,1.0778694810696359],[0.6361073790963533,1.1028001303362829]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_32","position":[0.3059937754469113,-2.064633733191647,0.71338606911949],"aabb_xy":[[0.25599377600671563,-2.1146016576759634],[0.3559937748871069,-2.014665808707331]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_33","position":[0.008621137317807781,-1.377664993656778,0.71338606911949],"aabb_xy":[[0.0013773712715624553,-1.4576649918603803],[0.015864903364053107,-1.2976649954531756]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859870695535686,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4210.png","name":"4210"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4210.png","name":"4210"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8274.png","name":"8274"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9623.png","name":"9623"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/641.png","name":"641"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6055.png","name":"6055"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":810.9199465978049,"rotation_z_degrees":111.3307816102877,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012755249834253374,-0.0017512711527964998,0.006317273942853623]},{"name":"camera_2","offset_m":[-0.011505760559210026,-0.001889835600895201,-0.0031579284338940534]},{"name":"camera_3","offset_m":[-0.009094794600521476,0.014864109836234058,-0.011709455505486415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017581910242903229,1.2893287449152087e-06,0.0010958108040502166],"end_effector_yaw_offset_degrees":-0.3667895215652939},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00021356137065545004,0.0002057428119151103,-0.0004675201890291293],"end_effector_yaw_offset_degrees":-0.9802102592939188},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015099290152334674,-0.0002245967835976673,0.00020294530299965743],"end_effector_yaw_offset_degrees":0.6606188249115277},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007917919031637387,-0.0007215939238558421,0.0002787012792311665],"end_effector_yaw_offset_degrees":0.020720246960781896}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002620863293469309,0.0009182167307900347],"position_m":[0.35672086329346936,-0.08308178326920997,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004499801049240057,0.0017101002817374346],"position_m":[0.2790998010492401,-0.3285898997182625,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004015156193964061,0.0044465142347436355],"position_m":[0.15668484380603595,0.21864651423474363,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024407287612803127,-0.0011006350199576488],"position_m":[0.34654072876128034,0.11409936498004235,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b55abb55020766254e42d6474db247a74db5850c5f68501ba43a8443f3e8c5a5","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0051.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4210/tex_ceiling_textures_6055/tex_floor_textures_641/tex_table_textures_8274/tex_wall_textures_9623","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7179810437803862381,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7179810437803862381,"visual_seed":7179810437803862381,"scene_id":"lab_003","finished_at":"2026-09-05T03:19:05"}
+{"episode_id":"ep_000043","started_at":"2026-09-05T03:19:10","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[0.47951266195337294,-0.5548580445263958,0.71338606911949],"aabb_xy":[[0.46193435976442604,-0.5724325341005007],[0.49709096414231974,-0.5372835549522909]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.32692110695414955,0.5603560815035427,0.71338606911949],"aabb_xy":[[0.276823642973076,0.49635608099373096],[0.37701857093522323,0.6243560820133546]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[-0.17313147025963083,1.0698597800448675,0.71338606911949],"aabb_xy":[[-0.18657799689367413,1.056389928391776],[-0.15968494362558747,1.0833296316979586]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[-0.4480309658101807,0.28739785743979507,0.71338606911949],"aabb_xy":[[-0.5377180421182961,0.19739785718534453],[-0.3583438895020653,0.3773978576942456]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[-0.26448189177136805,-0.24605278273011466,0.71338606911949],"aabb_xy":[[-0.2826877154326157,-0.2570781833121063],[-0.24627606811012037,-0.23502738214812305]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.1957251834938657,-1.0025219148075037,0.71338606911949],"aabb_xy":[[0.18802199281978862,-1.0102312855062416],[0.2034283741679427,-0.9948125441087655]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[-0.5069115649386859,-1.3920238721589864,0.71338606911949],"aabb_xy":[[-0.5709115668510284,-1.447935021416997],[-0.4429115630263437,-1.3361127229009762]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[0.5964408900873472,-0.8468454163150587,0.71338606911949],"aabb_xy":[[0.5364408892265343,-0.8982718463215451],[0.6564408909481599,-0.7954189863085723]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.19548944893188602,-1.251993908940179,0.71338606911949],"aabb_xy":[[-0.2594894453592079,-1.2991635327622757],[-0.13148945250456412,-1.2048242851180828]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.5880851925305183,0.4708002931154338,0.71338606911949],"aabb_xy":[[-0.624581013157797,0.4343163506886762],[-0.5515893719032395,0.5072842355421914]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[0.5131375624872927,-0.6426722209725586,0.71338606911949],"aabb_xy":[[0.5082382701807292,-0.6703491402751273],[0.5180368547938562,-0.6149953016699897]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[0.5961881372859887,0.459559773002125,0.71338606911949],"aabb_xy":[[0.5321924398908922,0.3955597747014163],[0.6601838346810853,0.5235597713028337]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[0.13213478540375145,1.5665952356756603,0.71338606911949],"aabb_xy":[[0.0821347843846162,1.5301290199378328],[0.18213478642288675,1.6030614514134887]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_13","position":[0.026720206017365467,-2.3437202695266004,0.71338606911949],"aabb_xy":[[-0.037279796325436085,-2.388661120770733],[0.09072020836016702,-2.298779418282468]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[-0.26716412597061273,0.77893080577581,0.71338606911949],"aabb_xy":[[-0.3508863514706952,0.6889308022411141],[-0.18344190047053027,0.868930809310506]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.4880607356760171,-1.9782763804411538,0.71338606911949],"aabb_xy":[[-0.4988337095973849,-2.013276378660193],[-0.4772877617546493,-1.9432763822221149]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[0.45599122506816014,-1.2967387786879103,0.71338606911949],"aabb_xy":[[0.4466442174858649,-1.3110424009055546],[0.4653382326504554,-1.2824351564702665]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[-0.3599116980771207,-0.6195069330960923,0.71338606911949],"aabb_xy":[[-0.4009296414634916,-0.6695069337270496],[-0.3188937546907498,-0.569506932465135]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_18","position":[-0.49678625747453997,1.2724582915320437,0.71338606911949],"aabb_xy":[[-0.5617862585804834,1.2474929184639154],[-0.43178625636859674,1.297423664600172]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.6460515937022824,1.2193980120722516,0.71338606911949],"aabb_xy":[[0.5760515915708526,1.1966360464465555],[0.7160515958337117,1.2421599776979468]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[0.4028355537605217,-1.774173228055517,0.71338606911949],"aabb_xy":[[0.3745058438119815,-1.7786339702492342],[0.43116526370906194,-1.7697124858618]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[-0.39625314001449835,1.4050357539458211,0.71338606911949],"aabb_xy":[[-0.4022901530151632,1.3990090528768733],[-0.39021612701383374,1.4110624550147695]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[-0.15666530595196326,-1.7675760794418915,0.71338606911949],"aabb_xy":[[-0.2416653043693865,-1.8524503749041765],[-0.07166530753454003,-1.6827017839796066]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.10745563802295577,1.320996222832088,0.71338606911949],"aabb_xy":[[0.08116681370251508,1.2947247891774365],[0.13374446234339638,1.347267656486739]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[-0.41999176537220756,-1.7039090815612494,0.71338606911949],"aabb_xy":[[-0.43605369283072515,-1.788909083373841],[-0.40392983791368986,-1.6189090797486574]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[0.006637833021755246,-0.8474043099990738,0.71338606911949],"aabb_xy":[[-0.04835441761375571,-0.9024043117423867],[0.0616300836572662,-0.7924043082557611]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[0.6196760499023823,1.4744208034856032,0.71338606911949],"aabb_xy":[[0.5396760512454964,1.4599159445613403],[0.6996760485592685,1.4889256624098661]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.5485997899217725,-0.2587341776189107,0.71338606911949],"aabb_xy":[[0.5141373119086846,-0.2653978548018335],[0.5830622679348602,-0.25207050043598783]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_28","position":[0.10635582908760399,1.173965362907683,0.71338606911949],"aabb_xy":[[0.056382535084343516,1.1239653623531356],[0.1563291230908644,1.2239653634622303]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_29","position":[-0.19762255500826842,1.6425376848021194,0.71338606911949],"aabb_xy":[[-0.20503501054965687,1.6366864743804914],[-0.19021009946687992,1.6483888952237473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850288027877254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1179.png","name":"1179"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1179.png","name":"1179"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4195.png","name":"4195"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2033.png","name":"2033"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1458.png","name":"1458"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/924.png","name":"924"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":695.3261876762355,"rotation_z_degrees":188.57753121038712,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0134438379045503,-0.007658016718785436,0.005834643442647804]},{"name":"camera_2","offset_m":[0.008619755312400779,0.005370920568023768,0.01199802651738718]},{"name":"camera_3","offset_m":[-0.002192136406763457,-0.009189823468376265,0.004410192214650065]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019384335595823464,9.542240911085235e-05,-0.0009918610757223344],"end_effector_yaw_offset_degrees":0.6846394780064142},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005076212230215246,0.001967137857913302,-9.122070309169894e-05],"end_effector_yaw_offset_degrees":0.44066907163194546},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018966296632553074,-0.00043042565069907027,-0.0016497083969900955],"end_effector_yaw_offset_degrees":0.6874758827603151},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007734760258690581,0.0006976719973473731,0.0012262034930003458],"end_effector_yaw_offset_degrees":-0.8791798288539103}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012644231780682084,0.0028441354132318917],"position_m":[0.3553644231780682,-0.08115586458676811,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000751247313104636,-0.0031034891478393632],"position_m":[0.2753512473131047,-0.33340348914783935,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036509688475044643,0.002797332415626615],"position_m":[0.16435096884750447,0.2169973324156266,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021424941315417965,-0.003483573906583155],"position_m":[0.3462424941315418,0.11171642609341684,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f8cdc530d09ab72ae89e7d95e12d8a4f82bc0047880ccdf2aca22897240e08b","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1179/tex_ceiling_textures_924/tex_floor_textures_1458/tex_table_textures_4195/tex_wall_textures_2033","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2199138446231488480,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2199138446231488480,"visual_seed":2199138446231488480,"scene_id":"lab_003","finished_at":"2026-09-05T03:22:57"}
+{"episode_id":"ep_000044","started_at":"2026-09-05T03:23:01","dimensions":{"distractor":{"count":32,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.2771110914320881,-2.37021460908401,0.71338606911949],"aabb_xy":[[0.25461109190838066,-2.3927105565346305],[0.29961109095579547,-2.347718661633389]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[0.5169185468890576,0.7482056055968389,0.71338606911949],"aabb_xy":[[0.4999084495990068,0.732071117098565],[0.5339286441791081,0.7643400940951128]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[-0.09318799767061026,-1.044727422249295,0.71338606911949],"aabb_xy":[[-0.1631879998020398,-1.0674893878749905],[-0.023187995539180703,-1.0219654566235992]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[-0.3808828532737426,-1.1905537019893329,0.71338606911949],"aabb_xy":[[-0.41588285462522434,-1.2109134379461535],[-0.34588285192226087,-1.1701939660325118]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[0.5623951209418614,-1.840220563729106,0.71338606911949],"aabb_xy":[[0.517402534223411,-1.8852205630035546],[0.6073877076603118,-1.795220564454657]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.5927716716166322,-1.6541860100169035,0.71338606911949],"aabb_xy":[[0.5793251449825889,-1.6676558616699946],[0.6062181982506756,-1.640716158363812]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[0.04302453736845291,-1.8053264470162684,0.71338606911949],"aabb_xy":[[0.031091803006624834,-1.8177085998241278],[0.05495727173028097,-1.792944294208409]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.45464201190022135,-1.024786139731479,0.71338606911949],"aabb_xy":[[-0.4998133297483904,-1.0887861368760177],[-0.40947069405205244,-0.9607861425869408]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[-0.1848718080001016,0.40585053964224915,0.71338606911949],"aabb_xy":[[-0.18878568119552414,0.3971015242356924],[-0.1809579348046791,0.4145995550488059]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.1015985659989691,1.1476435856366733,0.71338606911949],"aabb_xy":[[-0.13809438662624784,1.1111596432099158],[-0.06510274537169036,1.184127528063431]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[-0.48254363870721373,-1.5511434325831084,0.71338606911949],"aabb_xy":[[-0.5070898543299645,-1.5813923291321454],[-0.45799742308446306,-1.5208945360340713]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[-0.6650949962589692,-1.0594653586396756,0.71338606911949],"aabb_xy":[[-0.6759466025078448,-1.0703246493673266],[-0.6542433900100936,-1.0486060679120246]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.13498818507640098,0.1024803367131839,0.71338606911949],"aabb_xy":[[-0.2249881887533191,0.04104793013607954],[-0.04498818139948279,0.16391274329028824]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[0.7093356926450105,-1.5212155122202622,0.71338606911949],"aabb_xy":[[0.697766711898074,-1.546215512337194],[0.7209046733919472,-1.4962155121033305]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[-0.32552793610700076,0.4306175423747751,0.71338606911949],"aabb_xy":[[-0.38952793815673276,0.39052305928546716],[-0.26152793405726876,0.4707120254640831]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[0.1256578933142547,-1.9349502256462592,0.71338606911949],"aabb_xy":[[0.12169740954452032,-1.9426180902317798],[0.12961837708398907,-1.9272823610607386]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[0.5461058433916746,0.1606442445226186,0.71338606911949],"aabb_xy":[[0.5211058442260413,0.15369199881726203],[0.5711058425573076,0.16759649022797518]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.05630575877380628,-2.473510228438194,0.71338606911949],"aabb_xy":[[-0.1203057591513399,-2.523255495289006],[0.007694241603727343,-2.4237649615873815]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_18","position":[-0.15342210442157844,1.0262010385671396,0.71338606911949],"aabb_xy":[[-0.17121561135649488,1.008401292971342],[-0.135628597486662,1.0440007841629373]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.6410096443230482,-0.5868561268332066,0.71338606911949],"aabb_xy":[[0.60350964382569,-0.5908248103813251],[0.6785096448204064,-0.5828874432850882]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.5305312891979475,-0.9536943249157377,0.71338606911949],"aabb_xy":[[0.48053129055202626,-1.0036138685751999],[0.5805312878438686,-0.9037747812562752]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.206139617787176,-2.177111128314031,0.71338606911949],"aabb_xy":[[-0.21147213244178897,-2.1824354565592667],[-0.200807103132563,-2.171786800068795]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[-0.5243802037254088,0.8174137034493341,0.71338606911949],"aabb_xy":[[-0.5468802037355571,0.8033174838097308],[-0.5018802037152605,0.8315099230889373]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.48192604083473434,-1.6927102577102824,0.71338606911949],"aabb_xy":[[0.44338034800953324,-1.731256028766471],[0.5204717336599354,-1.6541644866540934]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_24","position":[-0.1472549816008374,-0.2041942623675408,0.71338606911949],"aabb_xy":[[-0.21125498018740985,-0.2512012257670495],[-0.08325498301426493,-0.15718729896803207]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[-0.123181286054167,0.755464885599515,0.71338606911949],"aabb_xy":[[-0.18718128773216436,0.7069474941202007],[-0.05918128437616965,0.8039822770788292]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[-0.016607403239575547,-2.130121009031448,0.71338606911949],"aabb_xy":[[-0.0806074005252242,-2.1716277279842915],[0.0473925940460731,-2.0886142900786036]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_27","position":[-0.6111530987573778,0.7946535057353286,0.71338606911949],"aabb_xy":[[-0.621306114311527,0.7585839641625879],[-0.6010000832032283,0.8307230473080686]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_28","position":[0.6208195091050988,-0.11165564950637608,0.71338606911949],"aabb_xy":[[0.5945306847846581,-0.13792708316102728],[0.6471083334255394,-0.08538421585172483]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_29","position":[0.39643542805068144,-1.0374428018810473,0.71338606911949],"aabb_xy":[[0.3923194779386088,-1.0415583569138926],[0.4005513781627541,-1.0333272468482015]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_30","position":[0.659327591514433,0.9258734107054325,0.71338606911949],"aabb_xy":[[0.624327593244313,0.9187992830104442],[0.6943275897845528,0.9329475384004206]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_31","position":[0.2738253157975341,-1.7610297418739158,0.71338606911949],"aabb_xy":[[0.21883210446039736,-1.8160297422127096],[0.32881852713467086,-1.7060297415351224]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6874983911552126,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7023.png","name":"7023"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7023.png","name":"7023"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8035.png","name":"8035"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7685.png","name":"7685"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4780.png","name":"4780"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6889.png","name":"6889"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":595.5248076694807,"rotation_z_degrees":179.50962781615388,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005373594610422043,0.00935254784520535,-0.01175437410984153]},{"name":"camera_2","offset_m":[0.002222013403273118,-0.013937587590546842,0.017196549769823887]},{"name":"camera_3","offset_m":[0.016217678843440057,0.006140436402180236,-0.015076675455858349]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009863168847030483,-0.0018102360022978995,0.0008346198004438401],"end_effector_yaw_offset_degrees":0.8085592422150616},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004436962067006552,-0.0005090847300161089,0.00019184561039118156],"end_effector_yaw_offset_degrees":-0.645091039899105},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019682587776083935,0.000469509126599947,0.0017031094957705036],"end_effector_yaw_offset_degrees":-0.07240504207424281},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004749907310681084,-0.00032454340509418026,0.000876421324603876],"end_effector_yaw_offset_degrees":0.3280401405246789}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013811099015539645,5.932629704254264e-05],"position_m":[0.355481109901554,-0.08394067370295746,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004308080056112954,-0.0017811710775243851],"position_m":[0.27890808005611295,-0.3320811710775244,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00011338932295470224,0.002955891834620735],"position_m":[0.1605866106770453,0.21715589183462072,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024667594110825276,-0.001894514697988462],"position_m":[0.3416332405889175,0.11330548530201154,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4f331365f811269c75f5552329f93cdbccfd3640538f0887bbbcaeffb042ba2e","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7023/tex_ceiling_textures_6889/tex_floor_textures_4780/tex_table_textures_8035/tex_wall_textures_7685","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3539344821008117934,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3539344821008117934,"visual_seed":3539344821008117934,"scene_id":"lab_003","finished_at":"2026-09-05T03:26:38"}
+{"episode_id":"ep_000045","started_at":"2026-09-05T03:31:06","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.22313812917212472,0.72191870697382,0.71338606911949],"aabb_xy":[[0.20797525619518767,0.7067532496787013],[0.23830100214906183,0.7370841642689389]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[-0.40185999492285784,-1.0785756937971225,0.71338606911949],"aabb_xy":[[-0.45183741178811143,-1.1285756952863708],[-0.35188257805760426,-1.0285756923078737]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.4491128398027242,1.5615213252139468,0.71338606911949],"aabb_xy":[[0.3941205891672133,1.5065213234706345],[0.5041050904382351,1.61652132695726]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[-0.5571851125653231,-2.153719489503194,0.71338606911949],"aabb_xy":[[-0.5796498825367281,-2.176219490382054],[-0.5347203425939179,-2.131219488624333]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[-0.3948670053531729,-0.2897945276474698,0.71338606911949],"aabb_xy":[[-0.4298670052491917,-0.29816876315940977],[-0.35986700545715394,-0.2814202921355299]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[-0.5080901568027164,-0.29680016054238534,0.71338606911949],"aabb_xy":[[-0.5127252719549497,-0.30066749561953393],[-0.5034550416504829,-0.29293282546523663]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.35438972362629517,-1.2574555499778513,0.71338606911949],"aabb_xy":[[0.34646644338754684,-1.2799555502158546],[0.3623130038650435,-1.234955549739848]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_7","position":[-0.2591552941932243,-2.192690501824997,0.71338606911949],"aabb_xy":[[-0.3291552963246538,-2.215452467450692],[-0.1891552920617947,-2.169928536199301]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[-0.5023749890914923,-2.4106104382518447,0.71338606911949],"aabb_xy":[[-0.5523749886678271,-2.4605910172039507],[-0.45237498951515764,-2.360629859299739]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.5099391539321578,-0.9322348575357935,0.71338606911949],"aabb_xy":[[-0.5254949233424231,-0.9477852907802008],[-0.49438338452189257,-0.9166844242913864]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[-0.40597509089406875,-0.7276995113950191,0.71338606911949],"aabb_xy":[[-0.4434750893174691,-0.7408637253628495],[-0.3684750924706684,-0.7145352974271882]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.31833637348341814,1.0400725395290107,0.71338606911949],"aabb_xy":[[0.2833363743534625,1.0343273184533466],[0.3533363726133738,1.0458177606046748]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.16570818539075305,-0.7443619242582129,0.71338606911949],"aabb_xy":[[-0.1889900275888844,-0.829361925555441],[-0.1424263431926217,-0.6593619229609848]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.14556586932787807,-1.3457338677696644,0.71338606911949],"aabb_xy":[[-0.17900604452389765,-1.3791774936005943],[-0.11212569413185845,-1.3122902419387341]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.06102958939813996,1.703036413973574,0.71338606911949],"aabb_xy":[[-0.07418083536942933,1.6780364142168882],[-0.047878343426850614,1.7280364137302613]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.31723023527909117,1.0677810371565988,0.71338606911949],"aabb_xy":[[-0.35169258267723286,1.0332871547587756],[-0.28276788788094925,1.102274919554421]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[-0.5126724659564288,1.0605774952342402,0.71338606911949],"aabb_xy":[[-0.5187094789570936,1.0545507941652923],[-0.5066354529557642,1.0666041963031885]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.13061505266547113,-0.6413158040556672,0.71338606911949],"aabb_xy":[[0.1257157603589076,-0.668992723358236],[0.1355143449720346,-0.6136388847530985]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[-0.19159150814682346,-1.9911517808463843,0.71338606911949],"aabb_xy":[[-0.22909150893881888,-1.9975196218045743],[-0.154091507354828,-1.984783939888194]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[0.18564723187878696,0.8934079152880732,0.71338606911949],"aabb_xy":[[0.18069121169390576,0.8709079150859517],[0.19060325206366818,0.9159079154901949]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[-0.29561989195404453,0.2274959674306336,0.71338606911949],"aabb_xy":[[-0.34963548823594454,0.16349596453837642],[-0.24160429567214453,0.29149597032289076]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.28749695806501324,1.3490210615974356,0.71338606911949],"aabb_xy":[[-0.35249695809931597,1.302320384917108],[-0.2224969580307105,1.3957217382777627]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.2814344844868446,-1.997355620337712,0.71338606911949],"aabb_xy":[[0.21643448660519682,-2.0484792840442534],[0.3464344823684924,-1.9462319566311714]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[-0.5671267688245965,-1.9601210699807394,0.71338606911949],"aabb_xy":[[-0.6046267693219546,-1.964089753528858],[-0.5296267683272381,-1.956152386432621]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[0.4603627631963392,0.8259069093629456,0.71338606911949],"aabb_xy":[[0.3703627608623201,0.7484245547778329],[0.5503627655303582,0.9033892639480582]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_25","position":[-0.35964881240461677,-1.4043233078780728,0.71338606911949],"aabb_xy":[[-0.39527796830457657,-1.4399559746349258],[-0.3240196565046571,-1.3686906411212199]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_26","position":[-0.15541091259728868,0.876363966483344,0.71338606911949],"aabb_xy":[[-0.1663166886848514,0.7963639700845149],[-0.14450513650972596,0.9563639628821732]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_27","position":[0.6071348537509982,-0.7464368957858525,0.71338606911949],"aabb_xy":[[0.5945080664638018,-0.7559829694874253],[0.6197616410381945,-0.7368908220842795]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[-0.04648271488709421,-1.26420959892119,0.71338606911949],"aabb_xy":[[-0.05447670346479759,-1.2722096790162802],[-0.038488726309390806,-1.2562095188260995]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_29","position":[0.4129535938030888,-1.7308084571839812,0.71338606911949],"aabb_xy":[[0.390037880918039,-1.7537127543204047],[0.4358693066881388,-1.7079041600475577]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844459017727075,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3591.png","name":"3591"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3591.png","name":"3591"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1840.png","name":"1840"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1198.png","name":"1198"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1912.png","name":"1912"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3559.png","name":"3559"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":808.8701914356221,"rotation_z_degrees":289.329275814098,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032860035237013835,-0.019388249784569607,0.006957798628616372]},{"name":"camera_2","offset_m":[-0.0058143359698889,0.00776008589182875,-0.004359660715824724]},{"name":"camera_3","offset_m":[0.00959727590970397,-0.008794639715626742,-0.014072145842885343]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009987693124473612,0.00029428204156911435,-0.0015491789650299128],"end_effector_yaw_offset_degrees":0.7055292227860215},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006804627298317336,-0.0012946555507675258,-0.0005816925745161937],"end_effector_yaw_offset_degrees":0.9063049673994326},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019832806817331795,-0.0002314970174353008,-0.001481788601289173],"end_effector_yaw_offset_degrees":0.8478681227859597},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001984259998892386,-0.00010897553558129793,-0.0019064773132225642],"end_effector_yaw_offset_degrees":-0.2322096069643873}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002913862606630344,0.0010359571693060983],"position_m":[0.3511861373933697,-0.0829640428306939,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024126842513687444,0.0011063429105856023],"position_m":[0.27701268425136877,-0.3291936570894144,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004464299765226355,-0.003458853307609834],"position_m":[0.16516429976522637,0.21074114669239016,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00012302717933437065,-0.003778361390102086],"position_m":[0.34397697282066564,0.11142163860989791,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a91011595a5669d9045cf3a0b6440fa7004996018ec68814254af02d30c82e0d","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3591/tex_ceiling_textures_3559/tex_floor_textures_1912/tex_table_textures_1840/tex_wall_textures_1198","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5114951379119652927,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5114951379119652927,"visual_seed":5114951379119652927,"scene_id":"lab_003","finished_at":"2026-09-05T03:34:51"}
+{"episode_id":"ep_000046","started_at":"2026-09-05T03:37:28","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[-0.4228965764426385,-0.7044491489573699,0.71338606911949],"aabb_xy":[[-0.4453929978765026,-0.7269491487641173],[-0.4004001550087744,-0.6819491491506224]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[-0.46396325454189713,1.0826755966772796,0.71338606911949],"aabb_xy":[[-0.4885094701646478,1.0524267001282426],[-0.43941703891914635,1.1129244932263167]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.17871524705099906,-2.4058998792748976,0.71338606911949],"aabb_xy":[[-0.2050040713714397,-2.4321713129295484],[-0.15242642273055837,-2.379628445620246]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.0239143648167921,-2.1293787968395144,0.71338606911949],"aabb_xy":[[-0.03578644782829321,-2.2143787965331647],[-0.012042281805290992,-2.044378797145864]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[0.1082246755984494,0.8077896297689335,0.71338606911949],"aabb_xy":[[0.06323208887999898,0.7627896304944847],[0.1532172623168998,0.8527896290433822]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[0.07787527948574635,-1.8794964300199128,0.71338606911949],"aabb_xy":[[0.04287527813426464,-1.8998561659767337],[0.1128752808372281,-1.859136694063092]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.07471924491632831,-0.5179759317914603,0.71338606911949],"aabb_xy":[[-0.08075625791699305,-0.5240026328604085],[-0.0686822319156636,-0.5119492307225121]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.04451920639078544,1.6693484660529037,0.71338606911949],"aabb_xy":[[-0.1245192034050334,1.6492139143794922],[0.03548079062346256,1.6894830177263147]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[0.39469878568599603,-0.9529743596866542,0.71338606911949],"aabb_xy":[[0.3246987830494097,-0.9730792246825195],[0.4646987883225824,-0.9328694946907885]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[0.45540023661846174,-0.2031688865361687,0.71338606911949],"aabb_xy":[[0.43293546664705657,-0.22566888741502925],[0.4778650065898668,-0.18066888565730824]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.4144355697812918,-1.1925448620791028,0.71338606911949],"aabb_xy":[[-0.47843556895106176,-1.2393115491980653],[-0.35043557061152186,-1.1457781749601403]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[0.1911618293129841,-0.876952220900993,0.71338606911949],"aabb_xy":[[0.1802560532254214,-0.9569522172998222],[0.20206760540054683,-0.7969522245021639]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.42731560655604917,-1.3821869678760357,0.71338606911949],"aabb_xy":[[-0.5110378320561316,-1.4721869714107318],[-0.3435933810559667,-1.29218696434134]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.19874175091045876,-1.3515598549780579,0.71338606911949],"aabb_xy":[[0.1812418174764754,-1.3690598548982924],[0.21624168434444213,-1.3340598550578233]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.41820024118420374,-0.5103391514010953,0.71338606911949],"aabb_xy":[[-0.42524055111774073,-0.5903391508007668],[-0.41115993125066674,-0.43033915200142403]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.15922783653956374,-1.1931116713330414,0.71338606911949],"aabb_xy":[[-0.19514134096455343,-1.229025179549796],[-0.12331433211457406,-1.1571981631162869]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_16","position":[-0.30670853433654466,0.7200707990914168,0.71338606911949],"aabb_xy":[[-0.3707085314486503,0.6710384292970062],[-0.2427085372244389,0.7691031688858274]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.41774878092020473,-2.229939940023174,0.71338606911949],"aabb_xy":[[0.3927487809876869,-2.2368226082440974],[0.4427487808527227,-2.223057271802251]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[0.7020040799614826,0.5491493510213834,0.71338606911949],"aabb_xy":[[0.6980902067660602,0.5404003356148266],[0.7059179531569051,0.5578983664279402]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[0.6497727157548541,-0.7853315580150633,0.71338606911949],"aabb_xy":[[0.6122727154066263,-0.7971229535961467],[0.6872727161030818,-0.7735401624339796]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.4714119676292551,1.3611727256013304,0.71338606911949],"aabb_xy":[[-0.49029635139776523,1.3422868008209776],[-0.4525275838607448,1.3800586503816832]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[0.4582420428589491,0.5884175637637106,0.71338606911949],"aabb_xy":[[0.3782482192803909,0.508417561170869],[0.5382358664375073,0.6684175663565521]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.07771915894580894,-0.14539417652773112,0.71338606911949],"aabb_xy":[[-0.08261845125237242,-0.17307109583029986],[-0.07281986663924543,-0.11771725722516233]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.07671213201230775,-1.5555907093281889,0.71338606911949],"aabb_xy":[[-0.0986208141516588,-1.5774913761482794],[-0.05480344987295671,-1.533690042508098]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[0.5951881702889423,-1.5946479243339937,0.71338606911949],"aabb_xy":[[0.5732984227000015,-1.6846479216232426],[0.6170779178778831,-1.5046479270447444]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[0.03595252022826023,1.5446794515230668,0.71338606911949],"aabb_xy":[[0.027171293081024013,1.5358997042345373],[0.044733747375496465,1.5534591988115978]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[0.31048692523958876,-1.2613001149263923,0.71338606911949],"aabb_xy":[[0.2677202183601686,-1.3253001183481945],[0.353253632119009,-1.1973001115045896]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_27","position":[0.1224274330530688,-2.1155888889087042,0.71338606911949],"aabb_xy":[[0.11438407312711363,-2.2005888900040707],[0.13047079297902398,-2.030588887813338]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_28","position":[-0.5436448561503344,-0.8584888933673178,0.71338606911949],"aabb_xy":[[-0.5661448563938499,-0.8706935280270898],[-0.5211448559068191,-0.8462842587075459]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_29","position":[-0.05502894369873357,0.448010647662791,0.71338606911949],"aabb_xy":[[-0.0893452208733515,0.3980106476896132],[-0.020712666524115624,0.49801064763596864]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_30","position":[-0.12806427810845222,-0.6725459735665826,0.71338606911949],"aabb_xy":[[-0.15846238920759578,-0.702952875568252],[-0.09766616700930862,-0.642139071564913]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_31","position":[-0.44406696252510797,1.5822247263282736,0.71338606911949],"aabb_xy":[[-0.45583514931976554,1.497224726423052],[-0.4322987757304505,1.6672247262334954]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6881280129040107,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4711.png","name":"4711"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4711.png","name":"4711"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3407.png","name":"3407"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9742.png","name":"9742"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5622.png","name":"5622"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3664.png","name":"3664"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":754.3261601022606,"rotation_z_degrees":150.14874853444235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00200167742545352,-0.008110984027318326,0.011923284933895353]},{"name":"camera_2","offset_m":[0.0014112763562864478,-0.007735791325121876,-0.013800836238723213]},{"name":"camera_3","offset_m":[0.013152289138698373,0.013422366652876824,-0.01839996067145352]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006371627617765339,0.00038311806473979425,-0.0005653518189654135],"end_effector_yaw_offset_degrees":0.6560050228127361},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006875199097789763,-0.0007025206320812375,0.00041780918208084855],"end_effector_yaw_offset_degrees":-0.7904364263189572},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00039270077163855357,-0.0005937901384880776,-0.0007384088741531362],"end_effector_yaw_offset_degrees":0.49977580368494645},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007954457888560676,-0.0005805968822698291,-0.0003083612648181408],"end_effector_yaw_offset_degrees":-0.687403146536419}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012143345131753482,0.0040577734816793646],"position_m":[0.35288566548682465,-0.07994222651832064,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032658766052857903,-0.004957585120049484],"position_m":[0.2778658766052858,-0.33525758512004944,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009069517486465549,-0.0014789389922608897],"position_m":[0.16160695174864656,0.2127210610077391,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000681652680057254,0.004537952658950686],"position_m":[0.3447816526800573,0.11973795265895068,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4b75dcceba28d7a1d28cc4354ff42cfc60e8fb255c05734dea088d0d042c419f","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4711/tex_ceiling_textures_3664/tex_floor_textures_5622/tex_table_textures_3407/tex_wall_textures_9742","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5554979533030649720,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5554979533030649720,"visual_seed":5554979533030649720,"scene_id":"lab_003","finished_at":"2026-09-05T03:41:15"}
+{"episode_id":"ep_000047","started_at":"2026-09-05T03:41:18","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.03580898789373532,-2.3841961242175156,0.71338606911949],"aabb_xy":[[0.026052998384561432,-2.39395865827675],[0.04556497740290921,-2.374433590158281]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.3479786522801618,-0.4521677736594527,0.71338606911949],"aabb_xy":[[0.31064737575491913,-0.486820828454305],[0.3853099288054043,-0.4175147188646004]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.19947326793290782,-1.5607412452768552,0.71338606911949],"aabb_xy":[[-0.24944656193616824,-1.6107412458314023],[-0.14949997392964734,-1.5107412447223076]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.15121537040627353,-2.243314348816261,0.71338606911949],"aabb_xy":[[-0.23120919398483175,-2.3233143514091026],[-0.07122154682771531,-2.1633143462234194]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.2322597933954954,-1.1116609089941174,0.71338606911949],"aabb_xy":[[0.20975979315198,-1.1238655436538894],[0.2547597936390108,-1.0994562743343455]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[-0.0042072470586909105,1.1644245631552028,0.71338606911949],"aabb_xy":[[-0.02670724658239831,1.1419286157045818],[0.01829275246501649,1.1869205106058234]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[-0.14526156597743445,0.8392035688931845,0.71338606911949],"aabb_xy":[[-0.19526156699656974,0.8027373531553567],[-0.09526156495829918,0.8756697846310125]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[0.5394674661465957,0.7130325550421182,0.71338606911949],"aabb_xy":[[0.4894944006140802,0.6630325552295854],[0.5894405316791111,0.7630325548546513]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.2911797884607515,1.2061234693324816,0.71338606911949],"aabb_xy":[[-0.2988829791348285,1.1984140986337435],[-0.2834765977866744,1.2138328400312197]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[-0.11268137354001584,-0.4070972974314855,0.71338606911949],"aabb_xy":[[-0.11972282449076344,-0.41412404916928003],[-0.10563992258926824,-0.40007054569369094]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.6448375073617241,-0.5235587689721446,0.71338606911949],"aabb_xy":[[0.6249464674813839,-0.5362145802568415],[0.6647285472420644,-0.5109029576874479]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[-0.03240064369609175,1.0180984345014208,0.71338606911949],"aabb_xy":[[-0.09640064397006998,0.9680323343041328],[0.031599356577886484,1.0681645346987088]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[-0.48707492084392245,-1.8848989590805614,0.71338606911949],"aabb_xy":[[-0.5720749192613458,-1.9697732545428466],[-0.40207492242649934,-1.8000246636182766]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[0.5626105377291766,-2.2776216315271163,0.71338606911949],"aabb_xy":[[0.538064322106426,-2.3078705280761533],[0.5871567533519274,-2.247372734978079]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.5726266013730316,0.26188533175935547,0.71338606911949],"aabb_xy":[[-0.5964628190136366,0.17188533095086897],[-0.5487903837324265,0.35188533256784194]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.33365361738581023,-0.6453234543114303,0.71338606911949],"aabb_xy":[[0.3295177610531101,-0.6828234537557875],[0.3377894737185105,-0.6078234548670735]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.2494681963465234,1.6616079783228375,0.71338606911949],"aabb_xy":[[-0.26269914188120463,1.6483805593008376],[-0.23623725081184205,1.6748353973448364]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_17","position":[0.27342649325793766,0.9187311987744513,0.71338606911949],"aabb_xy":[[0.2582636202810006,0.9035657414793326],[0.28858936623487474,0.9338966560695701]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.5522751759232409,-0.6317587267199041,0.71338606911949],"aabb_xy":[[-0.5697751761682902,-0.6492585145594709],[-0.5347751756781914,-0.6142589388803372]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[0.10792256291724578,1.5613836235149328,0.71338606911949],"aabb_xy":[[0.09203806965192061,1.5470306832161087],[0.12380705618257092,1.5757365638137568]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.2398834437482164,-0.35242419612249254,0.71338606911949],"aabb_xy":[[-0.2523508018579521,-0.364889520755816],[-0.22741608563848079,-0.339958871489169]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[0.23821463275905874,1.5365870564316304,0.71338606911949],"aabb_xy":[[0.2007146343356584,1.5234228424637994],[0.2757146311824591,1.549751270399461]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.3773304825184063,-1.0717660263300273,0.71338606911949],"aabb_xy":[[0.354830482508258,-1.0858622459696305],[0.3998304825285546,-1.057669806690424]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_23","position":[0.30971745597681966,-1.3653256392804114,0.71338606911949],"aabb_xy":[[0.2259952304767372,-1.4553256428151076],[0.3934396814769021,-1.2753256357457157]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[-0.5710918861884424,1.5829948429406122,0.71338606911949],"aabb_xy":[[-0.6510918894462854,1.5029983351486282],[-0.49109188293059947,1.6629913507325962]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.6503618190713744,0.5222647097020401,0.71338606911949],"aabb_xy":[[-0.6654641205323922,0.507163188070978],[-0.635259517610356,0.5373662313331017]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_26","position":[0.5522929960270246,1.2395710447740895,0.71338606911949],"aabb_xy":[[0.47229299901277666,1.2194364931006783],[0.6322929930412726,1.2597055964475008]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[0.5481168404796348,-0.9500081963550979,0.71338606911949],"aabb_xy":[[0.46811684332005954,-0.9615557973129149],[0.6281168376392101,-0.9384605953972808]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_28","position":[-0.2861417217020861,0.21661780212679238,0.71338606911949],"aabb_xy":[[-0.3501417224055555,0.17059941965387138],[-0.22214172099861684,0.2626361845997134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6789008487138758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1509.png","name":"1509"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1509.png","name":"1509"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5957.png","name":"5957"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9815.png","name":"9815"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/159.png","name":"159"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3600.png","name":"3600"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":847.3905872448529,"rotation_z_degrees":225.6582300084159,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0013129364749434776,0.0005701880347195667,-0.00782724963527647]},{"name":"camera_2","offset_m":[-0.004163060555782146,0.004926666040224736,-0.004277600590737708]},{"name":"camera_3","offset_m":[-0.01806036345102253,-0.007108478130944347,0.014646784583839337]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008831021796667097,0.0011673385502028572,-0.001878910908441161],"end_effector_yaw_offset_degrees":-0.3235089695389153},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018500689764612797,-0.001329565976919505,0.00017160138689897245],"end_effector_yaw_offset_degrees":-0.8462494652070123},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001388243592316906,-0.001666053362782181,-0.0001803400249402341],"end_effector_yaw_offset_degrees":0.6811435535455639},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007995173231232892,0.000210540711555407,-0.00032120496841620623],"end_effector_yaw_offset_degrees":-0.30220089534725236}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004702185918305805,-0.0023213739917986808],"position_m":[0.3588021859183058,-0.08632137399179869,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003683034990074151,0.0015336904110115554],"position_m":[0.27091696500992585,-0.32876630958898845,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001956608917937297,-8.457388139452432e-05],"position_m":[0.16265660891793732,0.21411542611860548,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003127515999967083,-0.0009056883887000929],"position_m":[0.3472275159999671,0.11429431161129991,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f06ea20953873ad8fa773451fb394ee70a5941d50e92ed2a9bde2bedc004415e","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1509/tex_ceiling_textures_3600/tex_floor_textures_159/tex_table_textures_5957/tex_wall_textures_9815","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8092289448516431274,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8092289448516431274,"visual_seed":8092289448516431274,"scene_id":"lab_003","finished_at":"2026-09-05T03:44:56"}
+{"episode_id":"ep_000048","started_at":"2026-09-05T03:45:00","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.26015645391478215,-2.0187742110072167,0.71338606911949],"aabb_xy":[[0.23515645464281984,-2.035119574603379],[0.2851564531867444,-2.0024288474110543]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[-0.1206415296703458,-2.010982491363647,0.71338606911949],"aabb_xy":[[-0.15814153001857356,-2.0227738869447305],[-0.08314152932211803,-1.9991910957825634]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[-0.4924485713726038,1.038562443483003,0.71338606911949],"aabb_xy":[[-0.54244784654104,0.9885624422070558],[-0.4424492962041676,1.0885624447589501]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.6252880273079329,1.5192663141642568,0.71338606911949],"aabb_xy":[[-0.6595849383256733,1.4849694279543155],[-0.5909911162901922,1.5535632003741981]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[-0.09236336522997113,0.7959622140593074,0.71338606911949],"aabb_xy":[[-0.1623633616399329,0.7755242784076256],[-0.02236336882000933,0.8164001497109891]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_5","position":[0.4986519467563655,-0.7573030349859355,0.71338606911949],"aabb_xy":[[0.46115194658449354,-0.7900037703688425],[0.5361519469282374,-0.7246022996030281]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.1298868342399736,-2.238673658377474,0.71338606911949],"aabb_xy":[[-0.1848605562763065,-2.293673657941707],[-0.07491311220364072,-2.1836736588132406]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.557756467742311,0.649106823547092,0.71338606911949],"aabb_xy":[[0.5531213525900776,0.6452394884699433],[0.5623915828945443,0.6529741586242406]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.16278982495477934,-0.7499074675880579,0.71338606911949],"aabb_xy":[[-0.22678982686712168,-0.8058186168460684],[-0.098789823042437,-0.6939963183300475]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[0.36671876861221464,0.39188502786255697,0.71338606911949],"aabb_xy":[[0.3492187693341278,0.37454692779621096],[0.38421876789030157,0.40922312792890286]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.3668918290694021,0.5846400214774872,0.71338606911949],"aabb_xy":[[0.33345165387338244,0.551196395646557],[0.40033200426542165,0.6180836473084171]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.4668789471794671,-1.7049054542855233,0.71338606911949],"aabb_xy":[[-0.5568789508563852,-1.7663378608626272],[-0.3768789435025488,-1.6434730477084185]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[0.16718034471197374,-0.8581318064195964,0.71338606911949],"aabb_xy":[[0.1489745210507261,-0.8691572070015882],[0.18538616837322144,-0.8471064058376049]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[0.5959315073152536,1.3709767488744764,0.71338606911949],"aabb_xy":[[0.5827005617805722,1.3577493298524768],[0.6091624528499348,1.3842041678964756]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[-0.37211774594092606,-1.9855611939019924,0.71338606911949],"aabb_xy":[[-0.3957028694048209,-2.050561196147424],[-0.3485326224770312,-1.9205611916565606]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[-0.08944649996257614,-1.0493221096517171,0.71338606911949],"aabb_xy":[[-0.16944650103569647,-1.0591001559891016],[-0.009446498889455798,-1.0395440633143327]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[0.4073822072308362,-2.116895614582244,0.71338606911949],"aabb_xy":[[0.36988220693866136,-2.120937089982848],[0.444882207523011,-2.1128541391816404]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[-0.6682684757861458,1.3459152324031445,0.71338606911949],"aabb_xy":[[-0.6783501828647192,1.2659152345110296],[-0.6581867687075722,1.425915230295259]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.6586208072371623,0.16132103402860043,0.71338606911949],"aabb_xy":[[-0.6639533218917754,0.15599670578336483],[-0.6532882925825495,0.16664536227383603]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.4884474999583094,-0.08900937733217607,0.71338606911949],"aabb_xy":[[-0.49649085988426456,-0.1740093784275425],[-0.4804041400323542,-0.004009376236809636]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[-0.06717691871509957,0.9309191457229797,0.71338606911949],"aabb_xy":[[-0.11715572722541544,0.8809191457172608],[-0.017198110204783665,0.9809191457286984]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[0.4263335320421706,-1.9365060077055216,0.71338606911949],"aabb_xy":[[0.4038343963159437,-1.9590060084837848],[0.44883266776839764,-1.9140060069272589]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.683066026730685,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4897.png","name":"4897"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4897.png","name":"4897"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5881.png","name":"5881"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3023.png","name":"3023"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1.png","name":"1"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9188.png","name":"9188"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":569.4291843260046,"rotation_z_degrees":151.72584178261837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015919824738035965,0.0029137057054274378,0.011993736230278444]},{"name":"camera_2","offset_m":[-0.016002755365309106,-0.017487518408927257,0.0032766930195937197]},{"name":"camera_3","offset_m":[0.006749310851122112,-0.01643978421619395,-0.014750284278109165]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002913377023147875,-0.0010133506915286992,0.001280689897405543],"end_effector_yaw_offset_degrees":-0.7770944645961495},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016880248464598282,-0.0017874195497912435,0.00042854932913080493],"end_effector_yaw_offset_degrees":0.23855925604733375},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019754994225963697,0.0018830071507312017,-0.0011005065653574451],"end_effector_yaw_offset_degrees":-0.016330845912694736},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.2070275248122834e-05,-0.0005309838023444674,0.00024283113356896513],"end_effector_yaw_offset_degrees":0.7754285042035707}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018697374060977125,-0.004819403858901657],"position_m":[0.3559697374060977,-0.08881940385890166,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003790847132497865,-0.0010973346159969888],"position_m":[0.27422091528675024,-0.33139733461599696,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006905035989291696,-0.004431734152906754],"position_m":[0.16000949640107084,0.20976826584709324,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018836191349583709,-0.004417295162316033],"position_m":[0.34221638086504164,0.11078270483768396,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2202ecb5e5a12157621d9e58327fd354f492b22f6ff2dfaff0bcfb37f9610870","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0059.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4897/tex_ceiling_textures_9188/tex_floor_textures_1/tex_table_textures_5881/tex_wall_textures_3023","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6505637253686307216,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6505637253686307216,"visual_seed":6505637253686307216,"scene_id":"lab_003","finished_at":"2026-09-05T03:48:43"}
+{"episode_id":"ep_000049","started_at":"2026-09-05T03:53:43","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[0.17447433911243337,1.6543105700483225,0.71338606911949],"aabb_xy":[[0.14818551479199266,1.628039136393671],[0.20076316343287398,1.6805820037029735]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.1630461261059204,-2.1805892176621504,0.71338606911949],"aabb_xy":[[-0.21804612430766523,-2.2211111842885876],[-0.10804612790417557,-2.1400672510357124]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[0.350977089382962,1.6132791191337943,0.71338606911949],"aabb_xy":[[0.2709770924199228,1.5362034774900206],[0.4309770863460011,1.6903547607775675]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[-0.5027479883398656,1.2305165239563713,0.71338606911949],"aabb_xy":[[-0.5252479878635729,1.2080205765057506],[-0.4802479888161581,1.2530124714069921]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[0.7134262045271318,-1.6865248181129253,0.71338606911949],"aabb_xy":[[0.706385894593595,-1.766524817512597],[0.720466514460669,-1.6065248187132541]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_5","position":[-0.6588653971659107,0.6028707719500574,0.71338606911949],"aabb_xy":[[-0.6871951071144511,0.5984100297563404],[-0.6305356872173706,0.6073315141437745]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.4187533714097214,1.1492353550372791,0.71338606911949],"aabb_xy":[[-0.4306254544212225,1.0642353553436288],[-0.4068812883982203,1.2342353547309295]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_7","position":[0.2316736730390634,-1.5271684365413651,0.71338606911949],"aabb_xy":[[0.2117826331587232,-1.5398242478260624],[0.2515647129194037,-1.5145126252566687]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.4696535978991107,-2.4642041793654235,0.71338606911949],"aabb_xy":[[-0.5496536011631239,-2.4777642116743364],[-0.3896535946350976,-2.4506441470565097]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.5840819079597828,1.2276119453876038,0.71338606911949],"aabb_xy":[[0.5190819100781352,1.176488281681063],[0.6490819058414308,1.2787356090941446]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[-0.25074200952535863,-0.4087340227582015,0.71338606911949],"aabb_xy":[[-0.3207420121619449,-0.4288388877540669],[-0.18074200688877223,-0.3886291577623359]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[-0.18213858635100066,1.5390129326479838,0.71338606911949],"aabb_xy":[[-0.2521385884824302,1.516250967022288],[-0.11213858421957112,1.5617748982736792]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.2326203445469432,-2.3721833657624662,0.71338606911949],"aabb_xy":[[-0.24346082277345804,-2.3893696470531145],[-0.22177986632042823,-2.354997084471817]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.43880784322118016,-0.45864940685027156,0.71338606911949],"aabb_xy":[[-0.4449024711092984,-0.4672188014019403],[-0.4327132153330618,-0.45008001229860284]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[0.022162529006052645,1.52072333181146,0.71338606911949],"aabb_xy":[[-0.04183747321435438,1.4763502476861714],[0.08616253122645967,1.565096415936748]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[0.270618873638687,1.2240681854050326,0.71338606911949],"aabb_xy":[[0.25551657217766877,1.2089666637739704],[0.28572117509970496,1.2391697070360943]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[-0.6280223402911979,1.175110956046436,0.71338606911949],"aabb_xy":[[-0.6387953142125656,1.140110957827397],[-0.6172493663698301,1.2101109542654749]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.08840251043671032,1.2157455418147802,0.71338606911949],"aabb_xy":[[0.07749673434914761,1.135745545415951],[0.09930828652427304,1.2957455382136094]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[-0.5382051414815371,0.21667331797887712,0.71338606911949],"aabb_xy":[[-0.5749997746064434,0.17976744288229482],[-0.5014105083566308,0.2535791930754594]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[-0.04764913071365795,-1.7451522022746415,0.71338606911949],"aabb_xy":[[-0.08889794174357267,-1.8001522017868588],[-0.0064003196837432155,-1.6901522027624238]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.32092414750796305,-1.989338211071412,0.71338606911949],"aabb_xy":[[-0.4059241462000377,-2.021324074466291],[-0.2359241488158884,-1.9573523476765329]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.16138914949058147,1.7210495163265382,0.71338606911949],"aabb_xy":[[-0.19187339961761163,1.6710495165450423],[-0.13090489936355132,1.7710495161080342]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.11178959544420186,-1.893217095676916,0.71338606911949],"aabb_xy":[[0.07048505238046587,-1.957217095245033],[0.15309413850793785,-1.8292170961087988]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845445342960098,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8504.png","name":"8504"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8504.png","name":"8504"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5440.png","name":"5440"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8231.png","name":"8231"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7350.png","name":"7350"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5965.png","name":"5965"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":652.0788118045316,"rotation_z_degrees":101.73377857650499,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010208825801710446,-0.009424105759285326,0.012691181329851722]},{"name":"camera_2","offset_m":[0.019750362907098074,0.002380305417433757,0.011020440163596868]},{"name":"camera_3","offset_m":[0.019486666483135007,0.01617616686001924,-0.002597874054508696]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00045281792726543186,-0.0014262897541418994,-0.0003527294868176285],"end_effector_yaw_offset_degrees":0.048609345013927774},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00012526337885965938,1.73671106229417e-05,0.0012802239006432007],"end_effector_yaw_offset_degrees":0.9793457551865263},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010590968097935107,-0.0017509255933186294,-0.0011964698843927087],"end_effector_yaw_offset_degrees":-0.9910997443521434},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00010987076318447111,-0.0018073096217507275,0.0016526460856694596],"end_effector_yaw_offset_degrees":-0.9204194298120179}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005155562107064891,-0.0023923217124573472],"position_m":[0.3546155562107065,-0.08639232171245735,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004554608254776069,0.0048336853544222865],"position_m":[0.27915460825477606,-0.3254663146455777,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004926744233506148,0.00438929285803961],"position_m":[0.16562674423350615,0.2185892928580396,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003605276301463953,0.002629397522612209],"position_m":[0.347705276301464,0.1178293975226122,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0dfaa43f8931fcb18ba2fcdb37217d816b67d9c85f32f1ed9febb7b7702cf390","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8504/tex_ceiling_textures_5965/tex_floor_textures_7350/tex_table_textures_5440/tex_wall_textures_8231","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":36938538889695809,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":36938538889695809,"visual_seed":36938538889695809,"scene_id":"lab_003","finished_at":"2026-09-05T03:57:31"}
+{"episode_id":"ep_000050","started_at":"2026-09-05T03:59:48","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[-0.5123098890214097,-1.4095172513923657,0.71338606911949],"aabb_xy":[[-0.5498098891270027,-1.4163394132453466],[-0.4748098889158168,-1.4026950895393844]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.4286691314410725,1.1126828030699114,0.71338606911949],"aabb_xy":[[-0.46298540861569043,1.0626828030967337],[-0.39435285426645456,1.1626828030430891]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[0.6518383882482175,1.7560058477836917,0.71338606911949],"aabb_xy":[[0.5878383849585093,1.712670928779774],[0.7158383915379255,1.7993407667876091]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.29629420156031333,1.3322154649431144,0.71338606911949],"aabb_xy":[[-0.312356129018831,1.2472154631305223],[-0.2802322741017957,1.417215466755706]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[0.03305661129433246,-1.6370729624177085,0.71338606911949],"aabb_xy":[[0.026961983406214148,-1.6456423569693774],[0.03915123918245079,-1.62850356786604]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[-0.19311002206763217,1.6690394526287302,0.71338606911949],"aabb_xy":[[-0.20319172914620565,1.5890394547366151],[-0.1830283149890587,1.7490394505208444]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[0.5804493472678851,0.25718554333824795,0.71338606911949],"aabb_xy":[[0.5004493492870999,0.24958400237639602],[0.66044934524867,0.2647870843000999]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.24719391816077363,-1.8207725904953656,0.71338606911949],"aabb_xy":[[-0.2551874079560557,-1.8287707224358416],[-0.23920042836549166,-1.8127744585548904]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.3584531204576027,-1.9076732372742402,0.71338606911949],"aabb_xy":[[0.3381688177342039,-1.927955862416949],[0.3787374231810014,-1.8873906121315314]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[0.362532355819559,1.3060490128442432,0.71338606911949],"aabb_xy":[[0.32875679662886603,1.292010517631078],[0.396307915010252,1.320087508057408]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.46704806698308476,-1.8436968964334453,0.71338606911949],"aabb_xy":[[-0.5310480642687334,-1.8852036153862892],[-0.4030480696974361,-1.8021901774806013]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[0.5177703895458072,-0.2728567260861725,0.71338606911949],"aabb_xy":[[0.45777038894979105,-0.32766919863139604],[0.5777703901418234,-0.21804425354094908]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.6530152356664424,-1.7112611998655418,0.71338606911949],"aabb_xy":[[-0.6623088539035928,-1.748761198353676],[-0.6437216174292917,-1.6737612013774081]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_13","position":[-0.5417541393103942,0.9183324516415872,0.71338606911949],"aabb_xy":[[-0.6217541379672802,0.9038275927173243],[-0.46175414065350817,0.9328373105658498]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.5926948667414318,-0.8748460980106745,0.71338606911949],"aabb_xy":[[0.5126948693378383,-0.9548386692088572],[0.6726948641450251,-0.7948535268124916]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[0.40049360372177123,-1.7350986419502847,0.71338606911949],"aabb_xy":[[0.320493606758732,-1.8121742835940582],[0.48049360068481034,-1.6580230003065113]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[-0.46651295335058446,0.5179700569365573,0.71338606911949],"aabb_xy":[[-0.4890093747844486,0.49547005712980974],[-0.4440165319167204,0.5404700567433046]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[-0.45094639369051526,-1.7395667161740902,0.71338606911949],"aabb_xy":[[-0.46785712612685704,-1.7530389217667048],[-0.4340356612541735,-1.7260945105814756]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[-0.21180445437905443,-0.2586832419526641,0.71338606911949],"aabb_xy":[[-0.22503539991373572,-0.2719106609746635],[-0.19857350884437314,-0.24545582293066465]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[-0.10390148066153759,-1.7343084912575852,0.71338606911949],"aabb_xy":[[-0.14491942404790847,-1.7843084918885426],[-0.06288353727516673,-1.684308490626628]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[-0.2657158549044472,0.1423064636489526,0.71338606911949],"aabb_xy":[[-0.32971585560791655,0.09628808117603163],[-0.20171585420097787,0.18832484612187367]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[-0.05695913281511866,-2.3794011870979284,0.71338606911949],"aabb_xy":[[-0.12195913392106195,-2.404366560166057],[0.008040868290824621,-2.3544358140298005]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.32073140362540137,1.7860765069388438,0.71338606911949],"aabb_xy":[[-0.32676841662606615,1.780049805869896],[-0.3146943906247367,1.792103208007792]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.11573029752642205,-0.3393493173449875,0.71338606911949],"aabb_xy":[[-0.13822943325264903,-0.3618493181232505],[-0.09323116180019508,-0.31684931656672455]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[0.2447840092469874,0.5153336530607535,0.71338606911949],"aabb_xy":[[0.2272840101126202,0.5054540260231656],[0.2622840083813545,0.5252132800983412]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_25","position":[0.06965970328297855,1.1591702485330773,0.71338606911949],"aabb_xy":[[0.04582348564237348,1.069170247724591],[0.09349592092358361,1.249170249341564]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_26","position":[-0.46017657115469174,-0.6367519751235631,0.71338606911949],"aabb_xy":[[-0.5251765693106107,-0.6630482196734753],[-0.3951765729987727,-0.6104557305736509]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[0.09165061106943406,-1.7810642525255327,0.71338606911949],"aabb_xy":[[0.08568407212869826,-1.7870253971848968],[0.09761715001016984,-1.7751031078661685]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[-0.24717306917884785,-0.5751496087842041,0.71338606911949],"aabb_xy":[[-0.2821730683088035,-0.5808948298598682],[-0.21217307004889216,-0.56940438770854]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_29","position":[0.04364891002141136,-0.7259205697614288,0.71338606911949],"aabb_xy":[[0.030202383387368033,-0.73939042141452],[0.0570954366554547,-0.7124507181083376]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_30","position":[-0.07513930724107432,0.9968460144959819,0.71338606911949],"aabb_xy":[[-0.11163512786835306,0.9603620720692241],[-0.038643486613795575,1.0333299569227392]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_31","position":[-0.21881085473003592,0.8906341806601064,0.71338606911949],"aabb_xy":[[-0.24381085400199817,0.874288817063944],[-0.1938108554580736,0.9069795442562687]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6812858333941846,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9400.png","name":"9400"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9400.png","name":"9400"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5892.png","name":"5892"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4831.png","name":"4831"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/923.png","name":"923"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7601.png","name":"7601"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":593.1393498351001,"rotation_z_degrees":233.75747426406107,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002218516883536883,0.014229590818086241,-0.010393060584678598]},{"name":"camera_2","offset_m":[0.009086798451310277,0.017746973074470773,-0.01623296542660306]},{"name":"camera_3","offset_m":[-0.011507622939455158,0.011013608538358196,0.009868168088108639]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005360946478734294,0.001655092229717138,0.0018236037368945936],"end_effector_yaw_offset_degrees":0.8092802601813796},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004518015022156952,0.0005543795200651019,0.0007800166792378289],"end_effector_yaw_offset_degrees":-0.29496955699355243},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011342498254587837,0.0011170865627102276,0.001999496583413492],"end_effector_yaw_offset_degrees":-0.9092792471018736},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010478599255182982,0.001427923646488815,0.0019418753247997444],"end_effector_yaw_offset_degrees":-0.34892909892955215}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019438672504214216,-0.0010992190986653426],"position_m":[0.3521561327495786,-0.08509921909866534,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002876234081685669,-0.0019230519625963727],"position_m":[0.2717237659183143,-0.3322230519625964,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004443085667737927,-0.0035657264913888246],"position_m":[0.15625691433226208,0.21063427350861116,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029445697849424116,-0.00013679077576033132],"position_m":[0.3470445697849424,0.11506320922423967,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ca8f18d211d944f2ebb70c1a877e94dbfe23dc9ee813ec1b7435e26aa3c6e2cd","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9400/tex_ceiling_textures_7601/tex_floor_textures_923/tex_table_textures_5892/tex_wall_textures_4831","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6740109023385565351,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6740109023385565351,"visual_seed":6740109023385565351,"scene_id":"lab_003","finished_at":"2026-09-05T04:03:00"}
+{"episode_id":"ep_000051","started_at":"2026-09-05T04:03:04","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.3508023604082119,-1.778176540633547,0.71338606911949],"aabb_xy":[[-0.35958358755544817,-1.7869562879220777],[-0.3420211332609757,-1.7693967933450172]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[-0.05784558072987789,-2.3191518566564393,0.71338606911949],"aabb_xy":[[-0.07672996449838809,-2.3380377814367925],[-0.03896119696136768,-2.300265931876087]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[0.4193084020243012,-1.4645134438461653,0.71338606911949],"aabb_xy":[[0.3847173191702559,-1.5295134441311964],[0.45389948487834636,-1.3995134435611343]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.30313800470541813,-2.3784501960004776,0.71338606911949],"aabb_xy":[[-0.3230290445857584,-2.391106007285175],[-0.2832469648250779,-2.365794384715781]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.19653207910187143,-1.9073103737569492,0.71338606911949],"aabb_xy":[[0.17962134666552965,-1.9207825793495639],[0.2134428115382132,-1.8938381681643346]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[0.35093647216106016,1.3778513325237967,0.71338606911949],"aabb_xy":[[0.27093647418027506,1.3702497915619445],[0.43093647014184516,1.3854528734856484]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.5203893875902603,1.5977620783653035,0.71338606911949],"aabb_xy":[[0.4403893843262472,1.5842020460563901],[0.6003893908542735,1.6113221106742168]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.4189640763798055,-1.1726504826017798,0.71338606911949],"aabb_xy":[[-0.4829640786002125,-1.2170235667270681],[-0.35496407415939846,-1.1282773984764916]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[0.1654306300143462,-1.2946426290438482,0.71338606911949],"aabb_xy":[[0.16058703525311627,-1.2994942815228325],[0.17027422477557622,-1.2897909765648643]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.5959699201267287,-1.8563218046873753,0.71338606911949],"aabb_xy":[[-0.6330040295547883,-1.890699012021085],[-0.5589358106986688,-1.821944597353666]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[-0.16851305504143188,-1.352590889111575,0.71338606911949],"aabb_xy":[[-0.1757568210876772,-1.4325908873151774],[-0.16126928899518655,-1.2725908909079726]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[0.6929465598535527,-0.6375529899427828,0.71338606911949],"aabb_xy":[[0.6850232796148042,-0.6600529901807862],[0.7008698400923009,-0.6150529897047795]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.2679738406856023,-1.6398416511705762,0.71338606911949],"aabb_xy":[[-0.32296609132111326,-1.6948416529138894],[-0.21298159005009137,-1.584841649427264]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[0.28842195089625244,-1.4911233649172257,0.71338606911949],"aabb_xy":[[0.25092195072438045,-1.5238241003001327],[0.3259219510681243,-1.4584226295343183]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.6153603116818815,1.2239342967476183,0.71338606911949],"aabb_xy":[[-0.6803603117161843,1.177233620067291],[-0.5503603116475788,1.2706349734279456]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.34347941114492564,0.47740056175621426,0.71338606911949],"aabb_xy":[[-0.37387752224406917,0.44699365975454475],[-0.313081300045782,0.5078074637578838]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.5396328821969489,1.2025828510123122,0.71338606911949],"aabb_xy":[[0.47963288235038204,1.1457642288192735],[0.5996328820435156,1.259401473205351]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[0.4028315499901498,-0.5568066546808872,0.71338606911949],"aabb_xy":[[0.3861544139970543,-0.5735065786548175],[0.4195086859832453,-0.5401067307069569]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[0.1454608700857869,0.724359951328132,0.71338606911949],"aabb_xy":[[0.1171311601372467,0.719899209134415],[0.17379058003432715,0.7288206935218491]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.034654748582074846,-1.084003497305981,0.71338606911949],"aabb_xy":[[-0.05233037917067317,-1.1016837135853834],[-0.016979117993476508,-1.066323281026578]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[-0.5851991910479771,-0.5792376023255597,0.71338606911949],"aabb_xy":[[-0.6201991893180969,-0.5863117300205478],[-0.5501991927778571,-0.5721634746305715]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[0.4731364747143827,-1.926103905216083,0.71338606911949],"aabb_xy":[[0.4231364743538165,-1.976083892425686],[0.5231364750749485,-1.8761239180064802]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_22","position":[-0.30903294872378917,1.1730993932061993,0.71338606911949],"aabb_xy":[[-0.31346357807862935,1.167651021471517],[-0.304602319368949,1.178547764940882]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_23","position":[-0.40430469011568326,-1.0187119082427558,0.71338606911949],"aabb_xy":[[-0.4683046892854532,-1.065478595361718],[-0.3403046909459133,-0.9719452211237932]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863545518351603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5392.png","name":"5392"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5392.png","name":"5392"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7676.png","name":"7676"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3234.png","name":"3234"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5909.png","name":"5909"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/360.png","name":"360"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":561.382486003348,"rotation_z_degrees":61.0912178326178,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019767224556548477,0.006330178092876691,0.013714284922568595]},{"name":"camera_2","offset_m":[-0.009346319616590626,-0.0031749028249318904,-0.0018386278113437897]},{"name":"camera_3","offset_m":[-0.006458377462591192,-0.014947980632908213,-0.016541225278147713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00012366762625518881,-1.4050662788677067e-06,-0.0007507358563773811],"end_effector_yaw_offset_degrees":0.7258406400351929},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018770384005276327,-0.0005672080397990391,0.001710461839222324],"end_effector_yaw_offset_degrees":0.31537087867447666},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015359578371879961,-0.0004538030954598397,0.0019734994555046783],"end_effector_yaw_offset_degrees":-0.048910534009448},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00026778152664915476,0.0013319404627132447,0.000717925245657254],"end_effector_yaw_offset_degrees":0.20575182413529047}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003117065962111809,0.0015761489909215977],"position_m":[0.3509829340378882,-0.08242385100907841,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038815481182472465,-0.00018419210085248838],"position_m":[0.27848154811824727,-0.33048419210085245,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002303488334560294,0.002483864065224042],"position_m":[0.15839651166543972,0.21668386406522405,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026423363213688633,-0.004780480076163912],"position_m":[0.3414576636786312,0.11041951992383608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"52033be705e39e7f2fae9d10ff45be826ea64d5e564c84ea68e6e907d5164952","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5392/tex_ceiling_textures_360/tex_floor_textures_5909/tex_table_textures_7676/tex_wall_textures_3234","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":858458274487516407,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":858458274487516407,"visual_seed":858458274487516407,"scene_id":"lab_003","finished_at":"2026-09-05T04:06:49"}
+{"episode_id":"ep_000052","started_at":"2026-09-05T04:06:53","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[-0.3735560051000588,0.8966972971618645,0.71338606911949],"aabb_xy":[[-0.44355600773664516,0.8765924321659988],[-0.3035560024634725,0.9168021621577298]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.04872488276744624,-1.561604675623675,0.71338606911949],"aabb_xy":[[-0.09872488371797905,-1.5931538226271962],[0.0012751181830865724,-1.5300555286201534]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[0.09026190914061383,-2.4306965737924693,0.71338606911949],"aabb_xy":[[0.026261907732623168,-2.482485525316394],[0.1542619105486045,-2.3789076222685446]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[0.6901259700186992,0.35869961429404507,0.71338606911949],"aabb_xy":[[0.6665408465548044,0.2936996120486133],[0.7137110934825941,0.42369961653947685]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[-0.5522738323495845,1.7395030879285902,0.71338606911949],"aabb_xy":[[-0.5897738330141631,1.7238160299283678],[-0.5147738316850057,1.7551901459288122]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.2622067012906949,1.5179753020356208,0.71338606911949],"aabb_xy":[[0.2521249942121214,1.437975304143506],[0.2722884083692684,1.5979752999277352]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.06362427263489645,0.13548170867682474,0.71338606911949],"aabb_xy":[[-0.06966128563556118,0.12945500760787657],[-0.057587259634231724,0.14150840974577297]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[0.1775399378330711,-1.1135602627723598,0.71338606911949],"aabb_xy":[[0.0938177123329886,-1.2035602663070557],[0.26126216333315355,-1.0235602592376638]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.47708073830786835,0.9700602813018708,0.71338606911949],"aabb_xy":[[0.461908569026235,0.9548914243736675],[0.4922529075895017,0.9852291382300742]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.3131467711865883,-2.041228217159537,0.71338606911949],"aabb_xy":[[0.2481467702294611,-2.093176429093242],[0.3781467721437155,-1.989280005225831]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[-0.19411695912304583,1.7436033675617817,0.71338606911949],"aabb_xy":[[-0.20327683806692243,1.7370721495182448],[-0.18495708017916923,1.750134585605319]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.5303838781473718,-0.7205225695826338,0.71338606911949],"aabb_xy":[[0.5128838790130045,-0.7304021966202215],[0.5478838772817388,-0.7106429425450459]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.29585249868837754,-1.1957474794899074,0.71338606911949],"aabb_xy":[[-0.3598524979825457,-1.2597336198587616],[-0.23185249939420927,-1.1317613391210533]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.5701313074142071,-1.510170089666994,0.71338606911949],"aabb_xy":[[0.5366911322181874,-1.543613715497924],[0.6035714826102266,-1.4767264638360638]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.20684172169999293,-0.36446497604783,0.71338606911949],"aabb_xy":[[-0.2520130395481619,-0.42846497319236854],[-0.16167040385182396,-0.30046497890329166]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.5230529105728539,0.5408755230142708,0.71338606911949],"aabb_xy":[[-0.5323999181551491,0.5265719007966267],[-0.5137059029905586,0.5551791452319148]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_16","position":[0.1203147005490749,-0.7745637734469291,0.71338606911949],"aabb_xy":[[0.09509386368923521,-0.7997875242998157],[0.14553553740891453,-0.7493400225940422]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[-0.033905018684709964,1.2055096677442747,0.71338606911949],"aabb_xy":[[-0.058905017956672245,1.1891643041481121],[-0.008905019412747689,1.2218550313404368]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.23980938926520906,0.4244227010399477,0.71338606911949],"aabb_xy":[[-0.30480938929951185,0.37772202435962043],[-0.17480938923090636,0.471123377720275]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.38455858697524126,-1.7870676971124415,0.71338606911949],"aabb_xy":[[0.3347418075104065,-1.8370676955967447],[0.434375366440076,-1.737067698628138]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[0.3877330080423056,-1.4936984717619048,0.71338606911949],"aabb_xy":[[0.3227330069363623,-1.5186638448300334],[0.4527330091482489,-1.4687330986937768]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[0.6404147200965089,-2.4304947749883765,0.71338606911949],"aabb_xy":[[0.5764147237009358,-2.49445806340711],[0.704414716492082,-2.366531486569643]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.16853062025979237,1.0552857405791212,0.71338606911949],"aabb_xy":[[0.10453062167321989,1.0082787771796125],[0.2325306188463648,1.1022927039786299]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[0.2075190717326889,1.3383585780746805,0.71338606911949],"aabb_xy":[[0.18972556479777247,1.3205588324788828],[0.22531257866760535,1.3561583236704782]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[-0.39925681728772483,-0.15157667667197394,0.71338606911949],"aabb_xy":[[-0.46084757651171765,-0.21557667478102083],[-0.337666058063732,-0.08757667856292706]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[-0.6749713012287737,0.5522410536983813,0.71338606911949],"aabb_xy":[[-0.690527070639039,0.5366906204539742],[-0.6594155318185084,0.5677914869427886]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_26","position":[-0.2894338037793451,1.347653240706808,0.71338606911949],"aabb_xy":[[-0.2955284316674634,1.3390838461551393],[-0.28333917589122676,1.3562226352584767]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[0.3493686046059268,1.2689542236470444,0.71338606911949],"aabb_xy":[[0.313739448705967,1.2333215568901914],[0.38499776050588647,1.3045868904038973]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_28","position":[-0.02614251222933639,0.7861404570518267,0.71338606911949],"aabb_xy":[[-0.09014251390733374,0.7376230655725123],[0.037857489448660964,0.8346578485311408]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_29","position":[-0.6667497017328711,1.3666797133291508,0.71338606911949],"aabb_xy":[[-0.6880277098763433,1.3016797110030776],[-0.6454716935893988,1.4316797156552237]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_30","position":[-0.424951560056032,-0.621216366555738,0.71338606911949],"aabb_xy":[[-0.514951559474403,-0.6545918633999276],[-0.3349515606376611,-0.5878408697115481]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_31","position":[0.6453261406000508,1.0173887187091961,0.71338606911949],"aabb_xy":[[0.6377018725098725,1.0097554951726524],[0.652950408690229,1.0250219422457398]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_32","position":[-0.31005886186107007,-0.7653229191540369,0.71338606911949],"aabb_xy":[[-0.3446499447151152,-0.8303229194390679],[-0.27546777900702474,-0.7003229188690058]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_33","position":[-0.3915354027359031,0.6908850308716694,0.71338606911949],"aabb_xy":[[-0.441535404019743,0.6409061764810472],[-0.34153540145206307,0.7408638852622914]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6829198953129312,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2146.png","name":"2146"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2146.png","name":"2146"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4838.png","name":"4838"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9524.png","name":"9524"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8755.png","name":"8755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4956.png","name":"4956"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":595.7301007269114,"rotation_z_degrees":44.69132100481574,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00799509128451334,0.004119664158672348,-0.012072647007264944]},{"name":"camera_2","offset_m":[0.012110920218446234,0.004005258386672147,-0.012845287278164608]},{"name":"camera_3","offset_m":[-0.017397356657584972,-0.0010172894285591164,-0.019671676250467694]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00016265141359481745,-0.0015399761699437064,-0.000743961340523922],"end_effector_yaw_offset_degrees":-0.671380306774187},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014022626334389892,-0.0019362323468883917,-0.0004344634849769084],"end_effector_yaw_offset_degrees":-0.9338657618875001},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014463034568075904,-0.000468794286210961,-0.0007046693396727398],"end_effector_yaw_offset_degrees":0.05116714800743827},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[5.4907283562625076e-05,0.0013920487039501416,-0.0009441628491140067],"end_effector_yaw_offset_degrees":-0.20551072184162122}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004315144627476984,0.0017157131440851724],"position_m":[0.35841514462747703,-0.08228428685591484,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002930992769063978,-0.0006408768701569338],"position_m":[0.2743069007230936,-0.33094087687015694,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002399942433596907,-0.003466323458768701],"position_m":[0.1630999424335969,0.2107336765412313,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004831518338277297,-0.0010018191570190507],"position_m":[0.33926848166172274,0.11419818084298095,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e43662af8ec2b56905b3abb7f7a9e9d84793dbd45340e0026d08f46c42c32d28","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0066.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2146/tex_ceiling_textures_4956/tex_floor_textures_8755/tex_table_textures_4838/tex_wall_textures_9524","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5547781559796361410,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5547781559796361410,"visual_seed":5547781559796361410,"scene_id":"lab_003","finished_at":"2026-09-05T04:10:42"}
+{"episode_id":"ep_000053","started_at":"2026-09-05T04:13:11","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.37232327703739876,-1.7341001956950828,0.71338606911949],"aabb_xy":[[0.3487381535735039,-1.7991001979405146],[0.3959084005012936,-1.669100193449651]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[-0.023330030958959802,-1.3733463153721042,0.71338606911949],"aabb_xy":[[-0.04338844257220009,-1.3934114022812618],[-0.0032716193457195085,-1.353281228462947]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[-0.04052285621418217,0.7968837124249775,0.71338606911949],"aabb_xy":[[-0.06298762618558729,0.7743837115461168],[-0.01805808624277705,0.8193837133038379]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[0.14747675339970112,-1.839988745326635,0.71338606911949],"aabb_xy":[[0.07747675159095571,-1.8613425140908222],[0.2174767552084466,-1.8186349765624474]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[0.5118100751383357,-1.2349611615451697,0.71338606911949],"aabb_xy":[[0.45681007596174605,-1.289950836320127],[0.566810074314925,-1.1799714867702118]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[-0.2640450334749773,0.8818611069992515,0.71338606911949],"aabb_xy":[[-0.32904503350928005,0.8351604303189242],[-0.1990450334406746,0.9285617836795788]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.6185197853877209,1.619923124810621,0.71338606911949],"aabb_xy":[[-0.6311224845247974,1.6073277285857557],[-0.6059170862506444,1.6325185210354867]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.3495409489215633,1.750044769671263,0.71338606911949],"aabb_xy":[[0.3120409487496913,1.7173440342883557],[0.38704094909343517,1.78274550505417]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[-0.2287872163166335,-2.411044809013412,0.71338606911949],"aabb_xy":[[-0.23919877499711717,-2.4163905423493097],[-0.21837565763614974,-2.405699075677513]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[0.43284124813373914,-2.335157311444064,0.71338606911949],"aabb_xy":[[0.3491190226336567,-2.42515731497876],[0.5165634736338216,-2.245157307909368]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[0.23218945747341269,1.4001491524843392,0.71338606911949],"aabb_xy":[[0.1421894537964945,1.3387167459072344],[0.32218946115033087,1.4615815590614432]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[-0.2090936631337793,-1.8660919397751745,0.71338606911949],"aabb_xy":[[-0.256223042135615,-1.9300919408195762],[-0.1619642841319436,-1.8020919387307723]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.03156966127645533,-2.155630505635463,0.71338606911949],"aabb_xy":[[-0.11656965996852997,-2.187616369030342],[0.05343033741561931,-2.1236446422405844]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.30886912113325404,1.422476033545427,0.71338606911949],"aabb_xy":[[-0.3338691204052163,1.4061306699492644],[-0.28386912186129176,1.438821397141589]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[0.5711089480051059,0.009603934654612623,0.71338606911949],"aabb_xy":[[0.5111089477537047,-0.044677390381852033],[0.6311089482565071,0.06388525969107728]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.6103152671359751,0.7267208461259083,0.71338606911949],"aabb_xy":[[-0.6381603039165822,0.6959363473875967],[-0.5824702303553679,0.75750534486422]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.12656511602617704,-1.1366716397845518,0.71338606911949],"aabb_xy":[[-0.1367181315803264,-1.172741181357292],[-0.11641210047202763,-1.1006020982118114]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[-0.08435317187912761,-1.5675798475203602,0.71338606911949],"aabb_xy":[[-0.14835317215310584,-1.6176459477176481],[-0.02035317160514938,-1.5175137473230722]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[0.4987374959226756,-1.0293378122314016,0.71338606911949],"aabb_xy":[[0.4874924403520577,-1.040579609955497],[0.5099825514932934,-1.0180960145073064]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.625833994429467,-2.483969981273072,0.71338606911949],"aabb_xy":[[-0.6608339926995869,-2.49104410896806],[-0.5908339961593471,-2.4768958535780836]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.551261890783444,-1.8213744296454433,0.71338606911949],"aabb_xy":[[-0.631261894041287,-1.9013709374374272],[-0.47126188752560105,-1.7413779218534593]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[0.2796768250556191,-1.185863569237924,0.71338606911949],"aabb_xy":[[0.21967682520905224,-1.2426821914309623],[0.3396768249021858,-1.129044947044885]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_22","position":[-0.41799697401964314,-1.0080015676599108,0.71338606911949],"aabb_xy":[[-0.4979969710338911,-1.0281361193333218],[-0.33799697700539516,-0.9878670159864993]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6865043803078451,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5194.png","name":"5194"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5194.png","name":"5194"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1098.png","name":"1098"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8074.png","name":"8074"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5133.png","name":"5133"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3036.png","name":"3036"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":556.4300709881561,"rotation_z_degrees":157.02394985316835,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011608886856279445,-0.0027878642419172997,0.018643786451009014]},{"name":"camera_2","offset_m":[-0.019517022720148408,-0.01971329829876364,-0.0012917074819748103]},{"name":"camera_3","offset_m":[-0.00923607687960461,0.0033329582301397757,-0.0013224035734526324]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001868038377875829,-0.001082331804496611,-0.00023778030772925174],"end_effector_yaw_offset_degrees":-0.10481420971870836},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013905708410687071,-0.0018326678396049325,-0.0006802723228479485],"end_effector_yaw_offset_degrees":0.637281408687927},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019139287754811626,-0.0018888933487720544,0.001394416634480805],"end_effector_yaw_offset_degrees":-0.27665794538428257},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015564329002816573,-0.0012762940485853216,-0.0010930550472622689],"end_effector_yaw_offset_degrees":0.9070490712143771}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004742015392567159,0.0029364267024800878],"position_m":[0.35884201539256716,-0.08106357329751991,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026254290586898692,-0.002769216787970641],"position_m":[0.27722542905868985,-0.33306921678797063,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003860605195964797,-0.00046186765235438614],"position_m":[0.15683939480403522,0.2137381323476456,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030018410243061395,-0.0030373769975610867],"position_m":[0.34710184102430613,0.11216262300243891,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4834d944d558092926708a51865cbd62bb89c7141b4b33f12924241c76b30ce5","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5194/tex_ceiling_textures_3036/tex_floor_textures_5133/tex_table_textures_1098/tex_wall_textures_8074","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1258672027762473917,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1258672027762473917,"visual_seed":1258672027762473917,"scene_id":"lab_003","finished_at":"2026-09-05T04:16:44"}
+{"episode_id":"ep_000054","started_at":"2026-09-05T04:16:47","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[0.11597185329055681,-2.2750579868898484,0.71338606911949],"aabb_xy":[[0.10834758520037858,-2.282691210426392],[0.12359612138073507,-2.2674247633533047]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.11352396985327329,-1.3761758109790763,0.71338606911949],"aabb_xy":[[0.06352397041307764,-1.4261437354633926],[0.16352396929346888,-1.32620788649476]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[0.1092865069866682,1.1829196162480713,0.71338606911949],"aabb_xy":[[0.05928650570282822,1.132940761857449],[0.15928650827050814,1.2328984706386932]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.5997778740938484,-0.6127010763422736,0.71338606911949],"aabb_xy":[[0.5842221046835833,-0.6282515095866807],[0.6153336435041138,-0.5971506430978664]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[-0.4723927384861151,-0.48603870181359543,0.71338606911949],"aabb_xy":[[-0.4804190091167412,-0.49479019679094804],[-0.4643664678554892,-0.4772872068362428]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[0.04800741500633188,-2.145482645948112,0.71338606911949],"aabb_xy":[[0.043108122699768374,-2.173159565250681],[0.05290670731289537,-2.1178057266455435]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[0.25947102772290764,1.076823857091152,0.71338606911949],"aabb_xy":[[0.2044710285463181,1.021834182316194],[0.3144710268994971,1.1318135318661093]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[0.5382687836069291,1.506419234872522,0.71338606911949],"aabb_xy":[[0.4882756714977373,1.4564192341983266],[0.5882618957161211,1.5564192355467181]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.5294771645215315,-1.0469706804392789,0.71338606911949],"aabb_xy":[[-0.5507551726650037,-1.1119706827653517],[-0.5081991563780592,-0.9819706781132056]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_9","position":[-0.45585900140583857,-1.240684524918646,0.71338606911949],"aabb_xy":[[-0.4917725058308282,-1.2765980331354005],[-0.4199454969808488,-1.2047710167018915]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.45870650087149456,-1.7544046115908984,0.71338606911949],"aabb_xy":[[0.3947065015773264,-1.8183907519597526],[0.5227065001656628,-1.6904184712220442]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[0.18962207146695698,1.3293822768321197,0.71338606911949],"aabb_xy":[[0.10962207348617191,1.3217807358702678],[0.269622069447742,1.3369838177939717]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[0.3830719321439078,-2.4710424830534405,0.71338606911949],"aabb_xy":[[0.34176738908017174,-2.5350424826215576],[0.4243764752076437,-2.4070424834853235]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.3031578106790497,-0.5470242313820739,0.71338606911949],"aabb_xy":[[0.2693822514883567,-0.5610627265952388],[0.33693336986974265,-0.5329857361689088]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[0.34292706885093294,0.7183356509423411,0.71338606911949],"aabb_xy":[[0.2529270651740147,0.6569032443652366],[0.432927072527851,0.7797680575194452]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[0.08791194391740087,-2.5523728818417606,0.71338606911949],"aabb_xy":[[0.07750038523691714,-2.5577186151776585],[0.09832350259788457,-2.5470271485058618]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[-0.3592159430832786,-0.16722566058808308,0.71338606911949],"aabb_xy":[[-0.39421594139397403,-0.17494067551162873],[-0.32421594477258314,-0.15951064566453743]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.4128338448881894,-1.972912409844894,0.71338606911949],"aabb_xy":[[0.3757997354601296,-2.0072896171786034],[0.4498679543162491,-1.9385352025111844]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[-0.22162710754499182,-1.3198371923355177,0.71338606911949],"aabb_xy":[[-0.28662710757929455,-1.3665378690158452],[-0.1566271075106891,-1.2731365156551906]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.1549706991137697,-0.13599482574471766,0.71338606911949],"aabb_xy":[[-0.21897070133417673,-0.18036790987000592],[-0.09097069689336268,-0.09162174161942935]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[-0.44895344259255726,-1.6542613476417687,0.71338606911949],"aabb_xy":[[-0.46412561187419066,-1.669430204569972],[-0.433781273310924,-1.6390924907135653]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[-0.3674941778226295,0.9235627923609666,0.71338606911949],"aabb_xy":[[-0.43249417597854856,0.8972665478110544],[-0.30249417966671044,0.9498590369108788]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[-0.6341816750956274,1.7753840655262336,0.71338606911949],"aabb_xy":[[-0.6841766860550795,1.7253840664906421],[-0.5841866641361755,1.8253840645618256]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[-0.10580582901248892,-0.7132685692592444,0.71338606911949],"aabb_xy":[[-0.12348145960108725,-0.7309487855386471],[-0.08813019842389058,-0.6955883529798416]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[0.04386725777639078,-1.2425294321525067,0.71338606911949],"aabb_xy":[[0.0390236630151608,-1.2473810846314908],[0.04871085253762075,-1.2376777796735225]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[-0.19561179505818171,-0.7849927357016637,0.71338606911949],"aabb_xy":[[-0.20821449419525817,-0.7975881319265293],[-0.18300909592110526,-0.7723973394767983]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.11129960588779553,-2.173300043384196,0.71338606911949],"aabb_xy":[[-0.1752996082305971,-2.218240894628328],[-0.04729960354499397,-2.128359192140063]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[0.695049300555546,-1.4752026346024152,0.71338606911949],"aabb_xy":[[0.6869356458821688,-1.483308451056444],[0.703162955228923,-1.4670968181483859]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_28","position":[-0.20678127787058848,-0.6443408869434437,0.71338606911949],"aabb_xy":[[-0.22927769930445255,-0.6668408867501913],[-0.18428485643672435,-0.6218408871366964]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_29","position":[-0.26923615273110624,-2.5472569554142215,0.71338606911949],"aabb_xy":[[-0.3042361510012261,-2.554331083109209],[-0.23423615446098628,-2.540182827719233]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_30","position":[-0.5469368852594635,-1.8029968473480111,0.71338606911949],"aabb_xy":[[-0.553248984795802,-1.80876378660123],[-0.540624785723125,-1.7972299080947922]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_31","position":[-0.287194113676891,1.2379251604939356,0.71338606911949],"aabb_xy":[[-0.30539993733813875,1.2268997599119442],[-0.2689882900156434,1.2489505610759275]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_32","position":[-0.3295985584827659,-2.46458948686684,0.71338606911949],"aabb_xy":[[-0.3595902212166362,-2.4945894862036404],[-0.29960689574889554,-2.4345894875300393]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_33","position":[0.40316610011280796,-1.4871216165144658,0.71338606911949],"aabb_xy":[[0.3431660998614067,-1.5414029415509305],[0.4631661003642091,-1.4328402914780012]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_34","position":[-0.38552585592460664,-2.550347522547735,0.71338606911949],"aabb_xy":[[-0.3987568014592879,-2.5635749415697338],[-0.3722949103899253,-2.537120103525735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.680810220904523,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2338.png","name":"2338"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2338.png","name":"2338"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7441.png","name":"7441"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5175.png","name":"5175"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4371.png","name":"4371"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4939.png","name":"4939"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":805.1170967765861,"rotation_z_degrees":152.10230889879168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011506693719386533,0.008937328338587958,-0.016029280398255557]},{"name":"camera_2","offset_m":[0.01395030038306162,0.016032800330790024,0.004043524403719179]},{"name":"camera_3","offset_m":[-0.01675069242768556,0.017266865070842127,0.014649996506016966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012692638995339004,-0.00023391750892083336,0.001308051002499889],"end_effector_yaw_offset_degrees":0.7706546150169797},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00010031939137946332,-0.0009923924612059874,-0.0011400551826821407],"end_effector_yaw_offset_degrees":0.38285720357030173},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00021687607619466165,0.0018502110305777205,0.0018454466148758314],"end_effector_yaw_offset_degrees":-0.5303104089492578},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007980823541794946,-0.0009853304722655892,-0.0010401155338162324],"end_effector_yaw_offset_degrees":0.7661946237504131}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001815649882130275,-0.002210304510911677],"position_m":[0.3559156498821303,-0.08621030451091168,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002379405417417374,-5.298252666818479e-05],"position_m":[0.27222059458258263,-0.33035298252666817,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004208781072083845,0.0010729492928664344],"position_m":[0.15649121892791618,0.21527294929286644,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035448551809376594,-0.004105645269130063],"position_m":[0.3476448551809377,0.11109435473086994,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bd960f353ed4b7c69c835759e46af2bd9806bf6ad64819280fd7b5d6e5fc1f29","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2338/tex_ceiling_textures_4939/tex_floor_textures_4371/tex_table_textures_7441/tex_wall_textures_5175","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1486707255432555657,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1486707255432555657,"visual_seed":1486707255432555657,"scene_id":"lab_003","finished_at":"2026-09-05T04:20:27"}
+{"episode_id":"ep_000055","started_at":"2026-09-05T04:20:30","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[-0.3442198642718859,0.8553150159357177,0.71338606911949],"aabb_xy":[[-0.35163231981327436,0.8494638055140897],[-0.3368074087304974,0.8611662263573456]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.4493728260118104,-1.981121837108776,0.71338606911949],"aabb_xy":[[0.44525687589973767,-1.9852373921416213],[0.453488776123883,-1.9770062820759302]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[-0.0588123393033374,-2.2985718175481495,0.71338606911949],"aabb_xy":[[-0.09381233849615567,-2.309538863545812],[-0.02381234011051913,-2.287604771550487]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[-0.2812307973826455,1.7701828837197602,0.71338606911949],"aabb_xy":[[-0.29877749229876444,1.732682882155509],[-0.26368410246652657,1.8076828852840114]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.48869956137639314,1.6437489515773565,0.71338606911949],"aabb_xy":[[0.4806632266751082,1.6357108322729395],[0.4967358960776779,1.651787070881773]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.031929889866145755,-0.8304619606205468,0.71338606911949],"aabb_xy":[[-0.005570110631212488,-0.8344306441686651],[0.069429890363504,-0.8264932770724283]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.04231239287825095,-1.3237911368792439,0.71338606911949],"aabb_xy":[[-0.04935384382899854,-1.3308178886170385],[-0.035270941927503345,-1.3167643851414497]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.23203014757564344,1.3196355766788495,0.71338606911949],"aabb_xy":[[0.21453014829755654,1.3022974766125035],[0.2495301468537303,1.3369736767451954]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[-0.5128541800134169,0.39300120088300483,0.71338606911949],"aabb_xy":[[-0.5263007066474602,0.3795313492299136],[-0.49940765337937354,0.40647105253609606]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[0.37254494615488776,-2.21733148656051,0.71338606911949],"aabb_xy":[[0.3085449441051557,-2.2574259696498173],[0.4365449482046197,-2.1772370034712014]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.43963779169553185,1.5384772203399604,0.71338606911949],"aabb_xy":[[0.42213779143619534,1.5243856781511882],[0.4571377919548686,1.5525687625287334]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[-0.3891845486227796,-1.978079037227734,0.71338606911949],"aabb_xy":[[-0.42481370452273937,-2.013711703984587],[-0.3535553927228199,-1.942446370470881]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.6227428656498599,0.1962771127836409,0.71338606911949],"aabb_xy":[[0.6002428651378193,0.17378525441824252],[0.6452428661619005,0.21876897114903923]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[-0.020380934064428202,1.6173504266869645,0.71338606911949],"aabb_xy":[[-0.10038093453464417,1.609039719072617],[0.05961906640578775,1.6256611343013134]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[-0.3717114784881364,0.2804980186645398,0.71338606911949],"aabb_xy":[[-0.4267114776647259,0.22550834388958213],[-0.3167114793115469,0.3354876934394974]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[-0.5495868161619963,-1.869556186960197,0.71338606911949],"aabb_xy":[[-0.5572900068360733,-1.8772655576589352],[-0.5418836254879194,-1.8618468162614594]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.4278905803851839,-0.7767975741734481,0.71338606911949],"aabb_xy":[[-0.4653905807334117,-0.7885889697545315],[-0.3903905800369562,-0.7650061785923644]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[0.5637652351914164,-1.4148777891461795,0.71338606911949],"aabb_xy":[[0.5584276595254118,-1.439877790075319],[0.569102810857421,-1.3898777882170394]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[0.12098837995454292,-2.2203251792494565,0.71338606911949],"aabb_xy":[[0.09576754309470323,-2.2455489301023426],[0.14620921681438254,-2.1951014283965695]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.44570423263298675,-0.4562516961266181,0.71338606911949],"aabb_xy":[[0.3957042316824539,-0.48780084313013944],[0.4957042335835195,-0.42470254912309663]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.15625652438690563,-1.978480964794663,0.71338606911949],"aabb_xy":[[0.0922565210971975,-2.0218158837985802],[0.22025652767661372,-1.9351460457907455]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.2915234484924262,1.0268816219973438,0.71338606911949],"aabb_xy":[[0.283899180402248,1.0192483984608003],[0.2991477165826045,1.0345148455338877]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.5692468042973577,0.059377511038733566,0.71338606911949],"aabb_xy":[[0.5541445028363394,0.04427598940767173],[0.5843491057583756,0.07447903266979536]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[-0.2847120331631564,0.1630267585070424,0.71338606911949],"aabb_xy":[[-0.28879019107020615,0.15894577825877906],[-0.28063387525610667,0.16710773875530568]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6799360071343445,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1135.png","name":"1135"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1135.png","name":"1135"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4960.png","name":"4960"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1060.png","name":"1060"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6990.png","name":"6990"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8394.png","name":"8394"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":662.3412075406359,"rotation_z_degrees":359.9724300671885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010221889700984402,0.012050175266986218,-0.01757101928107796]},{"name":"camera_2","offset_m":[0.005376756790474214,0.0018103740755328022,-0.016884694631042998]},{"name":"camera_3","offset_m":[0.0031665950060701283,0.0034890843528801695,0.010064410872029063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016143175366875183,0.0011882610123378134,-0.0016806439173832866],"end_effector_yaw_offset_degrees":0.5789079892285374},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007093914607564614,0.0007866604771273665,0.000761473346693551],"end_effector_yaw_offset_degrees":-0.4123266113033892},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017260851529238125,0.0003132845944749437,0.00014381423175852592],"end_effector_yaw_offset_degrees":-0.8883471768465439},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.5593040615430693e-05,0.0016676922568299307,0.0006671147642515964],"end_effector_yaw_offset_degrees":0.8314597371706569}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006576468634671229,0.004962713366563023],"position_m":[0.3534423531365329,-0.07903728663343698,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015375898789033626,0.003282243568419955],"position_m":[0.27306241012109667,-0.32701775643158004,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003914454160946876,0.0017496109268108342],"position_m":[0.1646144541609469,0.21594961092681084,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007065116302870413,-0.001049426307716982],"position_m":[0.34339348836971295,0.11415057369228301,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"74c71c26fa0f0ecc27c60f78071fdea6ab91b26c1225022b11c6163f5756f7b3","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0070.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1135/tex_ceiling_textures_8394/tex_floor_textures_6990/tex_table_textures_4960/tex_wall_textures_1060","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":367619483367125709,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":367619483367125709,"visual_seed":367619483367125709,"scene_id":"lab_003","finished_at":"2026-09-05T04:24:04"}
+{"episode_id":"ep_000056","started_at":"2026-09-05T04:27:00","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.6349285861875283,-0.8663510942901977,0.71338606911949],"aabb_xy":[[-0.652428586446865,-0.8804426364789707],[-0.6174285859281917,-0.8522595521014255]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[-0.6244385735138781,-0.044640413853714644,0.71338606911949],"aabb_xy":[[-0.6579177407749192,-0.07811952722482166],[-0.5909594062528373,-0.011161300482607647]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[-0.6171590865167531,0.4316850814931259,0.71338606911949],"aabb_xy":[[-0.6300309900176931,0.35168508107928975],[-0.6042871830158129,0.511685081906962]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_3","position":[0.026637161354317485,-0.8720120936359426,0.71338606911949],"aabb_xy":[[-0.05336284190352547,-0.9520086014279266],[0.10663716461216044,-0.7920155858439587]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.5590223816000498,-0.20511417790276276,0.71338606911949],"aabb_xy":[[-0.6140223812217958,-0.2600978706902355],[-0.5040223819783041,-0.15013048511529006]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.5381601295482985,-0.6881124544918857,0.71338606911949],"aabb_xy":[[-0.5880428264259947,-0.7381124537381605],[-0.4882774326706023,-0.638112455245611]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.5684240928199344,-1.2972281184487167,0.71338606911949],"aabb_xy":[[-0.6059240933172927,-1.3011968019968352],[-0.5309240923225762,-1.2932594349005981]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[0.5719493803037266,-0.8502612640735405,0.71338606911949],"aabb_xy":[[0.5069493817466538,-0.880013797487423],[0.6369493788607995,-0.8205087306596578]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.28106041556438255,-1.059108338985041,0.71338606911949],"aabb_xy":[[0.20106041449126222,-1.0688863853224255],[0.3610604166375029,-1.0493302926476566]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[-0.05324482156191834,-2.1956358603835917,0.71338606911949],"aabb_xy":[[-0.11324482215793452,-2.2504483329288156],[0.006755179034097829,-2.1408233878383687]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_10","position":[0.5532975401241418,1.8067953996898214,0.71338606911949],"aabb_xy":[[0.5445163129769056,1.7980156524012914],[0.5620787672713782,1.8155751469783519]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[-0.3770620562989207,1.4620612785726235,0.71338606911949],"aabb_xy":[[-0.40705371903279103,1.432061279235823],[-0.3470703935650504,1.492061277909424]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.14274027866711692,-2.5639804197322578,0.71338606911949],"aabb_xy":[[0.1321727990090179,-2.5745254498452668],[0.15330775832521593,-2.5534353896192497]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_13","position":[0.46279621237125945,1.5016349251582546,0.71338606911949],"aabb_xy":[[0.4323119622442293,1.4516349253767586],[0.4932804624982896,1.5516349249397505]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[0.7032727046212024,-1.184380761514462,0.71338606911949],"aabb_xy":[[0.6991945467141526,-1.188461741762725],[0.707350862528252,-1.1802997812661984]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.46567546996674725,0.1352167330531402,0.71338606911949],"aabb_xy":[[-0.5157729339478209,0.07121673254332841],[-0.4155780059856736,0.19921673356295203]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[-0.39903455612618666,-0.9560730717661579,0.71338606911949],"aabb_xy":[[-0.47902837970474493,-1.0360730743589994],[-0.3190407325476285,-0.8760730691733163]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.06967710973038288,-1.1293781844345854,0.71338606911949],"aabb_xy":[[0.03467710837890115,-1.1497379203914062],[0.10467711108186462,-1.1090184484777645]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[0.5218143974803724,-0.11655211892072659,0.71338606911949],"aabb_xy":[[0.5130123421713996,-0.12436344507565567],[0.530616452789345,-0.10874079276579751]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.012681016322320326,1.3803920469860418,0.71338606911949],"aabb_xy":[[-0.07668101490889279,1.3333850835865328],[0.05131898226425213,1.4273990103855503]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.18138478558109083,-1.7003240784153457,0.71338606911949],"aabb_xy":[[0.13141149157783036,-1.750324078969893],[0.23135807958435126,-1.6503240778607984]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.30666637440736255,0.9492305340008818,0.71338606911949],"aabb_xy":[[-0.35666637569120246,0.8992516796102595],[-0.25666637312352253,0.9992093883915037]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[0.19432058838325839,1.1193553330375834,0.71338606911949],"aabb_xy":[[0.18632659980555497,1.111355252942493],[0.20231457696096175,1.1273554131326737]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[0.5320636915473018,-0.9988469123844754,0.71338606911949],"aabb_xy":[[0.5226462169774391,-1.0082630895221945],[0.5414811661171646,-0.9894307352467563]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[0.5646752281677292,-1.4656449655210133,0.71338606911949],"aabb_xy":[[0.5443909254443304,-1.4859275906637222],[0.584959530891128,-1.4453623403783045]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[-0.5448200434054682,0.6648277242304768,0.71338606911949],"aabb_xy":[[-0.6148200450077477,0.6513949310288192],[-0.4748200418031887,0.6782605174321343]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_26","position":[-0.1409011668312905,-2.3752841329006484,0.71338606911949],"aabb_xy":[[-0.14852543492146875,-2.382917356437192],[-0.13327689874111226,-2.3676509093641047]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_27","position":[0.474714589391968,-2.207476331775971,0.71338606911949],"aabb_xy":[[0.394714589118361,-2.280425879601687],[0.554714589665575,-2.1345267839502537]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_28","position":[0.281611115878292,1.780932163864858,0.71338606911949],"aabb_xy":[[0.2728971468283574,1.7584321632056696],[0.2903250849282264,1.803432164524046]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841223879660222,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5354.png","name":"5354"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5354.png","name":"5354"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1241.png","name":"1241"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1517.png","name":"1517"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9735.png","name":"9735"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3544.png","name":"3544"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":761.5441876769785,"rotation_z_degrees":40.159644446785315,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008707716324313672,0.004691288389330205,-0.0107466570467418]},{"name":"camera_2","offset_m":[-0.01680693179286317,-0.0002046606194823844,0.0005088594593932634]},{"name":"camera_3","offset_m":[0.012645905939485762,-0.0012266816105537537,-0.007334438445464367]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00045726367975449387,-0.0012697784377921418,0.001320769039050236],"end_effector_yaw_offset_degrees":-0.18005800966050556},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0001700810846204197,-0.0006821809594087763,-0.00010032255481129491],"end_effector_yaw_offset_degrees":-0.9099923139639781},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011628941420428495,-0.0011760948620442128,0.0007236264491380252],"end_effector_yaw_offset_degrees":0.19080361160225356},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001568795952023316,-0.0014694775192485863,-0.00030546935404023793],"end_effector_yaw_offset_degrees":-0.11703766502797541}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024795549597254117,0.0005013226249759081],"position_m":[0.3516204450402746,-0.0834986773750241,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020205590383941133,0.0010642645915010327],"position_m":[0.2766205590383941,-0.32923573540849893,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009719401455081335,0.0032693168230383757],"position_m":[0.16167194014550815,0.21746931682303838,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009165623619385999,-0.002201355584935554],"position_m":[0.3450165623619386,0.11299864441506444,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e17536e56e09ce9def0f96a9f5775340283668d8faf639f142d480fec9ef4224","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5354/tex_ceiling_textures_3544/tex_floor_textures_9735/tex_table_textures_1241/tex_wall_textures_1517","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5897165251619790761,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5897165251619790761,"visual_seed":5897165251619790761,"scene_id":"lab_003","finished_at":"2026-09-05T04:30:51"}
+{"episode_id":"ep_000057","started_at":"2026-09-05T04:30:55","dimensions":{"distractor":{"count":27,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[-0.3194958799708866,1.760998009214363,0.71338606911949],"aabb_xy":[[-0.3532714391615795,1.7469595140011982],[-0.28572032078019355,1.775036504427528]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.049771300360360704,-0.7441831639346181,0.71338606911949],"aabb_xy":[[-0.11377129894693316,-0.7911901273341269],[0.014228698226211756,-0.6971762005351094]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.5057172283509266,-1.0224092060537806,0.71338606911949],"aabb_xy":[[0.4682172276863478,-1.0380962640540026],[0.5432172290155052,-1.0067221480535582]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[-0.5958076510880684,0.6612461293557539,0.71338606911949],"aabb_xy":[[-0.6758076482476437,0.649698528397937],[-0.5158076539284931,0.672793730313571]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[-0.24743908130821823,-0.30899935858804506,0.71338606911949],"aabb_xy":[[-0.2547213976848818,-0.39899936219755394],[-0.24015676493155452,-0.21899935497853598]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[-0.4087479874408705,-1.1303890684817675,0.71338606911949],"aabb_xy":[[-0.4167843221421552,-1.138427187786184],[-0.40071165273958553,-1.1223509491773505]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.09735906414383211,-2.2707157301122343,0.71338606911949],"aabb_xy":[[0.06235906416733629,-2.2801803461598507],[0.13235906412032794,-2.261251114064618]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[0.6279906408401705,-0.5689200665919532,0.71338606911949],"aabb_xy":[[0.5379906422457006,-0.5851706529053742],[0.7179906394346405,-0.5526694802785321]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.5974803836439748,-2.3090684658467877,0.71338606911949],"aabb_xy":[[-0.6424729703624252,-2.3540684651212365],[-0.5524877969255244,-2.264068466572339]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[-0.5914742542413555,-0.9156298346850817,0.71338606911949],"aabb_xy":[[-0.6264742525114754,-0.9227039623800697],[-0.5564742559712356,-0.9085557069900934]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[0.6649872909754166,-2.218965041211741,0.71338606911949],"aabb_xy":[[0.6150043407879372,-2.268965040854301],[0.7149702411628959,-2.16896504156918]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.28540310081074705,1.683243670970565,0.71338606911949],"aabb_xy":[[-0.3204031021622288,1.6628839350137439],[-0.2504030994592653,1.7036034069273855]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.6555205065953567,-1.5860025519861438,0.71338606911949],"aabb_xy":[[0.6305205066628389,-1.5928852202070674],[0.6805205065278747,-1.5791198837652207]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[0.01938164818814614,-2.471274512766346,0.71338606911949],"aabb_xy":[[-0.030602587520031088,-2.521274511579841],[0.06936588389632337,-2.42127451395285]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[-0.5572570278541876,-2.2034164230164346,0.71338606911949],"aabb_xy":[[-0.5632940408548525,-2.209443124085383],[-0.551220014853523,-2.197389721947487]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[0.1814853143591333,-0.9306237187459345,0.71338606911949],"aabb_xy":[[0.15283598199871706,-0.9592692780230102],[0.2101346467195495,-0.9019781594688586]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.23649800123642295,1.222490402279759,0.71338606911949],"aabb_xy":[[-0.24281010077276138,1.21672346302654],[-0.23018590170008452,1.2282573415329778]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.21393118050080073,0.9493054085813912,0.71338606911949],"aabb_xy":[[-0.2514311808490285,0.9375140130003076],[-0.17643118015257298,0.9610968041624747]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.06240021582397337,-0.150372159282679,0.71338606911949],"aabb_xy":[[-0.07500291496104983,-0.16296755550754452],[-0.04979751668689692,-0.13777676305781353]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.4135408473393063,-1.7665502087348495,0.71338606911949],"aabb_xy":[[0.3495408500536577,-1.8080569276876934],[0.477540844624955,-1.7250434897820055]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[0.5658026071676681,0.877997264842092,0.71338606911949],"aabb_xy":[[0.5301734512677083,0.8423645980852389],[0.6014317630676278,0.9136299315989448]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[-0.33121897092874064,0.24286796012748102,0.71338606911949],"aabb_xy":[[-0.36806951886572825,0.2053679593044473],[-0.29436842299175303,0.28036796095051475]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.40712473080489975,-1.6614417216897164,0.71338606911949],"aabb_xy":[[0.3889189071436521,-1.672467122271708],[0.4253305544661475,-1.6504163211077247]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[0.5341431602960893,1.77273796345875,0.71338606911949],"aabb_xy":[[0.47414315970007315,1.7179254909135262],[0.5941431608921055,1.8275504360039732]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[-0.3447303293157234,-1.3178236642293502,0.71338606911949],"aabb_xy":[[-0.4047303295671245,-1.372104989265815],[-0.28473032906432216,-1.2635423391928857]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[0.1684033073886424,1.6481288790736683,0.71338606911949],"aabb_xy":[[0.10440330809447415,1.5841427387048141],[0.2324033066828106,1.7121150194425225]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_26","position":[-0.5059535825363471,-0.4413626356688858,0.71338606911949],"aabb_xy":[[-0.5559466946455391,-0.49136263634308147],[-0.4559604704271554,-0.3913626349946902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6810029797369672,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6134.png","name":"6134"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6134.png","name":"6134"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6015.png","name":"6015"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2687.png","name":"2687"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8623.png","name":"8623"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4910.png","name":"4910"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":817.0153160302738,"rotation_z_degrees":34.289063258224715,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011854726777945577,0.012642665876774723,-0.003483251702335644]},{"name":"camera_2","offset_m":[0.01743201336647621,-0.0028935274138775953,0.013850085224307297]},{"name":"camera_3","offset_m":[-0.013916722405875,-0.01740908643442163,-0.0036702346590440083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010556099598403534,-4.198988654369835e-05,0.0012033774184788686],"end_effector_yaw_offset_degrees":0.7940127673721407},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017106178569352183,-0.0008449330107147125,-0.001376827038192797],"end_effector_yaw_offset_degrees":-0.7395349185781244},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016345083298423449,-0.0004812659592324704,0.000981313653650443],"end_effector_yaw_offset_degrees":0.1459119890029792},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015896220351484347,0.0006539222341413525,-0.0017039902235065157],"end_effector_yaw_offset_degrees":-0.18051620271397928}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006154517693173689,-0.0007363984191384263],"position_m":[0.35348454823068265,-0.08473639841913844,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026763061498063724,-0.0009838254860024369],"position_m":[0.27192369385019366,-0.33128382548600244,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00031895853792475275,0.0031320833413530187],"position_m":[0.16101895853792475,0.217332083341353,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003860833288637007,0.004210902341246047],"position_m":[0.340239166711363,0.11941090234124604,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b32710f82a524641a3c4fd0376db375443ce9c022810aeb8bbd9f785d2750be0","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6134/tex_ceiling_textures_4910/tex_floor_textures_8623/tex_table_textures_6015/tex_wall_textures_2687","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":3834163868518737174,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":3834163868518737174,"visual_seed":3834163868518737174,"scene_id":"lab_003","finished_at":"2026-09-05T04:34:34"}
+{"episode_id":"ep_000058","started_at":"2026-09-05T04:34:38","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.6022227163297198,0.2745782918366828,0.71338606911949],"aabb_xy":[[-0.6221137562100602,0.26192248055198597],[-0.5823316764493797,0.28723410312137965]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.12737353889380432,1.5858519867367336,0.71338606911949],"aabb_xy":[[-0.1389425196407409,1.560851986619802],[-0.11580455814686774,1.6108519868536655]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.2526584908080542,-0.6360936079647739,0.71338606911949],"aabb_xy":[[-0.34265849448497226,-0.697526014541878],[-0.16265848713113593,-0.5746612013876693]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[0.17261753889534415,-1.9399539997476605,0.71338606911949],"aabb_xy":[[0.12262252793589212,-1.9899539987832526],[0.2226125498547962,-1.8899540007120692]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[-0.4792630308457023,-1.6198004321355985,0.71338606911949],"aabb_xy":[[-0.5592630295025884,-1.6343052910598617],[-0.39926303218881637,-1.6052955732113359]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.05928413743724137,0.2518231135911013,0.71338606911949],"aabb_xy":[[-0.11428413705898721,0.1968394208036286],[-0.004284137815495533,0.30680680637857405]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.12168749958375069,0.9235255144001848,0.71338606911949],"aabb_xy":[[0.07560240832901921,0.8595255171476297],[0.16777259083848217,0.9875255116527399]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.11678084739216466,0.44380922543347046,0.71338606911949],"aabb_xy":[[-0.19677467097072288,0.36380922284062894],[-0.036787023813606434,0.523809228026312]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[-0.2735989953638888,1.1924007431717318,0.71338606911949],"aabb_xy":[[-0.2822969576546041,1.1802757688642571],[-0.26490103307317353,1.2045257174792066]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[0.33454405017879574,0.9649965208579143,0.71338606911949],"aabb_xy":[[0.2845492172508542,0.9149965219626708],[0.3845388831067374,1.0149965197531579]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[0.6253045299284505,-0.2657740784998417,0.71338606911949],"aabb_xy":[[0.5453045288553303,-0.27555212483722613],[0.705304531001571,-0.25599603216245725]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[-0.11643326953291233,1.1951680163705372,0.71338606911949],"aabb_xy":[[-0.13894696135636952,1.1251680157695296],[-0.09391957770945512,1.2651680169715447]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[-0.2192789722947337,-1.3538229570255595,0.71338606911949],"aabb_xy":[[-0.22799294134466813,-1.3763229576847475],[-0.21056500324479915,-1.331322956366371]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.10675631872954272,-0.26814466390988523,0.71338606911949],"aabb_xy":[[-0.19047854422962518,-0.3581446674445812],[-0.023034093229460248,-0.17814466037518928]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.4955723311808518,0.5096594686392573,0.71338606911949],"aabb_xy":[[-0.545572332541739,0.4596815640638416],[-0.44557232981996464,0.5596373732146728]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.2801721383962978,1.0153689291761614,0.71338606911949],"aabb_xy":[[-0.3026685598301619,0.992868929369414],[-0.2576757169624337,1.0378689289829088]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_16","position":[-0.39449790381198324,-2.2569070695399187,0.71338606911949],"aabb_xy":[[-0.4355158471983542,-2.306907070170876],[-0.3534799604256124,-2.2069070689089614]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.5118832507484515,-1.4506155885760905,0.71338606911949],"aabb_xy":[[-0.5343480207198567,-1.473115589454951],[-0.4894184807770464,-1.42811558769723]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[-0.08174558913572816,-1.232864388498532,0.71338606911949],"aabb_xy":[[-0.16174559129849064,-1.3128195721246756],[-0.0017455869729656737,-1.1529092048723883]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[-0.20251394835266168,-0.9134433605676318,0.71338606911949],"aabb_xy":[[-0.24001394986829336,-0.9246701335837767],[-0.16501394683702994,-0.9022165875514866]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[-0.5922418643603826,1.4867493224162334,0.71338606911949],"aabb_xy":[[-0.5968769795126159,1.4828819873390844],[-0.5876067492081491,1.490616657493382]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.0034282359010670005,1.4812199374352892,0.71338606911949],"aabb_xy":[[-0.009802709633614293,1.4679925184132898],[0.016659181435748294,1.4944473564572887]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[0.5512392299027264,-1.4197559802589756,0.71338606911949],"aabb_xy":[[0.5432457401074444,-1.4277541121994515],[0.5592327196980085,-1.4117578483185003]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[-0.11062957372925164,-1.0291394645857168,0.71338606911949],"aabb_xy":[[-0.15281398789008238,-1.093139464862928],[-0.0684451595684209,-0.9651394643085056]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688708384860367,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1143.png","name":"1143"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1143.png","name":"1143"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6912.png","name":"6912"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9931.png","name":"9931"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9480.png","name":"9480"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/289.png","name":"289"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":555.2724089792022,"rotation_z_degrees":233.51055629171572,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01680286920713538,-0.012096225483622157,0.017279550659385984]},{"name":"camera_2","offset_m":[-0.01199178755378442,0.016906985524238406,0.010736573073028215]},{"name":"camera_3","offset_m":[0.012019092240078463,0.0016120584436893938,0.01818165729546255]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012819270973008865,0.0018531021915887329,-0.0008772858674747034],"end_effector_yaw_offset_degrees":0.977863341564418},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009430962404680938,0.0007640556862272964,-0.0003513269595363923],"end_effector_yaw_offset_degrees":0.9518080714029085},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006909963458459325,0.001138804529168454,0.0012160726183229834],"end_effector_yaw_offset_degrees":-0.09984866525719127},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012253535033037912,-0.001192402445729444,-0.00025649028164857497],"end_effector_yaw_offset_degrees":0.3670920448244366}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002579185461331318,-0.0041295340496780185],"position_m":[0.35667918546133137,-0.08812953404967802,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004040705836852625,-0.0047595343537610415],"position_m":[0.27864070583685263,-0.335059534353761,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033465975016075565,0.0019476510200491957],"position_m":[0.16404659750160758,0.2161476510200492,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002151196807543633,-0.0033088632976694425],"position_m":[0.3419488031924564,0.11189113670233056,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"019e842fc48eca26990f12e3c02939d771904b77a109ef17ae077c9a5d81908f","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1143/tex_ceiling_textures_289/tex_floor_textures_9480/tex_table_textures_6912/tex_wall_textures_9931","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8630159052385810966,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8630159052385810966,"visual_seed":8630159052385810966,"scene_id":"lab_003","finished_at":"2026-09-05T04:38:22"}
+{"episode_id":"ep_000059","started_at":"2026-09-05T04:38:26","dimensions":{"distractor":{"count":30,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[-0.341079435665045,-0.6412428790823976,0.71338606911949],"aabb_xy":[[-0.3755419136781328,-0.6479065562653203],[-0.30661695765195723,-0.6345792018994747]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.661318145682906,-1.8289258256716006,0.71338606911949],"aabb_xy":[[0.6113450801503907,-1.878925825484134],[0.7112912112154216,-1.778925825859068]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_2","position":[0.4818879136577714,-2.3125296710190417,0.71338606911949],"aabb_xy":[[0.41788791338379316,-2.3625957712163297],[0.5458879139317496,-2.2624635708217538]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[0.3517321403334459,-0.8388254995765674,0.71338606911949],"aabb_xy":[[0.27173214167655985,-0.8533303585008303],[0.43173213899033186,-0.8243206406523047]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[0.24540445671804367,-2.40856149985026,0.71338606911949],"aabb_xy":[[0.18540445612202747,-2.463373972395484],[0.30540445731405985,-2.353749027305037]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.21260789428556542,0.18402681894041084,0.71338606911949],"aabb_xy":[[-0.22521059342264188,0.17143142271554535],[-0.20000519514848897,0.19662221516527634]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.5195260988075896,0.25601568982518685,0.71338606911949],"aabb_xy":[[0.43580387330750703,0.1660156862904909],[0.603248324307672,0.3460156933598828]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[0.1294731483658058,-1.653117902768354,0.71338606911949],"aabb_xy":[[0.11058876459729561,-1.6720038275487068],[0.14835753213431602,-1.6342319779880012]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[0.6474819849495277,-2.0734667424814726,0.71338606911949],"aabb_xy":[[0.6131657077749096,-2.1234667424546503],[0.6817982621241455,-2.023466742508295]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[0.2781784123180958,-1.168464831258346,0.71338606911949],"aabb_xy":[[0.27421792854836147,-1.1761326958438665],[0.28213889608783016,-1.1607969666728253]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.45274634499947153,-0.47052681898192983,0.71338606911949],"aabb_xy":[[-0.48837550089943127,-0.5061594857387828],[-0.4171171890995118,-0.4348941522250769]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.10527109321885753,-2.5257298183095305,0.71338606911949],"aabb_xy":[[-0.16027109284060337,-2.5807135110970036],[-0.050271093597111696,-2.470746125522058]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[-0.09759140990385673,1.06286617599274,0.71338606911949],"aabb_xy":[[-0.1615914106073261,1.0168477935198192],[-0.0335914092003874,1.1088845584656613]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[-0.15908260245114692,1.621226913426487,0.71338606911949],"aabb_xy":[[-0.22308260412914427,1.5727095219471725],[-0.09508260077314956,1.669744304905801]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_14","position":[-0.47516321872509587,1.3098629060718383,0.71338606911949],"aabb_xy":[[-0.5391632178948658,1.2630962189528758],[-0.4111632195553259,1.3566295931908008]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.26078790613468744,-1.2307016703691334,0.71338606911949],"aabb_xy":[[-0.32478790256200935,-1.27787129419123],[-0.19678790970736554,-1.1835320465470371]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[0.45659973376883944,0.47017591868929554,0.71338606911949],"aabb_xy":[[0.4190997335969674,0.4374751833063884],[0.49409973394071127,0.5028766540722027]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[-0.6189059018598216,-0.5896551374515897,0.71338606911949],"aabb_xy":[[-0.682905900446394,-0.6366621008510984],[-0.5549059032732491,-0.542648174052081]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[-0.3274102670559971,-1.8905751841455891,0.71338606911949],"aabb_xy":[[-0.360889434317038,-1.9240542975166963],[-0.29393109979495613,-1.8570960707744824]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[-0.512989010449754,1.6877214145484172,0.71338606911949],"aabb_xy":[[-0.5264355370837973,1.6742515628953258],[-0.49954248381571065,1.7011912662015085]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[0.5125021749821062,-1.1940486349673702,0.71338606911949],"aabb_xy":[[0.4475021768261871,-1.2203448795172824],[0.5775021731380252,-1.167752390417458]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[0.18729235157189283,-2.295170269035391,0.71338606911949],"aabb_xy":[[0.16961672098329447,-2.3128504853147933],[0.20496798216049114,-2.277490052755988]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.306540973757931,-2.183041669026402,0.71338606911949],"aabb_xy":[[0.28833515009668337,-2.194067069608394],[0.3247467974191787,-2.172016268444411]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.3489023286243725,0.0561080773149949,0.71338606911949],"aabb_xy":[[-0.3590553441785218,0.020038535742254563],[-0.33874931307022305,0.09217761888773524]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.03393087831439545,-1.5008319122805835,0.71338606911949],"aabb_xy":[[-0.003400398210847172,-1.5354849670754358],[0.07126215483963808,-1.4661788574857313]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[-0.38263458583536575,-2.1356649900300773,0.71338606911949],"aabb_xy":[[-0.4476345884731593,-2.1871445887295247],[-0.3176345831975723,-2.0841853913306307]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[-0.3022320926290411,-0.769120951404229,0.71338606911949],"aabb_xy":[[-0.30947585867528643,-0.8491209496078312],[-0.2949883265827958,-0.6891209532006265]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_27","position":[0.016809495717974632,-1.983804461812542,0.71338606911949],"aabb_xy":[[-0.020690505466818162,-1.9882226845086024],[0.05430949690276742,-1.9793862391164814]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_28","position":[-0.23224269932530123,0.9553659755371218,0.71338606911949],"aabb_xy":[[-0.3022427019618875,0.9352611105412563],[-0.16224269668871485,0.9754708405329873]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_29","position":[-0.1920226601892111,-1.9919028874120475,0.71338606911949],"aabb_xy":[[-0.20912473814757926,-2.0090096929433168],[-0.17492058223084295,-1.9747960818807773]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6840870244508807,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5664.png","name":"5664"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5664.png","name":"5664"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9100.png","name":"9100"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1492.png","name":"1492"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5216.png","name":"5216"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2125.png","name":"2125"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":753.4500145179279,"rotation_z_degrees":116.06069957083352,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00957126391180729,0.005168214065347475,0.017965283494183238]},{"name":"camera_2","offset_m":[-0.013238631895381481,0.012405700944570029,0.01784749557648366]},{"name":"camera_3","offset_m":[-0.007738844708923777,-0.01386509386931475,-0.0045822471603168494]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004416593430922938,0.0007937362873241391,-0.0003908758030486221],"end_effector_yaw_offset_degrees":0.22519021743568723},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008364314004125251,9.127296642350707e-05,0.0008679937808518598],"end_effector_yaw_offset_degrees":0.38545105566882465},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001984291432916379,0.0002119299736943578,0.0014829945880969965],"end_effector_yaw_offset_degrees":-0.37920325993288406},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015448354188339775,-0.0019539707065781026,0.0011491281742474118],"end_effector_yaw_offset_degrees":0.5163242656646583}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00012565395170802043,0.0009841860181321709],"position_m":[0.35397434604829203,-0.08301581398186783,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017205345460144586,0.0005917535676930952],"position_m":[0.27632053454601446,-0.3297082464323069,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004148863921475209,-0.0027154490611842374],"position_m":[0.1565511360785248,0.21148455093881577,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004268270138929529,-0.002483435742902902],"position_m":[0.33983172986107046,0.1127165642570971,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26762287d210eff6002ba2dcc60c33b2056d7687fbe6e2569122e7835acdce9e","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0075.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5664/tex_ceiling_textures_2125/tex_floor_textures_5216/tex_table_textures_9100/tex_wall_textures_1492","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5097058084519470308,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5097058084519470308,"visual_seed":5097058084519470308,"scene_id":"lab_003","finished_at":"2026-09-05T04:42:28"}
+{"episode_id":"ep_000060","started_at":"2026-09-05T04:42:32","dimensions":{"distractor":{"count":35,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[-0.12254340571437305,0.427270370815497,0.71338606911949],"aabb_xy":[[-0.1600434065063685,0.4209025298573069],[-0.08504340492237761,0.4336382117736871]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[0.5550501379859569,-2.1875141152004574,0.71338606911949],"aabb_xy":[[0.5050501370354241,-2.2190632622039788],[0.6050501389364897,-2.155964968196936]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.6405187896444235,1.3519424872426704,0.71338606911949],"aabb_xy":[[0.5605187874816611,1.2719873036165268],[0.720518791807186,1.431897670868814]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[0.1503923880515573,1.7007468882499093,0.71338606911949],"aabb_xy":[[0.11695221285553768,1.667303262418979],[0.18383256324757688,1.7341905140808391]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[0.6283128354811147,-0.9436120988681438,0.71338606911949],"aabb_xy":[[0.597914724381971,-0.9740190008698133],[0.6587109465802582,-0.9132051968664743]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.47582745609612587,-1.56568253541944,0.71338606911949],"aabb_xy":[[-0.4866679343226407,-1.5828688167100888],[-0.4649869778696109,-1.548496254128791]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.49622981507659647,-1.164179236076464,0.71338606911949],"aabb_xy":[[-0.5011291073831599,-1.1918561553790328],[-0.4913305227700329,-1.1365023167738952]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.5381154642323973,-1.9187477789068237,0.71338606911949],"aabb_xy":[[-0.6181092878109555,-1.9987477814996655],[-0.4581216406538391,-1.8387477763139823]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.39745902379969295,-0.20682195894389288,0.71338606911949],"aabb_xy":[[-0.47745902076273206,-0.28389760058766633],[-0.3174590268366537,-0.1297463173001194]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[0.6450742558061306,0.35191832115644717,0.71338606911949],"aabb_xy":[[0.6075742546213377,0.34750009846038654],[0.6825742569909233,0.35633654385250757]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[-0.38929316261272445,1.596154954675146,0.71338606911949],"aabb_xy":[[-0.3974208508060377,1.5872413462644381],[-0.38116547441941123,1.6050685630858537]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.5428153069357087,0.48871547242229907,0.71338606911949],"aabb_xy":[[0.4528153075173378,0.4553399755781093],[0.6328153063540796,0.5220909692664888]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[-0.34386695984644106,-2.386606968623845,0.71338606911949],"aabb_xy":[[-0.4038669600978422,-2.440888293660309],[-0.2838669595950398,-2.3323256435873803]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[-0.5890680443692179,0.43258239380339525,0.71338606911949],"aabb_xy":[[-0.6276137371944189,0.3940366227472066],[-0.5505223515440169,0.4711281648595839]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[-0.061794315746448,0.9299247537162243,0.71338606911949],"aabb_xy":[[-0.1117943167655833,0.8934585379783965],[-0.011794314727312735,0.9663909694540523]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[0.07548811022273794,-1.8701761345147851,0.71338606911949],"aabb_xy":[[0.07152762645300356,-1.877843999100306],[0.07944859399247231,-1.8625082699292648]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[-0.504457722145601,-2.3610295169764273,0.71338606911949],"aabb_xy":[[-0.5494503088640513,-2.406029516250876],[-0.4594651354271505,-2.3160295177019785]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.36347976635964163,-1.8097336256325207,0.71338606911949],"aabb_xy":[[-0.38597618779350573,-1.8322336254392684],[-0.34098334492577753,-1.7872336258257735]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[-0.19679754628817758,0.7495732064832081,0.71338606911949],"aabb_xy":[[-0.21868729387711838,0.6595732091939589],[-0.17490779869923678,0.8395732037724571]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.5291479578060935,1.7577761381834418,0.71338606911949],"aabb_xy":[[-0.5516479580496089,1.7455715035236699],[-0.5066479575625781,1.7699807728432138]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[0.2108332325508988,0.7700338232128372,0.71338606911949],"aabb_xy":[[0.19796132904995864,0.690033822799001],[0.22370513605183892,0.8500338236266733]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_21","position":[-0.569126559798776,1.099660120828665,0.71338606911949],"aabb_xy":[[-0.6241188104342871,1.0446601190853524],[-0.5141343091632652,1.154660122571978]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[-0.380203019314258,1.075435527502563,0.71338606911949],"aabb_xy":[[-0.44420302260396605,1.0321006084986453],[-0.3162030160245498,1.1187704465064805]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.07803671020557568,-1.4101655106053932,0.71338606911949],"aabb_xy":[[-0.11235298738019361,-1.460165510578571],[-0.04372043303095774,-1.3601655106322155]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[-0.4803951659393503,0.19053755781719328,0.71338606911949],"aabb_xy":[[-0.4900268021597799,0.18090024503748434],[-0.47076352971892066,0.20017487059690217]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_25","position":[-0.2683649988049638,1.3707158494848142,0.71338606911949],"aabb_xy":[[-0.35208722430504624,1.2807158459501182],[-0.18464277330488132,1.4607158530195101]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_26","position":[-0.22518353143315561,-0.6822692355446531,0.71338606911949],"aabb_xy":[[-0.26736794559398636,-0.7462692358218644],[-0.18299911727232487,-0.618269235267442]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_27","position":[0.1606437111185528,1.049571577665033,0.71338606911949],"aabb_xy":[[0.0956437110842501,1.0028709009847059],[0.22564371115285556,1.0962722543453605]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_28","position":[-0.049580879939079114,-1.212020629102394,0.71338606911949],"aabb_xy":[[-0.09958087937927473,-1.2619885535867104],[0.000419119501116505,-1.1620527046180777]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_29","position":[0.36712624877239475,-1.486174118202888,0.71338606911949],"aabb_xy":[[0.31764582755843596,-1.5501741161157399],[0.41660666998635354,-1.4221741202900362]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_30","position":[0.3323951713222024,-2.23058033624347,0.71338606911949],"aabb_xy":[[0.25239517266531647,-2.245085195167733],[0.4123951699790885,-2.2160754773192073]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_31","position":[0.6101877281046859,-1.9366065169935942,0.71338606911949],"aabb_xy":[[0.5764121689139928,-1.9506450122067593],[0.6439632872953788,-1.922568021780429]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_32","position":[0.44870948086777496,-0.46639187563732243,0.71338606911949],"aabb_xy":[[0.39370948124602906,-0.5213755684247952],[0.5037094804895208,-0.41140818284984965]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_33","position":[0.44944235112651576,-1.7497166435107265,0.71338606911949],"aabb_xy":[[0.37944234952423633,-1.7631494367123843],[0.5194423527287952,-1.7362838503090692]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_34","position":[-0.6232988206342387,-2.12231017078286,0.71338606911949],"aabb_xy":[[-0.6324586995781153,-2.128841388826397],[-0.6141389416903621,-2.115778952739323]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6789392576111446,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2046.png","name":"2046"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2046.png","name":"2046"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7519.png","name":"7519"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6557.png","name":"6557"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3028.png","name":"3028"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7315.png","name":"7315"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":763.0692600561838,"rotation_z_degrees":344.7335358875333,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0043691796300114605,-0.0040007604565928875,0.0016507837176667935]},{"name":"camera_2","offset_m":[-0.019005214216428094,-0.011396562816187736,0.017332019010221588]},{"name":"camera_3","offset_m":[-0.008322994748577317,-0.015506341446296985,0.0043101338830566945]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.11225073480428e-05,-0.0005754616158960056,-0.001785290681672306],"end_effector_yaw_offset_degrees":0.576259106420375},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00047663043101684377,0.0004912383334860979,0.0003728455411198474],"end_effector_yaw_offset_degrees":0.6723906380085125},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019428543677417745,-0.0017979955625090555,-0.0008770873870354353],"end_effector_yaw_offset_degrees":0.6693273284986665},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001967767571421203,-0.00047038929306649066,-0.00042260754684018747],"end_effector_yaw_offset_degrees":0.09808976632465982}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025206378431625077,0.003091772299734878],"position_m":[0.3515793621568375,-0.08090822770026512,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002895047237603642,0.0028817057301573573],"position_m":[0.27170495276239637,-0.32741829426984265,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003800855203782005,-0.004759202320128399],"position_m":[0.16450085520378202,0.20944079767987162,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031360312865531753,-0.00245249624642084],"position_m":[0.34723603128655317,0.11274750375357916,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7a38fd0a5f1da2b22c866c10378b5fe35522db2b1cffa97a71e033173d7c422d","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2046/tex_ceiling_textures_7315/tex_floor_textures_3028/tex_table_textures_7519/tex_wall_textures_6557","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4204516478417290827,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4204516478417290827,"visual_seed":4204516478417290827,"scene_id":"lab_003","finished_at":"2026-09-05T04:46:14"}
+{"episode_id":"ep_000061","started_at":"2026-09-05T04:50:52","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[-0.06401907939689766,-1.8039493924006562,0.71338606911949],"aabb_xy":[[-0.12801907856666758,-1.850716079519619],[-1.9080227127710178e-05,-1.757182705281694]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.04880656868955713,-1.5084500022292395,0.71338606911949],"aabb_xy":[[-0.11280656511687905,-1.5556196260513362],[0.015193427737764761,-1.4612803784071433]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[0.0432593488303733,-0.834105910832805,0.71338606911949],"aabb_xy":[[0.0057593488866068965,-0.8423990008676415],[0.0807593487741397,-0.8258128207979684]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.3969069118871258,-1.319815595875501,0.71338606911949],"aabb_xy":[[0.3849741775252977,-1.3321977486833603],[0.40883964624895386,-1.3074334430676415]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.18202274030387533,-2.4484941128197253,0.71338606911949],"aabb_xy":[[0.1020227400302683,-2.521443660645442],[0.2620227405774822,-2.3755445649940086]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[-0.5825774835104552,-0.23429327329624972,0.71338606911949],"aabb_xy":[[-0.6725774821049252,-0.25054385960967074],[-0.4925774849159853,-0.21804268698282872]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[0.6127490051875846,-2.518975382349797,0.71338606911949],"aabb_xy":[[0.5576237995579937,-2.5789753837910836],[0.6678742108171752,-2.4589753809085093]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[-0.4048144131891939,0.7977356558641437,0.71338606911949],"aabb_xy":[[-0.4347819700990196,0.767735655566258],[-0.37484685627936826,0.8277356561620295]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[0.38162108788414795,-2.117872272602965,0.71338606911949],"aabb_xy":[[0.3403722768542331,-2.172872272115182],[0.42286989891406257,-2.062872273090747]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.40266759462792145,0.7045093015331014,0.71338606911949],"aabb_xy":[[0.39853173829522126,0.6670093020887443],[0.40680345096062165,0.7420093009774583]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.546955534024358,1.1114149282097485,0.71338606911949],"aabb_xy":[[-0.5638662664606997,1.0979427226171339],[-0.5300448015880161,1.1248871338023632]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.5506172369653247,0.07093658452075324,0.71338606911949],"aabb_xy":[[-0.6146172372257954,0.025927785167825245],[-0.48661723670485385,0.11594538387368125]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_12","position":[0.5779348178897932,-0.1319069030422857,0.71338606911949],"aabb_xy":[[0.49793481741957735,-0.14021761065663407],[0.6579348183600092,-0.12359619542793732]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.43109930207678177,0.6275890177264163,0.71338606911949],"aabb_xy":[[-0.46487486126747474,0.6135505225132513],[-0.3973237428860888,0.6416275129395813]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[0.5805374861428341,-0.3591819085550796,0.71338606911949],"aabb_xy":[[0.49053748246591566,-0.42061431513218384],[0.670537489819752,-0.2977495019779752]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.26297775581770155,-1.875553733861267,0.71338606911949],"aabb_xy":[[0.21297775717178036,-1.925473277520729],[0.31297775446362275,-1.8256341902018043]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.10972989912326503,-1.4659277006702323,0.71338606911949],"aabb_xy":[[0.05963243514219141,-1.5299277011800443],[0.15982736310433865,-1.4019277001604207]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[-0.13456547061785895,-2.1756053012615446,0.71338606911949],"aabb_xy":[[-0.18456547163699424,-2.212071516999373],[-0.0845654695987237,-2.139139085523717]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[0.4786439197908272,-1.2449956105178281,0.71338606911949],"aabb_xy":[[0.463088150380562,-1.2605460437622353],[0.49419968920109253,-1.229445177273421]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[-0.3305029863361197,1.57870972908272,0.71338606911949],"aabb_xy":[[-0.39450298703958914,1.5326913466097993],[-0.2665029856326504,1.6247281115556413]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.6142944644234456,-1.6298860685999381,0.71338606911949],"aabb_xy":[[0.5342944633503253,-1.6396641149373223],[0.6942944654965659,-1.6201080222625535]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[0.5823752267661382,0.17614012860515382,0.71338606911949],"aabb_xy":[[0.5732153478222616,0.1696089105616168],[0.5915351057100148,0.18267134664869084]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.15682551469359785,0.8316922913261018,0.71338606911949],"aabb_xy":[[-0.2268255111035596,0.8112543556744197],[-0.08682551828363604,0.8521302269777832]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_23","position":[0.22108680126914937,-1.6633667151508909,0.71338606911949],"aabb_xy":[[0.1710875261007132,-1.7133667164268385],[0.27108607643758553,-1.6133667138749441]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[0.4892658670174641,-0.04269891168799855,0.71338606911949],"aabb_xy":[[0.485825190777407,-0.04656034466236303],[0.49270654325752133,-0.03883747871363408]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[0.2899070177594919,1.5245032702924353,0.71338606911949],"aabb_xy":[[0.266321894295597,1.4595032680470035],[0.3134921412233867,1.589503272537867]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[-0.5445153008224394,-2.004244498307446,0.71338606911949],"aabb_xy":[[-0.5695153003741779,-2.014386982172581],[-0.5195153012707009,-1.9941020144423116]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_27","position":[0.663639045305185,1.4264635688795315,0.71338606911949],"aabb_xy":[[0.6136657513019245,1.376463568324984],[0.7136123393084454,1.4764635694340786]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6807580829271165,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5344.png","name":"5344"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5344.png","name":"5344"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2574.png","name":"2574"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1512.png","name":"1512"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2583.png","name":"2583"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9757.png","name":"9757"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":675.3341517152378,"rotation_z_degrees":224.69620289607323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00648943335368915,-0.0002884742510832483,0.009015296639976588]},{"name":"camera_2","offset_m":[-0.019641002782602324,-0.005931577276211977,0.0065939376374667125]},{"name":"camera_3","offset_m":[0.018452094009833015,-0.015238563846981266,0.010431881265159211]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011623191314594945,0.0013510793668121352,0.0007755876476886192],"end_effector_yaw_offset_degrees":0.7435981081005305},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00024080471774554817,-0.0009217570169058552,-0.0015727714574161663],"end_effector_yaw_offset_degrees":-0.6179717842383889},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013782515275012695,-0.001435531033399069,0.0018670969639571619],"end_effector_yaw_offset_degrees":-0.5749897830631694},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015117270863935438,-0.001667499134205841,0.0011873174283371867],"end_effector_yaw_offset_degrees":0.17358332641909047}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0002607265317551878,0.0018584286740559695],"position_m":[0.35383927346824484,-0.08214157132594403,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022695114667137207,0.0002526399244338921],"position_m":[0.2723304885332863,-0.33004736007556607,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016311884257326882,0.0036826745195976543],"position_m":[0.1623311884257327,0.21788267451959767,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0042695842547316515,0.0011880720019324586],"position_m":[0.3483695842547317,0.11638807200193245,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6e4729638131aa5520cd5f99565405df350738aef1df0e63046b0ded8fa5ac93","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0078.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5344/tex_ceiling_textures_9757/tex_floor_textures_2583/tex_table_textures_2574/tex_wall_textures_1512","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2284965656760936630,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2284965656760936630,"visual_seed":2284965656760936630,"scene_id":"lab_003","finished_at":"2026-09-05T04:54:33"}
+{"episode_id":"ep_000062","started_at":"2026-09-05T04:54:38","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[-0.5745990384078971,-2.4748240616366917,0.71338606911949],"aabb_xy":[[-0.6244158178727317,-2.524824060120995],[-0.5247822589430622,-2.4248240631523883]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[0.039125154737932544,-0.8781703160842118,0.71338606911949],"aabb_xy":[[0.034225862431369034,-0.9058472353867804],[0.044024447044496026,-0.8504933967816428]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.20689487277442953,-2.4946871932035877,0.71338606911949],"aabb_xy":[[0.1568948717552943,-2.5311534089414156],[0.25689487379356485,-2.4582209774657597]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[0.4053523609900589,-1.5902770420405068,0.71338606911949],"aabb_xy":[[0.3897965915797937,-1.6058274752849144],[0.4209081304003242,-1.5747266087961]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_4","position":[-0.214882908890499,1.455054050189959,0.71338606911949],"aabb_xy":[[-0.22496461596907244,1.375054052297844],[-0.2048012018119255,1.5350540480820734]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_5","position":[0.20587735243359695,-1.3194798350408385,0.71338606911949],"aabb_xy":[[0.15088510179808604,-1.3744798367841515],[0.26086960306910795,-1.264479833297526]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[-0.6611607652235094,-1.2654364889506595,0.71338606911949],"aabb_xy":[[-0.6861607643891425,-1.272388734656016],[-0.6361607660578763,-1.258484243245303]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[-0.6274214219485325,-0.4762735730074277,0.71338606911949],"aabb_xy":[[-0.6914214236265297,-0.5247909644867419],[-0.563421420270535,-0.42775618152811345]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[0.6561341204476003,-2.1174734938594804,0.71338606911949],"aabb_xy":[[0.6278044104990602,-2.1219342360531974],[0.6844638303961407,-2.1130127516657633]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.42260594955943676,-2.3976176615175224,0.71338606911949],"aabb_xy":[[-0.43052922979818503,-2.420117661755526],[-0.41468266932068837,-2.375117661279519]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[-0.5091167432058159,-0.8204146899072453,0.71338606911949],"aabb_xy":[[-0.5591167435663819,-0.8703946771168481],[-0.4591167428452498,-0.7704347026976422]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[0.5320283350018531,-0.9392475106020652,0.71338606911949],"aabb_xy":[[0.5194015477146566,-0.9487935843036381],[0.5446551222890493,-0.9297014369004923]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.27446229472859995,-1.9412563642713518,0.71338606911949],"aabb_xy":[[0.22733291572676423,-2.005256365315754],[0.32159167373043557,-1.8772563632269497]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[0.39388776396340996,1.3274043018562054,0.71338606911949],"aabb_xy":[[0.32388776183198037,1.3046423362305095],[0.46388776609483945,1.3501662674819008]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[-0.08136439149944219,-2.266465408897183,0.71338606911949],"aabb_xy":[[-0.13134862720761942,-2.316465407710678],[-0.03138015579126496,-2.216465410083687]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[0.3131350359411067,-2.097986196511467,0.71338606911949],"aabb_xy":[[0.29622430350476486,-2.111458402104081],[0.3300457683774484,-2.0845139909188517]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[-0.17073842272675355,-2.4704640528094903,0.71338606911949],"aabb_xy":[[-0.24073842432903303,-2.483896846011148],[-0.10073842112447406,-2.4570312596078328]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.5445970067839971,-2.4089941990020427,0.71338606911949],"aabb_xy":[[0.48059701035667524,-2.456163822824139],[0.608597003211319,-2.3618245751799463]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.0673967765476694,1.314584484573062,0.71338606911949],"aabb_xy":[[0.04110795222722873,1.2883130509184106],[0.09368560086811005,1.340855918227713]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.4551398521457196,-1.360226888560316,0.71338606911949],"aabb_xy":[[-0.47281548273431795,-1.3779071048397185],[-0.4374642215571213,-1.342546672280913]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.2173215061937347,-0.9219595179543973,0.71338606911949],"aabb_xy":[[-0.22494577428391296,-0.9295927414909412],[-0.20969723810355648,-0.9143262944178537]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[0.30413376388205937,0.8923702839612151,0.71338606911949],"aabb_xy":[[0.300173280112325,0.8847024193756946],[0.3080942476517937,0.9000381485467358]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[-0.43858946271427607,-1.8446667588435386,0.71338606911949],"aabb_xy":[[-0.4935894618908655,-1.899656433618496],[-0.3835894635376865,-1.7896770840685807]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[-0.6321036831917468,1.5214274767637943,0.71338606911949],"aabb_xy":[[-0.6571036827434853,1.5112849928986594],[-0.6071036836400083,1.5315699606289288]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[0.5816398614267346,1.258792468833104,0.71338606911949],"aabb_xy":[[0.5587241485416847,1.2358881716966807],[0.6045555743117845,1.2816967659695278]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[-0.045967326639070216,1.5683513920038563,0.71338606911949],"aabb_xy":[[-0.11096732519614305,1.5385988585899735],[0.019032671918002612,1.5981039254177387]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[-0.12893741495909794,0.9776911323535762,0.71338606911949],"aabb_xy":[[-0.19393741595959846,0.926904767198901],[-0.06393741395859742,1.028477497508251]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_27","position":[-0.09471627090781787,0.8242065859945344,0.71338606911949],"aabb_xy":[[-0.11214698598682436,0.8069344713306834],[-0.07728555582881134,0.841478700658385]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_28","position":[-0.2601140181630959,-1.4045381326062965,0.71338606911949],"aabb_xy":[[-0.28339586036122716,-1.4895381339035245],[-0.2368321759649645,-1.3195381313090684]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_29","position":[0.13878260349598825,1.5120924776041993,0.71338606911949],"aabb_xy":[[0.13153883744974293,1.4320924794005967],[0.14602636954223358,1.5920924758078014]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_30","position":[0.6028073666642619,-0.718766526347093,0.71338606911949],"aabb_xy":[[0.5716604478206788,-0.7887665250339002],[0.633954285507845,-0.6487665276602859]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_31","position":[-0.6441680990407735,-1.405435500034804,0.71338606911949],"aabb_xy":[[-0.6640591389211139,-1.4180913113195008],[-0.6242770591604334,-1.3927796887501072]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_32","position":[-0.369708960369009,1.1728977713473223,0.71338606911949],"aabb_xy":[[-0.41970379329695057,1.1228977724520788],[-0.31971412744106736,1.2228977702425659]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_33","position":[-0.3686661389282645,0.04002438688251253,0.71338606911949],"aabb_xy":[[-0.38189708446294574,0.026796967860513096],[-0.35543519339358315,0.05325180590451194]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6817418614619432,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6648.png","name":"6648"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6648.png","name":"6648"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2094.png","name":"2094"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7539.png","name":"7539"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9539.png","name":"9539"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8243.png","name":"8243"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":779.6183766142238,"rotation_z_degrees":253.029140319862,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017108395951732833,-0.018769122139621106,0.018193846638729787]},{"name":"camera_2","offset_m":[-0.013675848938263437,-0.017090629816784962,0.01380709089374511]},{"name":"camera_3","offset_m":[-0.0005639953283446027,-0.015581277952732937,-0.018679172978912622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008901105765217873,-0.000998168773089847,0.000530982185570573],"end_effector_yaw_offset_degrees":0.8215486563645253},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008098369246614531,0.0018017991439789605,0.00198124449245919],"end_effector_yaw_offset_degrees":0.4272965456038611},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003369710822996039,0.0016203332371899069,0.0001527216562493554],"end_effector_yaw_offset_degrees":0.1450515611589649},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000939554727738661,0.00016276583186524514,0.0003753920439925648],"end_effector_yaw_offset_degrees":-0.6713682394531897}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00013385393153959695,-0.002520470248621093],"position_m":[0.35396614606846044,-0.0865204702486211,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00040269758309760106,0.003065341399547376],"position_m":[0.2750026975830976,-0.3272346586004526,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002714758575158287,-0.002358854915414419],"position_m":[0.15798524142484172,0.21184114508458557,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004857496410241878,-0.0027607239460694546],"position_m":[0.33924250358975816,0.11243927605393055,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"73c60e0a6ebe2885e541437daeda31e130868c49b0590edf754d4e36a5207eef","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6648/tex_ceiling_textures_8243/tex_floor_textures_9539/tex_table_textures_2094/tex_wall_textures_7539","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2169575113323060950,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2169575113323060950,"visual_seed":2169575113323060950,"scene_id":"lab_003","finished_at":"2026-09-05T04:58:13"}
+{"episode_id":"ep_000063","started_at":"2026-09-05T05:02:58","dimensions":{"distractor":{"count":33,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[-0.22067493790187953,-1.3626919646336324,0.71338606911949],"aabb_xy":[[-0.2456749378343974,-1.3695746328545557],[-0.1956749379693616,-1.355809296412709]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.4076189034242407,1.669907114390639,0.71338606911949],"aabb_xy":[[-0.42368083088275826,1.5849071125780472],[-0.391556975965723,1.7549071162032308]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[-0.4572703656591679,1.2545091996675186,0.71338606911949],"aabb_xy":[[-0.46526435423687124,1.246509119572428],[-0.44927637708146445,1.2625092797626087]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[-0.4645920043176902,-1.5684308287465925,0.71338606911949],"aabb_xy":[[-0.4870567742890953,-1.5909308296254527],[-0.44212723434628504,-1.5459308278677317]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.08611988679577054,-2.1250618026804644,0.71338606911949],"aabb_xy":[[0.006119889781522558,-2.145196354353875],[0.16611988381001852,-2.104927251007053]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[0.5608363191284225,0.7621707337217867,0.71338606911949],"aabb_xy":[[0.4968363188679517,0.7171619343688586],[0.6248363193888933,0.8071795330747146]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.49655057521057044,-2.1140086359834553,0.71338606911949],"aabb_xy":[[-0.5203867928511755,-2.204008636791942],[-0.4727143575699654,-2.024008635174969]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[-0.23463765096036582,1.4023629977202137,0.71338606911949],"aabb_xy":[[-0.2986376473559389,1.33839970930148],[-0.17063765456479274,1.466326286138947]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.11085917475205909,0.17617491188561774,0.71338606911949],"aabb_xy":[[-0.1188854453826851,0.16742341690826512],[-0.1028329041214331,0.18492640686297035]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.33200511282452144,-2.5436012660927974,0.71338606911949],"aabb_xy":[[-0.4120051108053065,-2.551202807054649],[-0.2520051148437364,-2.535999725130945]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[-0.15851838629940307,1.2770046180577923,0.71338606911949],"aabb_xy":[[-0.1868480962479433,1.2725438758640752],[-0.13018867635086284,1.2814653602515094]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.37469042464691427,1.2920182030767653,0.71338606911949],"aabb_xy":[[0.33719042313128256,1.2807914300606202],[0.412190426162546,1.3032449760929103]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[0.5409233397641371,1.079830046070438,0.71338606911949],"aabb_xy":[[0.5234233404860502,1.062491946004092],[0.558423339042224,1.097168146136784]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[0.5032713841731524,-1.6038664023781997,0.71338606911949],"aabb_xy":[[0.4532713825116575,-1.653864844633902],[0.553271385834647,-1.5538679601224965]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_14","position":[0.2674982047180211,1.2624261884023942,0.71338606911949],"aabb_xy":[[0.26336234838532097,1.2249261889580374],[0.27163406105072135,1.2999261878467514]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.37870200529046505,0.584538079949851,0.71338606911949],"aabb_xy":[[0.2987020020264519,0.5709780476409376],[0.4587020085544782,0.5980981122587643]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[0.3006322856936169,-2.034250726136769,0.71338606911949],"aabb_xy":[[0.2807412458132767,-2.046906537421466],[0.3205233255739572,-2.021594914852072]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[0.42050282604787226,-0.24996742964403174,0.71338606911949],"aabb_xy":[[0.40044441443463197,-0.2700325165531893],[0.44056123766111255,-0.2299023427348742]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_18","position":[0.16176209645979267,1.594954350615096,0.71338606911949],"aabb_xy":[[0.14426216302580927,1.5774543506948613],[0.17926202989377601,1.6124543505353304]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[0.24023375954023296,-2.4251713558723256,0.71338606911949],"aabb_xy":[[0.2284655727455755,-2.5101713557775476],[0.25200194633489054,-2.3401713559671045]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[0.0140137610735791,1.489915533040199,0.71338606911949],"aabb_xy":[[-0.035970474634598126,1.4399155342267034],[0.06399799678175633,1.5399155318536946]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[-0.37339943165997397,0.410712053701348,0.71338606911949],"aabb_xy":[[-0.38425103790884957,0.39985276297369693],[-0.36254782541109837,0.42157134442899896]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[-0.575573109555503,-0.18073785564528277,0.71338606911949],"aabb_xy":[[-0.6255731108393429,-0.23071671003590483],[-0.5255731082716629,-0.1307590012546606]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_23","position":[-0.15500832348871485,0.9819579008106212,0.71338606911949],"aabb_xy":[[-0.22000832612650836,0.9304783021111741],[-0.09000832085092139,1.0334374995100681]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[-0.45960368727280565,-1.4314918230097349,0.71338606911949],"aabb_xy":[[-0.5095811041380591,-1.4814918244989834],[-0.409626270407552,-1.3814918215204863]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[-0.064500833060396,0.5345266958577004,0.71338606911949],"aabb_xy":[[-0.07174459910664134,0.45452669765409803],[-0.05725706701415069,0.6145266940613028]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.7098397469740048,1.4485636214396913,0.71338606911949],"aabb_xy":[[0.7049404546674413,1.4208867021371223],[0.7147390392805683,1.4762405407422599]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_27","position":[0.600308203507155,0.07656909646407684,0.71338606911949],"aabb_xy":[[0.5542231122524235,0.01256909921152173],[0.6463932947618864,0.14056909371663195]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_28","position":[0.3533569393173397,-1.5704613831170338,0.71338606911949],"aabb_xy":[[0.323389382407514,-1.6004613834149193],[0.38332449622716536,-1.5404613828191478]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_29","position":[0.24383236930864194,-2.211250954101765,0.71338606911949],"aabb_xy":[[0.23342081062815817,-2.216596687437663],[0.2542439279891256,-2.205905220765866]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[0.3704580783206348,-1.331855926723494,0.71338606911949],"aabb_xy":[[0.2904580778504189,-1.3401666343378422],[0.4504580787908508,-1.3235452191091457]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_31","position":[-0.05130443195900791,-2.442623422982427,0.71338606911949],"aabb_xy":[[-0.11530443125317613,-2.5066095633512813],[0.012695567335160307,-2.378637282613573]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[0.14487664288388657,-1.4835515963448342,0.71338606911949],"aabb_xy":[[0.08987664370729709,-1.5385412711197919],[0.19987664206047606,-1.4285619215698766]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872711397807993,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5601.png","name":"5601"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5601.png","name":"5601"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7888.png","name":"7888"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1578.png","name":"1578"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3096.png","name":"3096"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/211.png","name":"211"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":724.5517602061843,"rotation_z_degrees":122.2873133481924,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017254710516424323,0.01965852799249247,0.0126996149572353]},{"name":"camera_2","offset_m":[0.015024831314414403,0.016612323277639226,-0.010521442435132285]},{"name":"camera_3","offset_m":[0.010589484279988647,0.015344770495537768,-0.010383684663112258]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007780111482285378,-0.001906942882362224,0.0015674294881711701],"end_effector_yaw_offset_degrees":0.9944516504399796},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00037959150050716726,-0.001161632823384036,-0.0002987072871653846],"end_effector_yaw_offset_degrees":0.17045592067426818},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018243213682310145,-0.0015532149845443595,-0.0014381020939202883],"end_effector_yaw_offset_degrees":-0.2660626825158954},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016422979286228462,-0.0005032038400414728,-0.0005640111226608915],"end_effector_yaw_offset_degrees":0.520175404962911}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011612805963889016,0.0013376929282967933],"position_m":[0.3529387194036111,-0.08266230707170322,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025985597440688216,-0.004394922566756578],"position_m":[0.2771985597440688,-0.33469492256675654,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0043561291873652356,0.0012922222768184718],"position_m":[0.16505612918736526,0.21549222227681847,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002125839446067397,-0.0013284679426907608],"position_m":[0.3419741605539326,0.11387153205730924,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b83826ba4b2c1b77f08dec5fc17eb02811ba0a9869f52de145df589f8c25f14d","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0081.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5601/tex_ceiling_textures_211/tex_floor_textures_3096/tex_table_textures_7888/tex_wall_textures_1578","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5511982346519356715,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5511982346519356715,"visual_seed":5511982346519356715,"scene_id":"lab_003","finished_at":"2026-09-05T05:06:37"}
+{"episode_id":"ep_000064","started_at":"2026-09-05T05:06:41","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.08656519275434982,-1.6305803806270136,0.71338606911949],"aabb_xy":[[-0.1505651891499229,-1.6945436690457472],[-0.02256519635877674,-1.56661709220828]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.17599409835125024,0.8111666569084348,0.71338606911949],"aabb_xy":[[-0.24599409476121195,0.790728721256753],[-0.10599410194128837,0.8316045925601164]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.20183494514520528,-2.384619788454482,0.71338606911949],"aabb_xy":[[0.16683494516870948,-2.394084404502099],[0.23683494512170114,-2.375155172406865]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.41437766947792265,1.0410189536603105,0.71338606911949],"aabb_xy":[[-0.4262497524894237,0.9560189539666601],[-0.4025055864664215,1.1260189533539608]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[-0.47192035971550095,-0.47708022782931225,0.71338606911949],"aabb_xy":[[-0.49692035964801884,-0.48396289605023557],[-0.44692035978298306,-0.47019755960838894]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[0.552526772211132,-0.7780172670936869,0.71338606911949],"aabb_xy":[[0.4875267695733385,-0.8294968657931339],[0.6175267748489255,-0.7265376683942399]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[0.4733060172677308,-1.1125667958596004,0.71338606911949],"aabb_xy":[[0.45620393930936265,-1.1296736013908701],[0.49040809522609896,-1.0954599903283306]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[0.37610967068068746,-1.5335722522297521,0.71338606911949],"aabb_xy":[[0.296109672093368,-1.612887854167913],[0.4561096692680069,-1.4542566502915912]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.5987916540727901,-0.541312267600853,0.71338606911949],"aabb_xy":[[-0.6095646279941578,-0.576312265819892],[-0.5880186801514222,-0.5063122693818141]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.5642802605061334,-2.3288258127666794,0.71338606911949],"aabb_xy":[[0.5579681609697951,-2.334592752019898],[0.5705923600424718,-2.3230588735134607]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.3386606855439643,1.5759281027136942,0.71338606911949],"aabb_xy":[[-0.4186606888018072,1.49593159492171],[-0.25866068228612127,1.655924610505678]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[0.511475430799887,1.3398680568296912,0.71338606911949],"aabb_xy":[[0.4614754321539658,1.2899485131702288],[0.5614754294458082,1.3897876004891536]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.18891744805765054,1.1818056624261963,0.71338606911949],"aabb_xy":[[-0.2118331609427005,1.158901365289773],[-0.16600173517260067,1.20470995956262]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.20367586953164735,0.646260279423919,0.71338606911949],"aabb_xy":[[-0.2636758697830485,0.5919789543874542],[-0.14367586928024617,0.7005416044603835]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.15238858729427107,-1.1789551558026143,0.71338606911949],"aabb_xy":[[0.10238858771793635,-1.2289357347547205],[0.2023885868706058,-1.1289745768505086]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[-0.4375703341110209,-2.5333746646106317,0.71338606911949],"aabb_xy":[[-0.44686395234817144,-2.5708746630987656],[-0.4282767158738703,-2.4958746661224978]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[-0.5301263094231689,-2.0587819789915045,0.71338606911949],"aabb_xy":[[-0.6201263117571879,-2.1362643335766176],[-0.4401263070891498,-1.9812996244063923]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[-0.16668707659721016,-2.355259449317034,0.71338606911949],"aabb_xy":[[-0.23168707770315344,-2.3802248223851628],[-0.10168707549126688,-2.330294076248906]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.5390317089615839,0.40991730801038395,0.71338606911949],"aabb_xy":[[-0.5640317082335461,0.39357194441422166],[-0.5140317096896215,0.42626267160654635]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.3555520895940809,-1.3195084798829961,0.71338606911949],"aabb_xy":[[-0.43555209175684334,-1.3994636635091395],[-0.27555208743131837,-1.2395532962568523]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[0.11211783898927064,-0.8058592358809826,0.71338606911949],"aabb_xy":[[0.10054885824233407,-0.8308592359979144],[0.12368681973620722,-0.780859235764051]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6815940701311826,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/765.png","name":"765"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/765.png","name":"765"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4938.png","name":"4938"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4430.png","name":"4430"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2813.png","name":"2813"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6428.png","name":"6428"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":626.0939809729284,"rotation_z_degrees":234.76035497837697,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019794869917180553,-0.016900869793647213,0.010030336856312886]},{"name":"camera_2","offset_m":[-0.003264755714915829,-0.016650357211043368,-0.006075465977569503]},{"name":"camera_3","offset_m":[0.013176904290969366,-0.017167180542275895,0.01694817369472885]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010214733792497342,-0.001277903342502192,-0.0005053827468965255],"end_effector_yaw_offset_degrees":0.8558503261303747},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004590346278884466,-0.0015787798198003955,-0.001981990578982305],"end_effector_yaw_offset_degrees":-0.7900562125252233},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018912238284208866,-0.0018215742797927298,0.0018414849095231656],"end_effector_yaw_offset_degrees":0.9310206878185365},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010826156279573475,-0.00036306827976628764,0.0005545133462695156],"end_effector_yaw_offset_degrees":-0.669241546184475}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003441127066538335,0.0022111473566852934],"position_m":[0.35754112706653834,-0.08178885264331472,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003247746486880269,-0.0032176608021523443],"position_m":[0.27135225351311976,-0.33351766080215234,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0044918739548127406,-0.003986518686775297],"position_m":[0.15620812604518727,0.2102134813132247,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005421680113564054,-0.00017733182683083316],"position_m":[0.3435578319886436,0.11502266817316917,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"95f469d413a487feac1e5c59123e8b25cf20bf992bad18bcb3fdecc6307a1adf","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_765/tex_ceiling_textures_6428/tex_floor_textures_2813/tex_table_textures_4938/tex_wall_textures_4430","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4869633964833752856,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4869633964833752856,"visual_seed":4869633964833752856,"scene_id":"lab_003","finished_at":"2026-09-05T05:10:17"}
+{"episode_id":"ep_000065","started_at":"2026-09-05T05:12:54","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[-0.1623321514898346,-1.9300098300782937,0.71338606911949],"aabb_xy":[[-0.22633215176381283,-1.9800759302755817],[-0.09833215121585637,-1.8799437298810058]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[-0.552590209066371,-1.7214930323115878,0.71338606911949],"aabb_xy":[[-0.5724812489467114,-1.734148843596285],[-0.5326991691860309,-1.7088372210268914]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.10374474742827722,-2.5586376420673056,0.71338606911949],"aabb_xy":[[-0.1193005168385425,-2.5741880753117132],[-0.08818897801801195,-2.543087208822899]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[-0.19311594150412392,-0.5776068532208711,0.71338606911949],"aabb_xy":[[-0.21340024422752266,-0.5978894783635799],[-0.17283163878072513,-0.5573242280781622]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.2875122498247107,-2.3978560750870797,0.71338606911949],"aabb_xy":[[0.28205430418769056,-2.4778560783947388],[0.2929701954617307,-2.3178560717794205]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[0.12449445924065472,-1.7425778544679629,0.71338606911949],"aabb_xy":[[0.11839983135253641,-1.7511472490196316],[0.13058908712877304,-1.7340084599162942]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[0.3156572044233008,1.1925966518670377,0.71338606911949],"aabb_xy":[[0.2821780371622599,1.1591175384959307],[0.3491363716843418,1.2260757652381447]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[-0.6116998003783334,-0.38637814810554083,0.71338606911949],"aabb_xy":[[-0.6229448559489511,-0.3976199458296361],[-0.6004547448077154,-0.37513635038144555]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.4415621340971332,1.6193346819325654,0.71338606911949],"aabb_xy":[[-0.46940717087774025,1.588550183194254],[-0.413717097316526,1.6501191806708773]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[-0.4678322654830579,-1.880031549670405,0.71338606911949],"aabb_xy":[[-0.5178152156705371,-1.9300315493129647],[-0.41784931529557845,-1.830031550027844]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.11224427892997202,-0.2765086795445981,0.71338606911949],"aabb_xy":[[-0.1822442805322515,-0.28994147274625565],[-0.042244277327692537,-0.2630758863429405]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.5953702923463544,1.087943949074667,0.71338606911949],"aabb_xy":[[0.560370293153536,1.0769769030770042],[0.6303702915391726,1.0989109950723293]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[0.6794298554376201,-0.7080193652571685,0.71338606911949],"aabb_xy":[[0.6372454412767894,-0.7720193655343798],[0.7216142695984509,-0.6440193649799574]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[0.39926446776795044,-2.4590156517427797,0.71338606911949],"aabb_xy":[[0.3392644669071375,-2.5104420817492654],[0.45926446862876313,-2.407589221736292]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.3948705120405487,0.7290009553702461,0.71338606911949],"aabb_xy":[[0.38991449185566757,0.7065009551681245],[0.3998265322254299,0.7515009555723678]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.2399917285963818,0.5163297623289789,0.71338606911949],"aabb_xy":[[-0.3039917250237037,0.46916013850688243],[-0.1759917321690599,0.5634993861510753]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[-0.4264729786770303,-2.142991572497781,0.71338606911949],"aabb_xy":[[-0.437324584925906,-2.153850863225432],[-0.4156213724281548,-2.1321322817701303]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.16436722329834008,1.233040378067376,0.71338606911949],"aabb_xy":[[-0.19882957069648186,1.1985464956695528],[-0.12990487590019825,1.2675342604651982]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[0.1892906499937106,-2.0881648882559056,0.71338606911949],"aabb_xy":[[0.18297855045737216,-2.0939318275091248],[0.19560274953004902,-2.0823979490026874]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.48713132765961187,0.019979146508548595,0.71338606911949],"aabb_xy":[[0.42313132625162114,-0.0318098050153761],[0.5511313290676024,0.07176809803247329]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6826593248795376,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8433.png","name":"8433"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8433.png","name":"8433"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1274.png","name":"1274"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2166.png","name":"2166"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3150.png","name":"3150"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/940.png","name":"940"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":630.0201212840474,"rotation_z_degrees":122.53722737227166,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007577780174244167,0.014656759533753023,-0.012970288409486615]},{"name":"camera_2","offset_m":[-0.0014000394786721146,-0.017546432586976305,0.017347266206208908]},{"name":"camera_3","offset_m":[0.014593292171633802,-0.01696223118223133,-0.014648559817928914]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001682279744530473,-0.00041521014488539974,-0.0008639575964391737],"end_effector_yaw_offset_degrees":-0.2736631446811755},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00018937709929905608,-0.0007475215732481058,-0.0012606700982154707],"end_effector_yaw_offset_degrees":-0.26054723571085336},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015179069257990855,-5.1087783972021857e-05,-0.0005215459006678845],"end_effector_yaw_offset_degrees":-0.502981313666329},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[4.3065605497500346e-05,0.000706788069225982,-0.00029197190510199837],"end_effector_yaw_offset_degrees":0.6827077777486119}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007888997823205747,-0.000997750733690357],"position_m":[0.3548888997823206,-0.08499775073369037,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002151013562031583,0.004355138460326274],"position_m":[0.2767510135620316,-0.3259448615396737,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003381094522019121,0.0028710749421487344],"position_m":[0.16408109452201913,0.21707107494214872,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002305515795515909,0.004337402594431825],"position_m":[0.3417944842044841,0.11953740259443182,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"51bc22a505274af8ce93078041a990b432392cfc0294283f65e9edcf32799d99","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8433/tex_ceiling_textures_940/tex_floor_textures_3150/tex_table_textures_1274/tex_wall_textures_2166","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":730256803658380397,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":730256803658380397,"visual_seed":730256803658380397,"scene_id":"lab_003","finished_at":"2026-09-05T05:16:34"}
+{"episode_id":"ep_000066","started_at":"2026-09-05T05:16:38","dimensions":{"distractor":{"count":28,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.30771948895973655,0.6447310415742873,0.71338606911949],"aabb_xy":[[0.2718059845347469,0.6088175333575326],[0.3436329933847263,0.6806445497910419]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.02919521565861527,0.46508471771668125,0.71338606911949],"aabb_xy":[[-0.043838621212648254,0.4504259980598969],[-0.014551810104582286,0.4797434373734655]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[-0.19299486865847215,-1.338164198272696,0.71338606911949],"aabb_xy":[[-0.22745721605661393,-1.3726580806705184],[-0.15853252126033032,-1.303670315874873]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.48853172960537683,0.9539143502294873,0.71338606911949],"aabb_xy":[[-0.4957929771757843,0.941127339965978],[-0.48127048203496947,0.9667013604929969]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[-0.5855746163809898,-0.9677304164917329,0.71338606911949],"aabb_xy":[[-0.5902097315332231,-0.9715977515688814],[-0.5809395012287564,-0.9638630814145841]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[0.6695793723401913,-2.0403603103398877,0.71338606911949],"aabb_xy":[[0.6450657482431854,-2.0646249036419237],[0.6940929964371971,-2.016095717037851]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.5720490200529282,0.7410000167157569,0.71338606911949],"aabb_xy":[[-0.5958852376935333,0.6510000159072704],[-0.5482128024123232,0.8310000175242435]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.11052642791866685,1.6324477705557299,0.71338606911949],"aabb_xy":[[0.060526426257172077,1.582449328300027],[0.16052642958016158,1.6824462128114324]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[-0.5174495086853281,-1.477412919935885,0.71338606911949],"aabb_xy":[[-0.5824495068412472,-1.5037091644857972],[-0.45244951052940907,-1.4511166753859728]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.5236632526555405,-0.8025422640642554,0.71338606911949],"aabb_xy":[[0.49120155177361285,-0.8326750961791579],[0.5561249535374677,-0.7724094319493527]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[0.468682073970925,-1.4068267724455095,0.71338606911949],"aabb_xy":[[0.40368207297042447,-1.4576131376001844],[0.5336820749714255,-1.3560404072908345]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.0861526212720316,0.7494538287056054,0.71338606911949],"aabb_xy":[[-0.09630563682618096,0.713384287132865],[-0.07599960571788221,0.7855233702783455]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[-0.13316239605937552,-1.9474159020292383,0.71338606911949],"aabb_xy":[[-0.1513682197206232,-1.95844130261123],[-0.11495657239812784,-1.9363905014472467]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[-0.29214307733570516,-1.6794001598480928,0.71338606911949],"aabb_xy":[[-0.2998462680097822,-1.6871095305468309],[-0.2844398866616281,-1.6716907891493547]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.33016424036965364,-1.8676968574976827,0.71338606911949],"aabb_xy":[[0.2685734811456608,-1.93169685560673],[0.39175499959364646,-1.8036968593886362]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.46799634772570076,0.899991359627911,0.71338606911949],"aabb_xy":[[0.40399634746522994,0.8549825602749829],[0.5319963479861716,0.9450001589808389]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.47424632593203797,-2.444025152930543,0.71338606911949],"aabb_xy":[[0.45174719020581106,-2.4665251537088055],[0.496745461658265,-2.42152515215228]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[0.5736982380240703,-2.347434299620923,0.71338606911949],"aabb_xy":[[0.5361982368392774,-2.351852522316983],[0.611198239208863,-2.343016076924862]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[0.06498398126953064,1.082812774051321,0.71338606911949],"aabb_xy":[[0.029983982076712365,1.0718457280536582],[0.0999839804623489,1.0937798200489832]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.6693076394743827,-1.410423477858365,0.71338606911949],"aabb_xy":[[0.6606096771836675,-1.42254845216584],[0.678005601765098,-1.3982985035508906]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[0.15537903309972745,-1.2573919217012834,0.71338606911949],"aabb_xy":[[0.14813526705348212,-1.3373919199048858],[0.16262279914597277,-1.177391923497681]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.4519295534885719,0.3962099940888355,0.71338606911949],"aabb_xy":[[0.40192955220473187,0.3462311396982134],[0.5019295547724117,0.4461888484794576]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[-0.2775873186603923,1.650752473842307,0.71338606911949],"aabb_xy":[[-0.2951340135765112,1.6132524722780557],[-0.26004062374427334,1.6882524754065582]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[0.3351886463426086,-0.9363760681969897,0.71338606911949],"aabb_xy":[[0.2851886467662739,-0.9863566471490958],[0.38518864591894336,-0.8863954892448839]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_24","position":[-0.2615116177088511,1.7806650699020277,0.71338606911949],"aabb_xy":[[-0.28401161723255847,1.7581691224514069],[-0.2390116181851437,1.8031610173526484]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[0.12984349514833138,-1.9949781015918298,0.71338606911949],"aabb_xy":[[0.09280938572027164,-2.029355308925539],[0.16687760457639106,-1.9606008942581203]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[-0.6715263439092295,-1.2410473760001457,0.71338606911949],"aabb_xy":[[-0.6846775898805189,-1.2660473757568322],[-0.6583750979379401,-1.2160473762434592]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_27","position":[-0.2139399075649307,1.171872455400814,0.71338606911949],"aabb_xy":[[-0.2551887185948454,1.1168724558885965],[-0.17269109653501596,1.2268724549130314]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858718851087298,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7844.png","name":"7844"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7844.png","name":"7844"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9246.png","name":"9246"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8295.png","name":"8295"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1930.png","name":"1930"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1475.png","name":"1475"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":763.6666468282273,"rotation_z_degrees":158.4325490526018,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008747511134037819,0.014936262407229232,-0.018090601069113598]},{"name":"camera_2","offset_m":[0.007971424617709989,0.012111146957829732,0.00044921236404866713]},{"name":"camera_3","offset_m":[0.014233291245082488,0.01625489661500654,0.01375658462921735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010506808476466304,7.06791361387597e-05,-0.0009076652824105999],"end_effector_yaw_offset_degrees":0.4104462440254817},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00036535195463069446,0.0006615174266998607,-0.0008432526221624421],"end_effector_yaw_offset_degrees":-0.2503477753200807},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018455605161913696,0.000960765286012476,0.0005839144651509473],"end_effector_yaw_offset_degrees":-0.23262821934367883},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012167881078910072,-0.0010450595991400146,0.0004618090082004569],"end_effector_yaw_offset_degrees":-0.3702949379023317}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000956673244698566,0.0012590418994474451],"position_m":[0.35314332675530147,-0.08274095810055256,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026930013261508316,-0.0013413328039239458],"position_m":[0.27729300132615087,-0.33164133280392394,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00027021343301446375,0.004473493192296262],"position_m":[0.1609702134330145,0.21867349319229626,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009808561590238319,-0.0010766965780826055],"position_m":[0.3431191438409762,0.11412330342191739,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a2d659f60905d8051d67c1fecb244b5f5c96170a0a9501f725dee6d40c9e6e72","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0085.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7844/tex_ceiling_textures_1475/tex_floor_textures_1930/tex_table_textures_9246/tex_wall_textures_8295","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7579542756675462307,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7579542756675462307,"visual_seed":7579542756675462307,"scene_id":"lab_003","finished_at":"2026-09-05T05:20:10"}
+{"episode_id":"ep_000067","started_at":"2026-09-05T05:20:13","dimensions":{"distractor":{"count":34,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.6781975045666542,1.079879492780654,0.71338606911949],"aabb_xy":[[0.6604039976317377,1.0620797471848564],[0.6959910115015706,1.0976792383764518]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[0.5975433312460074,0.5971657419662435,0.71338606911949],"aabb_xy":[[0.5902995651997621,0.5171657437626411],[0.6047870972922528,0.6771657401698459]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[-0.13720407721882932,-1.273736457053398,0.71338606911949],"aabb_xy":[[-0.14519756701411138,-1.2817345889938738],[-0.12921058742354732,-1.2657383251129226]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[-0.5591514041779633,-0.2520580531030814,0.71338606911949],"aabb_xy":[[-0.5966514039949968,-0.25669626441422316],[-0.5216514043609297,-0.24741984179193946]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.05942171677229624,-1.3036226292190478,0.71338606911949],"aabb_xy":[[-0.004578286517411877,-1.3469575482229652],[0.12342172006200434,-1.26028771021513]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_5","position":[-0.33781676441581054,-0.25721284975193504,0.71338606911949],"aabb_xy":[[-0.4018167646897888,-0.30727894994922306],[-0.2738167641418323,-0.20714674955464712]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.21488168014211945,0.6780379123293279,0.71338606911949],"aabb_xy":[[-0.28488168277870574,0.6579330473334623],[-0.14488167750553307,0.6981427773251933]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.5759418581064074,-1.3171158974759036,0.71338606911949],"aabb_xy":[[-0.5935746936999349,-1.3347388434915266],[-0.5583090225128797,-1.2994929514602807]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.523071292462786,-1.0094041620578555,0.71338606911949],"aabb_xy":[[0.47359087124882715,-1.0734041599707074],[0.5725517136767447,-0.9454041641450037]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[-0.5242001490355257,0.7892091857933052,0.71338606911949],"aabb_xy":[[-0.574173443038786,0.7392091852387579],[-0.47422685503226514,0.8392091863478526]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[0.64801789932293,1.5085156705861285,0.71338606911949],"aabb_xy":[[0.5980336636147526,1.4585156717726326],[0.6980021350311071,1.5585156693996238]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.32644366891769966,-1.9034722114267333,0.71338606911949],"aabb_xy":[[-0.3764429440861358,-1.9534722127026807],[-0.2764443937492635,-1.8534722101507863]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[-0.6336193967765831,-2.368703026392999,0.71338606911949],"aabb_xy":[[-0.6451883775235197,-2.3937030265099306],[-0.6220504160296465,-2.343703026276067]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[0.43888728359613793,-1.2792426660598424,0.71338606911949],"aabb_xy":[[0.35889346001757977,-1.359242668652684],[0.5188811071746962,-1.1992426634670008]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.5574663152663624,1.3557723037978708,0.71338606911949],"aabb_xy":[[-0.6074663148426972,1.3057917248457651],[-0.5074663156900278,1.405752882749977]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.18064986622549473,-0.13178131916087166,0.71338606911949],"aabb_xy":[[-0.2110479773246383,-0.16218822116254114],[-0.1502517551263511,-0.10137441715920213]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[0.2489640701804866,0.9228272752014277,0.71338606911949],"aabb_xy":[[0.24192261922973898,0.9158005234636332],[0.2560055211312342,0.9298540269392223]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.3634152921303253,1.788288204047856,0.71338606911949],"aabb_xy":[[0.3291183811125846,1.7539913178379143],[0.3977122031480659,1.822585090257797]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[0.16506676436072865,-2.4583183698070337,0.71338606911949],"aabb_xy":[[0.13047568150668337,-2.5233183700920643],[0.1996578472147738,-2.393318369522002]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[0.4168581026667153,-2.145703581899187,0.71338606911949],"aabb_xy":[[0.3568581010237935,-2.1977037311911314],[0.4768581043096372,-2.093703432607243]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[0.4800415344670428,0.6514440657018503,0.71338606911949],"aabb_xy":[[0.4427102579418002,0.6167910109069981],[0.5173728109922854,0.6860971204967026]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[-0.24235424769356756,-2.106243536944236,0.71338606911949],"aabb_xy":[[-0.26593937115746247,-2.1712435391896676],[-0.21876912422967273,-2.041243534698804]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[0.5790156119877248,1.7638482360985033,0.71338606911949],"aabb_xy":[[0.5726017983445397,1.7574384158508345],[0.5854294256309096,1.7702580563461712]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.5989725673009351,1.1550681049592812,0.71338606911949],"aabb_xy":[[-0.6030885174130077,1.1509525499264357],[-0.5948566171888624,1.1591836599921268]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_24","position":[-0.14789231186481322,1.6052870541197053,0.71338606911949],"aabb_xy":[[-0.15398693975293157,1.5967176595680366],[-0.14179768397669493,1.613856448671374]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[-0.5954663530530396,0.44649819661653023,0.71338606911949],"aabb_xy":[[-0.6131419836416379,0.4288179803371275],[-0.5777907224644412,0.464178412895933]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[-0.3741271369044506,-2.0818758293410786,0.71338606911949],"aabb_xy":[[-0.3991271361764128,-2.0982211929372405],[-0.34912713763248826,-2.065530465744916]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[-0.5964927024631625,-0.4592146886674029,0.71338606911949],"aabb_xy":[[-0.6146985261244102,-0.4702400892493946],[-0.5782868788019149,-0.4481892880854113]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[-0.45258242838475704,-1.6671798028066052,0.71338606911949],"aabb_xy":[[-0.45649630158017956,-1.6759288182131618],[-0.4486685551893345,-1.6584307874000481]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_29","position":[-0.4596951909146971,-1.4800950136569844,0.71338606911949],"aabb_xy":[[-0.51969519142255,-1.5369417473429055],[-0.3996951904068442,-1.4232482799710628]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_30","position":[-0.16932138934430885,-0.9226106789334481,0.71338606911949],"aabb_xy":[[-0.259321393021227,-0.984043085510552],[-0.07932138566739065,-0.8611782723563433]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_31","position":[-0.15231885336454776,1.1275473319998262,0.71338606911949],"aabb_xy":[[-0.1624005604431212,1.0475473341077113],[-0.14223714628597425,1.2075473298919406]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_32","position":[-0.46229479991382855,-0.850954898533679,0.71338606911949],"aabb_xy":[[-0.4704224881071418,-0.8598685069443868],[-0.4541671117205154,-0.8420412901229715]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_33","position":[0.09376407256543307,-1.7242934896711657,0.71338606911949],"aabb_xy":[[0.07125038074197586,-1.794293490272173],[0.11627776438889025,-1.654293489070158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.68654313263749,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2613.png","name":"2613"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2613.png","name":"2613"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7111.png","name":"7111"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8100.png","name":"8100"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8305.png","name":"8305"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6089.png","name":"6089"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":540.0537177414444,"rotation_z_degrees":301.9850531491232,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008665449414104059,0.006412086145572662,-0.011201002172382953]},{"name":"camera_2","offset_m":[-0.012520386302244883,-0.005519315215094366,-0.010671050375292679]},{"name":"camera_3","offset_m":[0.01838073359289415,0.0069168935543541185,0.018147133739058085]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010377350966915624,-0.0010120571346790381,-0.00023793116106378366],"end_effector_yaw_offset_degrees":0.5816994348961775},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000863181685430035,-0.0017224448654806009,0.0012898752259369135],"end_effector_yaw_offset_degrees":0.9548130264467363},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013461402151447028,0.00010631139967635494,-0.0007501594253341479],"end_effector_yaw_offset_degrees":0.9167165698787809},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016847952802267595,0.0008368605409456941,0.0009119643913392873],"end_effector_yaw_offset_degrees":0.16882625341990876}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014823933473640692,0.003159455488649315],"position_m":[0.3555823933473641,-0.08084054451135068,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024888545684777176,-0.003095046137373155],"position_m":[0.2770888545684777,-0.33339504613737314,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002715469389259311,-0.002348265719592253],"position_m":[0.1579845306107407,0.21185173428040774,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008159490953115441,-0.00445038793345542],"position_m":[0.3432840509046885,0.11074961206654457,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0b75fe2069e3907e387d3434f68a68b3ab881c6fc8bf870c723f8145cae6a440","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2613/tex_ceiling_textures_6089/tex_floor_textures_8305/tex_table_textures_7111/tex_wall_textures_8100","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":512588812119627088,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":512588812119627088,"visual_seed":512588812119627088,"scene_id":"lab_003","finished_at":"2026-09-05T05:24:06"}
+{"episode_id":"ep_000068","started_at":"2026-09-05T05:24:11","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[0.5074826126203591,-1.1243620123165696,0.71338606911949],"aabb_xy":[[0.44748261097743725,-1.1763621616085138],[0.567482614263281,-1.0723618630246254]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[0.20105361172695357,0.8682921551960034,0.71338606911949],"aabb_xy":[[0.16646252887290833,0.8032921549109723],[0.23564469458099876,0.9332921554810344]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.3206598136709464,-1.9479437597414555,0.71338606911949],"aabb_xy":[[0.23065981717007464,-1.9938554021599137],[0.41065981017181813,-1.9020321173229973]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[0.33553207234176274,-2.5051764364896476,0.71338606911949],"aabb_xy":[[0.32042977088074454,-2.520277958120708],[0.35063437380278073,-2.4900749148585843]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[0.6633544430155385,0.21372261195622366,0.71338606911949],"aabb_xy":[[0.6283544438855828,0.20797739088055958],[0.6983544421454941,0.2194678330318878]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[-0.0459415871286194,-2.048159779441177,0.71338606911949],"aabb_xy":[[-0.05787432149044747,-2.060541932249037],[-0.03400885276679133,-2.035777626633318]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[-0.49527501802885504,-0.6536888079360321,0.71338606911949],"aabb_xy":[[-0.5302750193803367,-0.6740485438928528],[-0.4602750166773733,-0.6333290719792112]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.3090589823048693,-1.6665545937132273,0.71338606911949],"aabb_xy":[[0.259074746596692,-1.716554592526723],[0.35904321801304645,-1.6165545948997317]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[0.42385266161911717,-2.1491798255652337,0.71338606911949],"aabb_xy":[[0.3438526594563546,-2.2291350091913773],[0.5038526637818797,-2.06922464193909]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[-0.08982721939646665,0.6747732399094932,0.71338606911949],"aabb_xy":[[-0.153827221308809,0.6188620906514829],[-0.025827217484124323,0.7306843891675038]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.041416571214719755,-0.7982375958585588,0.71338606911949],"aabb_xy":[[-0.05657944419165684,-0.8134030531536778],[-0.026253698237782674,-0.7830721385634403]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.5351600253294118,1.550891798093501,0.71338606911949],"aabb_xy":[[-0.5851550362888639,1.5008917990579096],[-0.48516501436995985,1.600891797129093]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.5466244954914716,-0.7419597447092305,0.71338606911949],"aabb_xy":[[0.45662449315745257,-0.8194420992943432],[0.6366244978254907,-0.6644773901241179]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[0.2848878502922506,0.4200617345471853,0.71338606911949],"aabb_xy":[[0.27726358220207237,0.41242851101064165],[0.29251211838242885,0.4276949580837291]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[0.6432832346556956,-0.9200766202621469,0.71338606911949],"aabb_xy":[[0.5792832326059637,-0.9601711033514548],[0.7072832367054277,-0.8799821371728389]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.6851878046049311,-1.1778234825150091,0.71338606911949],"aabb_xy":[[0.6626878047910287,-1.1822980988854899],[0.7076878044188335,-1.1733488661445284]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.4225964891558671,-1.2351508408834009,0.71338606911949],"aabb_xy":[[-0.5025964865594605,-1.3151434120815833],[-0.3425964917522737,-1.1551582696852176]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_17","position":[-0.20019523301547576,-1.853945790089025,0.71338606911949],"aabb_xy":[[-0.2641952332759465,-1.898954589441953],[-0.13619523275500492,-1.808936990736097]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.0014467279368066688,1.7437566585839712,0.71338606911949],"aabb_xy":[[-0.03286954923781127,1.6937566586107937],[0.035763005111424606,1.7937566585571492]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_19","position":[-0.6783459014647961,-1.6095053798080445,0.71338606911949],"aabb_xy":[[-0.6879775376852257,-1.6191426925877535],[-0.6687142652443665,-1.5998680670283356]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[0.5847513211781519,-0.0859342097320015,0.71338606911949],"aabb_xy":[[0.548255500550873,-0.12241815215875906],[0.6212471418054305,-0.04945026730524393]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[0.488388714941246,-2.396055556940273,0.71338606911949],"aabb_xy":[[0.4813472639904985,-2.4030823086780675],[0.4954301658919937,-2.3890288052024786]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[-0.3119724016703644,-0.29431238824326966,0.71338606911949],"aabb_xy":[[-0.3198956819091127,-0.3168123884812731],[-0.30404912143161605,-0.27181238800526636]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_23","position":[-0.597661907525927,-1.8635869373967158,0.71338606911949],"aabb_xy":[[-0.6351619061015477,-1.8763232330602737],[-0.560161908950306,-1.8508506417331578]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[0.5778851592916021,1.6186029081133166,0.71338606911949],"aabb_xy":[[0.5718481462909375,1.6125762070443688],[0.583922172292267,1.624629609182265]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_25","position":[-0.37023547617221675,-0.9583476511997608,0.71338606911949],"aabb_xy":[[-0.4077354759892503,-0.9629858625109025],[-0.3327354763551832,-0.9537094398886188]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6785788240871856,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1281.png","name":"1281"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1281.png","name":"1281"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4261.png","name":"4261"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8152.png","name":"8152"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3600.png","name":"3600"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6050.png","name":"6050"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":660.6214661610171,"rotation_z_degrees":95.30316138512403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01352767925602463,-0.014621990069488491,0.006511501629614665]},{"name":"camera_2","offset_m":[-0.01221086944367471,-0.002314510466235157,-0.004393587200452305]},{"name":"camera_3","offset_m":[-0.016313874699817724,0.011285617507983414,-0.0016176468482446624]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011738590905841007,0.00014615402493716942,0.0004427031287871372],"end_effector_yaw_offset_degrees":0.07768397904046442},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007775302079453175,0.0018033577727216681,-0.0006243203721205913],"end_effector_yaw_offset_degrees":-0.8787122470600959},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012625365133642897,0.0014129635770999552,0.000971834660027739],"end_effector_yaw_offset_degrees":0.8838117556618073},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006167030404962146,-0.0014000173485786923,-0.0018106527951369724],"end_effector_yaw_offset_degrees":0.6805295883658}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009582831625980894,-0.0049343847251452026],"position_m":[0.35505828316259813,-0.08893438472514521,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003299025878670786,0.00289531204975087],"position_m":[0.27130097412132925,-0.32740468795024913,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002641596009494109,-0.000835544163517922],"position_m":[0.1633415960094941,0.2133644558364821,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019469628675445076,-0.004653443105260904],"position_m":[0.34604696286754455,0.11054655689473909,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"056d2c51439eafa203eb2bfe6b89a367d6519c063a612c3cf5ee6c0c68374b2e","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1281/tex_ceiling_textures_6050/tex_floor_textures_3600/tex_table_textures_4261/tex_wall_textures_8152","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1279351519488821849,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1279351519488821849,"visual_seed":1279351519488821849,"scene_id":"lab_003","finished_at":"2026-09-05T05:27:44"}
+{"episode_id":"ep_000069","started_at":"2026-09-05T05:27:48","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[0.44232586068588,1.6248756714469326,0.71338606911949],"aabb_xy":[[0.39732585921965125,1.5798758145854521],[0.48732586215210894,1.6698755283084135]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.19676834700853518,-1.6091914212596996,0.71338606911949],"aabb_xy":[[-0.21926476844239928,-1.6316914210664468],[-0.17427192557467108,-1.586691421452952]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[0.5753423370778659,-0.02385038319699806,0.71338606911949],"aabb_xy":[[0.5672146488845526,-0.03276399160770571],[0.5834700252711791,-0.014936774786290411]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[-0.3111738529867771,-2.03907715969057,0.71338606911949],"aabb_xy":[[-0.3911738540598974,-2.0488552060279543],[-0.23117385191365675,-2.0292991133531855]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[0.5921986735993561,-2.319437739563541,0.71338606911949],"aabb_xy":[[0.5696849817758989,-2.389437740164548],[0.6147123654228133,-2.249437738962533]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.39842741140007226,-0.723061232864503,0.71338606911949],"aabb_xy":[[-0.4483101082777685,-0.7730612321107778],[-0.34854471452237606,-0.6730612336182282]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.4228599702938313,0.4444674445896375,0.71338606911949],"aabb_xy":[[-0.4387444635591565,0.4301145042908134],[-0.40697547702850617,0.4588203848884615]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[0.20942090978012617,-0.7613969357267538,0.71338606911949],"aabb_xy":[[0.17257036184313856,-0.7988969365497874],[0.24627145771711378,-0.72389693490372]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.07748551199701315,-2.1191488311459663,0.71338606911949],"aabb_xy":[[-0.0857000571126971,-2.127825421443607],[-0.06927096688132914,-2.1104722408483245]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.6421455032797464,1.5543141598239765,0.71338606911949],"aabb_xy":[[-0.679645504464539,1.5498959371279157],[-0.6046455020949534,1.5587323825200368]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[0.40655236265100947,-1.1827899709837313,0.71338606911949],"aabb_xy":[[0.38891952705748184,-1.2004129169993543],[0.424185198244537,-1.1651670249681083]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[-0.6168772688525284,0.8017838000198836,0.71338606911949],"aabb_xy":[[-0.6324330382627936,0.7862333667754765],[-0.6013214994422631,0.8173342332642909]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[-0.5536181967433454,1.2283597923290754,0.71338606911949],"aabb_xy":[[-0.5648632523139633,1.2171179946049802],[-0.5423731411727276,1.2396015900531707]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.09658044378146724,-0.17478908052248743,0.71338606911949],"aabb_xy":[[-0.11175261306310057,-0.18995793745069078],[-0.08140827449983389,-0.15962022359428407]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_14","position":[-0.047692008436006184,1.2944318944883801,0.71338606911949],"aabb_xy":[[-0.11169201165464404,1.2477087825893718],[0.016307994782631674,1.3411550063873885]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[-0.23383933909499682,1.68152975377602,0.71338606911949],"aabb_xy":[[-0.2694684949949565,1.6458970870191671],[-0.19821018319503705,1.717162420532873]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[0.47968285107084285,1.3389340803497798,0.71338606911949],"aabb_xy":[[0.42968357590240674,1.2889340790738328],[0.529682126239279,1.3889340816257272]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[0.21737445141726353,-0.9217482374229833,0.71338606911949],"aabb_xy":[[0.21253085665603358,-0.9265998899019674],[0.22221804617849353,-0.9168965849439992]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_18","position":[-0.3973786127508938,-0.9717090628176044,0.71338606911949],"aabb_xy":[[-0.41955113972754454,-0.9938847299737276],[-0.37520608577424286,-0.9495333956614812]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_19","position":[-0.048100834290842,-0.6638884582709601,0.71338606911949],"aabb_xy":[[-0.061252080262131366,-0.6888884580276468],[-0.03494958831955264,-0.6388884585142737]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.5373774091884065,-1.761548786118155,0.71338606911949],"aabb_xy":[[0.5149126392170014,-1.7840487869970152],[0.5598421791598116,-1.7390487852392942]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[0.09040119086196408,-1.4730741549213053,0.71338606911949],"aabb_xy":[[0.06748547797691418,-1.495978452057729],[0.11331690374701399,-1.450169857784882]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[0.5578574768378921,1.015432706540313,0.71338606911949],"aabb_xy":[[0.49385747955224346,0.9739259875874691],[0.6218574741235408,1.056939425493157]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[0.24703597915304687,0.7651385823821295,0.71338606911949],"aabb_xy":[[0.19721919968821208,0.715138583897826],[0.29685275861788163,0.8151385808664328]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[-0.5746092098888665,-1.3412139917560628,0.71338606911949],"aabb_xy":[[-0.6245921600763458,-1.391213991398623],[-0.5246262597013871,-1.2912139921135022]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_25","position":[0.35370059100460494,-1.7878971459491448,0.71338606911949],"aabb_xy":[[0.3037005896437177,-1.8378750505245602],[0.40370059236549216,-1.737919241373729]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[-0.48460867695630416,0.7944470518748665,0.71338606911949],"aabb_xy":[[-0.5345874854666199,0.7444470518691476],[-0.43462986844598817,0.8444470518805852]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_27","position":[0.3819788918666911,0.6390082620754849,0.71338606911949],"aabb_xy":[[0.34447889204965754,0.6343700507643429],[0.41947889168372465,0.6436464733866266]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_28","position":[-0.3093783677799174,0.2220978363654469,0.71338606911949],"aabb_xy":[[-0.3207401024332035,0.2107293699591588],[-0.2980166331266312,0.23346630277173497]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_29","position":[-0.32708840742604206,1.1347692858328071,0.71338606911949],"aabb_xy":[[-0.3509246250666471,1.0447692850243209],[-0.303252189785437,1.2247692866412938]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_30","position":[-0.5916752949204673,1.7271995053763187,0.71338606911949],"aabb_xy":[[-0.6369539098016166,1.663199506028135],[-0.5463966800393181,1.7911995047245024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6799058001631365,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7219.png","name":"7219"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7219.png","name":"7219"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8107.png","name":"8107"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5889.png","name":"5889"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3033.png","name":"3033"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5695.png","name":"5695"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":628.0940309244243,"rotation_z_degrees":321.9030223876936,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015723593624234998,0.014345588599978708,0.010776157420460005]},{"name":"camera_2","offset_m":[0.018682277045769264,-0.012254918009513305,-0.010559602078189637]},{"name":"camera_3","offset_m":[0.004616792725565512,-0.013720374105045733,0.011565617978217684]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019257483292854259,0.0015276158592580618,0.001824156510794741],"end_effector_yaw_offset_degrees":0.3748627338095949},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002589357036697807,0.0005041342788931692,0.00023895300312970187],"end_effector_yaw_offset_degrees":0.35541640294797294},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018450786967139248,-0.0007327026665759143,-0.0004266021197602216],"end_effector_yaw_offset_degrees":-0.982919021744213},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000677674632386935,-0.0014223998950632674,-0.0018968572701773523],"end_effector_yaw_offset_degrees":-0.030396617417706384}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004794603050497945,-0.002509895560798111],"position_m":[0.358894603050498,-0.08650989556079812,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004289895681067072,-0.0016236830465741303],"position_m":[0.27031010431893293,-0.3319236830465741,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004680730754587275,-0.0044205137252945614],"position_m":[0.16538073075458729,0.20977948627470544,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004052934626725708,0.001303400197283435],"position_m":[0.34815293462672575,0.11650340019728343,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a38e684e1ce93c78ed18a9e0000e4fa6d5e495b36134fa67ea51eb30963f9ca0","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7219/tex_ceiling_textures_5695/tex_floor_textures_3033/tex_table_textures_8107/tex_wall_textures_5889","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4925570528020273164,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4925570528020273164,"visual_seed":4925570528020273164,"scene_id":"lab_003","finished_at":"2026-09-05T05:31:39"}
+{"episode_id":"ep_000070","started_at":"2026-09-05T05:31:43","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.30266294680289274,1.011109351823659,0.71338606911949],"aabb_xy":[[0.2949597561288157,1.0033999811249206],[0.3103661374769698,1.0188187225223968]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[-0.38907112255933435,-2.3949123480318164,0.71338606911949],"aabb_xy":[[-0.45306681995443093,-2.458912346332525],[-0.32507542516423776,-2.3309123497311077]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.5820180152775334,-1.0098491288370073,0.71338606911949],"aabb_xy":[[0.5020180131147708,-1.089804312463151],[0.6620180174402958,-0.9298939452108637]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[-0.4674312645481339,-0.8282885669236293,0.71338606911949],"aabb_xy":[[-0.5314312667685409,-0.8726616510489176],[-0.40343126232772686,-0.783915482798341]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[-0.404456791772511,-1.0076075209092659,0.71338606911949],"aabb_xy":[[-0.45393721298646983,-1.0716075188221177],[-0.35497637055855225,-0.943607522996414]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[-0.12984993838869474,-1.5297692038684982,0.71338606911949],"aabb_xy":[[-0.1457344316540199,-1.5441221441673223],[-0.11396544512336959,-1.5154162635696742]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[0.5806961192367377,0.02648675060654382,0.71338606911949],"aabb_xy":[[0.5637853868003958,0.013014545013929289],[0.5976068516730794,0.03995895619915834]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.10766202100017974,-0.9190020328302324,0.71338606911949],"aabb_xy":[[-0.11490578704642505,-0.9990020310338346],[-0.1004182549539344,-0.8390020346266298]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[-0.08284902375994185,1.7730046423815478,0.71338606911949],"aabb_xy":[[-0.14784902486588514,1.7480392693134197],[-0.017849022653998584,1.7979700154496763]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.4596914486511321,0.1606188555378587,0.71338606911949],"aabb_xy":[[0.4221914502277317,0.14745464157002805],[0.4971914470745324,0.1737830695056893]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.5061792774437068,-1.15211911577348,0.71338606911949],"aabb_xy":[[-0.5436792775492997,-1.1589412776264612],[-0.4686792773381138,-1.145296953920499]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[-0.6682031069317266,-1.6581975908703885,0.71338606911949],"aabb_xy":[[-0.6762293775623527,-1.6669490858477412],[-0.6601768363011007,-1.649446095893036]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[-0.36959275607004005,-2.1473240129410778,0.71338606911949],"aabb_xy":[[-0.43359275249736196,-2.194493636763174],[-0.30559275964271815,-2.1001543891189813]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.5499356698766866,0.764464050915671,0.71338606911949],"aabb_xy":[[-0.5749356691486489,0.7481186873195086],[-0.5249356706047243,0.7808094145118333]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[-0.4950943644705316,1.281592950614162,0.71338606911949],"aabb_xy":[[-0.518376206668663,1.1965929493169336],[-0.4718125222724003,1.3665929519113897]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.3800299790521793,-2.2722084910501907,0.71338606911949],"aabb_xy":[[0.3500383163183089,-2.3022084903869913],[0.41002164178604955,-2.24220849171339]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[-0.5937619189246518,-2.48311319044901,0.71338606911949],"aabb_xy":[[-0.6587619215624452,-2.5345927891484568],[-0.5287619162868582,-2.431633591749563]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.19030780054628949,0.8267638558747996,0.71338606911949],"aabb_xy":[[0.17940202445872677,0.7467638594759703],[0.2012135766338522,0.9067638522736287]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[-0.3523334440157146,-0.34325952358399237,0.71338606911949],"aabb_xy":[[-0.3698334442750512,-0.35735106577276504],[-0.33483344375637797,-0.3291679813952198]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[-0.376287830280076,-0.464458229045829,0.71338606911949],"aabb_xy":[[-0.4662878339569941,-0.5258906356229334],[-0.28628782660315777,-0.4030258224687246]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[-0.17067010135090688,-1.1531736051010388,0.71338606911949],"aabb_xy":[[-0.18777217930927503,-1.1702804106323088],[-0.15356802339253872,-1.1360667995697693]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[-0.45569786343408675,-1.8059966319393177,0.71338606911949],"aabb_xy":[[-0.4931978637262615,-1.8100381073399212],[-0.4181978631419119,-1.8019551565387142]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[-0.4094444215264464,-0.6888940514876463,0.71338606911949],"aabb_xy":[[-0.4894444201833324,-0.7033989104119092],[-0.3294444228695604,-0.6743891925633836]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.21987924403081138,1.1285368158409579,0.71338606911949],"aabb_xy":[[0.19737924450710392,1.1060408683903367],[0.24237924355451873,1.1510327632915782]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[-0.6276009626912822,-1.3602913419769116,0.71338606911949],"aabb_xy":[[-0.6431567321015474,-1.3758417752213188],[-0.6120451932810169,-1.3447409087325044]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_25","position":[0.45998073491350344,-2.0794638861380257,0.71338606911949],"aabb_xy":[[0.3799807375099099,-2.1594564573362085],[0.5399807323170966,-1.999471314939843]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.027003028933566098,1.3582091353832375,0.71338606911949],"aabb_xy":[[-0.04487213668802159,1.3443762274060265],[-0.009133921179110605,1.3720420433604485]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[0.3925710399772544,1.2895546950390893,0.71338606911949],"aabb_xy":[[0.33257103938123816,1.234742222493866],[0.4525710405732705,1.344367167584313]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6817564023114322,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3925.png","name":"3925"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3925.png","name":"3925"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1695.png","name":"1695"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5422.png","name":"5422"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5839.png","name":"5839"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/944.png","name":"944"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":758.8597417447183,"rotation_z_degrees":98.48852823628856,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012230734122652574,-0.004899211115983331,0.011210832377555748]},{"name":"camera_2","offset_m":[-0.004025579445823296,0.013988217926566276,0.012233521660955374]},{"name":"camera_3","offset_m":[0.014759264457079386,0.008620026920729,0.010560875373190372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00044768791391209726,-0.000771452296201416,0.00032913144131989976],"end_effector_yaw_offset_degrees":-0.7715065430245294},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017169594260043547,0.0008559207106782277,-0.0001894191562329319],"end_effector_yaw_offset_degrees":0.593392624781589},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016482739737531137,-0.00053634670720949,0.0011953257534117116],"end_effector_yaw_offset_degrees":0.6787481725356499},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014651846570157704,0.0015248955033091822,-0.00029130934718844836],"end_effector_yaw_offset_degrees":-0.5602500141722457}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004329799048540335,0.002519192175858509],"position_m":[0.3584297990485404,-0.0814808078241415,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009587415412317295,0.0005593146194440958],"position_m":[0.2736412584587683,-0.3297406853805559,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00027277589391575853,0.0013871888365677189],"position_m":[0.16097277589391576,0.21558718883656772,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004635251028735622,0.0033616953916134973],"position_m":[0.34873525102873565,0.1185616953916135,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"34449d41311b4b6087a263a3edda6e339887d2874cb476c7c7d0bfff4577df73","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0089.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3925/tex_ceiling_textures_944/tex_floor_textures_5839/tex_table_textures_1695/tex_wall_textures_5422","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8118080947526202127,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8118080947526202127,"visual_seed":8118080947526202127,"scene_id":"lab_003","finished_at":"2026-09-05T05:35:18"}
+{"episode_id":"ep_000071","started_at":"2026-09-05T05:37:48","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[-0.2506577730008898,-0.6840218535686906,0.71338606911949],"aabb_xy":[[-0.26190282857150765,-0.6952636512927858],[-0.23941271743027198,-0.6727800558445952]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.40737359291026976,-1.6738878603162577,0.71338606911949],"aabb_xy":[[0.39221071993333273,-1.6890533176113767],[0.4225364658872069,-1.6587224030211392]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[-0.11293429931907795,-2.2039823196665633,0.71338606911949],"aabb_xy":[[-0.15043429961125276,-2.2080237950671666],[-0.07543429902690313,-2.199940844265959]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.2725777311432318,0.7686913162782805,0.71338606911949],"aabb_xy":[[-0.3060179063392513,0.73524769044735],[-0.23913755594721212,0.8021349421092102]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.05173189643561249,-1.2488796105198652,0.71338606911949],"aabb_xy":[[-0.057069472101617065,-1.273879611449005],[-0.04639432076960793,-1.2238796095907254]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.2799307007830014,0.7876761656189935,0.71338606911949],"aabb_xy":[[0.2718943660817166,0.7796380463145767],[0.28796703548428626,0.7957142849234102]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[-0.3887345429856785,-2.3494659421279556,0.71338606911949],"aabb_xy":[[-0.468734545148441,-2.4294211257540987],[-0.308734540822916,-2.2695107585018115]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[0.20338425635784219,1.2604662150985546,0.71338606911949],"aabb_xy":[[0.19458220104886947,1.2526548889436253],[0.2121863116668149,1.2682775412534835]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.5642724126787517,-0.23944015853536893,0.71338606911949],"aabb_xy":[[0.5002724123012181,-0.2891854253861812],[0.6282724130562853,-0.18969489168455667]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.4364163410432704,0.13537328059768772,0.71338606911949],"aabb_xy":[[-0.4864005767514476,0.08537328178419212],[-0.38643210533509315,0.1853732794111833]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.5288200761743911,0.9475887029932069,0.71338606911949],"aabb_xy":[[0.5097077688164122,0.9284539241159648],[0.54793238353237,0.9667234818704489]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_11","position":[-0.04944341909135652,-1.7737387117623644,0.71338606911949],"aabb_xy":[[-0.09942636927883584,-1.8237387114049244],[0.0005395310961228138,-1.7237387121198036]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.29043276029465087,-2.1145781382833633,0.71338606911949],"aabb_xy":[[-0.29576527494926386,-2.1199024665285995],[-0.2851002456400379,-2.109253810038128]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[-0.10225793476170264,-1.4472888131035353,0.71338606911949],"aabb_xy":[[-0.13224959749557297,-1.4772888124403356],[-0.0722662720278323,-1.4172888137667345]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.10508689524259485,-0.7394940808855148,0.71338606911949],"aabb_xy":[[0.051071298960694844,-0.8034940837777719],[0.15910249152449485,-0.6754940779932576]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.05637957460128795,1.3698335425242067,0.71338606911949],"aabb_xy":[[-0.09084192199942975,1.3353396601263838],[-0.021917227203146154,1.4043274249220292]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.23767691487245923,-1.7020260776339922,0.71338606911949],"aabb_xy":[[0.22334248974629578,-1.714086293188531],[0.2520113399986227,-1.6899658620794533]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_17","position":[-0.06926639993028294,1.5070994404889464,0.71338606911949],"aabb_xy":[[-0.10358267710490088,1.4570994405157687],[-0.034950122755665,1.5570994404621241]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[-0.33636254468966903,-0.22311911862589096,0.71338606911949],"aabb_xy":[[-0.386362545973509,-0.27309797301651306],[-0.28636254340582906,-0.17314026423526888]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.5798542504671212,-1.051977801927923,0.71338606911949],"aabb_xy":[[-0.6298492614265734,-1.1019778009635148],[-0.5298592395076693,-1.0019778028923314]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.01744523287332489,-2.4431229746256196,0.71338606911949],"aabb_xy":[[-0.032554042295111274,-2.4931229759015667],[0.06744450804176105,-2.3931229733496724]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.12933623553021822,-1.8131583359075711,0.71338606911949],"aabb_xy":[[0.12130996489959223,-1.8219098308849235],[0.13736250616084422,-1.8044068409302183]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[0.10215455078996405,0.7564460964091158,0.71338606911949],"aabb_xy":[[0.06715455166000839,0.7507008753334516],[0.1371545499199197,0.7621913174847799]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[0.30703129847644894,-2.571399297742619,0.71338606911949],"aabb_xy":[[0.29114680521112374,-2.5857522380414433],[0.32291579174177404,-2.5570463574437956]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[-0.6180979356175652,0.5383189216176532,0.71338606911949],"aabb_xy":[[-0.6281796426961386,0.4583189237255385],[-0.6080162285389916,0.6183189195097678]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[-0.22182872095501854,0.5948734257468793,0.71338606911949],"aabb_xy":[[-0.25932872174701393,0.5885055847886892],[-0.18432872016302307,0.6012412667050694]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[-0.30144051125029925,1.7145404569150942,0.71338606911949],"aabb_xy":[[-0.3864405096677225,1.6296661614528092],[-0.21644051283287602,1.7994147523773791]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_27","position":[-0.5220053516083933,1.2165324745189263,0.71338606911949],"aabb_xy":[[-0.6120053483440036,1.1633490112016316],[-0.43200535487278313,1.2697159378362206]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[0.3100005106132995,-1.7807022629543034,0.71338606911949],"aabb_xy":[[0.3044188389791707,-1.793202262772079],[0.31558218224742823,-1.768202263136528]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_29","position":[0.17749770362849737,1.625561661666024,0.71338606911949],"aabb_xy":[[0.11749770378193056,1.5687430394729853],[0.23749770347506413,1.6823802838590627]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_30","position":[0.3311675356336341,1.1175909882140211,0.71338606911949],"aabb_xy":[[0.306167536468001,1.1106387425086643],[0.3561675347992672,1.1245432339193775]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_31","position":[-0.1561297046660468,1.5435141070788219,0.71338606911949],"aabb_xy":[[-0.16317001459958383,1.4635141076791507],[-0.14908939473250984,1.6235141064784937]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_32","position":[-0.6194293435073916,-1.570189716652479,0.71338606911949],"aabb_xy":[[-0.6834293458501931,-1.6151305678966112],[-0.55542934116459,-1.5252488654083463]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_33","position":[0.4998872934351857,0.626726765594968,0.71338606911949],"aabb_xy":[[0.43488729555353794,0.5756031018884271],[0.5648872913168335,0.6778504293015088]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_34","position":[0.40126971284616975,1.2088498142442146,0.71338606911949],"aabb_xy":[[0.36535620842118005,1.1729363060274598],[0.43718321727115944,1.2447633224609689]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6800430261921484,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3939.png","name":"3939"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3939.png","name":"3939"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2916.png","name":"2916"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7413.png","name":"7413"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4096.png","name":"4096"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8816.png","name":"8816"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":842.5720825717924,"rotation_z_degrees":234.21392591475504,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0004936616879593451,-0.017224421375613825,0.010384068754138331]},{"name":"camera_2","offset_m":[0.014891468235322194,-0.005975312577016058,0.006442374198592966]},{"name":"camera_3","offset_m":[-0.00458739314096091,-0.015951642075279243,-0.012189490525724227]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001385199141925185,0.0010869335538140298,0.001727529251429534],"end_effector_yaw_offset_degrees":0.6725370311340944},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010076580458217872,-0.0009919792594710577,0.001577047464550647],"end_effector_yaw_offset_degrees":0.1509313738762652},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008053644750873109,0.0011859171434491665,0.0013597978914390925],"end_effector_yaw_offset_degrees":0.6990720226105569},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002502523682675268,-0.0019564838218969227,-0.0003102086772535603],"end_effector_yaw_offset_degrees":0.48626383096503867}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004382517515876746,0.0012183801426983],"position_m":[0.3584825175158768,-0.0827816198573017,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001057686583002245,0.003935525683530728],"position_m":[0.27354231341699775,-0.32636447431646926,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017804775807815417,0.004731124440675327],"position_m":[0.16248047758078155,0.21893112444067533,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027226621834748645,-0.0002655188059157484],"position_m":[0.34137733781652513,0.11493448119408425,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"064c74e31cd30878ee0f711bce305377a8071a614c4fe9c60f95b78c7d51f7d9","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0091.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3939/tex_ceiling_textures_8816/tex_floor_textures_4096/tex_table_textures_2916/tex_wall_textures_7413","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7403314829048041089,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7403314829048041089,"visual_seed":7403314829048041089,"scene_id":"lab_003","finished_at":"2026-09-05T05:41:19"}
+{"episode_id":"ep_000072","started_at":"2026-09-05T05:41:24","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.11757711503708179,-0.7806868534012081,0.71338606911949],"aabb_xy":[[0.08194795913712205,-0.8163195201580612],[0.15320627093704153,-0.7450541866443553]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[0.25011331803042103,-1.6342444471440547,0.71338606911949],"aabb_xy":[[0.21361749740314223,-1.670728389570812],[0.2866091386576997,-1.597760504717297]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.5858580953549657,0.5809664938931607,0.71338606911949],"aabb_xy":[[0.5765644771178151,0.5434664954050268],[0.5951517135921163,0.6184664923812946]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[0.010846922561263739,-1.2717890861089303,0.71338606911949],"aabb_xy":[[-0.02665307895436797,-1.283015859125075],[0.04834692407689545,-1.260562313092785]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[-0.31526763368040206,0.5561393064184084,0.71338606911949],"aabb_xy":[[-0.32713971669190317,0.471139306724758],[-0.30339555066890095,0.6411393061120587]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.6591440741749323,0.0808262381213094,0.71338606911949],"aabb_xy":[[-0.6816440746869727,0.05833437975591105],[-0.6366440736628916,0.10331809648670776]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.45112215309463854,-0.7193220090473735,0.71338606911949],"aabb_xy":[[0.44720827989921597,-0.7280710244539303],[0.455036026290061,-0.7105729936408167]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[0.632163252481206,-1.5962467725431355,0.71338606911949],"aabb_xy":[[0.572163251620393,-1.6476732025496215],[0.6921632533420187,-1.5448203425366487]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[-0.35346748477497686,-1.5770669318083672,0.71338606911949],"aabb_xy":[[-0.39565189893580766,-1.6410669320855784],[-0.3112830706141462,-1.513066931531156]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[-0.24087423787017626,-1.2407014318912863,0.71338606911949],"aabb_xy":[[-0.30587423897611954,-1.2656668049594144],[-0.17587423676423297,-1.2157360588231578]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[0.6047195085144359,-0.21808757122491285,0.71338606911949],"aabb_xy":[[0.596726018719154,-0.22608570316538854],[0.612712998309718,-0.2100894392844372]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[0.21848600218754,-1.8459234120085561,0.71338606911949],"aabb_xy":[[0.17349341546908958,-1.8909234112830047],[0.2634785889059904,-1.8009234127341072]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.3231721073783527,1.2923360861452702,0.71338606911949],"aabb_xy":[[-0.3871721097211543,1.2473952349011375],[-0.25917210503555116,1.3372769373894025]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[-0.2132451096704216,0.4941597785558218,0.71338606911949],"aabb_xy":[[-0.24756138684503953,0.4441597785826441],[-0.17892883249580366,0.5441597785289995]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[-0.43500859974345507,0.679912200285091,0.71338606911949],"aabb_xy":[[-0.49659935896744795,0.6159122021760443],[-0.3734178405194623,0.743912198394138]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[-0.5773084557004402,-1.885592350417364,0.71338606911949],"aabb_xy":[[-0.5860064179911555,-1.8977173247248387],[-0.5686104934097249,-1.8734673761098892]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[0.10242210962678278,1.560674336722435,0.71338606911949],"aabb_xy":[[0.08492210938173339,1.5431745488828679],[0.11992210987183216,1.5781741245620016]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_17","position":[0.4794650314307758,-1.9621888494936597,0.71338606911949],"aabb_xy":[[0.4154650343186701,-2.0112212192880703],[0.5434650285428815,-1.9131564796992493]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.5859509094866253,-0.9248863755377381,0.71338606911949],"aabb_xy":[[0.5022286839865429,-1.014886379072434],[0.6696731349867078,-0.8348863720030422]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.36765964332620427,-0.5640966924604687,0.71338606911949],"aabb_xy":[[-0.38677195068418313,-0.5832314713377107],[-0.3485473359682254,-0.5449619135832267]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6826327473120002,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/943.png","name":"943"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/943.png","name":"943"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1324.png","name":"1324"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4060.png","name":"4060"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4604.png","name":"4604"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7009.png","name":"7009"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":670.2985379671325,"rotation_z_degrees":117.26534631706915,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019607698716713796,0.014440529887673668,-0.01623191974616851]},{"name":"camera_2","offset_m":[0.006638846982104912,0.012397435100564447,0.019229680999185306]},{"name":"camera_3","offset_m":[0.007401366987849278,0.014654568773291809,0.016188682673839393]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018901870949472035,-0.00189816722412219,-0.00045676736546719303],"end_effector_yaw_offset_degrees":0.5482645361787675},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012312898658521474,-0.001410544221918309,0.0008381513729137516],"end_effector_yaw_offset_degrees":-0.5268850724265066},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016845946582820523,-0.000249373897459967,-0.0009350200541684819],"end_effector_yaw_offset_degrees":0.21966829287750556},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001995788166999214,-0.00023182810156038912,0.00039037981271610074],"end_effector_yaw_offset_degrees":0.38652707991028223}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004523556645046188,-0.0028173586694866847],"position_m":[0.34957644335495386,-0.08681735866948669,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-2.8797139601351857e-05,0.00043044683852285805],"position_m":[0.27457120286039866,-0.32986955316147715,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014551106851683326,7.256631652150392e-05],"position_m":[0.16215511068516833,0.2142725663165215,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0041611115353026385,-0.003980188211035567],"position_m":[0.34826111153530265,0.11121981178896442,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3fd196befcd099118d785edd4ba4c60b00457f5b0bffca0b18b99a5a2ca4e63e","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_943/tex_ceiling_textures_7009/tex_floor_textures_4604/tex_table_textures_1324/tex_wall_textures_4060","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2745223601818069160,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2745223601818069160,"visual_seed":2745223601818069160,"scene_id":"lab_003","finished_at":"2026-09-05T05:45:03"}
+{"episode_id":"ep_000073","started_at":"2026-09-05T05:49:13","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[-0.5438538434940494,-1.4435683407442819,0.71338606911949],"aabb_xy":[[-0.5813538435996423,-1.450390502597263],[-0.5063538433884563,-1.4367461788913007]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[-0.6095180145747043,-0.9072703286591111,0.71338606911949],"aabb_xy":[[-0.6595180141510391,-0.957250907611217],[-0.5595180149983696,-0.8572897497070051]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[-0.3637789367450051,0.9578995978325526,0.71338606911949],"aabb_xy":[[-0.3718925914183822,0.9497937813785235],[-0.355665282071628,0.9660054142865817]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_3","position":[-0.31439144691718146,-2.1475170879255256,0.71338606911949],"aabb_xy":[[-0.37439144742503433,-2.204363821611447],[-0.2543914464093285,-2.090670354239604]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.5766296040660772,1.7277849032548942,0.71338606911949],"aabb_xy":[[-0.5836699139996142,1.647784903855223],[-0.5695892941325402,1.8077849026545658]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.4478414626822249,-2.4309456172188812,0.71338606911949],"aabb_xy":[[0.3928414635056354,-2.4859352919938384],[0.5028414618588144,-2.375955942443923]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[-0.4863988625098275,1.0661608755388752,0.71338606911949],"aabb_xy":[[-0.5413920738469643,1.0111608752000816],[-0.43140565117269086,1.1211608758776688]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.31832193464788516,1.5173977293270053,0.71338606911949],"aabb_xy":[[-0.3823219353513546,1.4713793468540843],[-0.2543219339444159,1.5634161117999266]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.44372930742536987,-1.847768622403283,0.71338606911949],"aabb_xy":[[-0.44743256875450876,-1.8514706407120005],[-0.44002604609623097,-1.844066604094565]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.23534761380909397,1.1462845806065665,0.71338606911949],"aabb_xy":[[0.22810384776284862,1.0662845824029639],[0.24259137985533927,1.2262845788101686]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.09772394615832469,-0.9393553846132503,0.71338606911949],"aabb_xy":[[-0.10256754091955467,-0.9442070370922345],[-0.09288035139709472,-0.9345037321342663]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[0.030634278753683852,-2.425616994117158,0.71338606911949],"aabb_xy":[[0.017483032782394492,-2.450616993873845],[0.04378552472497321,-2.400616994360472]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.5938464005973344,-1.6247065629706707,0.71338606911949],"aabb_xy":[[-0.630880510025394,-1.6590837703043797],[-0.5568122911692746,-1.5903293556369609]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[0.42255308133117997,-1.6621448641892997,0.71338606911949],"aabb_xy":[[0.4161392676879949,-1.6685546844369679],[0.4289668949743648,-1.6557350439416312]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.4452262763614978,-1.511784915061581,0.71338606911949],"aabb_xy":[[0.3615040508614153,-1.6017849185962767],[0.5289485018615803,-1.4217849115268848]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[-0.28945370628846295,-1.8698010108136494,0.71338606911949],"aabb_xy":[[-0.30081544094174906,-1.8811694772199372],[-0.27809197163517674,-1.858432544407361]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.21936716064975542,-0.15796009046447335,0.71338606911949],"aabb_xy":[[-0.2528463279107964,-0.19143920383558036],[-0.1858879933887145,-0.12448097709336634]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.4299965153833645,1.7535817532773907,0.71338606911949],"aabb_xy":[[0.407496515859657,1.7310858058267697],[0.4524965149070718,1.7760777007280113]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.1097075449095849,-1.3797694013344182,0.71338606911949],"aabb_xy":[[0.09269744761953425,-1.395903889832692],[0.12671764219963555,-1.3636349128361442]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[-0.1454676097027756,-1.539899317485599,0.71338606911949],"aabb_xy":[[-0.15807030883985207,-1.5524947137104643],[-0.13286491056569916,-1.5273039212607333]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[-0.1908161056619394,0.24765977882844803,0.71338606911949],"aabb_xy":[[-0.2146523233025445,0.15765977801996153],[-0.16697988802133434,0.3376597796369345]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.685531458066699,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5476.png","name":"5476"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5476.png","name":"5476"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4361.png","name":"4361"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/691.png","name":"691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8643.png","name":"8643"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3505.png","name":"3505"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":713.815541864401,"rotation_z_degrees":129.04604279292664,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007510891720010316,-0.004271837356868636,0.011360749263785667]},{"name":"camera_2","offset_m":[-0.002208139478748556,-0.0029068339651956918,-0.0032312886075861885]},{"name":"camera_3","offset_m":[0.011736561470491503,-0.010635229856928384,0.013037584947524345]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015843904794997526,0.0011098234291928512,0.0017224737600398852],"end_effector_yaw_offset_degrees":-0.3640587135733937},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019185306527778525,-0.0012107040972610702,0.00018650783874396082],"end_effector_yaw_offset_degrees":0.4020385963691664},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006033947606737379,-0.0017553214425099206,-0.0005553340219844442],"end_effector_yaw_offset_degrees":0.8624285639160749},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017901174461323035,-0.0006772947566924415,-0.0011077859262837166],"end_effector_yaw_offset_degrees":-0.376099550290369}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00040254100056892356,-0.0033283491425425194],"position_m":[0.3536974589994311,-0.08732834914254252,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0039980216355160495,0.001741788144787636],"position_m":[0.27859802163551606,-0.32855821185521233,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004098043583592282,-0.0018114308548547041],"position_m":[0.1647980435835923,0.21238856914514528,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002128780401901252,0.0029633953433313267],"position_m":[0.34622878040190125,0.11816339534333133,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2550933e908f719eba1a016a88c290baefa02a90b5a0bf2dae9eb9d7591dddd0","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5476/tex_ceiling_textures_3505/tex_floor_textures_8643/tex_table_textures_4361/tex_wall_textures_691","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":936608980816190488,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":936608980816190488,"visual_seed":936608980816190488,"scene_id":"lab_003","finished_at":"2026-09-05T05:52:44"}
+{"episode_id":"ep_000074","started_at":"2026-09-05T05:52:49","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.4890551668433112,-2.401486806842837,0.71338606911949],"aabb_xy":[[-0.49989564506982603,-2.418673088133486],[-0.4782146886167962,-2.3843005255521885]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.05578395827861726,0.12731154738706696,0.71338606911949],"aabb_xy":[[-0.097968372439448,0.06331154710985576],[-0.013599544117786529,0.19131154766427816]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[0.11476156157682249,-0.7282034789800107,0.71338606911949],"aabb_xy":[[0.06477861138934314,-0.778203478622571],[0.1647445117643018,-0.6782034793374502]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[-0.2756685726352989,-2.3456241729763128,0.71338606911949],"aabb_xy":[[-0.3091087478313185,-2.3790677988072417],[-0.2422283974392793,-2.312180547145382]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[0.4618650735161396,-2.201063545037105,0.71338606911949],"aabb_xy":[[0.4584243972760824,-2.2049249780114697],[0.46530574975619676,-2.1972021120627407]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[0.11627770755086986,1.4241923907004472,0.71338606911949],"aabb_xy":[[0.0512777093949508,1.397896146150535],[0.18127770570678892,1.4504886352503594]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[-0.2342425743330046,-0.3150247838474334,0.71338606911949],"aabb_xy":[[-0.2567389957668687,-0.3375247836541808],[-0.2117461528991405,-0.29252478404068594]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[0.6738121686986429,-0.21116908317058147,0.71338606911949],"aabb_xy":[[0.6658186789033611,-0.2191672151110572],[0.6818056584939252,-0.20317095123010587]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[-0.18213078921299042,1.3075951370960408,0.71338606911949],"aabb_xy":[[-0.23614638549489042,1.2435951342037834],[-0.12811519293109042,1.3715951399882977]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.26366072140118607,0.31670901329138923,0.71338606911949],"aabb_xy":[[-0.29866072059400434,0.30574196729372655],[-0.2286607222083678,0.3276760592890518]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.5620440655884642,0.2382966247228251,0.71338606911949],"aabb_xy":[[0.5245440652402363,0.2265052291417415],[0.5995440659366919,0.25008802030390864]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.4454820991471824,-2.4954899957017163,0.71338606911949],"aabb_xy":[[0.39548209819664953,-2.5270391427052377],[0.49548210009771515,-2.463940848698195]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.14402276386827295,0.9155583564903029,0.71338606911949],"aabb_xy":[[0.13771066433193455,0.9097914172370841],[0.1503348634046114,0.9213252957435217]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.1898877632268018,-1.7193170886026992,0.71338606911949],"aabb_xy":[[0.15542528521371402,-1.7259807657856219],[0.22435024123988956,-1.7126534114197765]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[0.2888822771065178,1.40555243052016,0.71338606911949],"aabb_xy":[[0.26388227755477933,1.3954099466550252],[0.3138822766582563,1.4156949143852946]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.11117386677236785,0.6711788372021879,0.71338606911949],"aabb_xy":[[-0.13145816949576658,0.6508962120594789],[-0.09088956404896907,0.6914614623448966]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_16","position":[0.5359631960649793,1.5608904781340063,0.71338606911949],"aabb_xy":[[0.5279692074872759,1.5528903980389155],[0.5439571846426827,1.5688905582290962]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.5431911779385028,1.7087428604718338,0.71338606911949],"aabb_xy":[[0.49321788393524224,1.6587428599172864],[0.5931644719417631,1.758742861026381]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[-0.5272158032736334,0.7993298986332684,0.71338606911949],"aabb_xy":[[-0.5576139143727769,0.7689229966315988],[-0.49681769217448973,0.8297368006349378]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.06439484808869178,-2.070599826833956,0.71338606911949],"aabb_xy":[[-0.10189484819428474,-2.0774219886869365],[-0.026894847983098834,-2.0637776649809747]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.4609753444845073,1.3708519728553075,0.71338606911949],"aabb_xy":[[-0.5409753477423502,1.2908554650633235],[-0.3809753412266643,1.4508484806472914]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.17864325085392607,-1.663800400584904,0.71338606911949],"aabb_xy":[[-0.19452774411925122,-1.678153340883728],[-0.16275875758860092,-1.6494474602860798]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.679328265689377,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2713.png","name":"2713"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2713.png","name":"2713"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3411.png","name":"3411"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5976.png","name":"5976"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2712.png","name":"2712"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2180.png","name":"2180"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":542.5103569624395,"rotation_z_degrees":216.20158935411277,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004005221900354138,-0.00832819831230482,-0.0018210026066512695]},{"name":"camera_2","offset_m":[0.01322076921474023,0.012699407437028461,0.014048012968736468]},{"name":"camera_3","offset_m":[0.01302738644850655,0.008143048273781876,0.007578611455911672]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018478011861557439,0.001187173929790196,-0.0007191798818284357],"end_effector_yaw_offset_degrees":0.7852925687482171},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002801775392982,0.0002395893602687403,-0.00022200902577337801],"end_effector_yaw_offset_degrees":0.1446034003103176},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006008084704833779,-0.0016137981608122186,-4.729156469936765e-05],"end_effector_yaw_offset_degrees":0.9534281794051591},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005854054979758526,0.001762638381356677,0.00017704528233295413],"end_effector_yaw_offset_degrees":0.8300297699773167}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015875713548340938,0.000599547898671675],"position_m":[0.35568757135483414,-0.08340045210132833,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036990686363669156,0.0006231136567185604],"position_m":[0.2709009313636331,-0.3296768863432814,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002612115703112463,-0.0027714111434612855],"position_m":[0.15808788429688755,0.21142858885653873,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004329203624585744,0.004206235066388145],"position_m":[0.34842920362458574,0.11940623506638814,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"80864d388a65fd6b1fb659bdd5f1f496455bfa9d45734a95ec7774c7628f7d57","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0095.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2713/tex_ceiling_textures_2180/tex_floor_textures_2712/tex_table_textures_3411/tex_wall_textures_5976","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":333332551602022204,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":333332551602022204,"visual_seed":333332551602022204,"scene_id":"lab_003","finished_at":"2026-09-05T05:56:22"}
+{"episode_id":"ep_000075","started_at":"2026-09-05T05:56:26","dimensions":{"distractor":{"count":30,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[0.18885569315567996,-2.047772452427769,0.71338606911949],"aabb_xy":[[0.166356557429453,-2.0702724532060324],[0.21135482888190693,-2.025272451649507]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.2873044681932413,-0.8157142128584627,0.71338606911949],"aabb_xy":[[0.2838637919531842,-0.8195756458328274],[0.2907451444332985,-0.8118527798840984]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.6988274845708975,-0.8586003761088647,0.71338606911949],"aabb_xy":[[0.6917860336201499,-0.8656271278466593],[0.7058689355216451,-0.8515736243710702]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.5378772289408942,0.07999937792475764,0.71338606911949],"aabb_xy":[[-0.595507697828165,0.019999378998047043],[-0.4802467600536233,0.1399993768514682]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.6789575383183184,-0.7721319529643904,0.71338606911949],"aabb_xy":[[-0.6897980165448333,-0.7893182342550392],[-0.6681170600918035,-0.7549456716737416]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[0.4836200176387271,-1.4046654394675104,0.71338606911949],"aabb_xy":[[0.4635616060254868,-1.4247305263766679],[0.5036784292519674,-1.384600352558353]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.3121113836369429,-1.79595698128418,0.71338606911949],"aabb_xy":[[-0.3228843575583107,-1.8309569795032192],[-0.30133840971557513,-1.7609569830651413]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.15092889505132567,0.8748303367666104,0.71338606911949],"aabb_xy":[[-0.21092889591213845,0.823403906760124],[-0.09092889419051285,0.9262567667730968]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_8","position":[0.07260629671086583,1.7368729500009823,0.71338606911949],"aabb_xy":[[0.04738545985102615,1.7116491991480953],[0.09782713357070548,1.7620967008538688]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[-0.18453276855648626,-1.7077239828881947,0.71338606911949],"aabb_xy":[[-0.19215703664666453,-1.7153572064247387],[-0.17690850046630802,-1.7000907593516512]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.5757906631379595,-0.35761078362141374,0.71338606911949],"aabb_xy":[[0.5718301793682252,-0.3652786482069344],[0.5797511469076939,-0.3499429190358932]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[-0.13922140010451778,-0.6809472190385537,0.71338606911949],"aabb_xy":[[-0.1716831009864452,-0.7110800511534562],[-0.1067596992225903,-0.650814386923651]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[0.2304331695524625,1.007403089896456,0.71338606911949],"aabb_xy":[[0.18045987554920204,0.9574030893419085],[0.28040646355572296,1.0574030904510032]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.6049898557832273,-0.5648576185612826,0.71338606911949],"aabb_xy":[[-0.6205456251934925,-0.5804080518056898],[-0.589434086372962,-0.5493071853168754]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.6129701417825502,-2.017077410551809,0.71338606911949],"aabb_xy":[[-0.6304701420418868,-2.031168952740582],[-0.5954701415232135,-2.002985868363037]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.35680594770991836,1.728957908698653,0.71338606911949],"aabb_xy":[[0.3495621816636731,1.6489579104950505],[0.36404971375616374,1.8089579069022552]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.5058538064915801,-1.0953366354194614,0.71338606911949],"aabb_xy":[[-0.570853804373228,-1.1464602991260024],[-0.4408538086099324,-1.0442129717129207]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[-0.6312157345797267,1.687276200253876,0.71338606911949],"aabb_xy":[[-0.6611832914895523,1.6572761999559904],[-0.601248177669901,1.7172762005517619]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.05036556519368107,-1.860612995148076,0.71338606911949],"aabb_xy":[[0.016049288019063142,-1.9106129951212538],[0.08468184236829901,-1.8106129951748984]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[-0.6021688489386035,-2.109289027966954,0.71338606911949],"aabb_xy":[[-0.6396688492307783,-2.113330503367558],[-0.5646688486464286,-2.1052475525663503]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[0.047135070127471534,-0.9624165214054907,0.71338606911949],"aabb_xy":[[-0.032864928529414465,-0.9769213803297536],[0.12713506878435754,-0.947911662481228]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[-0.5843540248504533,0.8363577357864371,0.71338606911949],"aabb_xy":[[-0.6019007197665722,0.7988577342221859],[-0.5668073299343344,0.8738577373506884]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[-0.16858500424089684,-2.168647148164017,0.71338606911949],"aabb_xy":[[-0.23258500646130384,-2.2130202322893053],[-0.10458500202048979,-2.1242740640387288]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.44669190301271366,-2.1431916015202397,0.71338606911949],"aabb_xy":[[0.4039251961332935,-2.207191604942042],[0.48945860989213386,-2.0791915980984372]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[-0.6219846143119704,1.0492880396981024,0.71338606911949],"aabb_xy":[[-0.6719634228222863,0.9992880396923836],[-0.5720058058016545,1.0992880397038212]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[0.4744304808745221,1.7272461498386682,0.71338606911949],"aabb_xy":[[0.4457811485141059,1.6986005905615922],[0.5030798132349383,1.7558917091157438]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[0.5527852275397891,-0.03159385087023159,0.71338606911949],"aabb_xy":[[0.5450820368657121,-0.03930322156896959],[0.5604884182138661,-0.023884480171493583]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_27","position":[0.6164221707562707,0.41471873249513447,0.71338606911949],"aabb_xy":[[0.5314221720641961,0.38273286910025567],[0.7014221694483453,0.4467045958900134]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_28","position":[-0.25611239707604716,1.6163233036087594,0.71338606911949],"aabb_xy":[[-0.2936123954994475,1.6031590896409287],[-0.2186123986526468,1.6294875175765902]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_29","position":[-0.3299712242512526,-1.6161897852049734,0.71338606911949],"aabb_xy":[[-0.3999712206612143,-1.6366277208566549],[-0.25997122784129073,-1.5957518495532914]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847724916530106,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3992.png","name":"3992"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3992.png","name":"3992"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3988.png","name":"3988"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/579.png","name":"579"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4023.png","name":"4023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5550.png","name":"5550"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":774.5787581488755,"rotation_z_degrees":302.412203262085,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016185298887589867,-0.01494403665888772,-0.01541819039592478]},{"name":"camera_2","offset_m":[0.01145168203408654,-0.014879395733188142,0.004901210818162808]},{"name":"camera_3","offset_m":[-0.016395731842698075,-0.004387446495261344,0.007990859928853938]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015886449215387112,-0.001220737741965195,-0.0010845400765928926],"end_effector_yaw_offset_degrees":0.42777340263919594},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00023241179249498204,0.0016893378591056477,0.0014648590900262818],"end_effector_yaw_offset_degrees":0.19328948346767638},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017418271832486862,0.0013446298034590558,-0.0014642174508622365],"end_effector_yaw_offset_degrees":0.5735095541170843},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016060378738404566,0.00018142728281816912,-0.0013259053850575566],"end_effector_yaw_offset_degrees":0.9939029368945154}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00445856241796305,-0.0016566865077644556],"position_m":[0.3585585624179631,-0.08565668650776447,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0038733266856632942,0.003098933205412006],"position_m":[0.2784733266856633,-0.327201066794588,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031607248667414314,-0.0009357942113732099],"position_m":[0.16386072486674144,0.2132642057886268,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004056282879112622,-0.0042241604823296365],"position_m":[0.34815628287911266,0.11097583951767036,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9b4a585aeed98daa90c109df44ffb9c9864def68a0b10d4bc4aa3b82b1f9ab9e","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3992/tex_ceiling_textures_5550/tex_floor_textures_4023/tex_table_textures_3988/tex_wall_textures_579","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":9213343289743828003,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":9213343289743828003,"visual_seed":9213343289743828003,"scene_id":"lab_003","finished_at":"2026-09-05T06:00:04"}
+{"episode_id":"ep_000076","started_at":"2026-09-05T06:00:10","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.6473272798041318,0.17814088737662015,0.71338606911949],"aabb_xy":[[-0.6510305411332705,0.17443886906790226],[-0.6436240184749927,0.18184290568533798]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_1","position":[-0.5708744502929363,-2.19330521537006,0.71338606911949],"aabb_xy":[[-0.6208744506535022,-2.243285202579663],[-0.5208744499323701,-2.143325228160457]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[-0.641189234992383,-0.06444361887189665,0.71338606911949],"aabb_xy":[[-0.6786892335680037,-0.07717991453545459],[-0.6036892364167621,-0.051707323208338714]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.18614855036054268,-0.9346100362130734,0.71338606911949],"aabb_xy":[[-0.2661485490174287,-0.9491148951373363],[-0.10614855170365667,-0.9201051772888107]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.3012905969766268,0.7214995118038412,0.71338606911949],"aabb_xy":[[-0.33629059832810854,0.7011397758470203],[-0.26629059562514507,0.7418592477606619]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[0.09162965191289829,-2.0930646943388433,0.71338606911949],"aabb_xy":[[0.00662965322082365,-2.125050557733722],[0.17662965060497293,-2.0610788309439645]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.37455455592804315,0.08402320994909385,0.71338606911949],"aabb_xy":[[-0.38591629058132926,0.07265474354280575],[-0.36319282127475694,0.09539167635538191]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.0010422136702472606,1.1267118801693914,0.71338606911949],"aabb_xy":[[-0.008285979716492586,1.0467118819657888],[0.006201552375998065,1.2067118783729935]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.35741129625741874,-0.8904476730697635,0.71338606911949],"aabb_xy":[[0.26741129392339974,-0.9679300276548762],[0.44741129859143786,-0.8129653184846509]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[0.008068035864478573,-1.7182808187305725,0.71338606911949],"aabb_xy":[[-0.041931963711856146,-1.7682613976826786],[0.05806803544081329,-1.6683002397784668]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[-0.1837034485908816,-2.418684897637514,0.71338606911949],"aabb_xy":[[-0.23318386980484043,-2.4826848955503658],[-0.13422302737692285,-2.354684899724662]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.344049166319889,-0.48866680891089853,0.71338606911949],"aabb_xy":[[0.3135649161928588,-0.5386668086923945],[0.3745334164469191,-0.43866680912940254]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[-0.18682767460831495,1.414393849711343,0.71338606911949],"aabb_xy":[[-0.22432767442534848,1.409755638400201],[-0.14932767479128137,1.4190320610224847]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_13","position":[0.3520895071088679,0.5913079542425588,0.71338606911949],"aabb_xy":[[0.3069181892606989,0.5273079570980204],[0.3972608249570369,0.6553079513870972]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.4656676553293981,-0.2083951724081068,0.71338606911949],"aabb_xy":[[-0.4727079652629352,-0.2883951718077782],[-0.4586273453958612,-0.1283951730084354]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[0.503413748350227,-1.3743256072588312,0.71338606911949],"aabb_xy":[[0.4584211616317765,-1.41932560653328],[0.5484063350686773,-1.3293256079843825]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[-0.4404755336951714,-1.8154214873896404,0.71338606911949],"aabb_xy":[[-0.5054755322522442,-1.8451740208035232],[-0.37547553513809856,-1.785668953975758]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[-0.3236908803134564,-2.1185682154355074,0.71338606911949],"aabb_xy":[[-0.3571700475744974,-2.152047328806615],[-0.2902117130524155,-2.085089102064401]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.4418750129889351,-0.4543134125393702,0.71338606911949],"aabb_xy":[[-0.4970002186185259,-0.5143134139806573],[-0.38674980735934433,-0.39431341109808304]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[-0.519237031956424,1.810729360450455,0.71338606911949],"aabb_xy":[[-0.5371061397108795,1.796896452473244],[-0.5013679242019685,1.8245622684276661]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.657536077618649,-1.5335044653593246,0.71338606911949],"aabb_xy":[[0.6075360789727277,-1.5834240090187868],[0.70753607626457,-1.483584921699862]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.09293049530690867,1.133878576336174,0.71338606911949],"aabb_xy":[[-0.1088149885722338,1.11952563603735],[-0.0770460020415835,1.1482315166349981]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[0.1852682302983758,-1.501928312179458,0.71338606911949],"aabb_xy":[[0.12763776141110492,-1.561928311106168],[0.2428986991856466,-1.441928313252747]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[0.1559251751735129,1.0830554161293895,0.71338606911949],"aabb_xy":[[0.07092517675608964,0.9981811206671045],[0.2409251735909361,1.1679297115916745]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[-0.22585969313524207,1.2227517390054614,0.71338606911949],"aabb_xy":[[-0.24277042557158385,1.2092795334128466],[-0.2089489606989003,1.2362239445980758]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_25","position":[0.4040194546427709,1.6868157042514613,0.71338606911949],"aabb_xy":[[0.37402779190890056,1.6568157049146608],[0.4340111173766412,1.7168157035882619]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.6130953961660321,0.009797558649221383,0.71338606911949],"aabb_xy":[[0.5955953968879454,-0.007540541417124569],[0.6305953954441191,0.027135658715567335]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[0.3088370561000391,1.00007928731659,0.71338606911949],"aabb_xy":[[0.2842908404772883,0.9698303907675531],[0.33338327172278975,1.030328183865627]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_28","position":[-0.1875152555936277,-0.37302332590312837,0.71338606911949],"aabb_xy":[[-0.25751525823021404,-0.3931281908989938],[-0.11751525295704132,-0.3529184609072628]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_29","position":[-0.08670839828424648,-1.5390413441390052,0.71338606911949],"aabb_xy":[[-0.15070409567934306,-1.6030413424397139],[-0.022712700889149895,-1.4750413458382965]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6805196344432793,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7644.png","name":"7644"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7644.png","name":"7644"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4139.png","name":"4139"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7174.png","name":"7174"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9838.png","name":"9838"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1612.png","name":"1612"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":582.7124014059976,"rotation_z_degrees":264.7820623533435,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00918528366719269,0.001860410497244374,0.016454637082937148]},{"name":"camera_2","offset_m":[0.008754835779304374,-0.009441483977928012,-0.005932070102498561]},{"name":"camera_3","offset_m":[0.004023563402087628,0.004724337374487318,0.0012652994918784313]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017410005149730693,0.0001747563890583657,-0.00046614832249317626],"end_effector_yaw_offset_degrees":0.9184492999980176},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00027383715494330913,0.001380980220054502,0.0011599785797563773],"end_effector_yaw_offset_degrees":-0.8124899171226247},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00021134140257078647,0.001746865620329666,0.001739898224506997],"end_effector_yaw_offset_degrees":-0.5733018012194604},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001537687216981907,0.0018875147580381308,0.0007191108755281398],"end_effector_yaw_offset_degrees":-0.12539506279658963}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038344432156295497,-0.0023019408202549284],"position_m":[0.3502655567843705,-0.08630194082025493,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000536919898443268,0.0038944734233119357],"position_m":[0.2740630801015567,-0.32640552657668803,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011015753422410944,-0.0017684588653232225],"position_m":[0.1618015753422411,0.21243154113467677,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026407723620236944,0.003876999994962992],"position_m":[0.3467407723620237,0.11907699999496299,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8be3a111be13ccf258e4e6d629877a45b31e37db1523fe82cec55b8560265ba7","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7644/tex_ceiling_textures_1612/tex_floor_textures_9838/tex_table_textures_4139/tex_wall_textures_7174","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6713351758604599301,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6713351758604599301,"visual_seed":6713351758604599301,"scene_id":"lab_003","finished_at":"2026-09-05T06:03:46"}
+{"episode_id":"ep_000077","started_at":"2026-09-05T06:13:56","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[0.44493191319916114,-2.097107369490746,0.71338606911949],"aabb_xy":[[0.37493191106773155,-2.1198693351164413],[0.5149319153305907,-2.0743454038650495]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[-0.6043169643370508,-0.44025914783429876,0.71338606911949],"aabb_xy":[[-0.6144699798912002,-0.476328689407039],[-0.5941639487829015,-0.4041896062615583]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.2943713054516893,1.1636764182474342,0.71338606911949],"aabb_xy":[[0.2862576507783122,1.1555706017934049],[0.3024849601250664,1.171782234701463]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.0005060660064291067,1.1559361378966093,0.71338606911949],"aabb_xy":[[-0.006919879649614046,1.1495263176489408],[0.005907747636755833,1.1623459581442774]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[0.502179559542014,1.0854114338168372,0.71338606911949],"aabb_xy":[[0.4521845485825621,1.0354114347812458],[0.5521745705014661,1.1354114328524292]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.36917146948032487,-2.494983794773097,0.71338606911949],"aabb_xy":[[-0.3852333969388425,-2.5799837965856884],[-0.3531095420218072,-2.409983792960505]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[-0.6045867639784336,-0.8550300797329919,0.71338606911949],"aabb_xy":[[-0.6163549507730912,-0.9400300796382137],[-0.5928185771837762,-0.7700300798277706]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[-0.46149832399052215,0.7586002723964094,0.71338606911949],"aabb_xy":[[-0.48649832315615527,0.7516480266910527],[-0.43649832482488904,0.7655525181017658]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.08200327874771918,0.6751524141906171,0.71338606911949],"aabb_xy":[[0.06072527060424693,0.610152411864544],[0.10328128689119143,0.7401524165166902]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.4237412408772959,-0.49406184724060775,0.71338606911949],"aabb_xy":[[-0.4520709508258362,-0.49852258943432487],[-0.39541153092875575,-0.48960110504689075]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_10","position":[-0.28026548481120633,-1.608803402253829,0.71338606911949],"aabb_xy":[[-0.3402654864541282,-1.660803551545773],[-0.22026548316828448,-1.5568032529618847]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.48763641004040736,-1.347345750838129,0.71338606911949],"aabb_xy":[[0.4076364086102802,-1.4268629058507385],[0.5676364114705346,-1.2678285958255195]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.18964583273539715,-2.325939339546232,0.71338606911949],"aabb_xy":[[-0.2097042443486374,-2.3460044264553894],[-0.16958742112215683,-2.3058742526370746]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.41083567011110533,-0.4880004434625529,0.71338606911949],"aabb_xy":[[0.3733356693191099,-0.49436828442074304],[0.4483356709031008,-0.48163260250436285]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.6425938123744619,0.22114063029221942,0.71338606911949],"aabb_xy":[[-0.6903999799882305,0.15614062758516045],[-0.5947876447606932,0.2861406329992784]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_15","position":[-0.5078439069544689,-1.7788682086330956,0.71338606911949],"aabb_xy":[[-0.5303439074665094,-1.8013600669984935],[-0.4853439064424282,-1.7563763502676968]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.4810676074153233,-0.7764883234149973,0.71338606911949],"aabb_xy":[[0.47303127271403844,-0.784526442719414],[0.4891039421166081,-0.7684502041105804]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[0.0802199353152091,-1.1357635160103043,0.71338606911949],"aabb_xy":[[0.03504861746704014,-1.199763513154843],[0.1253912531633781,-1.0717635188657662]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.5895143040467575,0.7338871582437658,0.71338606911949],"aabb_xy":[[-0.6307631150766723,0.6788871587315483],[-0.5482654930168428,0.7888871577559832]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.14952326701410334,-1.4592387996857799,0.71338606911949],"aabb_xy":[[0.13607674038006,-1.4727086513388712],[0.16296979364814668,-1.4457689480326885]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[0.15048640556693027,-1.7695022363499042,0.71338606911949],"aabb_xy":[[0.1450284599299102,-1.849502239657563],[0.15594435120395034,-1.689502233042245]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[-0.38401599555946964,1.759892258406555,0.71338606911949],"aabb_xy":[[-0.4340159949996652,1.7099243339222385],[-0.33401599611927396,1.8098601828908711]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[0.2550437339371341,1.72789678055871,0.71338606911949],"aabb_xy":[[0.24040032838310105,1.7132380609019255],[0.269687139491167,1.742555500215494]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[-0.04832284481078197,-2.1949358090073523,0.71338606911949],"aabb_xy":[[-0.0576698523930772,-2.2092394312249963],[-0.03897583722848674,-2.1806321867897083]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_24","position":[0.3422068881217746,1.6650468700508454,0.71338606911949],"aabb_xy":[[0.31591806380133386,1.6387754363961937],[0.3684957124422152,1.6913183037054962]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[-0.27790976709451676,-0.08204640248231998,0.71338606911949],"aabb_xy":[[-0.3004089028207437,-0.10454640326058295],[-0.25541063136828973,-0.059546401704057006]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_26","position":[0.24775186333418076,-0.8015275112297009,0.71338606911949],"aabb_xy":[[0.227467560610782,-0.8218101363724096],[0.2680361660575795,-0.7812448860869919]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[0.3113542087092587,-1.5996706002020356,0.71338606911949],"aabb_xy":[[0.23135420545141572,-1.6796671079940195],[0.39135421196710163,-1.5196740924100516]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6849232617472854,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1350.png","name":"1350"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1350.png","name":"1350"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4214.png","name":"4214"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3342.png","name":"3342"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8877.png","name":"8877"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6892.png","name":"6892"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":814.8229466295406,"rotation_z_degrees":146.33528838616323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012247806483547428,-0.0064526561782635074,-0.00813581162674176]},{"name":"camera_2","offset_m":[0.018788463081768198,0.017052709817977487,0.011041559808591988]},{"name":"camera_3","offset_m":[-0.003968942247206529,0.0030946636731375952,0.013079303232903478]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.157420549428259e-05,-5.017843510370882e-06,-0.0016179531630295782],"end_effector_yaw_offset_degrees":-0.10162087273035714},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005919651418146365,0.0017137729829933197,-0.0014267553953517015],"end_effector_yaw_offset_degrees":-0.8971771268791002},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013656530987156894,-0.0012658706996727439,-0.0015918783940000565],"end_effector_yaw_offset_degrees":0.991046271782231},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010730690231387252,-0.0018587117299255968,0.0005586719842666228],"end_effector_yaw_offset_degrees":-0.9440974896596115}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002571579453363089,0.0006305009905917961],"position_m":[0.3515284205466369,-0.08336949900940821,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022905183240582126,-0.00010691574695154051],"position_m":[0.2768905183240582,-0.3304069157469515,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00069803030964512,-0.0036197114168795832],"position_m":[0.16139803030964514,0.21058028858312042,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003724810270950553,-0.004324986402077913],"position_m":[0.3478248102709506,0.11087501359792208,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b42bc9715d176030636a3e80ffa5720af38decfdfc3c971899e124ddbc6be177","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0102.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1350/tex_ceiling_textures_6892/tex_floor_textures_8877/tex_table_textures_4214/tex_wall_textures_3342","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1111917491720591284,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1111917491720591284,"visual_seed":1111917491720591284,"scene_id":"lab_003","finished_at":"2026-09-05T06:17:28"}
+{"episode_id":"ep_000078","started_at":"2026-09-05T06:17:32","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.4507475340485636,0.18983659381364282,0.71338606911949],"aabb_xy":[[-0.4696319178170738,0.17095066903329004],[-0.4318631502800534,0.2087225185939956]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[-0.6467143831440272,-0.7274091521804811,0.71338606911949],"aabb_xy":[[-0.668886910120678,-0.7495848193366044],[-0.6245418561673763,-0.705233485024358]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[0.4415376729808378,-1.3481508931863944,0.71338606911949],"aabb_xy":[[0.435571134040102,-1.354112037845758],[0.4475042119215736,-1.3421897485270302]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[0.5531257220246271,0.6397841981221517,0.71338606911949],"aabb_xy":[[0.5279048851647872,0.6145604472692648],[0.5783465588844665,0.6650079489750383]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.23558417437370538,-1.9478100202871413,0.71338606911949],"aabb_xy":[[-0.2532170099672329,-1.9654329663027639],[-0.21795133878017778,-1.930187074271518]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.6464587449300626,-0.14692887254570097,0.71338606911949],"aabb_xy":[[-0.653741061306726,-0.23692887615520988],[-0.6391764285533987,-0.056928868936191916]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.157782501148083,-0.3776285873680627,0.71338606911949],"aabb_xy":[[-0.20776673685626024,-0.4276285861815583],[-0.10779826543990578,-0.3276285885545671]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.27711161720231264,-0.2670452634459406,0.71338606911949],"aabb_xy":[[-0.28435538324855797,-0.34704526164954297],[-0.2698678511560673,-0.18704526524233822]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_8","position":[0.5976857149466115,0.10991202669770539,0.71338606911949],"aabb_xy":[[0.5798166071921559,0.09607911872049445],[0.6155548227010669,0.1237449346749163]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.08664733260866009,1.4117582124268928,0.71338606911949],"aabb_xy":[[0.08180373784743011,1.406906559947909],[0.09149092736989006,1.4166098649058771]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[-0.2590962424153203,-0.08143223131320454,0.71338606911949],"aabb_xy":[[-0.2632121925273929,-0.08554778634605001],[-0.2549802923032476,-0.07731667628035901]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[0.1856453287335228,0.9018578510577884,0.71338606911949],"aabb_xy":[[0.15567777182369713,0.8718578507599026],[0.21561288564334846,0.9318578513556741]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[0.648063371502346,-1.8944238356658163,0.71338606911949],"aabb_xy":[[0.6028920536541772,-1.958423832810355],[0.6932346893505151,-1.830423838521278]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[-0.22218241030344804,-1.6486938004246858,0.71338606911949],"aabb_xy":[[-0.31218240889791804,-1.6649443867381069],[-0.13218241170897813,-1.6324432141112648]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.05724200466979745,0.35118802805543714,0.71338606911949],"aabb_xy":[[-0.06545654978548142,0.3425114377577958],[-0.049027459554113466,0.35986461835307837]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.30293055396515367,-0.9539562471727794,0.71338606911949],"aabb_xy":[[0.26730139806519393,-0.9895889139296322],[0.3385597098651134,-0.9183235804159263]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[-0.23210678827556996,-2.4979495725068195,0.71338606911949],"aabb_xy":[[-0.3121067868628894,-2.57726517444498],[-0.15210678968825053,-2.418633970568658]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.31002257759626134,0.4017688849091776,0.71338606911949],"aabb_xy":[[-0.351271388626176,0.34676888539696005],[-0.26877376656634655,0.45676888442139496]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[0.6401782082516028,-2.142647219866201,0.71338606911949],"aabb_xy":[[0.6320645535782256,-2.1507530363202303],[0.6482918629249798,-2.1345414034121717]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[-0.44004663402017485,0.35625660084598465,0.71338606911949],"aabb_xy":[[-0.4775466352049676,0.351838378149924],[-0.402546632835382,0.36067482354204505]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_20","position":[-0.17297804966493624,-1.3671767834981559,0.71338606911949],"aabb_xy":[[-0.18260968588536583,-1.3768140962778646],[-0.1633464134445066,-1.3575394707184467]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.4083783274734838,-1.6276603362061803,0.71338606911949],"aabb_xy":[[0.34437833036137805,-1.6766927060005907],[0.4723783245855894,-1.5786279664117695]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[-0.35066031285867566,-0.09610202226548026,0.71338606911949],"aabb_xy":[[-0.3681603119930427,-0.10598164930306807],[-0.3331603137243084,-0.08622239522789242]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[0.3041129361421946,0.5491063495625257,0.71338606911949],"aabb_xy":[[0.23411293275063258,0.5137905758590948],[0.3741129395337565,0.5844221232659566]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[-0.6763890710746512,0.5205924859015689,0.71338606911949],"aabb_xy":[[-0.6868006297551349,0.5152467525656704],[-0.6659775123941675,0.5259382192374674]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[0.333864078933245,-2.1787464224217947,0.71338606911949],"aabb_xy":[[0.2968299695051853,-2.213123629755504],[0.3708981883613048,-2.1443692150880853]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[-0.366230008402747,0.054867541992039026,0.71338606911949],"aabb_xy":[[-0.4162300093532798,0.023318394988517614],[-0.3162300074522142,0.08641668899556043]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_27","position":[-0.2539883702658589,-2.260909669132578,0.71338606911949],"aabb_xy":[[-0.2648399765147345,-2.2717689598602293],[-0.2431367640169833,-2.250050378404927]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6832004446577361,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9982.png","name":"9982"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9982.png","name":"9982"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7081.png","name":"7081"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6533.png","name":"6533"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1798.png","name":"1798"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7736.png","name":"7736"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":524.121112431546,"rotation_z_degrees":100.5968759411837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0017691833003538847,0.016479107476467,-0.0008275891360155843]},{"name":"camera_2","offset_m":[0.0107010550064284,0.006528787590518524,0.01713847971709721]},{"name":"camera_3","offset_m":[-0.008416216568874476,-0.012794376211524999,-0.0014050573799963932]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015707452598209392,-0.001358455671424609,-0.0018347412747657824],"end_effector_yaw_offset_degrees":0.38246247028405067},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003526301701254294,0.0015176197760157794,0.00040674562618239285],"end_effector_yaw_offset_degrees":-0.30002037863763875},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001012411394000949,-0.0003461223496096725,-0.0018000067407706166],"end_effector_yaw_offset_degrees":-0.07250321721858599},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001390343134953091,-0.0012149924451091924,0.0008062231741356204],"end_effector_yaw_offset_degrees":-0.562920221192232}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004443413929309972,-0.0016894050246099635],"position_m":[0.34965658607069006,-0.08568940502460996,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008543817224358962,0.0008566964385747552],"position_m":[0.2754543817224359,-0.3294433035614252,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004188603568053343,0.0008769512201776174],"position_m":[0.15651139643194667,0.21507695122017761,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004807838676396097,0.002425709898173931],"position_m":[0.3392921613236039,0.11762570989817393,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"33c53bdb41068d981c376fe3a5d238728f305e57141dd6d48f558d7275d73423","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0103.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9982/tex_ceiling_textures_7736/tex_floor_textures_1798/tex_table_textures_7081/tex_wall_textures_6533","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2049740716163777860,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2049740716163777860,"visual_seed":2049740716163777860,"scene_id":"lab_003","finished_at":"2026-09-05T06:21:20"}
+{"episode_id":"ep_000079","started_at":"2026-09-05T06:21:25","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[0.06435455159490389,-0.8139348737368548,0.71338606911949],"aabb_xy":[[0.014355276426467736,-0.8639348750128021],[0.11435382676334006,-0.7639348724609077]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.1736870825987218,0.9875653186091711,0.71338606911949],"aabb_xy":[[0.14254016375513864,0.9175653199223638],[0.20483400144230487,1.0575653172959782]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[0.0905856493922711,0.6986540721246977,0.71338606911949],"aabb_xy":[[0.04070295251457489,0.648654072878423],[0.1404683462699673,0.7486540713709725]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.2533695976302438,-1.7584067826299328,0.71338606911949],"aabb_xy":[[-0.26140593233152865,-1.7664449019343493],[-0.24533326292895896,-1.7503686633255158]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[-0.11497390304126986,-1.5625631819156192,0.71338606911949],"aabb_xy":[[-0.1327674099761863,-1.5803629275114168],[-0.09718039610635343,-1.5447634363198215]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.20579898346843983,-0.617375864098312,0.71338606911949],"aabb_xy":[[-0.2707989861062333,-0.6688554627977591],[-0.14079898083064638,-0.5658962653988652]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[0.06930275024763433,1.3129887627662065,0.71338606911949],"aabb_xy":[[0.034302751117678665,1.3072435416905424],[0.10430274937758999,1.3187339838418706]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[0.6238403178204008,-2.0661666116092023,0.71338606911949],"aabb_xy":[[0.6077783903618832,-2.1511666134217937],[0.6399022452789185,-1.9811666097966103]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.4354060698602755,0.4759020970185577,0.71338606911949],"aabb_xy":[[0.42814482228986817,0.4631150867550482],[0.442667317430683,0.48868910728206716]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[-0.5531112065364476,0.602871855875232,0.71338606911949],"aabb_xy":[[-0.5794000308568882,0.5766004222205806],[-0.5268223822160069,0.6291432895298831]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.3799618469929594,0.7526080979092522,0.71338606911949],"aabb_xy":[[-0.3892554652301099,0.7151080994211183],[-0.37066822875580874,0.7901080963973861]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.20240243203961328,1.5664225616224514,0.71338606911949],"aabb_xy":[[-0.21990243229894993,1.552331019433679],[-0.18490243178027665,1.5805141038112243]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[0.5598918827295443,0.5599813171391834,0.71338606911949],"aabb_xy":[[0.5518983929342623,0.5519831851987079],[0.5678853725248264,0.5679794490796591]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.2497414131692412,-0.40233801305517636,0.71338606911949],"aabb_xy":[[-0.2872414115926415,-0.415502227023007],[-0.21224141474584082,-0.38917379908734573]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[-0.46300151082307994,-2.44361806743378,0.71338606911949],"aabb_xy":[[-0.5129844610105592,-2.4936180670763406],[-0.41301856063560055,-2.3936180677912198]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.46370441670678986,-0.03800277664613416,0.71338606911949],"aabb_xy":[[0.44123964673538474,-0.06050277752499466],[0.486169186678195,-0.01550277576727365]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[-0.632210589716266,0.14565068429652017,0.71338606911949],"aabb_xy":[[-0.6534885978597382,0.08065068197044711],[-0.6109325815727937,0.21065068662259323]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.056387228642325704,0.02796480253581768,0.71338606911949],"aabb_xy":[[-0.07855975561897655,0.0057891353796945015],[-0.03421470166567487,0.050140469691940845]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.13646597543964534,0.4613186703525991,0.71338606911949],"aabb_xy":[[-0.1603021930802504,0.3713186695441127],[-0.11262975779904028,0.5513186711610857]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[0.034459245043112374,1.5335990329547387,0.71338606911949],"aabb_xy":[[0.004491688133286702,1.503599032656853],[0.06442680195293804,1.5635990332526244]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[0.6883413331444481,-0.8272128957212497,0.71338606911949],"aabb_xy":[[0.6707630309555014,-0.8447873852953546],[0.7059196353333951,-0.8096384061471448]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_21","position":[0.1469957104732671,-1.768016013501441,0.71338606911949],"aabb_xy":[[0.13622273655189931,-1.80301601172048],[0.15776868439463487,-1.7330160152824021]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[0.25365558112493136,0.7886511979057302,0.71338606911949],"aabb_xy":[[0.23849270814799434,0.7734857406106116],[0.2688184541018685,0.8038166552008491]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.5205791260811605,-1.6175339220750267,0.71338606911949],"aabb_xy":[[0.5125528554505345,-1.6262854170523793],[0.5286053967117865,-1.608782427097674]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[0.4295315690871029,-0.187126986229746,0.71338606911949],"aabb_xy":[[0.4139757996768377,-0.2026774194741532],[0.4450873384973682,-0.17157655298533878]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[-0.5624078589631886,-0.5091018681284569,0.71338606911949],"aabb_xy":[[-0.6424078622272016,-0.5226619004373703],[-0.4824078556991753,-0.4955418358195436]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.19040833364062093,0.26762235968756354,0.71338606911949],"aabb_xy":[[-0.2238485088366405,0.23417873385663343],[-0.1569681584446013,0.30106598551849356]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[0.053810526323053165,1.695605000909587,0.71338606911949],"aabb_xy":[[-0.0011894732986926781,1.6406213081221144],[0.10881052594479901,1.7505886936970598]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_28","position":[0.05916084745514183,-2.066990304373742,0.71338606911949],"aabb_xy":[[0.0487492887746581,-2.07233603770964],[0.06957240613562553,-2.061644571037843]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_29","position":[0.45752566744967393,-2.489018769769768,0.71338606911949],"aabb_xy":[[0.4025519454133411,-2.5440187693340013],[0.5124993894860068,-2.434018770205535]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_30","position":[-0.624983446428833,1.5197216569676288,0.71338606911949],"aabb_xy":[[-0.6624834470934117,1.5040345989674064],[-0.5874834457642543,1.5354087149678508]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_31","position":[0.6283319619091134,1.73977890825882,0.71338606911949],"aabb_xy":[[0.6094475781406034,1.7208929834784672],[0.6472163456776238,1.7586648330391728]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_32","position":[0.34701575897331693,-1.6138379786264783,0.71338606911949],"aabb_xy":[[0.28701575872191576,-1.668119303662943],[0.4070157592247181,-1.5595566535900136]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_33","position":[-0.3692444316816172,-1.2725759859768153,0.71338606911949],"aabb_xy":[[-0.38913547156195755,-1.2852317972615124],[-0.349353391801277,-1.2599201746921187]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6800288101504892,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2705.png","name":"2705"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2705.png","name":"2705"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/473.png","name":"473"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6308.png","name":"6308"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2726.png","name":"2726"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5341.png","name":"5341"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":549.8747456654306,"rotation_z_degrees":354.56154684587386,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013443952352122533,-0.0076185994887164425,-0.01883783170281634]},{"name":"camera_2","offset_m":[0.016229634032431477,-0.005612738617148835,-0.012873269164723339]},{"name":"camera_3","offset_m":[0.01002272190250943,-0.019738761003812222,0.009069374664393486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012397765302929404,0.0016670247893292118,0.0014228781004460844],"end_effector_yaw_offset_degrees":0.6755079646191207},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001603760971511188,0.0016506818470064751,-0.0007911891958422435],"end_effector_yaw_offset_degrees":-0.9372503851802891},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014520990510658565,0.0010076836954545972,0.000385476873120732],"end_effector_yaw_offset_degrees":-0.7497166944882223},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010097232803007472,-0.0015446412689514185,0.000315371922269101],"end_effector_yaw_offset_degrees":0.6458439809259866}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001105389071953641,-0.0043462201251996966],"position_m":[0.35520538907195365,-0.0883462201251997,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031944750308206195,8.877333931541637e-05],"position_m":[0.2714055249691794,-0.3302112266606846,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0043972931127848345,-0.004748166564496979],"position_m":[0.15630270688721518,0.20945183343550303,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027616521305317146,-0.004710283570555464],"position_m":[0.3468616521305317,0.11048971642944454,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5f05c3ad806c6a7e70201fd3aee0d168fc3edd35a45b989423147d3af94e3a66","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0104.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2705/tex_ceiling_textures_5341/tex_floor_textures_2726/tex_table_textures_473/tex_wall_textures_6308","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":1548025860253735450,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":1548025860253735450,"visual_seed":1548025860253735450,"scene_id":"lab_003","finished_at":"2026-09-05T06:25:04"}
+{"episode_id":"ep_000080","started_at":"2026-09-05T06:27:39","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[0.5197013970817506,0.11462128208948608,0.71338606911949],"aabb_xy":[[0.5137348581410148,0.10866013743012204],[0.5256679360224863,0.12058242674885011]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[0.5667644185733669,1.6572206636879785,0.71338606911949],"aabb_xy":[[0.506764416930445,1.605220514396034],[0.6267644202162888,1.7092208129799225]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[0.16608175042519102,1.3205222540622152,0.71338606911949],"aabb_xy":[[0.13609008769132067,1.2905222547254145],[0.19607341315906132,1.3505222533990155]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.24221390880803317,-1.3875053841031886,0.71338606911949],"aabb_xy":[[-0.27269815893506333,-1.4375053838846843],[-0.211729658681003,-1.3375053843216924]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[-0.40742028250150286,-2.144608788982368,0.71338606911949],"aabb_xy":[[-0.43781839360064645,-2.1750156909840372],[-0.3770221714023593,-2.114201886980698]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[-0.39993295384162575,1.1244155464301926,0.71338606911949],"aabb_xy":[[-0.45003041782269937,1.060415545920381],[-0.34983548986055213,1.1884155469400046]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.33160849438420076,0.4500388031611866,0.71338606911949],"aabb_xy":[[-0.3691084947324285,0.43824740758010294],[-0.294108494035973,0.46183019874227005]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[0.30435129994032495,-1.5737823650572202,0.71338606911949],"aabb_xy":[[0.2818865299689198,-1.5962823659360805],[0.32681606991173,-1.5512823641783595]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[-0.3361792040089984,-0.7978716514715778,0.71338606911949],"aabb_xy":[[-0.3449812593179711,-0.8056829776265069],[-0.32737714870002566,-0.7900603253166487]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.6344212622981524,0.13663031503276146,0.71338606911949],"aabb_xy":[[0.6303053121860797,0.13251475999991594],[0.638537212410225,0.14074587006560693]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[0.012361354481285503,-2.2716020004687714,0.71338606911949],"aabb_xy":[[-0.022638646870196226,-2.291961736425592],[0.04736135583276723,-2.2512422645119505]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[-0.5090060096513885,-1.7842508582364416,0.71338606911949],"aabb_xy":[[-0.5590060082973097,-1.834170401895904],[-0.45900601100546734,-1.7343313145769792]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.2891447770834813,-0.9168059009506702,0.71338606911949],"aabb_xy":[[-0.30347920220964475,-0.928866116505209],[-0.27481035195731784,-0.9047456853961313]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[0.5466343569395755,-0.5252790434841956,0.71338606911949],"aabb_xy":[[0.4966393459801235,-0.5752790425197875],[0.5966293678990275,-0.475279044448604]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.5564517052942521,-0.7079271899995185,0.71338606911949],"aabb_xy":[[0.46645170587588114,-0.7413026868437081],[0.6464517047126229,-0.6745516931553287]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.4458758844940611,-0.337964860228519,0.71338606911949],"aabb_xy":[[-0.45678166058162384,-0.41796485662734817],[-0.4349701084064984,-0.25796486382968986]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.21916214665680483,1.3560658166598332,0.71338606911949],"aabb_xy":[[-0.22644446303346846,1.2660658130503237],[-0.21187983028014115,1.4460658202693417]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.24946049502361256,-2.4792367353512326,0.71338606911949],"aabb_xy":[[0.18546049474963433,-2.529302835548521],[0.3134604952975908,-2.429170635153945]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[0.44520947138413813,0.3723447530707449,0.71338606911949],"aabb_xy":[[0.40302505722330745,0.30834475279353374],[0.48739388554496893,0.43634475334795614]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.6425170220794523,-2.1554830259199864,0.71338606911949],"aabb_xy":[[0.5625170251164131,-2.2325586675637594],[0.7225170190424914,-2.0784073842762125]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.5812285931982886,-0.8048978674759992,0.71338606911949],"aabb_xy":[[-0.606228592750027,-0.815040351341134],[-0.5562285936465501,-0.7947553836108645]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[-0.6682473628537926,-0.975599642773542,0.71338606911949],"aabb_xy":[[-0.6780033523629664,-0.9853621768327765],[-0.6584913733446186,-0.9658371087143076]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[0.6642376309039841,1.0019046488070265,0.71338606911949],"aabb_xy":[[0.658779685266964,0.9219046454993673],[0.6696955765410041,1.0819046521146856]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6831346279832332,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3437.png","name":"3437"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3437.png","name":"3437"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2905.png","name":"2905"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4695.png","name":"4695"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4199.png","name":"4199"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8834.png","name":"8834"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":682.8832990975034,"rotation_z_degrees":287.7314192085206,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0031432770472846587,-0.003985163164044493,-0.01603628884823663]},{"name":"camera_2","offset_m":[-0.0005823970297309349,0.006199572740484993,-0.0008019800055432576]},{"name":"camera_3","offset_m":[0.018627764031749972,-0.01620145237843863,0.01002026829838562]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003409560217538486,0.0017843651722558654,0.0004334451355151544],"end_effector_yaw_offset_degrees":-0.5231765113779325},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[5.565842208253048e-05,-0.0008352231421620857,-0.0011295749083781496],"end_effector_yaw_offset_degrees":-0.6220048898336927},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006364153305122803,0.001750984811087057,0.001856418741875946],"end_effector_yaw_offset_degrees":0.3274971009872818},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00187772983319787,0.0003648169323562291,0.0014604419676427427],"end_effector_yaw_offset_degrees":0.3567234881115844}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021827528591451275,0.002789917770142758],"position_m":[0.35191724714085487,-0.08121008222985725,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014855867456854063,0.002143013009563912],"position_m":[0.2760855867456854,-0.32815698699043605,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021550517348993084,-0.0017090749533182283],"position_m":[0.1585449482651007,0.21249092504668177,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023763904659528045,0.0027819345146009823],"position_m":[0.34172360953404723,0.11798193451460098,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2c1ae68987cabab3a68659b73d9ad462620d51077cefba9a748f277ab778ecdc","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0106.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3437/tex_ceiling_textures_8834/tex_floor_textures_4199/tex_table_textures_2905/tex_wall_textures_4695","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5989079046700474482,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5989079046700474482,"visual_seed":5989079046700474482,"scene_id":"lab_003","finished_at":"2026-09-05T06:31:28"}
+{"episode_id":"ep_000081","started_at":"2026-09-05T06:31:31","dimensions":{"distractor":{"count":20,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.37603455211605286,-2.232155404301186,0.71338606911949],"aabb_xy":[[0.3385345513240574,-2.238523245259376],[0.4135345529080483,-2.2257875633429958]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[0.6268407633376183,1.529460228057569,0.71338606911949],"aabb_xy":[[0.5768407619767311,1.4794823234821535],[0.6768407646985055,1.5794381326329847]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.5017365697674077,-1.0674155305203745,0.71338606911949],"aabb_xy":[[0.4367365686614644,-1.0923809035885028],[0.5667365708733509,-1.0424501574522462]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.44391131257547706,1.3024744335596994,0.71338606911949],"aabb_xy":[[-0.5239051361540352,1.2224744309668578],[-0.3639174889969189,1.382474436152541]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.6064432710481544,1.4932144354757573,0.71338606911949],"aabb_xy":[[-0.6564425462165906,1.4432144341998103],[-0.5564439958797183,1.5432144367517047]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[-0.5214410162507688,-2.066135418798083,0.71338606911949],"aabb_xy":[[-0.5549201835118097,-2.09961453216919],[-0.48796184898972783,-2.032656305426976]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[0.030175767181434665,1.1053209593141418,0.71338606911949],"aabb_xy":[[0.0018460572328944415,1.1008602171204247],[0.05850547712997489,1.1097817015078588]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.3864925682139264,-2.3670946468276335,0.71338606911949],"aabb_xy":[[0.3064925702331413,-2.374696187789485],[0.4664925661947114,-2.359493105865781]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.5919612457159767,-1.4607914604574574,0.71338606911949],"aabb_xy":[[-0.6419612469998166,-1.5107703148480793],[-0.5419612444321367,-1.4108126060668351]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.00985390285493748,0.9954222940158832,0.71338606911949],"aabb_xy":[[-0.018795429505478745,0.9667767347388073],[0.038503235215353704,1.024067853292959]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[0.094569732766703,0.7626224679231846,0.71338606911949],"aabb_xy":[[0.08728741639003933,0.6726224643136753],[0.10185204914336664,0.8526224715326933]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[-0.05483298779281487,-0.4735813670208273,0.71338606911949],"aabb_xy":[[-0.05853624912195373,-0.47728338532954506],[-0.051129726463675994,-0.46987934871210935]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.5784384651121088,-2.496559248459388,0.71338606911949],"aabb_xy":[[0.5704444765344054,-2.504559328554478],[0.5864324536898122,-2.4885591683642976]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.07101000899854015,-1.5040224487958038,0.71338606911949],"aabb_xy":[[-0.13101000924994133,-1.5583037738322685],[-0.011010008747138963,-1.4497411237593392]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.37419335195295167,0.16220034866915123,0.71338606911949],"aabb_xy":[[-0.4541933552107946,0.08220384087716726],[-0.2941933486951087,0.2421968564611352]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.4371527719530681,0.3184649556083814,0.71338606911949],"aabb_xy":[[0.4277352973832054,0.30904877847066237],[0.4465702465229309,0.3278811327461004]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[0.1652559713143723,-1.3822926807031717,0.71338606911949],"aabb_xy":[[0.11528290578185685,-1.4322926805157046],[0.2152290368468878,-1.3322926808906388]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.6058564604364691,1.1273582976864942,0.71338606911949],"aabb_xy":[[0.6014258310816291,1.1219099259518117],[0.6102870897913094,1.1328066694211767]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.6381026496807455,1.042613087752824,0.71338606911949],"aabb_xy":[[-0.6831026511469743,0.9976132308913435],[-0.5931026482145166,1.0876129446143048]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[0.11778831321850636,-2.181117611201007,0.71338606911949],"aabb_xy":[[0.11074686226775877,-2.1881443629388015],[0.12482976416925397,-2.1740908594632127]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6804042824325847,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1526.png","name":"1526"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1526.png","name":"1526"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9780.png","name":"9780"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9939.png","name":"9939"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7797.png","name":"7797"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4067.png","name":"4067"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":765.6677227136906,"rotation_z_degrees":212.26263697977706,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018714761876446783,0.0065388784053999095,-0.004983011436273327]},{"name":"camera_2","offset_m":[0.002918741226263708,-0.005453323801920847,0.0015594384731598653]},{"name":"camera_3","offset_m":[0.007270297840406958,0.006630795597267002,0.01876358065424844]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007918391895993856,-0.00016829874594477936,-0.0018388502353474184],"end_effector_yaw_offset_degrees":0.6947484140791673},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003608312805931395,0.0012376440332748412,0.0012198163627835349],"end_effector_yaw_offset_degrees":-0.7886209709943337},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018936725139000448,0.0012114811952289336,0.00021860024450703723],"end_effector_yaw_offset_degrees":-0.136716998171595},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014363534229766394,2.9802745601871256e-05,-0.0016595291102908661],"end_effector_yaw_offset_degrees":-0.5133948215133688}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002238435327073598,0.0048810088233042425],"position_m":[0.3563384353270736,-0.07911899117669577,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005030128217020056,0.004197113856925589],"position_m":[0.274096987178298,-0.32610288614307437,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027480353180278196,-0.004496697901513322],"position_m":[0.16344803531802782,0.20970330209848667,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026169818745960293,-0.001687321406717508],"position_m":[0.341483018125404,0.11351267859328248,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"27677219efb03210ef1b98bed1e19b66bbc8c5ed372c40dd0f6bb47c8f415471","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0107.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1526/tex_ceiling_textures_4067/tex_floor_textures_7797/tex_table_textures_9780/tex_wall_textures_9939","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6326156399129951098,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6326156399129951098,"visual_seed":6326156399129951098,"scene_id":"lab_003","finished_at":"2026-09-05T06:35:06"}
+{"episode_id":"ep_000082","started_at":"2026-09-05T06:35:10","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[-0.6782942509755264,1.1871775460580203,0.71338606911949],"aabb_xy":[[-0.6890672248968942,1.1521775478389815],[-0.6675212770541586,1.2221775442770595]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[-0.01091435295208143,1.6928793081779463,0.71338606911949],"aabb_xy":[[-0.06089730313956076,1.6428793085353857],[0.0390685972353979,1.7428793078205065]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.18083055084660726,-2.397398672544913,0.71338606911949],"aabb_xy":[[-0.21583054997656292,-2.403143893620577],[-0.1458305517166516,-2.391653451469249]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[0.5581088196240587,-0.48489011667558435,0.71338606911949],"aabb_xy":[[0.5500825489934327,-0.493641611652937],[0.5661350902546847,-0.4761386216982318]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.19614866043586776,0.7460632716155144,0.71338606911949],"aabb_xy":[[-0.23745320349960375,0.6820632720473973],[-0.15484411737213177,0.8100632711836314]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[0.6797715501018144,-1.415394372806055,0.71338606911949],"aabb_xy":[[0.6638870568364893,-1.429747313104879],[0.6956560433671396,-1.401041432507231]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[0.4225035883462802,1.4273500800795849,0.71338606911949],"aabb_xy":[[0.35250359193631825,1.4069121444279027],[0.49250358475624184,1.4477880157312661]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_7","position":[0.5748654443331263,-2.0128017430048457,0.71338606911949],"aabb_xy":[[0.5326810301722955,-2.076801743282057],[0.617049858493957,-1.9488017427276345]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[-0.40217961432910154,1.6778742976185508,0.71338606911949],"aabb_xy":[[-0.4153308603003909,1.6528742978618645],[-0.3890283683578122,1.7028742973752375]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[0.3382222682477827,-2.3318183496037777,0.71338606911949],"aabb_xy":[[0.3032222683517638,-2.3401925851157177],[0.37322226814380155,-2.3234441140918376]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.35170217843638923,0.13951384261829292,0.71338606911949],"aabb_xy":[[-0.4316960020149475,0.05951384002545135],[-0.27170835485783107,0.21951384521113448]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.48543725598700294,-0.8937656012752082,0.71338606911949],"aabb_xy":[[-0.5006001289639401,-0.9089310585703271],[-0.4702743830100659,-0.8786001439800896]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_12","position":[-0.11964735374539215,-0.6684243166752908,0.71338606911949],"aabb_xy":[[-0.19964735233271153,-0.7477399186134516],[-0.039647355158072696,-0.5891087147371298]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.3217776024033613,0.9939664010039273,0.71338606911949],"aabb_xy":[[-0.32711517806936585,0.9689664000747877],[-0.3164400267373567,1.0189664019330673]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.21672029307252605,1.4167054343182115,0.71338606911949],"aabb_xy":[[-0.2807202944805167,1.3649164827942868],[-0.15272029166453538,1.4684943858421362]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[-0.5943982709743239,-1.3554113281337432,0.71338606911949],"aabb_xy":[[-0.6583982728866663,-1.4113224773917536],[-0.5303982690619816,-1.2995001788757328]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.5074578127913305,1.1391358290662272,0.71338606911949],"aabb_xy":[[0.46995781244310275,1.1273444334851435],[0.5449578131395583,1.1509272246473106]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[-0.03747387563337157,1.5480672870827843,0.71338606911949],"aabb_xy":[[-0.04305554726750033,1.5355672872650088],[-0.03189220399924281,1.5605672869005598]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.5059427749857834,0.565878755605485,0.71338606911949],"aabb_xy":[[0.422220549485701,0.475878752070789],[0.5896650004858659,0.6558787591401809]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[-0.11810238449239041,0.30213067505809876,0.71338606911949],"aabb_xy":[[-0.14850049559153397,0.27172377305642925],[-0.08770427339324681,0.3325375770597683]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[-0.35869360781958887,-1.2622383318256054,0.71338606911949],"aabb_xy":[[-0.41869360807099004,-1.3165196568620696],[-0.2986936075681877,-1.2079570067891403]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[0.5314675834507412,-1.238133014081684,0.71338606911949],"aabb_xy":[[0.515911814040476,-1.2536834473260914],[0.5470233528610066,-1.222582580837277]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[-0.609106836695646,-1.1965450985569541,0.71338606911949],"aabb_xy":[[-0.6691068372916623,-1.2513575711021776],[-0.54910683609963,-1.1417326260117306]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.6256335240098009,-0.615559965297841,0.71338606911949],"aabb_xy":[[-0.6333367146838779,-0.623269335996579],[-0.6179303333357237,-0.607850594599103]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[0.15527852950449983,-0.9524821858493207,0.71338606911949],"aabb_xy":[[0.13236281661944993,-0.9753864829857443],[0.17819424238954973,-0.9295778887128973]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_25","position":[0.12541962380183158,-2.2171718174431523,0.71338606911949],"aabb_xy":[[0.11742563522412816,-2.225171897538242],[0.13341361237953495,-2.2091717373480617]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[-0.3933223569011216,-0.42877104866074056,0.71338606911949],"aabb_xy":[[-0.40210358404835794,-0.4375507959492708],[-0.3845411297538855,-0.4199913013722105]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_27","position":[-0.3979964418745735,-1.5305613187394473,0.71338606911949],"aabb_xy":[[-0.43549644305936624,-1.5349795414355074],[-0.36049644068978065,-1.5261430960433864]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[0.008600026924135196,0.9984468903760222,0.71338606911949],"aabb_xy":[[0.00135626087788987,0.9184468921724198],[0.01584379297038052,1.0784468885796246]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[0.419207876840602,-0.5386849115114889,0.71338606911949],"aabb_xy":[[0.3959260346424706,-0.623684912808717],[0.4424897190387333,-0.4536849102142609]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[-0.5697402594099348,-1.8393763663129317,0.71338606911949],"aabb_xy":[[-0.619740258055856,-1.8892959099723938],[-0.5197402607640136,-1.789456822653469]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_31","position":[-0.6675719574261381,-1.5740405741261099,0.71338606911949],"aabb_xy":[[-0.6751962255163164,-1.581673797662654],[-0.6599476893359599,-1.5664073505895666]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_32","position":[-0.09330447643978546,-0.015344366462656467,0.71338606911949],"aabb_xy":[[-0.14328328495010134,-0.06534436646837527],[-0.04332566792946957,0.034655633543062336]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6826722066382449,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7249.png","name":"7249"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7249.png","name":"7249"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3285.png","name":"3285"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5571.png","name":"5571"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1704.png","name":"1704"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5703.png","name":"5703"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":649.897374879537,"rotation_z_degrees":262.1582756888545,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007063541037494136,-0.008839322552611764,-0.00650544346310117]},{"name":"camera_2","offset_m":[-0.004417801735323348,-0.009930684793323317,0.0030634693539426106]},{"name":"camera_3","offset_m":[-0.018961875640033127,-0.009443121565594077,0.0010533299560803594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001821148543488825,0.0009468103212197819,0.001958621080576009],"end_effector_yaw_offset_degrees":-0.03032997015666483},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009863086612400527,-0.0017946462113109117,-0.0010527279954322766],"end_effector_yaw_offset_degrees":-0.11426218693441004},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011836943016013323,0.00047892803031388204,9.122560985398969e-05],"end_effector_yaw_offset_degrees":-0.9605517999855018},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018308851360965316,0.0005667439607770709,0.0005217086260798668],"end_effector_yaw_offset_degrees":0.40608897752908013}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004851783404879787,0.0039983036918014815],"position_m":[0.34924821659512023,-0.08000169630819852,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006828676596823272,-0.0008331156849878943],"position_m":[0.27391713234031767,-0.3311331156849879,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001042338878830931,-0.002067450304837828],"position_m":[0.15965766112116908,0.21213254969516218,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003816366182418706,-0.0006412694136149312],"position_m":[0.3479163661824187,0.11455873058638506,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cc35110c86d51da3a216db815efb0c672b9c0cb68d481af4fb4823d98711bd88","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0108.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7249/tex_ceiling_textures_5703/tex_floor_textures_1704/tex_table_textures_3285/tex_wall_textures_5571","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7023938734396568813,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7023938734396568813,"visual_seed":7023938734396568813,"scene_id":"lab_003","finished_at":"2026-09-05T06:38:45"}
+{"episode_id":"ep_000083","started_at":"2026-09-05T06:38:49","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_0","position":[0.6962988665775229,-1.869945119765251,0.71338606911949],"aabb_xy":[[0.6727137431136281,-1.9349451220106828],[0.7198839900414178,-1.8049451175198192]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[-0.06720445560623967,-2.040295140251324,0.71338606911949],"aabb_xy":[[-0.07683609182666928,-2.0499324530310328],[-0.05757281938581005,-2.030657827471615]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[-0.10962576225852727,1.660155942589141,0.71338606911949],"aabb_xy":[[-0.16475096788811802,1.6001559411478536],[-0.054500556628936485,1.720155944030428]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.5381955847771742,1.1024604148987853,0.71338606911949],"aabb_xy":[[0.46819558214058776,1.0823555499029198],[0.6081955874137605,1.1225652798946508]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_4","position":[-0.38255791429725644,0.9590099092657858,0.71338606911949],"aabb_xy":[[-0.415998089493276,0.9255662834348557],[-0.3491177391012368,0.9924535350967159]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[0.23295621071059225,1.2575822953040983,0.71338606911949],"aabb_xy":[[0.1729562102027393,1.200735561618177],[0.2929562112184451,1.3144290289900196]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[0.6229023821518449,0.7483487775859174,0.71338606911949],"aabb_xy":[[0.6073466127415799,0.7327983443415103],[0.6384581515621104,0.7638992108303247]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[-0.22895375881659025,-1.762308405700057,0.71338606911949],"aabb_xy":[[-0.2632506698343309,-1.7966052919099984],[-0.1946568477988496,-1.7280115194901158]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[-0.1061292366600739,1.4418380705083638,0.71338606911949],"aabb_xy":[[-0.15612923802096113,1.3918601659329484],[-0.056129235299186696,1.4918159750837796]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[-0.5206675475990186,-0.5082753970261162,0.71338606911949],"aabb_xy":[[-0.6006675480692346,-0.5165861046404646],[-0.44066754712880274,-0.49996468941176786]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[-0.4979178405555248,-0.04449892704817815,0.71338606911949],"aabb_xy":[[-0.5025529557077582,-0.04836626212532679],[-0.49328272540329143,-0.040631591971029495]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[0.16983946129515104,-0.7698534467414242,0.71338606911949],"aabb_xy":[[0.16425778966102228,-0.7823534465591997],[0.1754211329292798,-0.7573534469236487]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[0.39757908218865623,0.5750727917581893,0.71338606911949],"aabb_xy":[[0.38877702687968346,0.5672614656032602],[0.4063811374976289,0.5828841179131183]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[-0.25648306859570313,-0.5960451142495977,0.71338606911949],"aabb_xy":[[-0.3364830665764882,-0.6036466552114497],[-0.1764830706149181,-0.5884435732877458]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.46059465643293906,-0.5591897823857477,0.71338606911949],"aabb_xy":[[0.43675843879233417,-0.6491897831942343],[0.4844308740735443,-0.4691897815772613]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.005001027734870767,-1.3929259514015566,0.71338606911949],"aabb_xy":[[-0.01279247920004567,-1.410725696997354],[0.022794534669787203,-1.3751262058057587]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.23325404516316167,-0.2398872638605356,0.71338606911949],"aabb_xy":[[-0.2582540443287948,-0.24683950956589215],[-0.20825404599752856,-0.232935018155179]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[0.5793009756204566,0.9267760589050464,0.71338606911949],"aabb_xy":[[0.5594099357401164,0.9141202476203498],[0.5991920155007969,0.9394318701897435]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[0.18422451137836304,-1.0690367702787438,0.71338606911949],"aabb_xy":[[0.12022881398326646,-1.1330367685794522],[0.24822020877345963,-1.0050367719780349]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.6231700146709438,-2.1829417192312413,0.71338606911949],"aabb_xy":[[0.6151760260932403,-2.1909417993263314],[0.6311640032486471,-2.1749416391361502]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.28353666952252177,-2.114990093905898,0.71338606911949],"aabb_xy":[[0.2733836539683723,-2.1510596354786373],[0.29368968507667104,-2.0789205523331566]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[-0.29264574849534997,1.4272258288469621,0.71338606911949],"aabb_xy":[[-0.32642130768604294,1.413187333633797],[-0.258870189304657,1.4412643240601268]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[-0.20525999251270782,-1.3271173510340466,0.71338606911949],"aabb_xy":[[-0.26925999278668605,-1.3771834512313343],[-0.1412599922387296,-1.2770512508367584]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.023326457418648805,-1.9488370244233213,0.71338606911949],"aabb_xy":[[-0.038489330395585886,-1.9640024817184403],[-0.008163584441711719,-1.9336715671282028]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[0.3919521233762655,-2.3601471265330347,0.71338606911949],"aabb_xy":[[0.3019521247817956,-2.376397712846456],[0.4819521219707355,-2.3438965402196144]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.14905763668151406,-2.389016546395639,0.71338606911949],"aabb_xy":[[-0.1990576383430088,-2.4390149886513415],[-0.09905763502001928,-2.339018104139936]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.682026119853574,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4906.png","name":"4906"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4906.png","name":"4906"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7443.png","name":"7443"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3910.png","name":"3910"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3869.png","name":"3869"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1884.png","name":"1884"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":835.6947200687043,"rotation_z_degrees":138.74226327493128,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01551325399193825,-0.006680163736641896,6.423300509704119e-05]},{"name":"camera_2","offset_m":[0.01962655966262843,-0.006631379060572713,-0.009601654632537043]},{"name":"camera_3","offset_m":[-0.0012212465251245815,-0.017323920372557162,0.01217620111639946]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014372209937218603,0.0010920108461939279,-0.001360255946857575],"end_effector_yaw_offset_degrees":0.5785510822937827},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008461126448165515,0.0008796592729646254,0.0005476946653040693],"end_effector_yaw_offset_degrees":-0.9515462530333507},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001957161960594839,-0.0017923025961144412,0.0016772543324989819],"end_effector_yaw_offset_degrees":-0.8651780860033291},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004725931459650639,0.001933652668134429,0.000328952529334806],"end_effector_yaw_offset_degrees":0.3299892479281006}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0044068178222348405,-0.004723434959153453],"position_m":[0.35850681782223487,-0.08872343495915345,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009160886517846443,7.90983382069092e-05],"position_m":[0.27368391134821535,-0.3302209016617931,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002313933202034363,0.0033547326450214564],"position_m":[0.16301393320203436,0.21755473264502145,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017770474509726485,0.0011477611378355145],"position_m":[0.3423229525490274,0.11634776113783551,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d866957d8322c5120830fb10f09cdc82ab71fd60b61f626fee9c31cd14efe42","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0109.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4906/tex_ceiling_textures_1884/tex_floor_textures_3869/tex_table_textures_7443/tex_wall_textures_3910","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5516921406947513905,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5516921406947513905,"visual_seed":5516921406947513905,"scene_id":"lab_003","finished_at":"2026-09-05T06:42:32"}
+{"episode_id":"ep_000084","started_at":"2026-09-05T06:42:35","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.28422730346466657,-2.5056671057447866,0.71338606911949],"aabb_xy":[[-0.3017273025990337,-2.515546732782374],[-0.26672730433029934,-2.4957874787071983]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[0.550934530576549,-1.5733554353902621,0.71338606911949],"aabb_xy":[[0.5333016949830213,-1.5909783814058853],[0.5685673661700764,-1.5557324893746394]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[-0.21807459601391455,-0.15203415631838002,0.71338606911949],"aabb_xy":[[-0.23562129093003348,-0.18953415788263125],[-0.2005279010977956,-0.11453415475412873]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_3","position":[-0.5460506996709731,0.6928355780487188,0.71338606911949],"aabb_xy":[[-0.6310506983630477,0.6608497146538399],[-0.46105070097889844,0.7248214414435976]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[-0.13470123060303563,-0.7670312788937772,0.71338606911949],"aabb_xy":[[-0.15716600057444072,-0.7895312797726376],[-0.11223646063163048,-0.7445312780149166]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[0.22527399030698658,-0.547003719558417,0.71338606911949],"aabb_xy":[[0.21764972221680834,-0.5546369430949608],[0.23289825839716483,-0.5393704960218734]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[0.4127240087716977,-0.8537505457535375,0.71338606911949],"aabb_xy":[[0.362746591906444,-0.9037505472427859],[0.46270142563695116,-0.8037505442642888]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_7","position":[0.5249213066243357,-2.0979521406270525,0.71338606911949],"aabb_xy":[[0.5024213063808204,-2.1101567752868244],[0.5474213068678512,-2.0857475059672805]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_8","position":[0.385966241036217,-1.6118696637272767,0.71338606911949],"aabb_xy":[[0.340794923188048,-1.675869660871815],[0.431137558884386,-1.5478696665827383]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[-0.3053397137726782,-0.6050650886555409,0.71338606911949],"aabb_xy":[[-0.34283971443725686,-0.6207521466557628],[-0.26783971310809945,-0.5893780306553185]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[-0.5439944963027811,-0.03630520779952029,0.71338606911949],"aabb_xy":[[-0.6079901936978777,-0.10030520610022897],[-0.4799987989076845,0.027694790501188393]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[0.35228536070796834,1.100727000145303,0.71338606911949],"aabb_xy":[[0.33478542727398497,1.0832270002250683],[0.3697852941419517,1.1182270000655374]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.10389402957479021,-0.27644539468888585,0.71338606911949],"aabb_xy":[[-0.15790962585669022,-0.340445397581143],[-0.0498784332928902,-0.2124453917966287]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[0.3549406592660451,1.298446667641346,0.71338606911949],"aabb_xy":[[0.28994065816010184,1.2734812945732177],[0.4199406603719884,1.3234120407094743]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.17098031810288206,-0.7250111386179412,0.71338606911949],"aabb_xy":[[0.12098031852654736,-0.7749917175700471],[0.2209803176792168,-0.6750305596658353]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.004242763586432607,-2.1095836171258644,0.71338606911949],"aabb_xy":[[-0.08424276684427556,-2.1895801249178484],[0.07575723967141035,-2.0295871093338804]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[0.06333173811946147,-1.5827614235473573,0.71338606911949],"aabb_xy":[[0.05208668254884363,-1.5940032212714526],[0.0745767936900793,-1.571519625823262]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.3241150729425346,-2.2790661796423297,0.71338606911949],"aabb_xy":[[0.2541150703059482,-2.2991710446381948],[0.3941150755791209,-2.2589613146464638]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.49385556318620716,-1.1606060528059408,0.71338606911949],"aabb_xy":[[0.4298555658838607,-1.2049724797737975],[0.5578555604885536,-1.116239625838084]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[-0.5845952292168012,-1.5558004502488734,0.71338606911949],"aabb_xy":[[-0.6742823055249166,-1.6458004505033237],[-0.49490815290868573,-1.4658004499944226]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[0.4714137913931926,-0.2712836677116446,0.71338606911949],"aabb_xy":[[0.466514499086629,-0.29896058701421335],[0.476313083699756,-0.2436067484090758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6819788571968384,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6949.png","name":"6949"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6949.png","name":"6949"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8303.png","name":"8303"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/303.png","name":"303"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3754.png","name":"3754"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1836.png","name":"1836"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":518.4076437466169,"rotation_z_degrees":45.04905455480663,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015485818950737109,0.010789354305157605,0.015879651488171175]},{"name":"camera_2","offset_m":[-0.016916006459285305,0.01202273597215316,-0.003682689691992421]},{"name":"camera_3","offset_m":[0.003095780025849898,-0.007542376591232558,0.005950043754793546]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003976191168512276,-0.001375385458591831,0.0010618410988116715],"end_effector_yaw_offset_degrees":-0.7190512282679806},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017676447065775596,-0.0014873885563494325,-0.0006282630959346589],"end_effector_yaw_offset_degrees":0.6056763635754203},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00024068575793925523,0.0012012910598573588,0.0007428349596842461],"end_effector_yaw_offset_degrees":0.9213870698008546},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00016322829894934278,0.0018004003008858264,0.000721804551437073],"end_effector_yaw_offset_degrees":-0.09076230367495097}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003974336671550783,0.0035565178712621956],"position_m":[0.3580743366715508,-0.08044348212873781,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033419718961684086,-0.004170790705066073],"position_m":[0.2712580281038316,-0.3344707907050661,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001824375303767725,0.0024494596662731783],"position_m":[0.16252437530376773,0.2166494596662732,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00041373400258355817,-0.0037104266776980034],"position_m":[0.3436862659974165,0.111489573322302,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bca0b11c3ec832e523f39aeefc8fa09da18a40bbb5105f0affb5443b924e73d1","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0110.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6949/tex_ceiling_textures_1836/tex_floor_textures_3754/tex_table_textures_8303/tex_wall_textures_303","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2786337509682073709,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2786337509682073709,"visual_seed":2786337509682073709,"scene_id":"lab_003","finished_at":"2026-09-05T06:46:23"}
+{"episode_id":"ep_000085","started_at":"2026-09-05T06:46:27","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.5295588631264592,1.0638029479913595,0.71338606911949],"aabb_xy":[[-0.579039284340418,0.9998029500785077],[-0.4800784419125004,1.1278029459042114]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.34032204651867826,-1.3643105546598246,0.71338606911949],"aabb_xy":[[0.33162408422796297,-1.3764355289672994],[0.34902000880939354,-1.35218558035235]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[-0.5267563186638449,-0.5574868121345808,0.71338606911949],"aabb_xy":[[-0.5917563165454927,-0.6086104758411218],[-0.4617563207821971,-0.5063631484280401]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.1919996685128883,1.3006201071049999,0.71338606911949],"aabb_xy":[[0.16953489854148318,1.2781201062261394],[0.21446443848429342,1.3231201079838604]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[-0.11619384314323966,0.7488183369452437,0.71338606911949],"aabb_xy":[[-0.12250594267957811,0.7430513976920249],[-0.10988174360690124,0.7545852761984625]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[-0.057980878654936174,-1.1665723327643551,0.71338606911949],"aabb_xy":[[-0.06331845432094074,-1.191572333693495],[-0.052643302988931606,-1.1415723318352153]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.633271437400561,-1.9343166982522753,0.71338606911949],"aabb_xy":[[-0.6832645495097529,-1.9843166989264713],[-0.5832783252913691,-1.88431669757808]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[0.11690289811686616,-1.6457570145330012,0.71338606911949],"aabb_xy":[[0.07173158026869719,-1.7097570116775398],[0.16207421596503513,-1.581757017388463]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.16135422698862756,0.843652426590952,0.71338606911949],"aabb_xy":[[0.1384385141035777,0.8207481294545287],[0.18426993987367749,0.8665567237273757]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.42606699914641444,-1.9631996008266221,0.71338606911949],"aabb_xy":[[-0.43332824671682185,-1.9759866110901319],[-0.418805751576007,-1.950412590563113]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.026070897613551414,1.182385134881704,0.71338606911949],"aabb_xy":[[-0.008520185240493803,1.1173851345966728],[0.060661980467596625,1.2473851351667349]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[0.10802891364584799,0.6245014789847061,0.71338606911949],"aabb_xy":[[0.09338550809181499,0.6098427593279218],[0.12267231919988096,0.6391601986414902]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[-0.19503759718375013,-0.4078159114686599,0.71338606911949],"aabb_xy":[[-0.2600375998215436,-0.4592955101681069],[-0.13003759454595668,-0.35633631276921296]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.16958040832517918,-1.0730425851859458,0.71338606911949],"aabb_xy":[[-0.21957968349361537,-1.123042586461893],[-0.11958113315674304,-1.0230425839099986]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[0.628581300784727,0.4078737158342869,0.71338606911949],"aabb_xy":[[0.5385813021902571,0.39162312952086586],[0.718581299379197,0.4241243021477079]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[0.5947775275995246,-0.6879688771571593,0.71338606911949],"aabb_xy":[[0.5697775280477861,-0.6981113610222939],[0.6197775271512631,-0.6778263932920244]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[0.07523886239396937,-1.290117980035783,0.71338606911949],"aabb_xy":[[0.04023886412384946,-1.297192107730771],[0.11023886066408926,-1.2830438523407948]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[0.19840283209615994,1.1424611553579052,0.71338606911949],"aabb_xy":[[0.18762985817479216,1.1074611571388664],[0.20917580601752772,1.1774611535769444]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.5071147708408255,1.7405668131809375,0.71338606911949],"aabb_xy":[[-0.5687055300648184,1.6765668150718909],[-0.44552401161683275,1.8045668112899846]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.05942222452028578,0.892716008531298,0.71338606911949],"aabb_xy":[[0.050708255470351286,0.8702160078721095],[0.06813619357022026,0.915216009190486]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.22775524069777675,1.6014894392117855,0.71338606911949],"aabb_xy":[[-0.27775523934369795,1.551569895552323],[-0.17775524205185556,1.6514089828712477]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6804648428226132,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7733.png","name":"7733"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7733.png","name":"7733"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6957.png","name":"6957"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7311.png","name":"7311"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9813.png","name":"9813"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9936.png","name":"9936"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":512.0907959677841,"rotation_z_degrees":230.58414467684548,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01308105625702706,0.006578890232278055,0.012080827935490947]},{"name":"camera_2","offset_m":[-0.011560947460984603,0.004177429959066843,-0.0038488982011601856]},{"name":"camera_3","offset_m":[-0.01780499753438438,0.0005104054462517042,-0.004710101651173507]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003584164903762241,-0.0008709039445155375,0.0006949774952838199],"end_effector_yaw_offset_degrees":0.2530262721115375},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013691237554972935,0.0006386776472536871,0.001491548351435348],"end_effector_yaw_offset_degrees":0.5952458933460738},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010206927148278156,0.0005184533258403663,-0.0015548425581548594],"end_effector_yaw_offset_degrees":0.7667546046166949},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017381006455008175,-0.0010406808757208847,-0.0009113447414317401],"end_effector_yaw_offset_degrees":0.7682787219958156}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00488738985517606,0.003957638882181375],"position_m":[0.3589873898551761,-0.08004236111781864,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012827226084073376,0.0026475923988679134],"position_m":[0.2733172773915927,-0.32765240760113207,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002174038810740748,-2.9916427482310458e-05],"position_m":[0.15852596118925927,0.21417008357251768,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026182546733287447,0.004679691110971363],"position_m":[0.34148174532667125,0.11987969111097135,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b17d86ded57646194da830f8ea24bbd947ffb53790438aba10856876c4031667","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0111.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7733/tex_ceiling_textures_9936/tex_floor_textures_9813/tex_table_textures_6957/tex_wall_textures_7311","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4418878955700745419,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4418878955700745419,"visual_seed":4418878955700745419,"scene_id":"lab_003","finished_at":"2026-09-05T06:50:24"}
+{"episode_id":"ep_000086","started_at":"2026-09-05T06:50:27","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[-0.5053228415398476,0.411290867070095,0.71338606911949],"aabb_xy":[[-0.5553178524992997,0.3612908680345034],[-0.4553278305803956,0.46129086610568687]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[0.3206423796839588,1.7693468188415458,0.71338606911949],"aabb_xy":[[0.28314237901938,1.7536597608413234],[0.3581423803485374,1.7850338768417677]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.1930243667586493,1.7725507806158078,0.71338606911949],"aabb_xy":[[-0.23052436755064473,1.7661829396576174],[-0.15552436596665384,1.7789186215739978]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[0.2371458541837641,-0.8465618190645867,0.71338606911949],"aabb_xy":[[0.19964585407817115,-0.8533839809175678],[0.27464585428935706,-0.8397396572116056]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[-0.37223623179023957,-1.8980548653176168,0.71338606911949],"aabb_xy":[[-0.4372362299461586,-1.924351109867529],[-0.3072362336343205,-1.8717586207677046]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.5009992480512591,1.4561472537468139,0.71338606911949],"aabb_xy":[[0.4818869406932802,1.437012474869572],[0.5201115554092379,1.475282032624056]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.5708451356580665,0.1728618042151373,0.71338606911949],"aabb_xy":[[-0.5764268072921951,0.1603618043973618],[-0.5652634640239377,0.1853618040329128]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[0.29737918478937786,-1.7489553976418875,0.71338606911949],"aabb_xy":[[0.2073791824553588,-1.826437752227],[0.3873791871233969,-1.6714730430567748]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[0.682954804283598,-2.139225088015566,0.71338606911949],"aabb_xy":[[0.6486578932658573,-2.173521974225507],[0.7172517153013385,-2.1049282018056243]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.1950218382243898,-2.0247230621215673,0.71338606911949],"aabb_xy":[[0.15752183840735626,-2.029361273432709],[0.23252183804142337,-2.0200848508104254]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.10004452491129456,-1.1542739037546546,0.71338606911949],"aabb_xy":[[0.05004452396076174,-1.185823050758176],[0.15004452586182737,-1.1227247567511331]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.5653978576167464,-2.0951615187465746,0.71338606911949],"aabb_xy":[[0.55382887686981,-2.1201615188635063],[0.5769668383636831,-2.070161518629643]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[0.05228201635217866,-1.2939982513197281,0.71338606911949],"aabb_xy":[[-0.02771798080739664,-1.305545852277545],[0.13228201351175395,-1.2824506503619109]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[-0.5071323270063678,-0.8585841116868915,0.71338606911949],"aabb_xy":[[-0.5290220745953085,-0.9485841089761406],[-0.48524257941742693,-0.7685841143976424]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.23702514166625366,1.4435933412672752,0.71338606911949],"aabb_xy":[[-0.27202513993637356,1.4365192135722868],[-0.20202514339613373,1.4506674689622632]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[0.28711322520056126,1.1785440076542884,0.71338606911949],"aabb_xy":[[0.2767016665200775,1.1731982743183897],[0.2975247838810449,1.1838897409901865]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_16","position":[-0.16799669112982007,-1.788823955321272,0.71338606911949],"aabb_xy":[[-0.2158028587435887,-1.8538239580283307],[-0.12019052351605142,-1.7238239526142127]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[-0.3787346963429798,0.9655234138677615,0.71338606911949],"aabb_xy":[[-0.4487346997345418,0.9302076401643307],[-0.3087346929514178,1.0008391875711924]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.6237464512380644,1.6075959974709613,0.71338606911949],"aabb_xy":[[0.6068357188017225,1.5941237918783462],[0.640657183674406,1.6210682030635755]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.14644133872277987,-1.6369229133685999,0.71338606911949],"aabb_xy":[[0.13628832316863046,-1.6729924549413395],[0.15659435427692922,-1.6008533717958588]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[-0.37417277490382095,-0.9317767373945416,0.71338606911949],"aabb_xy":[[-0.43817277631181156,-0.9835656889184664],[-0.3101727734958302,-0.879987785870617]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[-0.029461604823008747,0.728099271293853,0.71338606911949],"aabb_xy":[[-0.09446160270465656,0.6769756075873122],[0.03553839305863905,0.7792229350003941]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[0.6839491683500794,-0.5285454233774476,0.71338606911949],"aabb_xy":[[0.6663708661611324,-0.5461199129515525],[0.7015274705390261,-0.5109709338033427]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_23","position":[-0.13572742279171912,-1.1626631451346048,0.71338606911949],"aabb_xy":[[-0.18570071679497954,-1.212663145689152],[-0.08575412878845864,-1.1126631445800572]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[0.4375441473504049,-0.5627000106115543,0.71338606911949],"aabb_xy":[[0.4002128708251623,-0.5973530654064065],[0.4748754238756475,-0.528046955816702]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[0.4184803725843791,-2.4920817352756663,0.71338606911949],"aabb_xy":[[0.37723156155446436,-2.5470817347878834],[0.4597291836142938,-2.4370817357634484]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_26","position":[-0.20678439428620554,-0.3669494139748557,0.71338606911949],"aabb_xy":[[-0.24178439418222442,-0.37532364948679564],[-0.17178439439018667,-0.35857517846291576]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[-0.006685160667441514,-1.9023518151033696,0.71338606911949],"aabb_xy":[[-0.05668516232893627,-1.952350257359072],[0.04331484099405324,-1.8523533728476667]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_28","position":[-0.5589458474777064,1.295791810570314,0.71338606911949],"aabb_xy":[[-0.6389458496404689,1.21583662694417],[-0.4789458453149439,1.3757469941964573]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_29","position":[0.02710026594737902,0.8923316857915093,0.71338606911949],"aabb_xy":[[0.009600265688042396,0.8782401436027368],[0.044600266206715644,0.9064232279802821]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_30","position":[0.21801685114664604,-1.3854883811592695,0.71338606911949],"aabb_xy":[[0.20866984356435084,-1.3997920033769133],[0.2273638587289413,-1.3711847589416253]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_31","position":[-0.5068839767255193,0.752291037900723,0.71338606911949],"aabb_xy":[[-0.5380308955691024,0.6822910392139159],[-0.4757370578819362,0.8222910365875302]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_32","position":[-0.32528056418537266,-2.011684553806692,0.71338606911949],"aabb_xy":[[-0.36090972008533234,-2.047317220563545],[-0.28965140828541286,-1.976051887049839]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6803183144858221,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6647.png","name":"6647"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6647.png","name":"6647"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/451.png","name":"451"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9945.png","name":"9945"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7902.png","name":"7902"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9438.png","name":"9438"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":560.7149972061549,"rotation_z_degrees":59.34858590687757,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012555399909996146,-0.013911597954491981,-0.0043831304124788365]},{"name":"camera_2","offset_m":[-0.009186375692560388,0.014189456771565832,-0.0016478934539360772]},{"name":"camera_3","offset_m":[-0.015254682182370551,0.018748992278149208,0.012618532946792656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015791594898662976,-0.0012396261679978177,0.0012795802378769787],"end_effector_yaw_offset_degrees":0.40998145149991516},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007516623723044652,0.000999225714524632,-0.001505055477653248],"end_effector_yaw_offset_degrees":0.9861243207300063},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005480526446983102,0.0005322876825206765,-9.46708020994236e-05],"end_effector_yaw_offset_degrees":0.9976019683270352},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019722792472326636,0.0012747536136282767,0.0012372188616791057],"end_effector_yaw_offset_degrees":0.3417032849289716}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004169183742504677,0.004384046992570736],"position_m":[0.34993081625749534,-0.07961595300742927,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035786127783516706,-0.0011963494238447759],"position_m":[0.2710213872216483,-0.33149634942384476,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00032380644302176104,-0.003265688723557585],"position_m":[0.16037619355697824,0.2109343112764424,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004331241207208382,-0.002082592798417925],"position_m":[0.3397687587927916,0.11311740720158207,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8606b2765a4f53969ee785ce337e550a27c5b2bb98c1b29c0645ab2472412d0e","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0112.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6647/tex_ceiling_textures_9438/tex_floor_textures_7902/tex_table_textures_451/tex_wall_textures_9945","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8530981990455354743,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8530981990455354743,"visual_seed":8530981990455354743,"scene_id":"lab_003","finished_at":"2026-09-05T06:54:04"}
+{"episode_id":"ep_000087","started_at":"2026-09-05T06:54:09","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[0.2982586868876649,-1.8918274451222405,0.71338606911949],"aabb_xy":[[0.23425868454486334,-1.936768296366373],[0.36225868923046645,-1.846886593878108]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[-0.35790138362013296,0.20437276103092605,0.71338606911949],"aabb_xy":[[-0.4050307626219686,0.14037275998652407],[-0.31077200461829724,0.268372762075328]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.5919050105166094,1.0126060187464399,0.71338606911949],"aabb_xy":[[-0.6329229539029803,0.9626060181154825],[-0.5508870671302385,1.0626060193773972]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.010498958458079466,1.3872863896541365,0.71338606911949],"aabb_xy":[[0.006068329103239289,1.381838017919454],[0.014929587812919642,1.392734761388819]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[-0.10191157383435134,0.35677915434191876,0.71338606911949],"aabb_xy":[[-0.12437634380575646,0.33427915346305825],[-0.07944680386294622,0.37927915522077926]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[0.5773978830857005,-0.10418518749703409,0.71338606911949],"aabb_xy":[[0.5710857835493621,-0.10995212675025293],[0.5837099826220389,-0.09841824824381526]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[-0.21733035508483395,-1.461798363557839,0.71338606911949],"aabb_xy":[[-0.2511059142755269,-1.4758368587710045],[-0.18355479589414098,-1.4477598683446742]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.3166323668795473,-1.5489433836812345,0.71338606911949],"aabb_xy":[[-0.3271998465376463,-1.559488413794243],[-0.30606488722144826,-1.538398353568226]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[-0.2938184506732456,-1.6178245720038373,0.71338606911949],"aabb_xy":[[-0.31881844983887864,-1.624776817709194],[-0.2688184515076124,-1.6108723262984808]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.11446757210693392,-1.3245325032948951,0.71338606911949],"aabb_xy":[[-0.1784632695020305,-1.3885325015956036],[-0.050471874711837325,-1.2605325049941862]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[0.515321804989135,0.33873543586289534,0.71338606911949],"aabb_xy":[[0.5076975368989568,0.3311022123263516],[0.5229460730793133,0.34636865939943906]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[0.24654000296473855,-0.8535978455907705,0.71338606911949],"aabb_xy":[[0.20377329608531836,-0.9175978490125729],[0.28930670984415874,-0.789597842168968]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[0.526234338886364,-0.3733888976047317,0.71338606911949],"aabb_xy":[[0.4979046289378237,-0.3778496397984488],[0.5545640488349042,-0.3689281554110147]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[-0.29112969733994054,0.9115790298723732,0.71338606911949],"aabb_xy":[[-0.3043606428746217,0.8983516108503736],[-0.27789875180525914,0.9248064488943725]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[0.11341372179318698,-2.492563021054194,0.71338606911949],"aabb_xy":[[0.0952078981319393,-2.503588421636186],[0.13161954545443466,-2.481537620472203]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[-0.18277046139694975,-2.0016624405099863,0.71338606911949],"aabb_xy":[[-0.19005277777361335,-2.0916624441194944],[-0.17548814502028603,-1.9116624369004767]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[0.5572234820111672,1.7467208870343796,0.71338606911949],"aabb_xy":[[0.47722348058104,1.6672037320217703],[0.6372234834412944,1.8262380420469893]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[0.08730343843085908,-1.8716554008051438,0.71338606911949],"aabb_xy":[[0.022303440274940023,-1.897951645355056],[0.15230343658677814,-1.8453591562552316]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[-0.2740871199517213,-2.4804694439496306,0.71338606911949],"aabb_xy":[[-0.27966879158585,-2.492969443767406],[-0.2685054483175925,-2.4679694441318545]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[0.03755370525469659,-1.546767610111574,0.71338606911949],"aabb_xy":[[-0.017446293921892904,-1.6017572848865311],[0.09255370443128608,-1.4917779353366158]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[-0.3582601063330191,-1.0807585104051558,0.71338606911949],"aabb_xy":[[-0.3631593986395825,-1.1084354297077244],[-0.3533608140264555,-1.0530815911025868]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.35179794155609323,0.9535934736661869,0.71338606911949],"aabb_xy":[[0.3218303846462675,0.923593473368301],[0.38176549846591884,0.9835934739640725]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6813148984536466,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3101.png","name":"3101"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3101.png","name":"3101"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7729.png","name":"7729"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7773.png","name":"7773"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8577.png","name":"8577"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6625.png","name":"6625"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":605.5642661325714,"rotation_z_degrees":48.24141085367497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005192305406687879,0.01359903332279595,0.006814645573260312]},{"name":"camera_2","offset_m":[-0.008791671285934636,0.005218917526092076,-0.0066093411066695616]},{"name":"camera_3","offset_m":[-0.00825008293499788,-0.008092505646128614,0.016061102530583734]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018213103784482363,-0.0002602884318114232,-0.001923567282888774],"end_effector_yaw_offset_degrees":-0.6264033718226412},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00026896108597258134,-0.0007966300492527089,-0.0006036598833602245],"end_effector_yaw_offset_degrees":-0.8265559629616972},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012910199391016116,0.0017702846705559589,-0.0012852336456200342],"end_effector_yaw_offset_degrees":0.1228777857612966},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00199240501839078,-1.9644424598882614e-05,0.0011176126180058418],"end_effector_yaw_offset_degrees":-0.7141754274477317}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016523398561609061,0.0026781311714295973],"position_m":[0.35575233985616095,-0.08132186882857041,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004061802485525019,-0.004095940554463761],"position_m":[0.270538197514475,-0.33439594055446376,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004259258660513383,0.001118417172083476],"position_m":[0.15644074133948663,0.21531841717208347,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015047799508415274,0.0023624745190136574],"position_m":[0.34560477995084155,0.11756247451901365,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"01ec6f5f9ab5426c33783542e0364c633db4f9e64c2f784cd87d656f156eb4ad","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0113.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3101/tex_ceiling_textures_6625/tex_floor_textures_8577/tex_table_textures_7729/tex_wall_textures_7773","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6939693921053999354,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6939693921053999354,"visual_seed":6939693921053999354,"scene_id":"lab_003","finished_at":"2026-09-05T06:57:51"}
+{"episode_id":"ep_000088","started_at":"2026-09-05T06:57:54","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_0","position":[-0.10329158455524667,-1.2573014522702721,0.71338606911949],"aabb_xy":[[-0.10736974246229641,-1.2613824325185352],[-0.09921342664819693,-1.2532204720220086]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.47723209919507137,0.784442095249851,0.71338606911949],"aabb_xy":[[0.39723209776494417,0.7049249402372415],[0.5572321006251986,0.8639592502624605]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.06712055765586467,-0.6194357156605843,0.71338606911949],"aabb_xy":[[0.05833933050862844,-0.6282154629491145],[0.07590178480310089,-0.6106559683720542]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.4306805263667606,-1.216555575843023,0.71338606911949],"aabb_xy":[[0.37568052816501574,-1.2570775424694607],[0.4856805245685054,-1.1760336092165855]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[0.3025149078031988,1.0959372564348926,0.71338606911949],"aabb_xy":[[0.21879268230311627,1.0059372529001966],[0.3862371333032812,1.1859372599695885]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.4462094221472106,0.8894999866032229,0.71338606911949],"aabb_xy":[[-0.4662678337604509,0.8694348996940655],[-0.4261510105339703,0.9095650735123806]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.40431860629016286,-1.5601117287447568,0.71338606911949],"aabb_xy":[[-0.4583342025720628,-1.6241117316370137],[-0.3503030100082628,-1.4961117258524994]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[0.4083699897724993,-1.5922049471218593,0.71338606911949],"aabb_xy":[[0.3433699918908515,-1.6433286108284004],[0.4733699876541471,-1.5410812834153187]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.11991974421306029,-2.250814484814852,0.71338606911949],"aabb_xy":[[-0.13509191349469363,-2.2659833417430555],[-0.10474757493142695,-2.2356456278866483]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.14353928703508445,-1.4533457174639404,0.71338606911949],"aabb_xy":[[0.10603928551945274,-1.4645724904800852],[0.18103928855071616,-1.442118944447795]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.06240125772381899,0.9430126416862752,0.71338606911949],"aabb_xy":[[0.052319550645245516,0.8630126437941605],[0.07248296480239247,1.0230126395783898]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[-0.15753183540412585,0.3828926911847961,0.71338606911949],"aabb_xy":[[-0.18618116776454205,0.3542471319077202],[-0.1288825030437096,0.4115382504618718]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.20892505036481646,1.5370998182294842,0.71338606911949],"aabb_xy":[[0.14733429114082366,1.4730998201204375],[0.2705158095888093,1.6010998163385313]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_13","position":[0.33563265209932247,-1.853359242645284,0.71338606911949],"aabb_xy":[[0.265632650497043,-1.866792035846942],[0.40563265370160195,-1.839926449443627]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[-0.33870884111426947,0.15939179561990224,0.71338606911949],"aabb_xy":[[-0.3474228101642039,0.13689179496071396],[-0.3299948720643349,0.1818917962790904]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.4658406410553859,-0.9456061389545711,0.71338606911949],"aabb_xy":[[-0.5298406402251559,-0.9923728260735337],[-0.40184064188561597,-0.8988394518356088]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.43288819809115614,1.249523893114353,0.71338606911949],"aabb_xy":[[-0.4547968802305072,1.2276232262942621],[-0.4109795159518051,1.2714245599344436]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.15372939645065165,-1.5249034806120976,0.71338606911949],"aabb_xy":[[0.12872939717868934,-1.5412488442082597],[0.1787293957226139,-1.508558117015935]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.607648850859753,-1.7595366994596664,0.71338606911949],"aabb_xy":[[-0.631485068500358,-1.8495367002681529],[-0.5838126332191479,-1.66953669865118]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.663963511570332,0.995353201264014,0.71338606911949],"aabb_xy":[[0.6328165927267487,0.9253532025772068],[0.695110430413915,1.0653531999508212]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_20","position":[0.4857018963544393,-2.0809045109827884,0.71338606911949],"aabb_xy":[[0.46827118127543277,-2.098176625646639],[0.5031326114334458,-2.063632396318938]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6810853551454965,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9888.png","name":"9888"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9888.png","name":"9888"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4691.png","name":"4691"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1548.png","name":"1548"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5404.png","name":"5404"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1397.png","name":"1397"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":592.8143992850804,"rotation_z_degrees":170.0143854116533,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007891030621281776,0.01851105865607214,0.004914270436161487]},{"name":"camera_2","offset_m":[-0.006704575747090904,0.0031052788276222723,-0.014189142579447549]},{"name":"camera_3","offset_m":[0.002402900457400277,-0.008234873409422541,-0.0020681716877698486]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012736715525326634,-0.0008948426770731843,0.0008302960372442783],"end_effector_yaw_offset_degrees":-0.02201359017722182},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017739137461050113,0.0009343969721763989,0.0011643008378351533],"end_effector_yaw_offset_degrees":0.9174219714125116},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004881759350510032,0.0015599247423504618,-0.0005024993824521427],"end_effector_yaw_offset_degrees":-0.8522165626867788},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008575175675606607,0.0014576525927473163,0.0004924403397125205],"end_effector_yaw_offset_degrees":0.7373949264066468}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004472570767075434,-0.0047205399285723745],"position_m":[0.35857257076707544,-0.08872053992857237,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00201003550021547,4.570178037076669e-05],"position_m":[0.27258996449978456,-0.3302542982196292,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001820579621601919,0.0035546303060071073],"position_m":[0.15887942037839808,0.2177546303060071,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004888602485116875,0.0028249874749796547],"position_m":[0.34898860248511687,0.11802498747497965,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"831760ab843f2029f6c91486eb95d8602deff17f9f41ff374303d4996620c476","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0114.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9888/tex_ceiling_textures_1397/tex_floor_textures_5404/tex_table_textures_4691/tex_wall_textures_1548","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2493760410918210035,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2493760410918210035,"visual_seed":2493760410918210035,"scene_id":"lab_003","finished_at":"2026-09-05T07:01:32"}
+{"episode_id":"ep_000089","started_at":"2026-09-05T07:01:35","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[-0.3174109617940206,-0.8948139553426817,0.71338606911949],"aabb_xy":[[-0.3399246536174778,-0.9648139559436891],[-0.2948972699705634,-0.8248139547416741]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.22355228384656545,1.5299585971200345,0.71338606911949],"aabb_xy":[[0.19011210865054579,1.4965149712891044],[0.25699245904258494,1.5634022229509645]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.5349724996172573,-2.4240434233275523,0.71338606911949],"aabb_xy":[[0.5279321896837205,-2.5040434227272237],[0.5420128095507944,-2.344043423927881]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[0.5121284100504166,-1.7480681154481013,0.71338606911949],"aabb_xy":[[0.4837987001018764,-1.7525288576418185],[0.5404581199989569,-1.7436073732543844]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.34649306409996855,0.8325941799284866,0.71338606911949],"aabb_xy":[[-0.4104930613856172,0.7910874609756426],[-0.2824930668143199,0.8741008988813306]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[0.04223641060513572,1.750466250394807,0.71338606911949],"aabb_xy":[[-0.007746539582343607,1.7004662507522461],[0.09221936079261506,1.800466250037367]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[0.15959657789087867,-1.6941409191277985,0.71338606911949],"aabb_xy":[[0.10962351235836323,-1.744140918940332],[0.20956964342339418,-1.6441409193152663]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.2609677860440402,-2.1935071124256345,0.71338606911949],"aabb_xy":[[-0.32496778795638254,-2.249418261683645],[-0.19696778413169785,-2.137595963167624]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[-0.12772669684961502,-2.481543514046623,0.71338606911949],"aabb_xy":[[-0.20772669543693442,-2.560859115984783],[-0.04772669826229558,-2.402227912108461]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[0.15178285582210915,-1.4234117023856587,0.71338606911949],"aabb_xy":[[0.09178285557070798,-1.477693027422123],[0.21178285607351033,-1.3691303773491936]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.5682606944463391,-0.6974360944087488,0.71338606911949],"aabb_xy":[[0.560046149330655,-0.7061126847063899],[0.576475239562023,-0.6887595041111072]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.5598272885973947,-1.3105771914338746,0.71338606911949],"aabb_xy":[[-0.5768373858874454,-1.3267116799321486],[-0.5428171913073441,-1.2944427029356007]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.45291483364030916,-1.5735703596428663,0.71338606911949],"aabb_xy":[[-0.5169105310354057,-1.637570357943575],[-0.38891913624521257,-1.5095703613421576]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.2882269248609879,-1.2103108762387815,0.71338606911949],"aabb_xy":[[-0.29193018619012673,-1.2140128945474995],[-0.28452366353184894,-1.2066088579300636]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[-0.14035542750017072,-2.333779234790393,0.71338606911949],"aabb_xy":[[-0.22035543076418385,-2.347339267099306],[-0.060355424236157584,-2.3202192024814794]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[-0.5459949076361715,-2.549356961870798,0.71338606911949],"aabb_xy":[[-0.5634949078812208,-2.5668567497103645],[-0.528494907391122,-2.531857174031231]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[0.6074431015523474,0.6018350014552531,0.71338606911949],"aabb_xy":[[0.6001607851756835,0.5118349978457439],[0.6147254179290108,0.6918350050647619]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_17","position":[-0.2822054187982547,0.4472054380702808,0.71338606911949],"aabb_xy":[[-0.3197054195902502,0.44083759711209064],[-0.24470541800625928,0.45357327902847083]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[-0.10185860878022102,-1.5261405806952317,0.71338606911949],"aabb_xy":[[-0.1668586114180145,-1.5776201793946787],[-0.03685860614242753,-1.4746609819957848]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[0.10320765779968155,0.7006449285404481,0.71338606911949],"aabb_xy":[[0.0855320272110832,0.6829647122610454],[0.12088328838827987,0.7183251448198509]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[0.6272812752066532,0.15934094359180584,0.71338606911949],"aabb_xy":[[0.5801518962048174,0.09534094254740386],[0.6744106542084888,0.22334094463620777]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[-0.6185098953535332,-1.4174397435778152,0.71338606911949],"aabb_xy":[[-0.6328443204796966,-1.4294999591323538],[-0.6041754702273697,-1.4053795280232761]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_22","position":[-0.21447948954516866,0.11912412728201494,0.71338606911949],"aabb_xy":[[-0.26447260165436054,0.06912412660781932],[-0.16448637743597674,0.1691241279562106]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[0.5542707064893893,-0.8651426670138676,0.71338606911949],"aabb_xy":[[0.545572744198674,-0.8772676413213425],[0.5629686687801045,-0.853017692706393]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_24","position":[-0.3648397147172324,-1.6853856197836699,0.71338606911949],"aabb_xy":[[-0.36927034407207265,-1.6908339915183526],[-0.3604090853623923,-1.6799372480489876]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[0.2787348960361189,1.7176288254324708,0.71338606911949],"aabb_xy":[[0.2287348943746241,1.6676303831767676],[0.3287348976976136,1.767627267688173]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[-0.4506270767285275,-0.3509411548754917,0.71338606911949],"aabb_xy":[[-0.5406270761468983,-0.3843166517196814],[-0.3606270773101566,-0.31756565803130193]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_27","position":[0.526676193772007,-0.9469803812699193,0.71338606911949],"aabb_xy":[[0.5134452482373257,-0.9602078002919187],[0.5399071393066883,-0.9337529622479198]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_28","position":[0.4004741931013118,-2.20079617833562,0.71338606911949],"aabb_xy":[[0.36297419299571887,-2.207618340188601],[0.4379741932069048,-2.193974016482639]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_29","position":[-0.3295167028842266,1.4083411106380863,0.71338606911949],"aabb_xy":[[-0.3795167023244222,1.3583731861537698],[-0.27951670344403096,1.4583090351224024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6811775837067862,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1197.png","name":"1197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1197.png","name":"1197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5575.png","name":"5575"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2051.png","name":"2051"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4559.png","name":"4559"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9475.png","name":"9475"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":744.9385630222301,"rotation_z_degrees":178.17816716673866,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0033369143070189518,0.01358553248344484,0.017836990140929657]},{"name":"camera_2","offset_m":[-0.0006047239492768322,0.001799885089648002,-0.013860894668414194]},{"name":"camera_3","offset_m":[-0.005045976932458283,0.0036698129479423927,-0.018835884650908085]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019278799505091225,0.001677299231847559,0.0003591348364235195],"end_effector_yaw_offset_degrees":0.03769141043729851},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016967764679542527,-0.0014877045304117777,-0.0012579232292366281],"end_effector_yaw_offset_degrees":-0.476099790114791},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018834887603333952,0.0015583310060743832,-0.00019760864150916864],"end_effector_yaw_offset_degrees":0.2350430741632792},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005209883630937604,0.0011366204904212965,0.0013084713541640747],"end_effector_yaw_offset_degrees":-0.6147890520293036}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002034718040400463,0.0005101222384354702],"position_m":[0.3520652819595996,-0.08348987776156454,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003920253092257102,-0.00356448572075061],"position_m":[0.27067974690774294,-0.3338644857207506,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004472145989221207,0.0003557515989446704],"position_m":[0.1602527854010779,0.21455575159894466,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003735655216179859,0.0019563902264270964],"position_m":[0.3478356552161799,0.1171563902264271,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2c9d4659c595254800eab70c10ba3d7005c83173ca1be33b45eff5a69f4060d0","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0115.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1197/tex_ceiling_textures_9475/tex_floor_textures_4559/tex_table_textures_5575/tex_wall_textures_2051","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":8926312649901325416,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":8926312649901325416,"visual_seed":8926312649901325416,"scene_id":"lab_003","finished_at":"2026-09-05T07:05:18"}
+{"episode_id":"ep_000090","started_at":"2026-09-05T07:05:22","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.10243553518809378,-0.8240035339841061,0.71338606911949],"aabb_xy":[[0.08575839919499828,-0.8407034579580364],[0.11911267118118929,-0.8073036100101758]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.3254775462122304,1.5628671857063545,0.71338606911949],"aabb_xy":[[-0.38947754648620864,1.5128010855090663],[-0.2614775459382522,1.6129332859036423]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.22139505032780193,-2.0309405534618294,0.71338606911949],"aabb_xy":[[0.16376458144053105,-2.090940552388539],[0.27902551921507274,-1.970940554535118]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.35309502492070555,0.4272435608854619,0.71338606911949],"aabb_xy":[[-0.41809502755849903,0.37576396218601493],[-0.28809502228291206,0.47872315958490885]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.14233434403625678,1.1549576747511394,0.71338606911949],"aabb_xy":[[0.08233434317544396,1.1035312447446528],[0.20233434489706956,1.2063841047576256]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[-0.635458026991748,0.7840722491201899,0.71338606911949],"aabb_xy":[[-0.6529580261261151,0.7741926220826021],[-0.6179580278573807,0.7939518761577777]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[-0.31260021343172906,1.0926762570628568,0.71338606911949],"aabb_xy":[[-0.3166783713387788,1.0885952768145934],[-0.3085220555246793,1.09675723731112]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[0.0013590721264927774,-0.9621383086622488,0.71338606911949],"aabb_xy":[[-0.07864093113752035,-0.9756983409711621],[0.08135907539050591,-0.9485782763533355]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[-0.23380632889932013,-1.131933930244116,0.71338606911949],"aabb_xy":[[-0.2978063311197271,-1.176307014369404],[-0.16980632667891307,-1.0875608461188275]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[-0.5935149003188688,-1.8542059491231693,0.71338606911949],"aabb_xy":[[-0.630309533443775,-1.8911118242197513],[-0.5567202671939625,-1.8173000740265868]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_10","position":[-0.09472165928420084,0.8754921256180483,0.71338606911949],"aabb_xy":[[-0.10275799398548567,0.8674540063136315],[-0.08668532458291599,0.883530244922465]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[0.5228729110495729,-2.174128992850368,0.71338606911949],"aabb_xy":[[0.4628729105417199,-2.2309757265362893],[0.5828729115574257,-2.1172822591644462]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.2455964024115198,0.7683061812872141,0.71338606911949],"aabb_xy":[[-0.30959640408951716,0.7197887898078998],[-0.18159640073352246,0.8168235727665283]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[3.1943051907012965e-05,-1.2387173261982096,0.71338606911949],"aabb_xy":[[-0.059968057544109166,-1.293529798743433],[0.06003194364792319,-1.1839048536529861]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.6652660385440614,0.9225825199670461,0.71338606911949],"aabb_xy":[[0.6191809472893298,0.858582522714491],[0.7113511297987928,0.9865825172196012]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[0.36467805918549323,-1.8594480189337126,0.71338606911949],"aabb_xy":[[0.33119889192445234,-1.89292713230482],[0.39815722644653423,-1.825968905562606]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[0.26032025510460155,-1.568203574800174,0.71338606911949],"aabb_xy":[[0.19632025581043333,-1.6321897151690283],[0.32432025439876977,-1.50421743443132]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[0.32902635583238493,0.9362068312122744,0.71338606911949],"aabb_xy":[[0.3027375315119442,0.9099353975576232],[0.35531518015282554,0.9624782648669257]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.2418517570974988,-0.2961752329123204,0.71338606911949],"aabb_xy":[[-0.3218517557543848,-0.3106800918365832],[-0.16185175844061278,-0.2816703739880576]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.05192531368270947,-2.4067487810618555,0.71338606911949],"aabb_xy":[[-0.00306693695280147,-2.4617487828051683],[0.10691756431822044,-2.3517487793185428]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[0.4382641159622449,1.159855409828551,0.71338606911949],"aabb_xy":[[0.4273583398746822,1.0798554134297218],[0.4491698920498076,1.23985540622738]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[0.5595842421263311,-0.8790088648152206,0.71338606911949],"aabb_xy":[[0.5290999919993009,-0.9290088645967164],[0.5900684922533612,-0.8290088650337245]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.1491043669018982,-0.7975615289438491,0.71338606911949],"aabb_xy":[[-0.1795024780010418,-0.8279684309455185],[-0.11870625580275464,-0.7671546269421795]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[0.33140967917314335,1.1862337819619273,0.71338606911949],"aabb_xy":[[0.3089105434469164,1.1637337811836643],[0.3539088148993703,1.2087337827401903]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.650051789685648,0.5791987457471373,0.71338606911949],"aabb_xy":[[-0.6534924659257052,0.5753373127727728],[-0.6466111134455909,0.5830601787215017]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.28626590105277694,-1.254084463938521,0.71338606911949],"aabb_xy":[[0.26335018816772704,-1.2769887610749444],[0.30918161393782684,-1.2311801668020974]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_26","position":[0.3531640838498724,1.7681977335258936,0.71338606911949],"aabb_xy":[[0.3175349279499127,1.7325650667690407],[0.3887932397498322,1.8038304002827465]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_27","position":[-0.04442967550192023,0.9591843271435296,0.71338606911949],"aabb_xy":[[-0.07942967469473848,0.9482172811458669],[-0.00942967630910195,0.9701513731411922]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_28","position":[0.14540239467484084,-1.5347579197299623,0.71338606911949],"aabb_xy":[[0.14144191090510647,-1.542425784315483],[0.14936287844457521,-1.5270900551444417]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_29","position":[-0.40732983444915416,0.20512987863141507,0.71338606911949],"aabb_xy":[[-0.4136419339854926,0.19936293937819624],[-0.4010177349128157,0.2108968178846339]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_30","position":[-0.5926703625978466,-1.332704179847406,0.71338606911949],"aabb_xy":[[-0.6426545983060238,-1.3827041786609016],[-0.5426861268896693,-1.2827041810339104]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_31","position":[0.05435331706839375,1.2704118306030425,0.71338606911949],"aabb_xy":[[-0.015646679341568052,1.2499738949513604],[0.12435331347835551,1.2908497662547238]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_32","position":[0.5443010460565714,0.4898534653819766,0.71338606911949],"aabb_xy":[[0.4803010457961006,0.44484466602904865],[0.6083010463170422,0.5348622647349046]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6815823610563876,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7312.png","name":"7312"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7312.png","name":"7312"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4678.png","name":"4678"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2908.png","name":"2908"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9095.png","name":"9095"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4830.png","name":"4830"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":652.7209527880918,"rotation_z_degrees":287.4909135574182,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01019120110632766,0.014857434503069786,-0.011576925766887403]},{"name":"camera_2","offset_m":[0.013456414673612433,-0.012630844307561454,-0.014946904008759523]},{"name":"camera_3","offset_m":[0.010842358384301837,0.0020176306863925013,-0.005929951166876437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00028837966715439343,0.0017777963518071601,-0.0006555867025702122],"end_effector_yaw_offset_degrees":-0.5627716164851395},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009107576993497538,-0.0012711561217356073,-0.0013916754427176303],"end_effector_yaw_offset_degrees":-0.31948749276025534},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001209640166713482,0.0002559361131514843,-0.00031261773036225056],"end_effector_yaw_offset_degrees":0.8488542466701086},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001140211915899691,-0.0005505710603968485,0.0009505983731071133],"end_effector_yaw_offset_degrees":0.6581139526094144}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003145339922830244,0.0016498230418911207],"position_m":[0.35724533992283025,-0.08235017695810888,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003230385875286379,-0.0031627868486254307],"position_m":[0.2713696141247136,-0.3334627868486254,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026047937172281373,0.003597233672909755],"position_m":[0.16330479371722814,0.21779723367290976,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001441796892240721,0.00045694895001536714],"position_m":[0.34554179689224074,0.11565694895001537,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5152395e392116ed67e8d6cb1a2d917e2c5314e609ad3a995465aecefa711502","episode_index":116,"episode_name":"episode_0116"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0116.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7312/tex_ceiling_textures_4830/tex_floor_textures_9095/tex_table_textures_4678/tex_wall_textures_2908","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2400389058892594393,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2400389058892594393,"visual_seed":2400389058892594393,"scene_id":"lab_003","finished_at":"2026-09-05T07:08:57"}
+{"episode_id":"ep_000091","started_at":"2026-09-05T07:09:01","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.2638701807202374,-1.049069223250188,0.71338606911949],"aabb_xy":[[-0.26983671966097317,-1.055030367909552],[-0.2579036417795016,-1.0431080785908238]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[-0.15641021106242858,-2.017079508730086,0.71338606911949],"aabb_xy":[[-0.20353959006426425,-2.0810795097744874],[-0.10928083206059291,-1.9530795076856835]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.15620107571655328,1.7372624912072143,0.71338606911949],"aabb_xy":[[0.12835603893594613,1.7064779924689026],[0.18404611249716038,1.768046989945526]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[0.6261660710135943,-2.446993717701757,0.71338606911949],"aabb_xy":[[0.5621660686707926,-2.4919345689458896],[0.6901660733563957,-2.4020528664576246]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[-0.2694745790921976,1.6437799358773462,0.71338606911949],"aabb_xy":[[-0.27410969424443093,1.6399126008001972],[-0.2648394639399641,1.6476472709544947]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[-0.18748331758226,0.2997468792765643,0.71338606911949],"aabb_xy":[[-0.25748332021884635,0.27964201428069874],[-0.11748331494567366,0.31985174427242974]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[0.12683705140007462,-1.9076826814064463,0.71338606911949],"aabb_xy":[[0.10433705158617224,-1.912157297776927],[0.149337051213977,-1.9032080650359655]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[0.04494321651431632,-1.0198374054522472,0.71338606911949],"aabb_xy":[[0.03844158000631171,-1.029605227478557],[0.05144485302232095,-1.0100695834259374]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[-0.43634401444988463,-0.9115809956260437,0.71338606911949],"aabb_xy":[[-0.4416765291044977,-0.9169053238712792],[-0.4310114997952717,-0.9062566673808081]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[-0.07549028734921515,0.5418494641103062,0.71338606911949],"aabb_xy":[[-0.12048287406766556,0.49684946483585746],[-0.030497700630764735,0.586849463384755]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.6320691260630209,-0.7783133559451809,0.71338606911949],"aabb_xy":[[0.5970691260865252,-0.7877779719927975],[0.6670691260395168,-0.7688487398975643]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.6371129628218479,-1.957072591912552,0.71338606911949],"aabb_xy":[[-0.6921129619984373,-2.0120622666875096],[-0.5821129636452583,-1.9020829171375941]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[-0.26221586486952514,-1.4047709065444254,0.71338606911949],"aabb_xy":[[-0.34221586812736804,-1.4847674143364094],[-0.18221586161168213,-1.3247743987524414]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[-0.04465538019966153,-1.4903497298994723,0.71338606911949],"aabb_xy":[[-0.05268165083028754,-1.499101224876825],[-0.03662910956903554,-1.4815982349221197]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.5839200225115975,-1.4052836187690774,0.71338606911949],"aabb_xy":[[-0.6479200227855758,-1.4553497189663653],[-0.5199200222376194,-1.3552175185717894]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[0.20036854318319808,1.216834973424139,0.71338606911949],"aabb_xy":[[0.1387777839592053,1.1528349753150922],[0.2619593024071909,1.280834971533186]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.15686315637160597,-2.211938245441401,0.71338606911949],"aabb_xy":[[0.119363156266013,-2.2187604072943814],[0.1943631564771989,-2.2051160835884196]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[-0.5588755237250315,0.0032965891407816805,0.71338606911949],"aabb_xy":[[-0.6488755223195015,-0.012953997172639342],[-0.46887552513056163,0.019547175454202703]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[-0.403036982405151,1.1311903436636581,0.71338606911949],"aabb_xy":[[-0.4458036892845712,1.0671903402418557],[-0.3602702755257308,1.1951903470854606]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[-0.052078554644691355,-0.7837512044192831,0.71338606911949],"aabb_xy":[[-0.06962524956081029,-0.8212512059835343],[-0.03453185972857242,-0.7462512028550318]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_20","position":[-0.13257582129568468,0.8200538760174361,0.71338606911949],"aabb_xy":[[-0.15007582154073404,0.8025540881778692],[-0.11507582105063528,0.8375536638570029]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[-0.10015887753118002,0.9237167324798929,0.71338606911949],"aabb_xy":[[-0.16415887779165084,0.8787079331269649],[-0.03615887727070922,0.968725531832821]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[0.4252933789649793,-0.4689123930352541,0.71338606911949],"aabb_xy":[[0.4170788338492952,-0.47758898333289534],[0.4335079240806632,-0.4602358027376128]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[0.3180083375846372,1.0894262348947366,0.71338606911949],"aabb_xy":[[0.22800833786146293,1.0663528823595563],[0.4080083373078113,1.112499587429916]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[-0.6079277535365429,1.675067173362868,0.71338606911949],"aabb_xy":[[-0.6679277537879439,1.620785848326403],[-0.5479277532851415,1.7293484983993324]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[0.08420934914422229,-0.8141314195510014,0.71338606911949],"aabb_xy":[[0.07887177347821772,-0.8391314204801412],[0.08954692481022686,-0.7891314186218616]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[-0.45336937368021035,1.4586375943271146,0.71338606911949],"aabb_xy":[[-0.48928287810520005,1.42272408611036],[-0.41745586925522066,1.4945511025438691]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[-0.25199379199989624,1.7914841906943901,0.71338606911949],"aabb_xy":[[-0.28699379189591506,1.7831099551824503],[-0.21699379210387734,1.7998584262063304]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_28","position":[-0.09067401806942588,1.2515705919814217,0.71338606911949],"aabb_xy":[[-0.14067329323786204,1.2015705907054746],[-0.04067474290098971,1.301570593257369]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_29","position":[0.3348456647573912,-0.9743394362700202,0.71338606911949],"aabb_xy":[[0.2973456632417595,-0.9855662092861651],[0.3723456662730229,-0.963112663253875]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_30","position":[0.03197154702693561,-1.543583708692021,0.71338606911949],"aabb_xy":[[0.023273584736220317,-1.5557086829994962],[0.0406695093176509,-1.5314587343845467]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6820096396668462,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9674.png","name":"9674"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9674.png","name":"9674"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3918.png","name":"3918"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9763.png","name":"9763"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2266.png","name":"2266"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4894.png","name":"4894"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":597.847896454819,"rotation_z_degrees":150.8624382771378,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01990089285274738,0.013083212205345304,-0.016110758999918033]},{"name":"camera_2","offset_m":[0.008937889679317058,0.008503984608394698,-0.01789488229852796]},{"name":"camera_3","offset_m":[0.017378131688925182,-0.010923096551847014,-0.01639996644851365]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019850332871667936,-0.0018407866328539746,-0.0009505943739733565],"end_effector_yaw_offset_degrees":-0.6146196014338752},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019370636850751617,0.0001786624634418834,-0.001378773698623016],"end_effector_yaw_offset_degrees":-0.24477583697654315},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014017236267050075,-5.469460040905048e-05,0.0005744472223878053],"end_effector_yaw_offset_degrees":0.3893557539107666},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001940933694319488,-0.0007436799636395147,-0.0005250592458269673],"end_effector_yaw_offset_degrees":0.6504154147826329}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015530971726944861,0.00029946584715135824],"position_m":[0.3556530971726945,-0.08370053415284864,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023339331647389393,-0.0024363934894037977],"position_m":[0.27226606683526106,-0.33273639348940376,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016048455559769413,-0.004395605353126359],"position_m":[0.15909515444402306,0.20980439464687364,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011375016933314061,-0.0019452380630499535],"position_m":[0.34523750169333145,0.11325476193695004,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b09461967b2c2ead5b810602ec1848e348e27f4ab3dd2bd10692b24d92d3f674","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0117.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9674/tex_ceiling_textures_4894/tex_floor_textures_2266/tex_table_textures_3918/tex_wall_textures_9763","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2519522561463674129,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2519522561463674129,"visual_seed":2519522561463674129,"scene_id":"lab_003","finished_at":"2026-09-05T07:12:37"}
+{"episode_id":"ep_000092","started_at":"2026-09-05T07:15:07","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.5257882884312906,0.5824928121218611,0.71338606911949],"aabb_xy":[[-0.5628223978593503,0.5481156047881517],[-0.4887541790032308,0.6168700194555705]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.4594271534113268,1.825065312602622,0.71338606911949],"aabb_xy":[[0.44901559473084296,1.8197195792667233],[0.4698387120918104,1.83041104593852]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.08023516315367274,0.6832577244745415,0.71338606911949],"aabb_xy":[[0.030235162793106684,0.6332777372649385],[0.1302351635142388,0.7332377116841444]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[-0.6357337295941159,-1.4359429786051339,0.71338606911949],"aabb_xy":[[-0.6512894990043813,-1.4514934118495413],[-0.6201779601838507,-1.420392545360727]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[0.6410442038937105,-0.11860412367094142,0.71338606911949],"aabb_xy":[[0.6278929579224212,-0.14360412342762796],[0.6541954498649999,-0.09360412391425488]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[-0.3921226529442461,-1.7376965876806545,0.71338606911949],"aabb_xy":[[-0.4621226555808324,-1.75780145267652],[-0.3221226503076597,-1.717591722684789]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[-0.23468743220092292,-1.0355574033944046,0.71338606911949],"aabb_xy":[[-0.25657717978986366,-1.1255574006836537],[-0.2127976846119821,-0.9455574061051556]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.055559500939480255,1.2665982042716402,0.71338606911949],"aabb_xy":[[-0.07020290649351324,1.2519394846148557],[-0.04091609538544727,1.2812569239284242]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.36548716207282106,-1.2177897050526003,0.71338606911949],"aabb_xy":[[0.3054871622262542,-1.2746083272456388],[0.4254871619193878,-1.1609710828595614]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.4812549676954787,-0.4472409588969404,0.71338606911949],"aabb_xy":[[0.464244870405428,-0.46337544739521425],[0.4982650649855293,-0.4311064703986664]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.2857653939095396,-1.9744607459036794,0.71338606911949],"aabb_xy":[[-0.3082790857329967,-2.044460746504687],[-0.26325170208608234,-1.9044607453026718]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[0.40740224335910646,-1.6031360088192115,0.71338606911949],"aabb_xy":[[0.352402244182517,-1.6581256835941687],[0.46240224253569595,-1.5481463340442534]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[-0.5006025719451502,-1.2773617906134276,0.71338606911949],"aabb_xy":[[-0.5356025710751059,-1.2831070116890915],[-0.46560257281519457,-1.2716165695377633]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.6022271962073196,-2.0922503186786856,0.71338606911949],"aabb_xy":[[0.5819428934839207,-2.112532943821394],[0.6225114989307182,-2.0719676935359765]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.5801815701404237,-1.9958716429227743,0.71338606911949],"aabb_xy":[[-0.6601815671034628,-2.072947284566548],[-0.5001815731773844,-1.918796001279001]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[-0.24175293679843624,-0.6573346951282553,0.71338606911949],"aabb_xy":[[-0.27008264674697646,-0.6617954373219724],[-0.213423226849896,-0.6528739529345383]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[0.027107991621515115,-2.3179865899248835,0.71338606911949],"aabb_xy":[[-0.036892008638955684,-2.362995389277811],[0.09110799188198591,-2.272977790571955]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.31926921749789067,1.6106541758362307,0.71338606911949],"aabb_xy":[[-0.383269214800237,1.566287748868374],[-0.2552692201955442,1.6550206028040875]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.09843801312678369,-1.1065910779765464,0.71338606911949],"aabb_xy":[[-0.10377052778139667,-1.111915406221782],[-0.0931054984721707,-1.101266749731311]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_19","position":[-0.12515801007574,0.979824756729414,0.71338606911949],"aabb_xy":[[-0.13478964629616963,0.9701874439497052],[-0.1155263738553104,0.9894620695091231]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.4744214336083249,-1.4121422442712956,0.71338606911949],"aabb_xy":[[-0.524421432254246,-1.462061787930758],[-0.42442143496240364,-1.3622227006118333]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[0.4552327719546694,0.5299582309372859,0.71338606911949],"aabb_xy":[[0.40523277237833466,0.47997765198518005],[0.5052327715310041,0.579938809889392]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.5079663788695243,-0.09615713411929372,0.71338606911949],"aabb_xy":[[0.4439663802829519,-0.14316409751880244],[0.5719663774560968,-0.04915017071978499]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[0.2850373048380823,0.9820844823269734,0.71338606911949],"aabb_xy":[[0.27346832409114574,0.9570844822100418],[0.2966062855850189,1.0070844824439051]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[-0.3096404597905242,-0.46873606378514365,0.71338606911949],"aabb_xy":[[-0.3546330465089746,-0.5137360630595923],[-0.26464787307207377,-0.4237360645106948]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_25","position":[-0.37772359366101876,-0.3474250286167573,0.71338606911949],"aabb_xy":[[-0.38965632802284683,-0.3598071814246167],[-0.3657908592991907,-0.33504287580889797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6806561772716778,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/915.png","name":"915"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/915.png","name":"915"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5371.png","name":"5371"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6009.png","name":"6009"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4193.png","name":"4193"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5340.png","name":"5340"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":718.8476115510634,"rotation_z_degrees":335.7053593287493,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015954070887156186,-0.0008402838112594561,0.009047750446050207]},{"name":"camera_2","offset_m":[-0.01588808747688476,0.006870329157905936,-0.006642871374397386]},{"name":"camera_3","offset_m":[-0.016394797591749177,0.013841498194640641,0.01987136633382208]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007717980576708223,0.0011117084878451886,-0.0013867827711559872],"end_effector_yaw_offset_degrees":-0.0792729389312441},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003276474088170897,-0.00015229062222997134,-0.00022667597855990712],"end_effector_yaw_offset_degrees":0.529783231663685},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003690359561622932,-0.0007397179910466529,0.00017696886098806687],"end_effector_yaw_offset_degrees":-0.32967273957286314},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011064934332498887,-0.00039777804934164915,-0.00023296672169086053],"end_effector_yaw_offset_degrees":0.06838540444371755}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004416253854504641,0.0008881758381480229],"position_m":[0.3496837461454954,-0.08311182416185198,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002230542415454754,0.0005332293966744985],"position_m":[0.2723694575845453,-0.3297667706033255,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033008356364100924,0.004901852446792101],"position_m":[0.15739916436358992,0.2191018524467921,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002216166918831227,0.0037748640370170476],"position_m":[0.34188383308116876,0.11897486403701704,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"29dd94f5b6f7530b4d5b86eed555adad10316b494887b317823ea5723bbd741c","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0119.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_915/tex_ceiling_textures_5340/tex_floor_textures_4193/tex_table_textures_5371/tex_wall_textures_6009","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":7666933999551845943,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":7666933999551845943,"visual_seed":7666933999551845943,"scene_id":"lab_003","finished_at":"2026-09-05T07:18:28"}
+{"episode_id":"ep_000093","started_at":"2026-09-05T07:22:10","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[-0.11006690412560616,-0.10983531797398882,0.71338606911949],"aabb_xy":[[-0.16004571263592204,-0.15983531797970763],[-0.06008809561529027,-0.05983531796827002]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[0.1594646509158929,-2.015272024916252,0.71338606911949],"aabb_xy":[[0.06946465441502113,-2.06118366733471],[0.24946464741676463,-1.9693603824977937]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.5805121292887394,-1.7592500482689513,0.71338606911949],"aabb_xy":[[-0.6173067624136458,-1.7961559233655335],[-0.5437174961638332,-1.722344173172369]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[0.6571419097206914,1.3804991881204618,0.71338606911949],"aabb_xy":[[0.619641909776925,1.3722060980856252],[0.6946419096644578,1.3887922781552984]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[-0.42269936010207965,1.042405766556885,0.71338606911949],"aabb_xy":[[-0.48669936339178776,0.9990708475529674],[-0.35869935681237153,1.0857406855608025]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[0.24443882398253947,-0.5056816359567904,0.71338606911949],"aabb_xy":[[0.22197405401113432,-0.5281816368356508],[0.2669035939539446,-0.48318163507792977]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[0.023398966551119504,0.9983566326815825,0.71338606911949],"aabb_xy":[[0.0009025451172554044,0.9758566328748349],[0.045895387984983604,1.02085663248833]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.103849895017052,0.37266782703367785,0.71338606911949],"aabb_xy":[[-0.1381661721916699,0.3226678270605002],[-0.06953361784243403,0.4226678270068556]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[-0.3684424269792923,-0.1876618448356746,0.71338606911949],"aabb_xy":[[-0.41372104186044156,-0.2516618441838583],[-0.32316381209814304,-0.12366184548749093]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.5051909672666521,-0.4157304892690483,0.71338606911949],"aabb_xy":[[0.47019096813669636,-0.4214757103447124],[0.5401909663966077,-0.40998526819338416]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.6188752919571616,-1.8337819639095008,0.71338606911949],"aabb_xy":[[0.5845783809394209,-1.8680788501194419],[0.6531722029749021,-1.7994850776995592]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[-0.34472595143810075,-0.47108916471800866,0.71338606911949],"aabb_xy":[[-0.4023564203253715,-0.5310891636447191],[-0.28709548255082984,-0.41108916579129795]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[0.15066423354574376,-1.3562730544756865,0.71338606911949],"aabb_xy":[[0.12611801792299301,-1.3865219510247235],[0.17521044916849446,-1.3260241579266494]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[-0.27885395910706234,0.25463623117947964,0.71338606911949],"aabb_xy":[[-0.33384620974257334,0.19963622943616688],[-0.22386170847155146,0.3096362329227924]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[-0.04954322836034042,1.6697032623198713,0.71338606911949],"aabb_xy":[[-0.07583205268078108,1.6434318286652199],[-0.02325440403989976,1.6959746959745223]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.12156459885086068,-1.7145498190591195,0.71338606911949],"aabb_xy":[[0.10388896826226236,-1.732230035338522],[0.13924022943945902,-1.6968696027797165]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.5037933997778405,-2.4938501119113976,0.71338606911949],"aabb_xy":[[-0.5162607578875762,-2.506315436544721],[-0.4913260416681049,-2.481384787278074]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[-0.4974046279707891,-1.499801381966255,0.71338606911949],"aabb_xy":[[-0.5318669753689307,-1.5342952643640775],[-0.4629422805726472,-1.465307499568432]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.6720050671624609,-0.005263349328129774,0.71338606911949],"aabb_xy":[[-0.6945050676745014,-0.027755207693528128],[-0.6495050666504202,0.01722850903726858]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.3872077784177883,-1.5170602014641335,0.71338606911949],"aabb_xy":[[0.34987650189254577,-1.5517132562589857],[0.42453905494303096,-1.4824071466692812]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[-0.31236541436811044,-1.8177593272431418,0.71338606911949],"aabb_xy":[[-0.3197778699094989,-1.8236105376647698],[-0.30495295882672196,-1.8119081168215139]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.10611894979630998,0.6863171786773647,0.71338606911949],"aabb_xy":[[0.0808981129364703,0.6610934278244778],[0.13133978665614962,0.7115409295302513]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[0.3461837676110997,1.5847662444213815,0.71338606911949],"aabb_xy":[[0.3285509320175721,1.5671432984057585],[0.3638166032046272,1.6023891904370045]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[-0.16690216618545262,0.8804465673724242,0.71338606911949],"aabb_xy":[[-0.1869605777986929,0.8603814804632666],[-0.14684375457221233,0.9005116542815816]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.5653540097637957,-1.0472356424564948,0.71338606911949],"aabb_xy":[[-0.5903540096963136,-1.0541183106774181],[-0.5403540098312778,-1.0403529742355715]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[-0.4024633067690253,1.2293348146200134,0.71338606911949],"aabb_xy":[[-0.42374131491249756,1.16433481229394],[-0.38118529862555306,1.2943348169460862]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[0.49228970148973006,1.4437005520122326,0.71338606911949],"aabb_xy":[[0.4424729220248953,1.3937005535279292],[0.5421064809545648,1.493700550496536]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[-0.12576508103444728,0.7687829893995222,0.71338606911949],"aabb_xy":[[-0.142675813470789,0.7553107838069075],[-0.10885434859810546,0.7822551949921366]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_28","position":[0.4573860322191947,-2.052021573804199,0.71338606911949],"aabb_xy":[[0.40239055439853527,-2.107021575238106],[0.5123815100398541,-1.9970215723702922]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_29","position":[0.5623032306947275,-0.20669113731720046,0.71338606911949],"aabb_xy":[[0.5526715944742979,-0.21632845009690937],[0.5719348669151572,-0.19705382453749154]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[-0.5023640988291418,-1.289734483061509,0.71338606911949],"aabb_xy":[[-0.5523640982693374,-1.339702407545825],[-0.4523640993889462,-1.2397665585771924]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_31","position":[0.3807829874740687,-0.7810670423287038,0.71338606911949],"aabb_xy":[[0.3588932398851279,-0.8710670396179528],[0.4026727350630095,-0.6910670450394546]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6838361143049623,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1156.png","name":"1156"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1156.png","name":"1156"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1483.png","name":"1483"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/277.png","name":"277"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9128.png","name":"9128"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9384.png","name":"9384"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":604.9358774073443,"rotation_z_degrees":338.7914012773974,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010140954700464224,0.00830713067032737,0.013475600022185463]},{"name":"camera_2","offset_m":[-0.00799184267171078,-0.007766794182062053,-0.01698027208037241]},{"name":"camera_3","offset_m":[-0.013952036353924587,-0.015374352788677048,0.015337609716423287]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001290593584755377,5.2807869020276513e-05,-0.0008086827031405636],"end_effector_yaw_offset_degrees":0.8740496154077584},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018188941388673947,0.00038023403822158965,0.00010749539055678091],"end_effector_yaw_offset_degrees":-0.6208757583737652},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014139817581086977,4.1988239576848125e-05,-0.000776137225763974],"end_effector_yaw_offset_degrees":0.6638993223553458},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012675966381798446,-0.0012124854827468723,0.0015321048566125438],"end_effector_yaw_offset_degrees":-0.3150768362849721}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004618196292114818,-0.0032998253534169573],"position_m":[0.34948180370788523,-0.08729982535341696,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[3.012843212728527e-05,-0.0019466146686761398],"position_m":[0.2746301284321273,-0.3322466146686761,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-5.024645657614266e-05,0.004857092696608765],"position_m":[0.16064975354342387,0.21905709269660878,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0045984289190847795,-0.002679058229144916],"position_m":[0.3486984289190848,0.11252094177085509,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3e603d2a1c9623124b8a19470af36792a9799b27b0c8c4c12998fc237200a80e","episode_index":121,"episode_name":"episode_0121"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0121.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1156/tex_ceiling_textures_9384/tex_floor_textures_9128/tex_table_textures_1483/tex_wall_textures_277","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":5753738814022064918,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":5753738814022064918,"visual_seed":5753738814022064918,"scene_id":"lab_003","finished_at":"2026-09-05T07:25:40"}
+{"episode_id":"ep_000094","started_at":"2026-09-05T07:25:44","dimensions":{"distractor":{"count":23,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.17707229894410892,-1.9995040163918865,0.71338606911949],"aabb_xy":[[-0.19957229945614952,-2.021995874757285],[-0.15457229843206832,-1.9770121580264879]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[-0.4769735041795995,-0.32905443931956313,0.71338606911949],"aabb_xy":[[-0.5409735033493694,-0.3758211264385256],[-0.41297350500982954,-0.28228775220060065]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[-0.043024141120789006,-0.9156489413698474,0.71338606911949],"aabb_xy":[[-0.12302414159100497,-0.9239596489841959],[0.03697585934942694,-0.9073382337554992]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_3","position":[-0.5973242147359415,-0.793441530719768,0.71338606911949],"aabb_xy":[[-0.681046440236024,-0.8834415342544639],[-0.5136019892358591,-0.703441527185072]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_4","position":[-0.34203644669373756,0.8229595898441953,0.71338606911949],"aabb_xy":[[-0.4220302702722958,0.7429595872513537],[-0.26204262311517934,0.9029595924370368]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[0.500719099503621,-0.6511923272765261,0.71338606911949],"aabb_xy":[[0.4367190975912787,-0.7071034765345366],[0.5647191014159634,-0.5952811780185158]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.08330854029501367,-0.040867750524440805,0.71338606911949],"aabb_xy":[[-0.10830854022753157,-0.04775041874536412],[-0.05830854036249579,-0.03398508230351749]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.515295437665882,-2.2085476996099196,0.71338606911949],"aabb_xy":[[0.5034233546543809,-2.29354769930357],[0.5271675206773832,-2.1235476999162692]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.5633933709217025,-0.001440730424102199,0.71338606911949],"aabb_xy":[[0.5404776580366527,-0.024345027560525707],[0.5863090838067525,0.021463566712321306]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.07357208011039706,-2.5230992503060343,0.71338606911949],"aabb_xy":[[0.008572082228749266,-2.5742229140125756],[0.13857207799204485,-2.471975586599494]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.39133856520807137,-0.9316028490043005,0.71338606911949],"aabb_xy":[[-0.4056729903342349,-0.9436630645588393],[-0.37700414008190797,-0.9195426334497616]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.5931346724359761,-1.7541773370334475,0.71338606911949],"aabb_xy":[[-0.627450949610594,-1.8041773370066252],[-0.5588183952613581,-1.7041773370602697]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.04265717253370915,0.7177326116318405,0.71338606911949],"aabb_xy":[[-0.06052628028816465,0.7038997036546297],[-0.02478806477925366,0.7315655196090516]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[0.5869166261393117,0.70504448161426,0.71338606911949],"aabb_xy":[[0.5069166281585267,0.6974429406524082],[0.6669166241200968,0.7126460225761121]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.1425090458252951,-1.141862810967326,0.71338606911949],"aabb_xy":[[-0.18000904576906152,-1.1501559010021625],[-0.1050090458815287,-1.1335697209324893]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[0.24007145569374078,1.122874309836603,0.71338606911949],"aabb_xy":[[0.19479284081259152,1.0588743104884193],[0.28535007057489004,1.1868743091847866]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[0.5638218878502446,-0.3481427629623619,0.71338606911949],"aabb_xy":[[0.5557082331768675,-0.356248579416391],[0.5719355425236217,-0.3400369465083328]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[0.43261588966277653,1.61410847149063,0.71338606911949],"aabb_xy":[[0.42326888208048125,1.599804849272986],[0.4419628972450717,1.628412093708274]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.3590803826170919,-0.10628141973988114,0.71338606911949],"aabb_xy":[[-0.36511739561775663,-0.11230812080882936],[-0.3530433696164272,-0.10025471867093295]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.3486175839296981,-1.2098686457247485,0.71338606911949],"aabb_xy":[[0.32410395983269225,-1.2341332390267847],[0.37313120802670396,-1.1856040524227118]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.5957231711653865,-2.0330828064129416,0.71338606911949],"aabb_xy":[[-0.6507186489860458,-2.0880828078468485],[-0.540727693344727,-1.9780828049790347]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.09690536064989186,-0.6436302567014609,0.71338606911949],"aabb_xy":[[-0.13820990371362785,-0.707630256269578],[-0.05560081758615586,-0.5796302571333438]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_22","position":[-0.04974478704007079,-1.742352421434132,0.71338606911949],"aabb_xy":[[-0.07224120847393489,-1.7648524212408794],[-0.027248365606206686,-1.7198524216273845]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6800831937112165,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6722.png","name":"6722"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6722.png","name":"6722"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6510.png","name":"6510"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5417.png","name":"5417"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3331.png","name":"3331"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6226.png","name":"6226"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":714.1767640431376,"rotation_z_degrees":42.93998282092553,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010008873735942829,0.00010821945881393097,0.014789743950905935]},{"name":"camera_2","offset_m":[0.006456327392934117,-0.013914913232663285,0.00015884164496815859]},{"name":"camera_3","offset_m":[-0.003623911038477874,0.016681704125446988,0.008809195881431905]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002453982867245061,-0.0005872427757220783,0.0016671227300528021],"end_effector_yaw_offset_degrees":0.923597980048628},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011609363348542754,3.888061464330092e-05,0.0018275999818276063],"end_effector_yaw_offset_degrees":-0.4863662406533269},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008864326307383673,-0.0004288025788538601,-0.0019144697032846892],"end_effector_yaw_offset_degrees":-0.12385063828088172},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.1129931840786738e-05,-0.0018975718083118287,0.0009283918233429275],"end_effector_yaw_offset_degrees":-0.3686624311474471}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001365417018781477,-0.00335152573167856],"position_m":[0.3554654170187815,-0.08735152573167856,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003291477846340205,-0.0001977134336705079],"position_m":[0.2713085221536598,-0.3304977134336705,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0042708774759635,-0.002688058670139465],"position_m":[0.1564291225240365,0.21151194132986054,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004524246189566246,-0.0026786650022280556],"position_m":[0.3486242461895663,0.11252133499777194,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9c9b75fd434e6552981adc1b2902f4cca463a37949d9bcba667a0bfe3568e7be","episode_index":122,"episode_name":"episode_0122"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0122.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6722/tex_ceiling_textures_6226/tex_floor_textures_3331/tex_table_textures_6510/tex_wall_textures_5417","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":957251973839013961,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":957251973839013961,"visual_seed":957251973839013961,"scene_id":"lab_003","finished_at":"2026-09-05T07:29:18"}
+{"episode_id":"ep_000095","started_at":"2026-09-05T07:29:22","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[-0.151376906770876,-0.8704383244611951,0.71338606911949],"aabb_xy":[[-0.19654822461904503,-0.9344383216057335],[-0.10620558892270707,-0.8064383273166567]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[0.6872198052970488,-1.1619622770030837,0.71338606911949],"aabb_xy":[[0.6681074979390701,-1.1810970558803258],[0.7063321126550278,-1.1428274981258417]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[-0.03439789715605701,-1.7490016015071914,0.71338606911949],"aabb_xy":[[-0.0843767056663729,-1.7990016015129102],[0.015580911354258875,-1.6990016015014726]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.4951528325296154,-1.0307082954065767,0.71338606911949],"aabb_xy":[[-0.5276145334115427,-1.0608411275214789],[-0.4626911316476879,-1.0005754632916737]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.019402936274462768,0.29712292397485696,0.71338606911949],"aabb_xy":[[-0.032005635411539224,0.2845275277499915],[-0.006800237137386315,0.3097183201997225]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.566358846352806,-0.941308765829173,0.71338606911949],"aabb_xy":[[0.5113633685321465,-0.99630876726308],[0.6213543241734653,-0.8863087643952662]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.012419448762217011,0.7172529384271891,0.71338606911949],"aabb_xy":[[-0.07641945098262404,0.6728798543019008],[0.051580553458190015,0.7616260225524774]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.4379838581326687,-1.4472388367221043,0.71338606911949],"aabb_xy":[[-0.4487568320540365,-1.4822388349411433],[-0.42721088421130093,-1.4122388385030653]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[0.46046981373248186,1.1779019252645546,0.71338606911949],"aabb_xy":[[0.3964741163373852,1.113901926963846],[0.5244655111275784,1.2419019235652633]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[0.03770819313619145,-1.268118220740098,0.71338606911949],"aabb_xy":[[0.002708194866071538,-1.275192348435086],[0.07270819140631135,-1.2610440930451097]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[0.5605552070355255,-2.0639218194282534,0.71338606911949],"aabb_xy":[[0.49655520974987677,-2.1054285383810973],[0.6245552043211741,-2.0224151004754094]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.6538271016535315,-0.3526440109413893,0.71338606911949],"aabb_xy":[[0.6163271032301311,-0.3658082249092198],[0.6913271000769318,-0.33947979697355857]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[-0.3004897043295755,-0.407713220147937,0.71338606911949],"aabb_xy":[[-0.35046712119482903,-0.45771322163718553],[-0.25051228746432186,-0.35771321865868844]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.44523034389820865,0.9916043156894783,0.71338606911949],"aabb_xy":[[-0.4500739386594386,0.9867526632104943],[-0.4403867491369787,0.9964559681684625]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.6207348954015914,-0.5040118289755244,0.71338606911949],"aabb_xy":[[-0.6847348956755697,-0.5540779291728124],[-0.5567348951276132,-0.45394572877823647]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.5142614159810327,0.8719623214736392,0.71338606911949],"aabb_xy":[[-0.5692351380173657,0.8169623219094061],[-0.4592876939446999,0.9269623210378725]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[-0.02407142106978577,1.1014613507384046,0.71338606911949],"aabb_xy":[[-0.07906463240692253,1.046461350399611],[0.03092179026735099,1.1564613510771982]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.08750942941410811,1.7231761308380116,0.71338606911949],"aabb_xy":[[0.07948315878348212,1.7144246358606592],[0.09553570004473412,1.7319276258153644]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.5602537153167516,-0.008694666967131948,0.71338606911949],"aabb_xy":[[-0.6252537131983994,-0.05981833067367283],[-0.4952537174351038,0.042428996739408927]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[-0.23557835204734823,0.4270922416161289,0.71338606911949],"aabb_xy":[[-0.2605783519798662,0.4202095733952056],[-0.2105783521148304,0.4339749098370522]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[-0.14421276779477654,1.5790237966737242,0.71338606911949],"aabb_xy":[[-0.17286210015519277,1.5503782373966482],[-0.11556343543436032,1.6076693559507997]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_21","position":[0.22690864757853202,1.7491474283288961,0.71338606911949],"aabb_xy":[[0.1894086467865366,1.7427795873707057],[0.26440864837052747,1.7555152692870861]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[-0.2361597144891755,1.3943091191694084,0.71338606911949],"aabb_xy":[[-0.2673066333327586,1.324309120482601],[-0.2050127956455924,1.4643091178562153]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[0.28983815138275426,1.5850278209512179,0.71338606911949],"aabb_xy":[[0.22583814933302226,1.54493333786191],[0.35383815343248626,1.6251223040405258]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[0.2954444675772735,-0.9798753772404589,0.71338606911949],"aabb_xy":[[0.23144446589927603,-1.028392768719773],[0.35944446925527074,-0.9313579857611446]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6817680874404609,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8496.png","name":"8496"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8496.png","name":"8496"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3207.png","name":"3207"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4979.png","name":"4979"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9689.png","name":"9689"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2437.png","name":"2437"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":798.3067579632544,"rotation_z_degrees":226.2242637174673,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002554271581405601,-0.012744040214305806,-0.01521769556672607]},{"name":"camera_2","offset_m":[0.014270613323991658,-0.011597808847509472,0.012272212267969995]},{"name":"camera_3","offset_m":[-0.008169037089721774,0.012200532191854168,0.005111084230402057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012620090329467947,-0.0010232722155797975,0.001464373521481245],"end_effector_yaw_offset_degrees":-0.3739596204981648},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000947235430573223,-0.0017851711192108093,-8.673131476786135e-05],"end_effector_yaw_offset_degrees":0.5002548030893095},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[9.718827334975928e-05,-0.0010443944273389892,-0.001351613357584251],"end_effector_yaw_offset_degrees":0.7874980042595641},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018889211268964421,0.000470294644003283,-3.0508488014412572e-05],"end_effector_yaw_offset_degrees":-0.24026508073259145}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003366897716463536,-0.004785040741196182],"position_m":[0.35746689771646356,-0.08878504074119618,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003473451461725287,0.0016438753888509553],"position_m":[0.2742526548538275,-0.328656124611149,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038991650735190784,0.0030943637422998988],"position_m":[0.1645991650735191,0.2172943637422999,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012786813314235876,0.0008063648987956676],"position_m":[0.34537868133142363,0.11600636489879566,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"36a6f2f7465aff283f2cd6512238f3b1acbc7749c9165eb885090aaa6663652c","episode_index":123,"episode_name":"episode_0123"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0123.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8496/tex_ceiling_textures_2437/tex_floor_textures_9689/tex_table_textures_3207/tex_wall_textures_4979","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":2738125262974156793,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":2738125262974156793,"visual_seed":2738125262974156793,"scene_id":"lab_003","finished_at":"2026-09-05T07:32:56"}
+{"episode_id":"ep_000096","started_at":"2026-09-05T07:33:00","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[-0.530782415666651,0.5823820480361412,0.71338606911949],"aabb_xy":[[-0.6107824142539703,0.5030664460979802],[-0.4507824170793315,0.661697649974302]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[-0.6157374650725163,0.9168057582804492,0.71338606911949],"aabb_xy":[[-0.6797374672929233,0.8724326741551609],[-0.5517374628521092,0.9611788424057375]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.5835657553193327,-1.533064613177424,0.71338606911949],"aabb_xy":[[0.5185657542133896,-1.5580299862455524],[0.6485657564252761,-1.5080992401092959]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.48299028379770137,-0.253876356159247,0.71338606911949],"aabb_xy":[[0.40299028639410794,-0.3338689273574298],[0.5629902812012948,-0.1738837849610642]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[-0.649314477436816,1.6623207076311357,0.71338606911949],"aabb_xy":[[-0.6868144773805824,1.6540276175962991],[-0.6118144774930496,1.6706137976659723]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_5","position":[0.3325703595050893,-1.7813532890452861,0.71338606911949],"aabb_xy":[[0.32132530393447145,-1.7925950867693814],[0.3438154150757071,-1.7701114913211908]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[0.1750658684029227,1.3098682094883847,0.71338606911949],"aabb_xy":[[0.09506587042213767,1.3022666685265327],[0.25506586638370776,1.3174697504502366]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[-0.43350637761504307,-0.6814581647990727,0.71338606911949],"aabb_xy":[[-0.4383499723762731,-0.6863098172780568],[-0.42866278285381315,-0.6766065123200886]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[-0.4071477134557827,-1.6685552986350394,0.71338606911949],"aabb_xy":[[-0.41526136812915976,-1.6766611150890687],[-0.39903405878240555,-1.6604494821810105]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[-0.6136990801665061,-1.4594624962808935,0.71338606911949],"aabb_xy":[[-0.647178247427547,-1.4929416096520007],[-0.5802199129054652,-1.4259833829097868]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.03238244870628715,1.6346666284843194,0.71338606911949],"aabb_xy":[[-0.055967572170181994,1.5696666262388876],[-0.008797325242392288,1.6996666307297512]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[0.20107867942281532,1.0752859663777299,0.71338606911949],"aabb_xy":[[0.1210848558442571,0.9952859637848883],[0.28107250300137354,1.1552859689705715]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[-0.5101661456358978,-2.4211615654375085,0.71338606911949],"aabb_xy":[[-0.5601392111684134,-2.471161565250042],[-0.46019308010338245,-2.371161565624976]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.1307584397902144,-2.010792255454366,0.71338606911949],"aabb_xy":[[0.09575843989419554,-2.019166490966306],[0.16575843968623327,-2.002418019942426]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.4779421076845305,1.1417468694457935,0.71338606911949],"aabb_xy":[[-0.5279413828529667,1.0917468681698463],[-0.4279428325160944,1.1917468707217407]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[0.43866518290608725,0.4041366530576256,0.71338606911949],"aabb_xy":[[0.3976472395197164,0.3541366524266682],[0.4796831262924582,0.45413665368858286]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.39746179224453915,0.6458721771414329,0.71338606911949],"aabb_xy":[[-0.4076148077986884,0.6098026355686923],[-0.38730877669038966,0.681941718714173]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.5457689676425415,-1.7732548063612137,0.71338606911949],"aabb_xy":[[-0.5530127336887868,-1.8532548045648158],[-0.5385252015962961,-1.693254808157611]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[-0.2487042660990577,1.0305542397405882,0.71338606911949],"aabb_xy":[[-0.25360355840562115,1.0028773204380195],[-0.24380497379249416,1.058231159043157]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[-0.4961286146293387,-0.3486590268708287,0.71338606911949],"aabb_xy":[[-0.5334598911545814,-0.3833120816656811],[-0.45879733810409606,-0.31400597207597647]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.6095109730219785,1.4253582449214526,0.71338606911949],"aabb_xy":[[0.5925008757319278,1.4092237564231787],[0.6265210703120291,1.4414927334197265]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.679383397854587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3931.png","name":"3931"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3931.png","name":"3931"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8517.png","name":"8517"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4162.png","name":"4162"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4623.png","name":"4623"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6496.png","name":"6496"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":541.7269293894554,"rotation_z_degrees":180.41893503572993,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002337302929896465,0.011729147634359446,-0.0047841691213742]},{"name":"camera_2","offset_m":[-0.00806122525596467,-0.009379019999027873,0.013273029813810695]},{"name":"camera_3","offset_m":[0.01388178418800792,-0.0026696762576181796,-0.003974261556978637]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007676301888605145,-0.001697231498532712,-0.0014339083134552637],"end_effector_yaw_offset_degrees":-0.0014656489541025053},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015277355389160525,0.0018722591112787226,0.0011422657440046877],"end_effector_yaw_offset_degrees":0.3527964488107598},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010988757437853012,0.0016566122676911978,-0.00153854617304749],"end_effector_yaw_offset_degrees":0.749441077090073},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00038478447086866784,0.0008458438650530658,-3.7105169791811204e-05],"end_effector_yaw_offset_degrees":-0.42177071962871104}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027259675733131965,0.0027750717498593],"position_m":[0.3568259675733132,-0.0812249282501407,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0042573810220306605,-0.000493992398530093],"position_m":[0.27034261897796935,-0.3307939923985301,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003810479175002767,0.001773976540480525],"position_m":[0.16451047917500278,0.21597397654048053,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007523228351929614,-0.002304112132969596],"position_m":[0.3433476771648071,0.1128958878670304,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b3e2a2413c8ea2d9636b4892ac44b97c95836d41b9e5487be9835228deb46eea","episode_index":124,"episode_name":"episode_0124"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0124.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3931/tex_ceiling_textures_6496/tex_floor_textures_4623/tex_table_textures_8517/tex_wall_textures_4162","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6271444670897887937,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6271444670897887937,"visual_seed":6271444670897887937,"scene_id":"lab_003","finished_at":"2026-09-05T07:36:47"}
+{"episode_id":"ep_000097","started_at":"2026-09-05T07:36:51","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[-0.10583343894513442,1.7527162965056085,0.71338606911949],"aabb_xy":[[-0.1658334398059472,1.7012898664991218],[-0.0458334380843216,1.8041427265120946]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[0.44590863145002513,1.453801437162952,0.71338606911949],"aabb_xy":[[0.3659086303769048,1.4440233908255675],[0.5259086325231455,1.4635794835003364]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[-0.4423316624969054,-0.03929082527028971,0.71338606911949],"aabb_xy":[[-0.48946104149874103,-0.10329082631469166],[-0.3952022834950697,0.024709175774112253]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.29103953943347716,1.1539891972614744,0.71338606911949],"aabb_xy":[[0.2778085938987958,1.1407617782394746],[0.3042704849681584,1.1672166162834734]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[0.006249318831549222,0.8782413812583285,0.71338606911949],"aabb_xy":[[-0.01875068033408389,0.8712891355529718],[0.031249317997182335,0.885193626963685]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.40595705481816696,1.348491062955866,0.71338606911949],"aabb_xy":[[-0.4226341908112624,1.331791138981936],[-0.3892799188250714,1.3651909869297965]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[0.6595423091105894,-2.071977715270991,0.71338606911949],"aabb_xy":[[0.6100618878966306,-2.1359777131838427],[0.7090227303245482,-2.007977717358139]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.5731066762956292,-0.16214430290835047,0.71338606911949],"aabb_xy":[[-0.5846756570425657,-0.1871443030252822],[-0.5615376955486926,-0.1371443027914188]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.39292810165236075,-1.3642628465936921,0.71338606911949],"aabb_xy":[[-0.48292810398637986,-1.4417452011788048],[-0.30292809931834175,-1.2867804920085795]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[-0.13096339240667954,-0.6412486361494996,0.71338606911949],"aabb_xy":[[-0.1390067523326347,-0.7262486372448659],[-0.12292003248072436,-0.556248635054133]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.5662311568498609,0.0880836020608724,0.71338606911949],"aabb_xy":[[-0.5895129990479921,0.0030836007636443337],[-0.5429493146517295,0.17308360335810044]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.23069964589093395,-1.7384971348434082,0.71338606911949],"aabb_xy":[[0.2212821713210712,-1.7479133119811272],[0.2401171204607967,-1.7290809577056891]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.172980960674066,1.1130436066476581,0.71338606911949],"aabb_xy":[[0.15982971470277663,1.0880436068909716],[0.18613220664535535,1.1380436064043447]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[0.5533027141872857,0.9160541079480482,0.71338606911949],"aabb_xy":[[0.4893027177599638,0.8688844841259518],[0.6173027106146076,0.9632237317701446]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.3840916677401993,-2.542189639437846,0.71338606911949],"aabb_xy":[[-0.40159166799953605,-2.556281181626619],[-0.36659166748086275,-2.5280980972490736]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.5662193830636387,-0.3454990394509818,0.71338606911949],"aabb_xy":[[-0.5851037668321488,-0.36438496423133465],[-0.5473349992951284,-0.3266131146706291]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[0.1852893110229329,0.7356419873042879,0.71338606911949],"aabb_xy":[[0.1745163371015651,0.7006419890852489],[0.19606228494430067,0.7706419855233269]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[0.4532770201862062,0.7208182479016045,0.71338606911949],"aabb_xy":[[0.39327701854328434,0.6688180986096605],[0.513277021829128,0.7728183971935488]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.34170998269034497,0.39493864076557994,0.71338606911949],"aabb_xy":[[-0.36670998196230725,0.3785932771694176],[-0.3167099834183827,0.4112840043617423]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[0.45133845387658234,-0.9508057888866437,0.71338606911949],"aabb_xy":[[0.44722250376450967,-0.9549213439194892],[0.455454403988655,-0.9466902338537981]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_20","position":[0.4360702759689379,-1.7439845784919212,0.71338606911949],"aabb_xy":[[0.35607027380617545,-1.823939762118065],[0.5160702781317004,-1.6640293948657778]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_21","position":[-0.074683177957102,-2.1089396206636866,0.71338606911949],"aabb_xy":[[-0.09074510541561963,-2.193939622476278],[-0.05862125049858435,-2.0239396188510943]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_22","position":[-0.19597329012831033,-0.97389676453118,0.71338606911949],"aabb_xy":[[-0.2659732922597398,-0.9966587301568754],[-0.12597328799688073,-0.9511347989054841]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.12586322137749184,0.5372462451414983,0.71338606911949],"aabb_xy":[[-0.1808632205540813,0.48225657036654057],[-0.07086322220090233,0.5922359199164559]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_24","position":[0.27202301206008195,-1.3656649901175604,0.71338606911949],"aabb_xy":[[0.20802301065209125,-1.417453941641485],[0.33602301346807256,-1.3138760385936357]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_25","position":[-0.5148530903815454,-2.189996495853245,0.71338606911949],"aabb_xy":[[-0.5323530896596322,-2.2073345959195905],[-0.4973530911034585,-2.1726583957868986]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[-0.6252164893771505,-1.8583994632302223,0.71338606911949],"aabb_xy":[[-0.6324602554233958,-1.9383994614338247],[-0.6179727233309051,-1.77839946502662]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[0.16251468446589235,-2.077885665910303,0.71338606911949],"aabb_xy":[[0.1275146861551969,-2.0856006808338488],[0.1975146827765878,-2.0701706509867575]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[0.24912666807501005,-0.9279771691347538,0.71338606911949],"aabb_xy":[[0.23092084441376243,-0.9390025697167456],[0.2673324917362578,-0.9169517685527623]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_29","position":[0.6631212543794787,-0.5055484349279737,0.71338606911949],"aabb_xy":[[0.6031212541280774,-0.5598297599644384],[0.7231212546308797,-0.4512671098915091]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_30","position":[0.08468259495849872,1.392641288397512,0.71338606911949],"aabb_xy":[[0.014682598548536914,1.37220335274583],[0.15468259136846046,1.4130792240491934]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850987650836154,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7648.png","name":"7648"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7648.png","name":"7648"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7126.png","name":"7126"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9891.png","name":"9891"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8218.png","name":"8218"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3561.png","name":"3561"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":536.1552971473736,"rotation_z_degrees":294.8812996031734,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0010720494075006255,0.009847714073994946,-0.0017106223971036054]},{"name":"camera_2","offset_m":[-0.0070270442665465414,0.012041642960047647,-0.018881289251424162]},{"name":"camera_3","offset_m":[-0.018899684065446176,0.012649261650542195,0.006294147830429739]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000932312859469596,0.0008975250831648805,-4.250458150888018e-05],"end_effector_yaw_offset_degrees":0.02123584774970766},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004830709644112487,2.7251911745676625e-05,-0.001571719935820093],"end_effector_yaw_offset_degrees":0.5096659792967004},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011237922843092053,2.72332511159672e-05,0.0013126593416287143],"end_effector_yaw_offset_degrees":-0.7958349809029126},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013684695688290448,0.0008774302940381213,-0.00021747038488804243],"end_effector_yaw_offset_degrees":0.5231499726946129}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033845211050290676,0.0012744211609392146],"position_m":[0.3574845211050291,-0.08272557883906079,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00041488961804983255,-0.003849940150139457],"position_m":[0.2750148896180498,-0.33414994015013944,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004526927283767864,-0.004687423693099887],"position_m":[0.15617307271623215,0.20951257630690012,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008473721520113001,0.0012066358010012958],"position_m":[0.3449473721520113,0.11640663580100129,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba13341110cd422a569b75339a886636096dfb0a40b9cb34f770fb21937dcac8","episode_index":125,"episode_name":"episode_0125"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0125.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7648/tex_ceiling_textures_3561/tex_floor_textures_8218/tex_table_textures_7126/tex_wall_textures_9891","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4104676183799792558,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4104676183799792558,"visual_seed":4104676183799792558,"scene_id":"lab_003","finished_at":"2026-09-05T07:40:30"}
+{"episode_id":"ep_000098","started_at":"2026-09-05T07:40:34","dimensions":{"distractor":{"count":21,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[0.46472148730675045,-0.8821733899578175,0.71338606911949],"aabb_xy":[[0.42972148811393207,-0.8931404359554801],[0.4997214864995686,-0.8712063439601548]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.43463604348958307,-1.8952439058576975,0.71338606911949],"aabb_xy":[[0.4157516597210729,-1.9141298306380505],[0.45352042725809333,-1.876357981077345]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.14033719316533166,-2.1942465788491097,0.71338606911949],"aabb_xy":[[-0.16161520130880394,-2.2592465811751827],[-0.11905918502185944,-2.1292465765230366]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[-0.14091320461480494,0.3387237370334466,0.71338606911949],"aabb_xy":[[-0.22091320787881807,0.32516370472453326],[-0.06091320135079181,0.35228376934235994]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.23422775313427407,1.3683362671509283,0.71338606911949],"aabb_xy":[[-0.3242277528574482,1.3452629146157482],[-0.14422775341109983,1.3914096196861079]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[0.563640245210568,-1.2866266270476625,0.71338606911949],"aabb_xy":[[0.5414677182339172,-1.3088022942037856],[0.5858127721872188,-1.264450959891539]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.06066262343536344,-1.2224619335631124,0.71338606911949],"aabb_xy":[[-0.11566262163710826,-1.2629839001895498],[-0.0056626252336186,-1.1819399669366746]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.11587541801234758,-0.8198611201772921,0.71338606911949],"aabb_xy":[[-0.15267005113725385,-0.8567669952738745],[-0.07908078488744129,-0.7829552450807099]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[0.332247346495689,-1.5093949235184045,0.71338606911949],"aabb_xy":[[0.2963338420706993,-1.545308431735159],[0.3681608509206787,-1.47348141530165]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.2881906503470184,-1.082226217285158,0.71338606911949],"aabb_xy":[[-0.29422766334768313,-1.0882529183541063],[-0.2821536373463537,-1.0761995162162097]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[-0.4381509392768823,1.6251676132301536,0.71338606911949],"aabb_xy":[[-0.4692978581204654,1.5551676145433464],[-0.4070040204332992,1.6951676119169607]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.589203144815674,-0.3789889452468995,0.71338606911949],"aabb_xy":[[0.5397227236017154,-0.44298894315975135],[0.6386835660296329,-0.3149889473340477]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[-0.554147441252852,0.3005587107882519,0.71338606911949],"aabb_xy":[[-0.5617717093430302,0.2929254872517082],[-0.5465231731626737,0.30819193432479564]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[0.6572492347477725,-2.05914837103791,0.71338606911949],"aabb_xy":[[0.6322492354758104,-2.075493734634072],[0.6822492340197349,-2.0428030074417474]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.5683989801522642,-1.4605692155529637,0.71338606911949],"aabb_xy":[[0.5624324412115285,-1.4665303602123276],[0.5743655190929999,-1.4546080708935998]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.1897667603753026,-0.9008802659108783,0.71338606911949],"aabb_xy":[[0.15632658517928294,-0.9343238917418083],[0.22320693557132215,-0.8674366400799481]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.6912459625077796,1.5032851500568358,0.71338606911949],"aabb_xy":[[0.6687468267815525,1.4807851492785729],[0.7137450982340064,1.5257851508350988]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.265792049852629,0.1939011619214579,0.71338606911949],"aabb_xy":[[-0.27866395335356914,0.11390116150762174],[-0.25292014635168886,0.273901162335294]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[-0.2583379990692703,-0.28411092968856133,0.71338606911949],"aabb_xy":[[-0.33833800232711325,-0.3641074374805453],[-0.17833799581142734,-0.20411442189657736]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.3013153530935453,1.132489212836691,0.71338606911949],"aabb_xy":[[0.23731535579119883,1.088122785868834],[0.36531535039589164,1.1768556398045475]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.5312466583653477,-2.5041133661629362,0.71338606911949],"aabb_xy":[[-0.5537466588773883,-2.5266052245283346],[-0.5087466578533071,-2.481621507797538]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6848508146439664,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8574.png","name":"8574"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8574.png","name":"8574"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5251.png","name":"5251"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8260.png","name":"8260"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1953.png","name":"1953"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8240.png","name":"8240"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":663.5656547713634,"rotation_z_degrees":65.28713964966592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01861766876182228,0.0031312367081154646,0.01981664504845686]},{"name":"camera_2","offset_m":[0.007086096769141879,0.014514995646977485,0.0020237153221569666]},{"name":"camera_3","offset_m":[-0.011860573347346168,-0.011071117853682257,-0.009760899568799055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018165484424930989,0.0018731867915738488,-0.0011182825180877328],"end_effector_yaw_offset_degrees":0.6020535125268884},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003364222096931635,-0.0005312995801188905,-0.0012119599975577212],"end_effector_yaw_offset_degrees":-0.19702390993962804},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004648733012264535,0.0013456622800162902,-0.0016532566085882552],"end_effector_yaw_offset_degrees":-0.48698887519827294},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009124825214252724,-0.0013229013991002884,0.00187305988535985],"end_effector_yaw_offset_degrees":-0.35622201166444234}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004949219573916906,-0.004054149764155642],"position_m":[0.3491507804260831,-0.08805414976415565,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002766051434511174,-0.004577814793448884],"position_m":[0.2743233948565489,-0.33487781479344886,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001316016153429288,0.004175194185155827],"position_m":[0.1593839838465707,0.21837519418515583,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004629819588693377,-0.004770845969171743],"position_m":[0.33947018041130667,0.11042915403082826,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d14165c78bb57181f73dd859a44b4cb07f65ee9dc432fa3b980afaa680fb402","episode_index":126,"episode_name":"episode_0126"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0126.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8574/tex_ceiling_textures_8240/tex_floor_textures_1953/tex_table_textures_5251/tex_wall_textures_8260","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":4480438565966045448,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":4480438565966045448,"visual_seed":4480438565966045448,"scene_id":"lab_003","finished_at":"2026-09-05T07:44:02"}
+{"episode_id":"ep_000099","started_at":"2026-09-05T07:44:05","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.13550790744015073,0.9300399844751683,0.71338606911949],"aabb_xy":[[0.07150790539041874,0.8899455013858604],[0.19950790948988273,0.9701344675644763]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.320212074708653,-2.411496585740169,0.71338606911949],"aabb_xy":[[-0.4102120741270239,-2.444872082584358],[-0.2302120752902821,-2.3781210888959787]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[-0.12056159948354173,-1.5112816920490544,0.71338606911949],"aabb_xy":[[-0.20056160091366892,-1.5907988470616639],[-0.04056159805341451,-1.431764537036445]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[0.18082647995972057,-1.7356327525538613,0.71338606911949],"aabb_xy":[[0.09113940365160511,-1.825632752808312],[0.270513556267836,-1.645632752299411]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[-0.038357165483875355,0.36091366849401973,0.71338606911949],"aabb_xy":[[-0.058248205364215606,0.34825785720932295],[-0.018466125603535107,0.37356947977871663]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.3747662804325036,0.07824362649091476,0.71338606911949],"aabb_xy":[[-0.39226621386648697,0.06074362657068022],[-0.3572663469985202,0.09574362641114931]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[-0.5371182543621925,-0.2572819673915534,0.71338606911949],"aabb_xy":[[-0.5849244219759612,-0.32228197009861237],[-0.48931208674842386,-0.19228196468449443]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[-0.5652960983126117,0.02062244128419133,0.71338606911949],"aabb_xy":[[-0.5717099119557966,0.014212621036522986],[-0.5588822846694267,0.027032261531859666]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.16165923220125478,1.0794514956696823,0.71338606911949],"aabb_xy":[[-0.22565492959635136,1.0154514973689737],[-0.09766353480615819,1.143451493970391]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[0.5585316898352966,-1.172198727354939,0.71338606911949],"aabb_xy":[[0.5157649829558764,-1.2361987307767415],[0.6012983967147167,-1.1081987239331366]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.6058668126541742,-1.7736567805952357,0.71338606911949],"aabb_xy":[[0.6021635513250352,-1.7773587989039534],[0.609570073983313,-1.7699547622865175]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[0.2314829221564214,1.3206121349678654,0.71338606911949],"aabb_xy":[[0.17148292051349956,1.2686119856759213],[0.29148292379934326,1.3726122842598096]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.4797941700279542,1.7298248051987968,0.71338606911949],"aabb_xy":[[0.3897941732923439,1.676641341881502],[0.5697941667635643,1.783008268516091]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[-0.08147372199452652,-0.9957819942518722,0.71338606911949],"aabb_xy":[[-0.09580814712068998,-1.007842209806411],[-0.06713929686836308,-0.9837217786973333]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.32361572050807474,-1.1801536908543397,0.71338606911949],"aabb_xy":[[0.3014431935314239,-1.2023293580104628],[0.3457882474847256,-1.1579780236982167]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.6240425687601354,-1.595733035199333,0.71338606911949],"aabb_xy":[[-0.6333895763424306,-1.6100366574169773],[-0.6146955611778402,-1.5814294129816893]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.4821689845400021,-0.036547664817490944,0.71338606911949],"aabb_xy":[[-0.5046689850520427,-0.05903952318288929],[-0.45966898402796147,-0.014055806452092583]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.3095613379107467,1.7997321597160938,0.71338606911949],"aabb_xy":[[0.30193706982056845,1.7920989361795503],[0.31718560600092494,1.8073653832526377]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[-0.1359232613204785,-0.1561219952450501,0.71338606911949],"aabb_xy":[[-0.16632137241962205,-0.1865288972467196],[-0.10552515022133489,-0.12571509324338057]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[0.49782675322891734,1.0446856663505,0.71338606911949],"aabb_xy":[[0.4478536876964019,0.9946856665379673],[0.5477998187614328,1.094685666163033]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.6196577259854044,0.7822962917976848,0.71338606911949],"aabb_xy":[[-0.6446577252573665,0.7659509282015223],[-0.594657726713442,0.798641655393847]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.10970720760844654,0.7447980752221675,0.71338606911949],"aabb_xy":[[0.0711615147832455,0.7062523041659788],[0.14825290043364758,0.7833438462783561]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_22","position":[0.30613596824026446,-1.5502854805877784,0.71338606911949],"aabb_xy":[[0.3008034535856515,-1.5556098088330141],[0.3114684828948775,-1.544961152342543]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_23","position":[0.6245012210772729,-1.6271552190265175,0.71338606911949],"aabb_xy":[[0.5995012215255344,-1.637297702891652],[0.6495012206290114,-1.6170127351613826]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[-0.24725162856985133,0.3247848404578275,0.71338606911949],"aabb_xy":[[-0.2828807844698111,0.28915217370097457],[-0.2116224726698916,0.36041750721468047]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[0.3693082202401978,-2.086694194350793,0.71338606911949],"aabb_xy":[[0.35176152532407884,-2.1241941959150443],[0.3868549151563167,-2.0491941927865414]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[-0.04553079480376976,-2.1861148519940983,0.71338606911949],"aabb_xy":[[-0.06254089209382041,-2.2022493404923718],[-0.028520697513719113,-2.169980363495824]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_27","position":[-0.26955186251677166,0.46606785079237545,0.71338606911949],"aabb_xy":[[-0.3195518619569673,0.4160999263080592],[-0.21955186307657604,0.5160357752766918]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6815839292963523,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7473.png","name":"7473"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7473.png","name":"7473"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5434.png","name":"5434"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/601.png","name":"601"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/92.png","name":"92"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4007.png","name":"4007"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":663.4561909688879,"rotation_z_degrees":15.086552876648573,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003066550790434327,-0.013024145961122939,-0.01675311643022398]},{"name":"camera_2","offset_m":[0.011256453267659127,0.006273856029825001,-0.00532018817213515]},{"name":"camera_3","offset_m":[-0.00937623040115621,0.018255051115477244,0.01160805094933057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010619672911385443,0.0008025806050124553,0.0012796062085158304],"end_effector_yaw_offset_degrees":0.3445198161148795},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00010271515059549156,-0.0007262707605036952,0.0011796305532212475],"end_effector_yaw_offset_degrees":0.9778206656785806},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-2.902852117245237e-05,-0.0007506983923377243,-0.0002480724190538064],"end_effector_yaw_offset_degrees":-0.23953172772412068},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00011457831141673219,-0.0013558809723974484,0.0005256813340886644],"end_effector_yaw_offset_degrees":-0.05651101618821386}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00031","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004147286236227016,-0.001538115090143667],"position_m":[0.35824728623622704,-0.08553811509014367,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018864575696744858,-0.000758976382239482],"position_m":[0.27271354243032553,-0.33105897638223947,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001905737945803592,0.002576429946960752],"position_m":[0.15879426205419642,0.21677642994696075,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00029716052116809943,-0.004093328451175089],"position_m":[0.34380283947883195,0.1111066715488249,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20532d6136f41b8bfd067197aef16261ca23ea28f4814abda85ecb6cd0f66bdb","episode_index":127,"episode_name":"episode_0127"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/dataset/episode_0127.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7473/tex_ceiling_textures_4007/tex_floor_textures_92/tex_table_textures_5434/tex_wall_textures_601","seeds":{"action_seed":6098556129387905517,"physical_seed":7490668268172140043,"visual_seed":6339120483188124269,"layout_id":"layout_00031","physical_randomization_enabled":true},"episode_seed":6339120483188124269,"visual_seed":6339120483188124269,"scene_id":"lab_003","finished_at":"2026-09-05T07:47:34"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4fa3492e9ebcf3a97498d982420d155025eb13c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00031
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00031
+  reproducibility:
+    enabled: true
+    layout_id: layout_00031
+    action_seed: 6098556129387905517
+    step_seeds:
+    - 4567401361451441112
+    - 7000790218311912638
+    - 7522013946436761511
+    - 7728913421038834906
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.3541
+      - 0.3541
+      'y':
+      - -0.084
+      - -0.084
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1607
+      - 0.1607
+      'y':
+      - 0.2142
+      - 0.2142
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3441
+      - 0.3441
+      'y':
+      - 0.1152
+      - 0.1152
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2746
+      - 0.2746
+      'y':
+      - -0.3303
+      - -0.3303
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bccf1a76673561579758053e0ec6472cbf039b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3751620612787176,
+              -0.08312659061573804,
+              1.0517994555914387
+            ],
+            "current_z": 1.0517994555914387,
+            "required_z": 0.8611066891323437,
+            "initial_z": 0.7611066891323437,
+            "lift_margin": 0.19069276645909505,
+            "gripper_z": 1.0529629550811448,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3708158875163966,
+              -0.08752290793894511,
+              1.0529629550811448
+            ],
+            "object_minus_gripper": [
+              0.004346173762320993,
+              0.004396317323207069,
+              -0.0011634994897060658
+            ],
+            "object_to_gripper_xy": 0.0061819764136251745,
+            "object_to_gripper_z": -0.0011634994897060658,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3751620612787176,
+              -0.10718353665134807,
+              1.0517994555914387
+            ],
+            "finger_b": [
+              0.36417140961055966,
+              -0.08312659061573804,
+              1.0517994555914387
+            ],
+            "finger_midpoint": [
+              0.36966673544463863,
+              -0.09515506363354306,
+              1.0517994555914387
+            ],
+            "object_minus_finger_midpoint": [
+              0.005495325834078968,
+              0.01202847301780502,
+              0.0
+            ],
+            "finger_gap": 0.026448649807712978,
+            "fingertip_max_gap": 0.09165262969873864,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013224324903856496,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0517994555914387,
+            "object_top_z": 1.1021462002202278,
+            "finger_top_clearance": 0.050346744628789075,
+            "fingertip_min_top_clearance": 0.015104023388636756,
+            "object_projection_between_fingers": 0.8273208608985907,
+            "object_to_finger_line_xy": 0.009996786830303825,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832631484936932,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5670415941641245,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37646158288576304,
+              -0.0878283975870184,
+              1.2439171076228475
+            ],
+            "held_position": [
+              0.38112562102860176,
+              -0.08380446638397913,
+              1.2425935207785002
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006300567931478616,
+            "max_held_gripper_dist": 0.006308336265685142,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001323586844347302,
+            "max_held_gripper_z_dist": 0.001347694569479918,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08746556722736823,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38112562102860176,
+              -0.10900858312345713,
+              1.2425935207785002
+            ],
+            "held_grasp_finger_b": [
+              0.37263681531070075,
+              -0.08379099201193684,
+              1.2425935207785002
+            ],
+            "held_grasp_midpoint": [
+              0.37688121816965126,
+              -0.09639978756769699,
+              1.2425935207785002
+            ],
+            "held_grasp_object_position": [
+              0.38112562102860176,
+              -0.08380446638397913,
+              1.2425935207785002
+            ],
+            "held_grasp_finger_gap": 0.026608019918515094,
+            "held_grasp_max_gap": 0.12498332321643829,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02448924869070228,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07694488428411761,
+              -0.9970190551979636,
+              -0.005699855670449727
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032634844363113487,
+            "held_grasp_line_xy_max_dist": 0.047491661608219146,
+            "held_grasp_object_top_z": 0.0497208833694458,
+            "held_grasp_top_clearance": 0.03683652305610341,
+            "held_grasp_min_top_clearance": 0.01491626501083374
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3322494463449262,
+              -0.32313226702952025,
+              0.851539654802177
+            ],
+            "target_position": [
+              0.32406325807177666,
+              -0.32556820522235413,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008540929300887456,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1869990230368944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539654802177,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580435335745697,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597474911413504,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15464657142804317,
+            "release_required_pad_clearance": 0.05298737455706752,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0087086768188855,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007740318775177002,
+            "max_z_decrease": 0.007740318775177002,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501916494549174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007740318775177002,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02138699256231605,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007740318775177002,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007740330431183632,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1797631829977035,
+              -0.3818296492099762,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1797631829977035,
+              -0.3818296492099762,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1799689163845111,
+              -0.38307585428436275,
+              0.8054974176516191
+            ],
+            "closest_button": [
+              0.17975223064422602,
+              -0.381832093000412,
+              0.7705010175704956
+            ],
+            "closest_ee_minus_button": [
+              0.00021668574028507748,
+              -0.0012437612839507617,
+              0.03499640008112348
+            ],
+            "button_min_z_position": [
+              0.17975008487701413,
+              -0.3818326294422149,
+              0.7690685391426086
+            ],
+            "min_active_finger_to_button": 0.14574190732810072,
+            "closest_active_finger": [
+              0.039181046187877655,
+              -0.3658662736415863,
+              0.80802321434021
+            ],
+            "closest_active_finger_button": [
+              0.17977111041545862,
+              -0.38183355331420893,
+              0.7730920910835266
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14059006422758097,
+              0.015967279672622625,
+              0.03493112325668335
+            ],
+            "min_contact_pad_to_button": 0.02138699256231605,
+            "closest_contact_pad": [
+              0.17975008487701413,
+              -0.384407229356822,
+              0.7902999989638331
+            ],
+            "closest_contact_pad_button": [
+              0.17975008487701413,
+              -0.3818326294422149,
+              0.7690685391426086
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025745999146070675,
+              0.02123145982122443
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "297799a12d73c262f73503cfda000648e3d7bb797543c87fa757240778a9a9ee",
+    "visual_seed": 5992801983746781966,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..105a32dbd90dd53f510d435ff689617eef1eff56
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3751687867723241,
+              -0.0805146379604173,
+              1.0508162863633461
+            ],
+            "current_z": 1.0508162863633461,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1897096591392905,
+            "gripper_z": 1.0521156472345352,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3708827423327484,
+              -0.08484948118531732,
+              1.0521156472345352
+            ],
+            "object_minus_gripper": [
+              0.004286044439575698,
+              0.00433484322490002,
+              -0.0012993608711890925
+            ],
+            "object_to_gripper_xy": 0.006095985787588368,
+            "object_to_gripper_z": -0.0012993608711890925,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3751687867723241,
+              -0.10454970216047872,
+              1.0508162863633461
+            ],
+            "finger_b": [
+              0.36430396224625294,
+              -0.0805146379604173,
+              1.0508162863633461
+            ],
+            "finger_midpoint": [
+              0.36973637450928853,
+              -0.092532170060448,
+              1.0508162863633461
+            ],
+            "object_minus_finger_midpoint": [
+              0.005432412263035591,
+              0.012017532100030703,
+              0.0
+            ],
+            "finger_gap": 0.026376670052972798,
+            "fingertip_max_gap": 0.09998039246237025,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013188335026486394,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508162863633461,
+            "object_top_z": 1.1044832984784057,
+            "finger_top_clearance": 0.05366701211505953,
+            "fingertip_min_top_clearance": 0.01610010363451789,
+            "object_projection_between_fingers": 0.8303298281848157,
+            "object_to_finger_line_xy": 0.009900292739078765,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05249019623118513,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.8836933988096995,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3760211025695963,
+              -0.08398429295038148,
+              1.241056181751145
+            ],
+            "held_position": [
+              0.38053752455857703,
+              -0.07990710772208583,
+              1.239625715873871
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006250419153498901,
+            "max_held_gripper_dist": 0.006256091740406172,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001430465877273912,
+            "max_held_gripper_z_dist": 0.0014532039422197052,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0875160790678647,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38053752455857703,
+              -0.10474334052347978,
+              1.239625715873871
+            ],
+            "held_grasp_finger_b": [
+              0.37159848691239955,
+              -0.07990710772208583,
+              1.239625715873871
+            ],
+            "held_grasp_midpoint": [
+              0.37606800573548826,
+              -0.0923252241227828,
+              1.239625715873871
+            ],
+            "held_grasp_object_position": [
+              0.38053752455857703,
+              -0.07990710772208583,
+              1.239625715873871
+            ],
+            "held_grasp_finger_gap": 0.02639592494694617,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024769346375816723,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0066535555121648715,
+              -0.9997016438671553,
+              0.02350220092574784
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004396516223441411,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03727610049898253,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3301193531619988,
+              -0.3322534235222607,
+              0.8515395661865315
+            ],
+            "target_position": [
+              0.32995497144879077,
+              -0.3304147300632704,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0018460268101441813,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17636037949764669,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395661865315,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759167017452637,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09265079353133392,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14328790637661237,
+            "release_required_pad_clearance": 0.05632539676566696,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.9677746084169225,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008090198040008545,
+            "max_z_decrease": 0.008090198040008545,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508564861008073,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008090198040008545,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021464932455098434,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008090198040008545,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008090251698820826,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18565489351749415,
+              -0.38667619228363037,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18565489351749415,
+              -0.38667619228363037,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18408610258892052,
+              -0.3884293344865643,
+              0.8078582558874545
+            ],
+            "closest_button": [
+              0.18566799163818357,
+              -0.3866828680038452,
+              0.772851824760437
+            ],
+            "closest_ee_minus_button": [
+              -0.001581889049263041,
+              -0.001746466482719089,
+              0.03500643112701751
+            ],
+            "button_min_z_position": [
+              0.18562547862529752,
+              -0.3866744637489319,
+              0.7687186598777771
+            ],
+            "min_active_finger_to_button": 0.1477719646954908,
+            "closest_active_finger": [
+              0.043118566274642944,
+              -0.37024781107902527,
+              0.8081520199775696
+            ],
+            "closest_active_finger_button": [
+              0.18566799163818357,
+              -0.3866828680038452,
+              0.772851824760437
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14254942536354062,
+              0.016435056924819946,
+              0.03530019521713257
+            ],
+            "min_contact_pad_to_button": 0.021464932455098434,
+            "closest_contact_pad": [
+              0.18562547862529752,
+              -0.3899000343681332,
+              0.7899398525747601
+            ],
+            "closest_contact_pad_button": [
+              0.18562547862529752,
+              -0.3866744637489319,
+              0.7687186598777771
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0032255706192013123,
+              0.02122119269698297
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b42bc9715d176030636a3e80ffa5720af38decfdfc3c971899e124ddbc6be177",
+    "visual_seed": 1111917491720591284,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d709f31b731cc5ffbf061150c99aa95126e9d7c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37325721267716216,
+              -0.08443920030845302,
+              1.0508930521411934
+            ],
+            "current_z": 1.0508930521411934,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1897863057078485,
+            "gripper_z": 1.0520145549780415,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3691651078872119,
+              -0.08872514957547835,
+              1.0520145549780415
+            ],
+            "object_minus_gripper": [
+              0.004092104789950257,
+              0.00428594926702533,
+              -0.0011215028368480873
+            ],
+            "object_to_gripper_xy": 0.005925764316225275,
+            "object_to_gripper_z": -0.0011215028368480873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37325721267716216,
+              -0.10825810991152289,
+              1.0508930521411934
+            ],
+            "finger_b": [
+              0.3623542058729433,
+              -0.08443920030845302,
+              1.0508930521411934
+            ],
+            "finger_midpoint": [
+              0.36780570927505274,
+              -0.09634865510998795,
+              1.0508930521411934
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054515034021094255,
+              0.011909454801534936,
+              0.0
+            ],
+            "finger_gap": 0.026195725072081066,
+            "fingertip_max_gap": 0.09257927725887635,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013097862536040533,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508930521411934,
+            "object_top_z": 1.1012237329000887,
+            "finger_top_clearance": 0.05033068075889524,
+            "fingertip_min_top_clearance": 0.015099204227668604,
+            "object_projection_between_fingers": 0.8267665643397657,
+            "object_to_finger_line_xy": 0.009913744809763845,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04878963862943818,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.419327032731253,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37477853020935803,
+              -0.08888389923361863,
+              1.2437194152717412
+            ],
+            "held_position": [
+              0.3792036953180767,
+              -0.08497007381206145,
+              1.242449298693347
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006042624578158057,
+            "max_held_gripper_dist": 0.006047652164291777,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012701165783941537,
+            "max_held_gripper_z_dist": 0.0012903286927967716,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08806507357691609,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3792036953180767,
+              -0.11004308285867462,
+              1.242449298693347
+            ],
+            "held_grasp_finger_b": [
+              0.37090091497411776,
+              -0.084917779029643,
+              1.242449298693347
+            ],
+            "held_grasp_midpoint": [
+              0.3750523051460972,
+              -0.09748043094415881,
+              1.242449298693347
+            ],
+            "held_grasp_object_position": [
+              0.3792036953180767,
+              -0.08497007381206145,
+              1.242449298693347
+            ],
+            "held_grasp_finger_gap": 0.026461614726640964,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024521187303916257,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06608207908488894,
+              -0.9977930003084245,
+              -0.006502873159682344
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003316625452967891,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696317079867277,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.336501264389004,
+              -0.32713224034200505,
+              0.8515395561508456
+            ],
+            "target_position": [
+              0.3285188348471685,
+              -0.32945111787774406,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008312422896852857,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466780490679383,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395561508456,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547079305134537,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587271089715785,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530534371070166,
+            "release_required_pad_clearance": 0.05293635544857893,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9099900732062364,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008014917373657227,
+            "max_z_decrease": 0.008014917373657227,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505035874273487,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008014917373657227,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02138427943963677,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008014917373657227,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008014944834674553,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18421876430511472,
+              -0.3857125639915466,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18421876430511472,
+              -0.3857125639915466,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18256993845928254,
+              -0.3867533742041945,
+              0.8084226502390149
+            ],
+            "closest_button": [
+              0.18422846496105189,
+              -0.38571918010711664,
+              0.7734268307685852
+            ],
+            "closest_ee_minus_button": [
+              -0.0016585265017693418,
+              -0.001034194097077834,
+              0.034995819470429734
+            ],
+            "button_min_z_position": [
+              0.18419778347015375,
+              -0.38571259379386896,
+              0.7687939405441284
+            ],
+            "min_active_finger_to_button": 0.14786911014655502,
+            "closest_active_finger": [
+              0.041495949029922485,
+              -0.36947643756866455,
+              0.8079589009284973
+            ],
+            "closest_active_finger_button": [
+              0.18422968685626978,
+              -0.3857194781303405,
+              0.7729086875915527
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1427337378263473,
+              0.01624304056167597,
+              0.03505021333694458
+            ],
+            "min_contact_pad_to_button": 0.02138427943963677,
+            "closest_contact_pad": [
+              0.18419778347015375,
+              -0.388166109016606,
+              0.7900370022397567
+            ],
+            "closest_contact_pad_button": [
+              0.18419778347015375,
+              -0.38571259379386896,
+              0.7687939405441284
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024535152227370127,
+              0.021243061695628285
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33c53bdb41068d981c376fe3a5d238728f305e57141dd6d48f558d7275d73423",
+    "visual_seed": 2049740716163777860,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..552719089ef8621770c233972f78b0cbb0b29ace
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3787443860247702,
+              -0.08413387161703226,
+              1.054485341303851
+            ],
+            "current_z": 1.054485341303851,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19337883328908512,
+            "gripper_z": 1.0553766247932084,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37474146197938635,
+              -0.08839820841060025,
+              1.0553766247932084
+            ],
+            "object_minus_gripper": [
+              0.004002924045383827,
+              0.0042643367935679966,
+              -0.0008912834893572974
+            ],
+            "object_to_gripper_xy": 0.005848757919600519,
+            "object_to_gripper_z": -0.0008912834893572974,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3787443860247702,
+              -0.10782494823695445,
+              1.054485341303851
+            ],
+            "finger_b": [
+              0.36778647509790713,
+              -0.08413387161703226,
+              1.054485341303851
+            ],
+            "finger_midpoint": [
+              0.37326543056133865,
+              -0.09597940992699336,
+              1.054485341303851
+            ],
+            "object_minus_finger_midpoint": [
+              0.005478955463431523,
+              0.011845538309961101,
+              0.0
+            ],
+            "finger_gap": 0.026102546299012444,
+            "fingertip_max_gap": 0.09259151206901803,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013051273149506229,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054485341303851,
+            "object_top_z": 1.1045918631416358,
+            "finger_top_clearance": 0.050106521837784745,
+            "fingertip_min_top_clearance": 0.015031956551335423,
+            "object_projection_between_fingers": 0.8237659660411726,
+            "object_to_finger_line_xy": 0.009945570228618517,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048795756034509016,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.772823761051929,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3805077348145346,
+              -0.08868129152261166,
+              1.245752642080155
+            ],
+            "held_position": [
+              0.38486441607197286,
+              -0.08480621425986988,
+              1.2447011697353831
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00592473539180884,
+            "max_held_gripper_dist": 0.0059305355423964175,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010514723447718755,
+            "max_held_gripper_z_dist": 0.001072266097283725,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08820543847572665,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38486441607197286,
+              -0.10982265683375943,
+              1.2447011697353831
+            ],
+            "held_grasp_finger_b": [
+              0.37668314610997733,
+              -0.08472274225769606,
+              1.2447011697353831
+            ],
+            "held_grasp_midpoint": [
+              0.3807737810909751,
+              -0.09727269954572774,
+              1.2447011697353831
+            ],
+            "held_grasp_object_position": [
+              0.38486441607197286,
+              -0.08480621425986988,
+              1.2447011697353831
+            ],
+            "held_grasp_finger_gap": 0.02639960018478932,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02451259320793713,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06510734968972298,
+              -0.9978222808831113,
+              -0.010570183991099658
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003273006465336198,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03701458288540379,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33288158970026643,
+              -0.32760778024878134,
+              0.8515395909131773
+            ],
+            "target_position": [
+              0.324469978093912,
+              -0.33021904097700344,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008807604237641013,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18412428303007508,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395909131773,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521726279894385,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517295022814507,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15343013288601054,
+            "release_required_pad_clearance": 0.05258647511407254,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23738812603348966,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007967352867126465,
+            "max_z_decrease": 0.007967352867126465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350968464227676,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007967352867126465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021236314443949036,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007967352867126465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00796737501494562,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18016991019248965,
+              -0.3864805102348327,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18016991019248965,
+              -0.3864805102348327,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17939094591588797,
+              -0.387778158641528,
+              0.8068630203155773
+            ],
+            "closest_button": [
+              0.1801554560661316,
+              -0.38648247718811035,
+              0.7717984318733215
+            ],
+            "closest_ee_minus_button": [
+              -0.0007645101502436191,
+              -0.0012956814534176297,
+              0.035064588442255795
+            ],
+            "button_min_z_position": [
+              0.18015125393867495,
+              -0.3864827156066894,
+              0.7688415050506592
+            ],
+            "min_active_finger_to_button": 0.14676174419232868,
+            "closest_active_finger": [
+              0.03813531994819641,
+              -0.3733620345592499,
+              0.8096804022789001
+            ],
+            "closest_active_finger_button": [
+              0.1801741570234299,
+              -0.38648679852485657,
+              0.7751591205596924
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1420388370752335,
+              0.01312476396560669,
+              0.034521281719207764
+            ],
+            "min_contact_pad_to_button": 0.021236314443949036,
+            "closest_contact_pad": [
+              0.18015125393867495,
+              -0.3888751166461279,
+              0.7899426298649617
+            ],
+            "closest_contact_pad_button": [
+              0.18015125393867495,
+              -0.3864827156066894,
+              0.7688415050506592
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023924010394384965,
+              0.021101124814302485
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5f05c3ad806c6a7e70201fd3aee0d168fc3edd35a45b989423147d3af94e3a66",
+    "visual_seed": 1548025860253735450,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a74c3b353d28b90a8a18a8cc59bd518e43bc432
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3757172228616042,
+              -0.07652075692658476,
+              1.0520634902319776
+            ],
+            "current_z": 1.0520634902319776,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19095692261256692,
+            "gripper_z": 1.0541761588263174,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37125091286070816,
+              -0.08090273380699183,
+              1.0541761588263174
+            ],
+            "object_minus_gripper": [
+              0.004466310000896034,
+              0.0043819768804070625,
+              -0.002112668594339784
+            ],
+            "object_to_gripper_xy": 0.006256967828311565,
+            "object_to_gripper_z": -0.002112668594339784,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3757172228616042,
+              -0.10075394359952106,
+              1.0520634902319776
+            ],
+            "finger_b": [
+              0.3648768518909757,
+              -0.07652075692658476,
+              1.0520634902319776
+            ],
+            "finger_midpoint": [
+              0.37029703737628994,
+              -0.08863735026305292,
+              1.0520634902319776
+            ],
+            "object_minus_finger_midpoint": [
+              0.005420185485314255,
+              0.012116593336468154,
+              0.0
+            ],
+            "finger_gap": 0.026547334689309632,
+            "fingertip_max_gap": 0.0977497590256419,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013273667344654821,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0520634902319776,
+            "object_top_z": 1.1042177497896997,
+            "finger_top_clearance": 0.052154259557722016,
+            "fingertip_min_top_clearance": 0.015646277867316587,
+            "object_projection_between_fingers": 0.8332574500224514,
+            "object_to_finger_line_xy": 0.009895408951954262,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05137487951282095,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.74478384249459,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3763123010631092,
+              -0.07997212507420368,
+              1.2433285199513713
+            ],
+            "held_position": [
+              0.38094698978597247,
+              -0.0758011321329219,
+              1.2410910429314397
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006624486779274324,
+            "max_held_gripper_dist": 0.006636167052167159,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022374770199315996,
+            "max_held_gripper_z_dist": 0.002270381926555487,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08726429698791538,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38094698978597247,
+              -0.10069369543476592,
+              1.2410910429314397
+            ],
+            "held_grasp_finger_b": [
+              0.37179654856213984,
+              -0.0758011321329219,
+              1.2410910429314397
+            ],
+            "held_grasp_midpoint": [
+              0.3763717691740561,
+              -0.0882474137838439,
+              1.2410910429314397
+            ],
+            "held_grasp_object_position": [
+              0.38094698978597247,
+              -0.0758011321329219,
+              1.2410910429314397
+            ],
+            "held_grasp_finger_gap": 0.026521128979120158,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024969377346258204,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.008582447890024927,
+              -0.999930937584079,
+              0.008028801307764398
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004682934612559491,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03731409458194024,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3315048675413916,
+              -0.32834729616734015,
+              0.8515395788453418
+            ],
+            "target_position": [
+              0.32915003987041797,
+              -0.3281648013067549,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0023618885947739032,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18143206984981736,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395788453418,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075626587758405,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08945677171458392,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1492611463960613,
+            "release_required_pad_clearance": 0.054728385857291964,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.504933720332227,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008024990558624268,
+            "max_z_decrease": 0.008024990558624268,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506185603159308,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008024990558624268,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021170579387227793,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008024990558624268,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008025016724846682,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18484996259212488,
+              -0.3844262659549713,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18484996259212488,
+              -0.3844262659549713,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18300097847897726,
+              -0.38382520862305947,
+              0.8072509580697235
+            ],
+            "closest_button": [
+              0.1848368644714355,
+              -0.3844301998615265,
+              0.7722424268722534
+            ],
+            "closest_ee_minus_button": [
+              -0.001835885992458236,
+              0.0006049912384670231,
+              0.03500853119747005
+            ],
+            "button_min_z_position": [
+              0.18483002483844752,
+              -0.3844310045242309,
+              0.7687838673591614
+            ],
+            "min_active_finger_to_button": 0.14758380244287478,
+            "closest_active_finger": [
+              0.05611687898635864,
+              -0.4477120339870453,
+              0.8109318614006042
+            ],
+            "closest_active_finger_button": [
+              0.18485406041145322,
+              -0.3844282925128936,
+              0.7762492299079895
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12873718142509458,
+              -0.06328374147415167,
+              0.034682631492614746
+            ],
+            "min_contact_pad_to_button": 0.021170579387227793,
+            "closest_contact_pad": [
+              0.18483017385005945,
+              -0.38499799570897975,
+              0.790023963629909
+            ],
+            "closest_contact_pad_button": [
+              0.18483017385005945,
+              -0.3844303488731384,
+              0.7688609957695007
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005676468358413178,
+              0.021162967860408277
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c1ae68987cabab3a68659b73d9ad462620d51077cefba9a748f277ab778ecdc",
+    "visual_seed": 5989079046700474482,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9ff2a6fc57f8ee1cff735e51fb2a8a755d543a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3799627924064601,
+              -0.07649528439671432,
+              1.0511758184029545
+            ],
+            "current_z": 1.0511758184029545,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.19006907196960965,
+            "gripper_z": 1.0520711456472331,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37579978724810403,
+              -0.08087731262553502,
+              1.0520711456472331
+            ],
+            "object_minus_gripper": [
+              0.004163005158356048,
+              0.004382028228820695,
+              -0.0008953272442786542
+            ],
+            "object_to_gripper_xy": 0.006044235546922415,
+            "object_to_gripper_z": -0.0008953272442786542,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3799627924064601,
+              -0.1002939980918401,
+              1.0511758184029545
+            ],
+            "finger_b": [
+              0.36883293013874147,
+              -0.07649528439671432,
+              1.0511758184029545
+            ],
+            "finger_midpoint": [
+              0.3743978612726008,
+              -0.0883946412442772,
+              1.0511758184029545
+            ],
+            "object_minus_finger_midpoint": [
+              0.005564931133859308,
+              0.01189935684756288,
+              0.0
+            ],
+            "finger_gap": 0.026272658937400183,
+            "fingertip_max_gap": 0.09488567510161719,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013136329468700084,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511758184029545,
+            "object_top_z": 1.1024766479447095,
+            "finger_top_clearance": 0.051300829541754966,
+            "fingertip_min_top_clearance": 0.015390248862526473,
+            "object_projection_between_fingers": 0.8205384047417874,
+            "object_to_finger_line_xy": 0.010081827127080653,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0499428375508086,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.373923410749688,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3813419179747809,
+              -0.08060686285201392,
+              1.2447623218646076
+            ],
+            "held_position": [
+              0.38584825112326876,
+              -0.07660143718440328,
+              1.2437254876706678
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006117638300000854,
+            "max_held_gripper_dist": 0.006121648874523895,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010368341939397396,
+            "max_held_gripper_z_dist": 0.001058633214346516,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08664023977475219,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38584825112326876,
+              -0.10166284596912124,
+              1.2437254876706678
+            ],
+            "held_grasp_finger_b": [
+              0.37722474779857534,
+              -0.07660143718440328,
+              1.2437254876706678
+            ],
+            "held_grasp_midpoint": [
+              0.38153649946092205,
+              -0.08913214157676226,
+              1.2437254876706678
+            ],
+            "held_grasp_object_position": [
+              0.38584825112326876,
+              -0.07660143718440328,
+              1.2437254876706678
+            ],
+            "held_grasp_finger_gap": 0.026503566172606605,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024599456044342573,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04988742744841122,
+              -0.9987331780034259,
+              0.006579037753114525
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036821971136088466,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036990317651462004,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33362951745403463,
+              -0.3243784024688996,
+              0.8515395915456926
+            ],
+            "target_position": [
+              0.32716144030303057,
+              -0.3261107004593932,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006696034524941537,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1819964457659829,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395915456926,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544489138888848,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749093579720928,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15062659728985098,
+            "release_required_pad_clearance": 0.05374546789860464,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.500149316547753,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007757246494293213,
+            "max_z_decrease": 0.007757246494293213,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503354156215938,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007757246494293213,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02127409839898903,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007757246494293213,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077572720631901475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18286137282848353,
+              -0.38237217068672175,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18286137282848353,
+              -0.38237217068672175,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18117833370873454,
+              -0.38218034952191926,
+              0.8075451362248436
+            ],
+            "closest_button": [
+              0.18285183608531946,
+              -0.38237559795379633,
+              0.7725521326065063
+            ],
+            "closest_ee_minus_button": [
+              -0.0016735023765849233,
+              0.00019524843187707086,
+              0.03499300361833724
+            ],
+            "button_min_z_position": [
+              0.18284159898757932,
+              -0.38237455487251276,
+              0.7690516114234924
+            ],
+            "min_active_finger_to_button": 0.1476981781828675,
+            "closest_active_finger": [
+              0.05335359275341034,
+              -0.44418954849243164,
+              0.8079844117164612
+            ],
+            "closest_active_finger_button": [
+              0.18287156522274012,
+              -0.38237908482551575,
+              0.7730657458305359
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12951797246932978,
+              -0.061810463666915894,
+              0.03491866588592529
+            ],
+            "min_contact_pad_to_button": 0.02127409839898903,
+            "closest_contact_pad": [
+              0.18284159898757932,
+              -0.38358600335028237,
+              0.7902911889916923
+            ],
+            "closest_contact_pad_button": [
+              0.18284159898757932,
+              -0.38237455487251276,
+              0.7690516114234924
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012114484777696055,
+              0.02123957756819983
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27677219efb03210ef1b98bed1e19b66bbc8c5ed372c40dd0f6bb47c8f415471",
+    "visual_seed": 6326156399129951098,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bc29b64d8230fd0dc7ddd639d864b0f795a1d55
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37318593238576436,
+              -0.07613240816014119,
+              1.054175510063224
+            ],
+            "current_z": 1.054175510063224,
+            "required_z": 0.8611066868287,
+            "initial_z": 0.7611066868287,
+            "lift_margin": 0.193068823234524,
+            "gripper_z": 1.0557268201151373,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36865670474619483,
+              -0.08061641288623528,
+              1.0557268201151373
+            ],
+            "object_minus_gripper": [
+              0.004529227639569533,
+              0.004484004726094087,
+              -0.001551310051913335
+            ],
+            "object_to_gripper_xy": 0.006373397947302108,
+            "object_to_gripper_z": -0.001551310051913335,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37318593238576436,
+              -0.10029390880291364,
+              1.054175510063224
+            ],
+            "finger_b": [
+              0.3620424761557058,
+              -0.07613240816014119,
+              1.054175510063224
+            ],
+            "finger_midpoint": [
+              0.3676142042707351,
+              -0.08821315848152742,
+              1.054175510063224
+            ],
+            "object_minus_finger_midpoint": [
+              0.005571728115029262,
+              0.012080750321386224,
+              0.0
+            ],
+            "finger_gap": 0.026607418703473,
+            "fingertip_max_gap": 0.09670417958212077,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013303709351736488,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054175510063224,
+            "object_top_z": 1.1062870458180165,
+            "finger_top_clearance": 0.05211153575479255,
+            "fingertip_min_top_clearance": 0.015633460726437762,
+            "object_projection_between_fingers": 0.8245980830718235,
+            "object_to_finger_line_xy": 0.010119080992630205,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05085208979106039,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.906587151831239,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3739941920031633,
+              -0.08006545952962073,
+              1.2451000460870716
+            ],
+            "held_position": [
+              0.37877778050912214,
+              -0.07588369823523021,
+              1.2434051529957495
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006575903672394807,
+            "max_held_gripper_dist": 0.006581396355566725,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016948930913220916,
+            "max_held_gripper_z_dist": 0.0017173517446682496,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08756113553388836,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37877778050912214,
+              -0.10094461060206499,
+              1.2434051529957495
+            ],
+            "held_grasp_finger_b": [
+              0.3697232380053585,
+              -0.07588369823523021,
+              1.2434051529957495
+            ],
+            "held_grasp_midpoint": [
+              0.37425050925724035,
+              -0.0884141544186476,
+              1.2434051529957495
+            ],
+            "held_grasp_object_position": [
+              0.37877778050912214,
+              -0.07588369823523021,
+              1.2434051529957495
+            ],
+            "held_grasp_finger_gap": 0.02664646446736667,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02483459228073141,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02407513419922729,
+              -0.9996675795321932,
+              0.00922596041263235
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004225881959883389,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037084964603838644,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33331049872156876,
+              -0.32944043832455927,
+              0.8515395837826253
+            ],
+            "target_position": [
+              0.32698158546505024,
+              -0.33114093000130673,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006553381947607148,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18246155609978443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395837826253,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514267410343194,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627643665115024,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1518496555676509,
+            "release_required_pad_clearance": 0.05313821832557512,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3020397477910661,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008137881755828857,
+            "max_z_decrease": 0.008137881755828857,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035041891079035464,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008137881755828857,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021156248940436724,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008137881755828857,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008137900096991793,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18268151581287378,
+              -0.38740238547325134,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18268151581287378,
+              -0.38740238547325134,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1840854807761473,
+              -0.3866478650100523,
+              0.8036760228935772
+            ],
+            "closest_button": [
+              0.18266482651233668,
+              -0.38739791512489313,
+              0.7686709761619568
+            ],
+            "closest_ee_minus_button": [
+              0.0014206542638106334,
+              0.0007500501148408056,
+              0.035005046731620415
+            ],
+            "button_min_z_position": [
+              0.18266482651233668,
+              -0.38739791512489313,
+              0.7686709761619568
+            ],
+            "min_active_finger_to_button": 0.1443355797342497,
+            "closest_active_finger": [
+              0.057676464319229126,
+              -0.45064693689346313,
+              0.8075313568115234
+            ],
+            "closest_active_finger_button": [
+              0.1826930940151214,
+              -0.3874097764492035,
+              0.7728230953216553
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12501662969589228,
+              -0.06323716044425964,
+              0.034708261489868164
+            ],
+            "min_contact_pad_to_button": 0.021156248940436724,
+            "closest_contact_pad": [
+              0.18266482651233668,
+              -0.3877319960134267,
+              0.7898245871820556
+            ],
+            "closest_contact_pad_button": [
+              0.18266482651233668,
+              -0.38739791512489313,
+              0.7686709761619568
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003340808885335944,
+              0.021153611020098828
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cc35110c86d51da3a216db815efb0c672b9c0cb68d481af4fb4823d98711bd88",
+    "visual_seed": 7023938734396568813,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..79ff48cd2d010d905c6248122004544cfed239e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_109_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38198040694712027,
+              -0.08508128481913652,
+              1.0518085035393745
+            ],
+            "current_z": 1.0518085035393745,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.19070205512925342,
+            "gripper_z": 1.0525822762790917,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3780190920493579,
+              -0.08931165849644841,
+              1.0525822762790917
+            ],
+            "object_minus_gripper": [
+              0.003961314897762358,
+              0.004230373677311897,
+              -0.0007737727397172378
+            ],
+            "object_to_gripper_xy": 0.0057955221653382865,
+            "object_to_gripper_z": -0.0007737727397172378,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38198040694712027,
+              -0.10877340038810616,
+              1.0518085035393745
+            ],
+            "finger_b": [
+              0.37111111807164676,
+              -0.08508128481913652,
+              1.0518085035393745
+            ],
+            "finger_midpoint": [
+              0.37654576250938354,
+              -0.09692734260362135,
+              1.0518085035393745
+            ],
+            "object_minus_finger_midpoint": [
+              0.005434644437736724,
+              0.011846057784484831,
+              0.0
+            ],
+            "finger_gap": 0.026066410968752604,
+            "fingertip_max_gap": 0.09301009912175431,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013033205484376297,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0518085035393745,
+            "object_top_z": 1.102067013401007,
+            "finger_top_clearance": 0.050258509861632605,
+            "fingertip_min_top_clearance": 0.015077552958489782,
+            "object_projection_between_fingers": 0.8261239417689814,
+            "object_to_finger_line_xy": 0.00987924453807376,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900504956087716,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.926866791426796,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38369255936987157,
+              -0.08957126859552166,
+              1.2440153174081197
+            ],
+            "held_position": [
+              0.38799824245108067,
+              -0.08571633415305721,
+              1.2430925014604273
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005852436725401168,
+            "max_held_gripper_dist": 0.005857456363464394,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009228159476923903,
+            "max_held_gripper_z_dist": 0.0009431286010106454,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0881902784518582,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38799824245108067,
+              -0.11071366891459969,
+              1.2430925014604273
+            ],
+            "held_grasp_finger_b": [
+              0.37979321897541957,
+              -0.08566564229042718,
+              1.2430925014604273
+            ],
+            "held_grasp_midpoint": [
+              0.3838957307132501,
+              -0.09818965560251344,
+              1.2430925014604273
+            ],
+            "held_grasp_object_position": [
+              0.38799824245108067,
+              -0.08571633415305721,
+              1.2430925014604273
+            ],
+            "held_grasp_finger_gap": 0.02635765634500542,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02451654198485582,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.059309381241124656,
+              -0.9982094488089117,
+              -0.007764895711078967
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003356929722312776,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037025945308511804,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3350472055692723,
+              -0.3277310509227249,
+              0.8515395131651802
+            ],
+            "target_position": [
+              0.3267483644729479,
+              -0.33022871597811193,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00866655030972209,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18441278010993478,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395131651802,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517618225691547,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560709990283737,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15387189242813562,
+            "release_required_pad_clearance": 0.052803549951418685,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6537167159747178,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007950007915496826,
+            "max_z_decrease": 0.007950007915496826,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035104256228247754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007950007915496826,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021173983809654517,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007950007915496826,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007950030640924989,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18244829773902885,
+              -0.3864901661872863,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18244829773902885,
+              -0.3864901661872863,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1820186717758459,
+              -0.38439052914739463,
+              0.8069781739832259
+            ],
+            "closest_button": [
+              0.18243764340877527,
+              -0.3864922821521759,
+              0.7719393968582153
+            ],
+            "closest_ee_minus_button": [
+              -0.0004189716329293658,
+              0.0021017530047812705,
+              0.03503877712501058
+            ],
+            "button_min_z_position": [
+              0.1824297457933425,
+              -0.3864943087100982,
+              0.7688588500022888
+            ],
+            "min_active_finger_to_button": 0.14564704002494783,
+            "closest_active_finger": [
+              0.05514014512300491,
+              -0.4481489062309265,
+              0.8104128837585449
+            ],
+            "closest_active_finger_button": [
+              0.1824535429477691,
+              -0.3864942193031311,
+              0.7757277488708496
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1273133978247642,
+              -0.06165468692779541,
+              0.03468513488769531
+            ],
+            "min_contact_pad_to_button": 0.021173983809654517,
+            "closest_contact_pad": [
+              0.1824297457933425,
+              -0.3864943087100982,
+              0.7900328338119433
+            ],
+            "closest_contact_pad_button": [
+              0.1824297457933425,
+              -0.3864943087100982,
+              0.7688588500022888
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021173983809654517
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d866957d8322c5120830fb10f09cdc82ab71fd60b61f626fee9c31cd14efe42",
+    "visual_seed": 5516921406947513905,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f25613bf6a7ad23dbf79e57a762295ac657b0116
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_110_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3819434442988776,
+              -0.07886524339515777,
+              1.053304863604509
+            ],
+            "current_z": 1.053304863604509,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1921983555897432,
+            "gripper_z": 1.0549848226729157,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.377421813123912,
+              -0.0832641970572751,
+              1.0549848226729157
+            ],
+            "object_minus_gripper": [
+              0.0045216311749656235,
+              0.00439895366211733,
+              -0.0016799590684066779
+            ],
+            "object_to_gripper_xy": 0.0063084024763704226,
+            "object_to_gripper_z": -0.0016799590684066779,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3819434442988776,
+              -0.10318763737997093,
+              1.053304863604509
+            ],
+            "finger_b": [
+              0.3711426433271847,
+              -0.07886524339515777,
+              1.053304863604509
+            ],
+            "finger_midpoint": [
+              0.37654304381303116,
+              -0.09102644038756436,
+              1.053304863604509
+            ],
+            "object_minus_finger_midpoint": [
+              0.005400400485846446,
+              0.012161196992406587,
+              0.0
+            ],
+            "finger_gap": 0.026612706566273892,
+            "fingertip_max_gap": 0.09442232464978476,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013306353283136951,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.053304863604509,
+            "object_top_z": 1.104061427614767,
+            "finger_top_clearance": 0.050756564010258076,
+            "fingertip_min_top_clearance": 0.015226969203077423,
+            "object_projection_between_fingers": 0.8352847401234513,
+            "object_to_finger_line_xy": 0.009871274683424629,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04971116232489238,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.597541463006215,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3826637510699078,
+              -0.08238801108670235,
+              1.2444273272947133
+            ],
+            "held_position": [
+              0.38736146396515164,
+              -0.07820760156712747,
+              1.242612596441858
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006545042266158226,
+            "max_held_gripper_dist": 0.0065516806544858395,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0018147308528553285,
+            "max_held_gripper_z_dist": 0.0018487270072404804,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08800181366166565,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38736146396515164,
+              -0.10317505638497004,
+              1.242612596441858
+            ],
+            "held_grasp_finger_b": [
+              0.3782449256235609,
+              -0.07820760156712747,
+              1.242612596441858
+            ],
+            "held_grasp_midpoint": [
+              0.38280319479435626,
+              -0.09069132897604876,
+              1.242612596441858
+            ],
+            "held_grasp_object_position": [
+              0.38736146396515164,
+              -0.07820760156712747,
+              1.242612596441858
+            ],
+            "held_grasp_finger_gap": 0.02657978689558486,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02489100578404389,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.008254608434952754,
+              -0.9999521144820191,
+              -0.005256442002405937
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004455550288114099,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719949372378105,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3325042372778552,
+              -0.3320932937843243,
+              0.8515396061212042
+            ],
+            "target_position": [
+              0.32432248122856416,
+              -0.33447860502138493,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008522373011536083,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18553381699102786,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396061212042,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588441037123864,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08865836031938822,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530375579622826,
+            "release_required_pad_clearance": 0.05432918015969411,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6803116701451857,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008058130741119385,
+            "max_z_decrease": 0.008058130741119385,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506725446203463,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008058130741119385,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115312000949987,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008058130741119385,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008058134902031121,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1800224035978317,
+              -0.39074006676673884,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1800224035978317,
+              -0.39074006676673884,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17981635014501657,
+              -0.3887886489894802,
+              0.8037631682104219
+            ],
+            "closest_button": [
+              0.18001435697078705,
+              -0.390738546848297,
+              0.7687507271766663
+            ],
+            "closest_ee_minus_button": [
+              -0.00019800682577048034,
+              0.0019498978588168292,
+              0.03501244103375567
+            ],
+            "button_min_z_position": [
+              0.18001435697078705,
+              -0.390738546848297,
+              0.7687507271766663
+            ],
+            "min_active_finger_to_button": 0.145216364326333,
+            "closest_active_finger": [
+              0.05284373462200165,
+              -0.45163819193840027,
+              0.8091526031494141
+            ],
+            "closest_active_finger_button": [
+              0.1800311058759689,
+              -0.3907444775104522,
+              0.7744665741920471
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12718737125396726,
+              -0.060893714427948054,
+              0.03468602895736694
+            ],
+            "min_contact_pad_to_button": 0.02115312000949987,
+            "closest_contact_pad": [
+              0.18001435697078705,
+              -0.390738546848297,
+              0.7899038471861661
+            ],
+            "closest_contact_pad_button": [
+              0.18001435697078705,
+              -0.390738546848297,
+              0.7687507271766663
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02115312000949987
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bca0b11c3ec832e523f39aeefc8fa09da18a40bbb5105f0affb5443b924e73d1",
+    "visual_seed": 2786337509682073709,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bccddb24dabc47d57e748eb1b10f08cc7ac9398d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_111_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3829504872529507,
+              -0.0781445408479176,
+              1.0536160681465123
+            ],
+            "current_z": 1.0536160681465123,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1925094409224568,
+            "gripper_z": 1.054643204709069,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3785135356262684,
+              -0.08261641252398268,
+              1.054643204709069
+            ],
+            "object_minus_gripper": [
+              0.0044369516266823394,
+              0.004471871676065081,
+              -0.0010271365625567075
+            ],
+            "object_to_gripper_xy": 0.006299537762781661,
+            "object_to_gripper_z": -0.0010271365625567075,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3829504872529507,
+              -0.1022004058394366,
+              1.0536160681465123
+            ],
+            "finger_b": [
+              0.37175605633153186,
+              -0.0781445408479176,
+              1.0536160681465123
+            ],
+            "finger_midpoint": [
+              0.3773532717922413,
+              -0.09017247334367709,
+              1.0536160681465123
+            ],
+            "object_minus_finger_midpoint": [
+              0.005597215460709404,
+              0.012027932495759494,
+              0.0
+            ],
+            "finger_gap": 0.026532996893389338,
+            "fingertip_max_gap": 0.09692601408009496,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013266498446694652,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0536160681465123,
+            "object_top_z": 1.1062738010144728,
+            "finger_top_clearance": 0.052657732867960494,
+            "fingertip_min_top_clearance": 0.015797319860388147,
+            "object_projection_between_fingers": 0.8219953165383044,
+            "object_to_finger_line_xy": 0.010149314078035107,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050963007040047484,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6299266554326692,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3842917815569774,
+              -0.08302079487983792,
+              1.2468100819526882
+            ],
+            "held_position": [
+              0.38908354940920165,
+              -0.07895673596320014,
+              1.2456217682246833
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006394505730991062,
+            "max_held_gripper_dist": 0.006398675725122574,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001188313728004875,
+            "max_held_gripper_z_dist": 0.0012117192866352156,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08821656507652122,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38908354940920165,
+              -0.10426746240243899,
+              1.2456217682246833
+            ],
+            "held_grasp_finger_b": [
+              0.3804719126713019,
+              -0.07887452136017296,
+              1.2456217682246833
+            ],
+            "held_grasp_midpoint": [
+              0.3847777310402518,
+              -0.09157099188130598,
+              1.2456217682246833
+            ],
+            "held_grasp_object_position": [
+              0.38908354940920165,
+              -0.07895673596320014,
+              1.2456217682246833
+            ],
+            "held_grasp_finger_gap": 0.02681346195629245,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024872171005865282,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055296117334822065,
+              -0.9982443955261907,
+              0.021224189224652412
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036118355240242874,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03689004475836095,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3326862002415212,
+              -0.32627684085861264,
+              0.8515395694849076
+            ],
+            "target_position": [
+              0.32638173051632524,
+              -0.3276602219174509,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006454462151865536,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18324850500697162,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395694849076,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758130357397284,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08701367382285895,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15066331726465843,
+            "release_required_pad_clearance": 0.053506836911429476,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0259544549731427,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008064329624176025,
+            "max_z_decrease": 0.008064329624176025,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507193764580522,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008064329624176025,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02120995836661457,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008064329624176025,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008064332700568005,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18208165466785425,
+              -0.3839216828346252,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18208165466785425,
+              -0.3839216828346252,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18353629374965208,
+              -0.38477820275653607,
+              0.8037754818361664
+            ],
+            "closest_button": [
+              0.18207626044750208,
+              -0.38391715288162226,
+              0.7687445282936096
+            ],
+            "closest_ee_minus_button": [
+              0.001460033302149999,
+              -0.0008610498749138107,
+              0.03503095354255681
+            ],
+            "button_min_z_position": [
+              0.18207626044750208,
+              -0.38391715288162226,
+              0.7687445282936096
+            ],
+            "min_active_finger_to_button": 0.14436475916119673,
+            "closest_active_finger": [
+              0.04257781058549881,
+              -0.37066397070884705,
+              0.8075355291366577
+            ],
+            "closest_active_finger_button": [
+              0.182091474533081,
+              -0.3839289546012878,
+              0.7728777527809143
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395136639475822,
+              0.01326498389244074,
+              0.03465777635574341
+            ],
+            "min_contact_pad_to_button": 0.02120995836661457,
+            "closest_contact_pad": [
+              0.18207626044750208,
+              -0.38578483127239926,
+              0.7898720958616509
+            ],
+            "closest_contact_pad_button": [
+              0.18207626044750208,
+              -0.38391715288162226,
+              0.7687445282936096
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018676783907770056,
+              0.02112756756804124
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b17d86ded57646194da830f8ea24bbd947ffb53790438aba10856876c4031667",
+    "visual_seed": 4418878955700745419,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcd161e13a6bdeaacbfc5123b718648e8693f698
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_112_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3736920422329916,
+              -0.07815707018537699,
+              1.053943434752416
+            ],
+            "current_z": 1.053943434752416,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.19283674792371563,
+            "gripper_z": 1.0551989047742314,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3694492807728387,
+              -0.08253355481667056,
+              1.0551989047742314
+            ],
+            "object_minus_gripper": [
+              0.0042427614601529,
+              0.004376484631293573,
+              -0.0012554700218154746
+            ],
+            "object_to_gripper_xy": 0.006095460814057261,
+            "object_to_gripper_z": -0.0012554700218154746,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3736920422329916,
+              -0.10205782567280071,
+              1.053943434752416
+            ],
+            "finger_b": [
+              0.3626195895112344,
+              -0.07815707018537699,
+              1.053943434752416
+            ],
+            "finger_midpoint": [
+              0.368155815872113,
+              -0.09010744792908884,
+              1.053943434752416
+            ],
+            "object_minus_finger_midpoint": [
+              0.005536226360878582,
+              0.011950377743711854,
+              0.0
+            ],
+            "finger_gap": 0.026340943835503745,
+            "fingertip_max_gap": 0.094453700642562,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013170471917751867,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.053943434752416,
+            "object_top_z": 1.1052085000737135,
+            "finger_top_clearance": 0.0512650653212976,
+            "fingertip_min_top_clearance": 0.01537951959638928,
+            "object_projection_between_fingers": 0.8233046972248694,
+            "object_to_finger_line_xy": 0.010046716123819443,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049726850321281005,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9978671480854286,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3751333788167853,
+              -0.08257100803268226,
+              1.2447910189824523
+            ],
+            "held_position": [
+              0.37970570052188624,
+              -0.07856923376207119,
+              1.2433752747125655
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0062389626481955274,
+            "max_held_gripper_dist": 0.0062441511868754785,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014157442698867762,
+            "max_held_gripper_z_dist": 0.0014373660549014122,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08800776099643663,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37970570052188624,
+              -0.10367377166811455,
+              1.2433752747125655
+            ],
+            "held_grasp_finger_b": [
+              0.3712495124248049,
+              -0.07856923376207119,
+              1.2433752747125655
+            ],
+            "held_grasp_midpoint": [
+              0.3754776064733456,
+              -0.09112150271509287,
+              1.2433752747125655
+            ],
+            "held_grasp_object_position": [
+              0.37970570052188624,
+              -0.07856923376207119,
+              1.2433752747125655
+            ],
+            "held_grasp_finger_gap": 0.02649046886352123,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02457528298286482,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.057647853298931594,
+              -0.9983360047316477,
+              0.001395229900881145
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003497495984124324,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036945127487773934,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3315112696527146,
+              -0.32937586757455706,
+              0.8515395727112274
+            ],
+            "target_position": [
+              0.3240858403463809,
+              -0.3315041637401636,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007724418745245188,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18456353794633482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395727112274,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591478256091086,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08698812920212971,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15193265702566444,
+            "release_required_pad_clearance": 0.05349406460106486,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0006842717228492,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008039474487304688,
+            "max_z_decrease": 0.008039474487304688,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512202610264565,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008039474487304688,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02116800690978693,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008039474487304688,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008039489387181586,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17978577315807343,
+              -0.3877656161785126,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17978577315807343,
+              -0.3877656161785126,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18144613902116127,
+              -0.3863309006035144,
+              0.8038219887939323
+            ],
+            "closest_button": [
+              0.17977039515972137,
+              -0.38776737451553345,
+              0.768769383430481
+            ],
+            "closest_ee_minus_button": [
+              0.001675743861439899,
+              0.001436473912019065,
+              0.03505260536345134
+            ],
+            "button_min_z_position": [
+              0.17977039515972137,
+              -0.38776737451553345,
+              0.768769383430481
+            ],
+            "min_active_finger_to_button": 0.14378737834538832,
+            "closest_active_finger": [
+              0.054950423538684845,
+              -0.4501391351222992,
+              0.808590292930603
+            ],
+            "closest_active_finger_button": [
+              0.17979371547698975,
+              -0.3877698481082916,
+              0.773963212966919
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1248432919383049,
+              -0.06236928701400757,
+              0.03462707996368408
+            ],
+            "min_contact_pad_to_button": 0.02116800690978693,
+            "closest_contact_pad": [
+              0.17977039515972137,
+              -0.38776737451553345,
+              0.7899373903402679
+            ],
+            "closest_contact_pad_button": [
+              0.17977039515972137,
+              -0.38776737451553345,
+              0.768769383430481
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02116800690978693
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8606b2765a4f53969ee785ce337e550a27c5b2bb98c1b29c0645ab2472412d0e",
+    "visual_seed": 8530981990455354743,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2883716d653d0811ca23c959e6e5dee61e86f43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_113_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.379608759889543,
+              -0.07860038420439158,
+              1.050213018260024
+            ],
+            "current_z": 1.050213018260024,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18910639103596838,
+            "gripper_z": 1.0519979369220696,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37508366761056333,
+              -0.08302289911585588,
+              1.0519979369220696
+            ],
+            "object_minus_gripper": [
+              0.004525092278979681,
+              0.004422514911464295,
+              -0.0017849186620455537
+            ],
+            "object_to_gripper_xy": 0.006327329474225723,
+            "object_to_gripper_z": -0.0017849186620455537,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.379608759889543,
+              -0.10291242156949924,
+              1.050213018260024
+            ],
+            "finger_b": [
+              0.3687574789510409,
+              -0.07860038420439158,
+              1.050213018260024
+            ],
+            "finger_midpoint": [
+              0.3741831194202919,
+              -0.09075640288694542,
+              1.050213018260024
+            ],
+            "object_minus_finger_midpoint": [
+              0.005425640469251092,
+              0.012156018682553837,
+              0.0
+            ],
+            "finger_gap": 0.026623776194384798,
+            "fingertip_max_gap": 0.09637542952446551,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013311888097192416,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050213018260024,
+            "object_top_z": 1.102095902631538,
+            "finger_top_clearance": 0.051882884371514004,
+            "fingertip_min_top_clearance": 0.015564865311454217,
+            "object_projection_between_fingers": 0.8338796998099428,
+            "object_to_finger_line_xy": 0.009909065705404516,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05068771476223276,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7875214334472793,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3801917543415255,
+              -0.08211310192263833,
+              1.241123261918285
+            ],
+            "held_position": [
+              0.38490022860465,
+              -0.07791407674656728,
+              1.239209396743748
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006592755283042864,
+            "max_held_gripper_dist": 0.006600104202460907,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001913865174536955,
+            "max_held_gripper_z_dist": 0.001951556621395234,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08749402120519534,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38490022860465,
+              -0.10288819404626635,
+              1.239209396743748
+            ],
+            "held_grasp_finger_b": [
+              0.37573957931278806,
+              -0.07791407674656728,
+              1.239209396743748
+            ],
+            "held_grasp_midpoint": [
+              0.38031990395871906,
+              -0.09040113539641681,
+              1.239209396743748
+            ],
+            "held_grasp_object_position": [
+              0.38490022860465,
+              -0.07791407674656728,
+              1.239209396743748
+            ],
+            "held_grasp_finger_gap": 0.02660120355073468,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024891941428954782,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.008818899467288465,
+              -0.9999443813942408,
+              0.005784559643996267
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004470609872150764,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719349251045765,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32766204693651435,
+              -0.33394434805183393,
+              0.8515395700980495
+            ],
+            "target_position": [
+              0.32360265063920757,
+              -0.3344037548707826,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0040853094036908105,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17946851729664803,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395700980495,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554336405606066,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09021137004540163,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14757264289740468,
+            "release_required_pad_clearance": 0.055105685022700815,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.298299548554486,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007925629615783691,
+            "max_z_decrease": 0.007925629615783691,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505101658676619,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007925629615783691,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021209059963494013,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007925629615783691,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007925652526425993,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17930257320404047,
+              -0.3906652033329009,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17930257320404047,
+              -0.3906652033329009,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1772616497876826,
+              -0.39047533396989903,
+              0.8073933669303931
+            ],
+            "closest_button": [
+              0.17929218709468836,
+              -0.3906688094139098,
+              0.772401750087738
+            ],
+            "closest_ee_minus_button": [
+              -0.002030537307005753,
+              0.0001934754440107711,
+              0.03499161684265506
+            ],
+            "button_min_z_position": [
+              0.17928387224674222,
+              -0.3906688690185546,
+              0.768883228302002
+            ],
+            "min_active_finger_to_button": 0.14797468722079765,
+            "closest_active_finger": [
+              0.04921484738588333,
+              -0.45202603936195374,
+              0.808236300945282
+            ],
+            "closest_active_finger_button": [
+              0.17931203544139857,
+              -0.390669971704483,
+              0.7734992504119873
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.13009718805551523,
+              -0.06135606765747076,
+              0.03473705053329468
+            ],
+            "min_contact_pad_to_button": 0.021209059963494013,
+            "closest_contact_pad": [
+              0.17928387224674222,
+              -0.3918840227779546,
+              0.7900574490875728
+            ],
+            "closest_contact_pad_button": [
+              0.17928387224674222,
+              -0.3906688690185546,
+              0.768883228302002
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012151537594000117,
+              0.021174220785570852
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "01ec6f5f9ab5426c33783542e0364c633db4f9e64c2f784cd87d656f156eb4ad",
+    "visual_seed": 6939693921053999354,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..848180822cbf7f31e9f29562dec4b313bdf5f9d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_114_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38210491893622106,
+              -0.08683427158196716,
+              1.0535951545583704
+            ],
+            "current_z": 1.0535951545583704,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1924887061482492,
+            "gripper_z": 1.0548308722784212,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3779713228602172,
+              -0.09110276836529074,
+              1.0548308722784212
+            ],
+            "object_minus_gripper": [
+              0.004133596076003887,
+              0.004268496783323583,
+              -0.0012357177200508218
+            ],
+            "object_to_gripper_xy": 0.005941942553475127,
+            "object_to_gripper_z": -0.0012357177200508218,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38210491893622106,
+              -0.1107760579005569,
+              1.0535951545583704
+            ],
+            "finger_b": [
+              0.37135244449188953,
+              -0.08683427158196716,
+              1.0535951545583704
+            ],
+            "finger_midpoint": [
+              0.37672868171405527,
+              -0.09880516474126202,
+              1.0535951545583704
+            ],
+            "object_minus_finger_midpoint": [
+              0.005376237222165792,
+              0.011970893159294865,
+              0.0
+            ],
+            "finger_gap": 0.026245472729615933,
+            "fingertip_max_gap": 0.09542449264533767,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013122736364807971,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0535951545583704,
+            "object_top_z": 1.104931694363884,
+            "finger_top_clearance": 0.05133653980551367,
+            "fingertip_min_top_clearance": 0.0154009619416541,
+            "object_projection_between_fingers": 0.8321551428411812,
+            "object_to_finger_line_xy": 0.009808680079585293,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05021224632266884,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.655200213789143,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38336262784619535,
+              -0.09057623301291055,
+              1.2464996031563063
+            ],
+            "held_position": [
+              0.38774146394620906,
+              -0.08657839994546224,
+              1.2451432272618517
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006082485544004527,
+            "max_held_gripper_dist": 0.0060874733012365725,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013563758944545867,
+            "max_held_gripper_z_dist": 0.0013796356512090213,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08770325534364573,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38774146394620906,
+              -0.11143714211368905,
+              1.2451432272618517
+            ],
+            "held_grasp_finger_b": [
+              0.378993117814629,
+              -0.08657839994546224,
+              1.2451432272618517
+            ],
+            "held_grasp_midpoint": [
+              0.38336729088041904,
+              -0.09900777102957564,
+              1.2451432272618517
+            ],
+            "held_grasp_object_position": [
+              0.38774146394620906,
+              -0.08657839994546224,
+              1.2451432272618517
+            ],
+            "held_grasp_finger_gap": 0.02635318998194164,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464605254278788,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.023521908984968865,
+              -0.9997219560058137,
+              0.0016524156900326044
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004080652406137303,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719144599722509,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.331120085956694,
+              -0.329217204715386,
+              0.8515395863493478
+            ],
+            "target_position": [
+              0.32565441762451713,
+              -0.33026211253594806,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005564652969488114,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1826528476962779,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395863493478,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517585930128176,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659443264051146,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15169335956736227,
+            "release_required_pad_clearance": 0.05329721632025573,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.612971793219371,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008032500743865967,
+            "max_z_decrease": 0.008032500743865967,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035121540740816866,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008032500743865967,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115043473569833,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008032500743865967,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008032521535560421,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1813543438911437,
+              -0.386523574590683,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1813543438911437,
+              -0.386523574590683,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18198421258668473,
+              -0.38484660290792616,
+              0.8038517213840685
+            ],
+            "closest_button": [
+              0.18133628368377677,
+              -0.3865263760089874,
+              0.7687763571739197
+            ],
+            "closest_ee_minus_button": [
+              0.0006479289029079627,
+              0.001679773101061266,
+              0.035075364210148785
+            ],
+            "button_min_z_position": [
+              0.18133628368377677,
+              -0.3865263760089874,
+              0.7687763571739197
+            ],
+            "min_active_finger_to_button": 0.1445557840808604,
+            "closest_active_finger": [
+              0.05592692643404007,
+              -0.44952625036239624,
+              0.8108363151550293
+            ],
+            "closest_active_finger_button": [
+              0.18135893344879142,
+              -0.3865260779857635,
+              0.776279628276825
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12543200701475135,
+              -0.06300017237663275,
+              0.034556686878204346
+            ],
+            "min_contact_pad_to_button": 0.02115043473569833,
+            "closest_contact_pad": [
+              0.18133628368377677,
+              -0.3865263760089874,
+              0.789926791909618
+            ],
+            "closest_contact_pad_button": [
+              0.18133628368377677,
+              -0.3865263760089874,
+              0.7687763571739197
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02115043473569833
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "831760ab843f2029f6c91486eb95d8602deff17f9f41ff374303d4996620c476",
+    "visual_seed": 2493760410918210035,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91f3a32ce4f1ee6719a51315671819a350be4ffc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_115_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37567680946277743,
+              -0.07922868354883869,
+              1.0528669181458752
+            ],
+            "current_z": 1.0528669181458752,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.191760231317175,
+            "gripper_z": 1.0540772498674096,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37153860608623657,
+              -0.08349708297240863,
+              1.0540772498674096
+            ],
+            "object_minus_gripper": [
+              0.004138203376540861,
+              0.004268399423569935,
+              -0.0012103317215343967
+            ],
+            "object_to_gripper_xy": 0.005945078706354218,
+            "object_to_gripper_z": -0.0012103317215343967,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37567680946277743,
+              -0.10315456126611068,
+              1.0528669181458752
+            ],
+            "finger_b": [
+              0.3648923027530451,
+              -0.07922868354883869,
+              1.0528669181458752
+            ],
+            "finger_midpoint": [
+              0.3702845561079112,
+              -0.09119162240747469,
+              1.0528669181458752
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053922533548662055,
+              0.011962938858636002,
+              0.0
+            ],
+            "finger_gap": 0.02624410809141958,
+            "fingertip_max_gap": 0.09487773076343622,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013122054045709807,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0528669181458752,
+            "object_top_z": 1.104102983228421,
+            "finger_top_clearance": 0.051236065082545856,
+            "fingertip_min_top_clearance": 0.015370819524763789,
+            "object_projection_between_fingers": 0.8311360537189935,
+            "object_to_finger_line_xy": 0.009831874944247662,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049938865381718114,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3623932854497522,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3771054774252991,
+              -0.08338554115428097,
+              1.2437042622906023
+            ],
+            "held_position": [
+              0.38152709265401413,
+              -0.07943739553392426,
+              1.2423448655300322
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006081652293825666,
+            "max_held_gripper_dist": 0.006086901504944316,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001359396760570064,
+            "max_held_gripper_z_dist": 0.0013805720836332913,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08801440797259033,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38152709265401413,
+              -0.10441832927314937,
+              1.2423448655300322
+            ],
+            "held_grasp_finger_b": [
+              0.3731040232153978,
+              -0.07943739553392426,
+              1.2423448655300322
+            ],
+            "held_grasp_midpoint": [
+              0.37731555793470595,
+              -0.09192786240353681,
+              1.2423448655300322
+            ],
+            "held_grasp_object_position": [
+              0.38152709265401413,
+              -0.07943739553392426,
+              1.2423448655300322
+            ],
+            "held_grasp_finger_gap": 0.026362760653074774,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024621873933618137,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0402274470257895,
+              -0.9991905336212978,
+              -0.00017328408368566528
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00370566673317705,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03707047452364951,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3310559143253296,
+              -0.33176567881460484,
+              0.8515395995302604
+            ],
+            "target_position": [
+              0.3237442000324755,
+              -0.33387230003706947,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00760914048202984,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825039835413907,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395995302604,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559255498634772,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704288235862694,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15078331885333104,
+            "release_required_pad_clearance": 0.05352144117931347,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0547262481571207,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007963180541992188,
+            "max_z_decrease": 0.007963180541992188,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503407849321267,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007963180541992188,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021207547473053336,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007963180541992188,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007963203725881563,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17944411933422083,
+              -0.39013376832008356,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17944411933422083,
+              -0.39013376832008356,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17879209131259305,
+              -0.38880193913433003,
+              0.8071476350018193
+            ],
+            "closest_button": [
+              0.1794316172599792,
+              -0.39013722538948054,
+              0.7721448540687561
+            ],
+            "closest_ee_minus_button": [
+              -0.0006395259473861437,
+              0.001335286255150503,
+              0.03500278093306319
+            ],
+            "button_min_z_position": [
+              0.17942523956298823,
+              -0.3901373445987701,
+              0.7688456773757935
+            ],
+            "min_active_finger_to_button": 0.1462682756205514,
+            "closest_active_finger": [
+              0.05088410526514053,
+              -0.4505828619003296,
+              0.8077433705329895
+            ],
+            "closest_active_finger_button": [
+              0.1794538646936416,
+              -0.3901388347148895,
+              0.7729476094245911
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12856975942850107,
+              -0.060444027185440063,
+              0.03479576110839844
+            ],
+            "min_contact_pad_to_button": 0.021207547473053336,
+            "closest_contact_pad": [
+              0.17942523956298823,
+              -0.3902030162318431,
+              0.7900531231686847
+            ],
+            "closest_contact_pad_button": [
+              0.17942523956298823,
+              -0.3901373445987701,
+              0.7688456773757935
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -6.567163307302781e-05,
+              0.021207445792891244
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c9d4659c595254800eab70c10ba3d7005c83173ca1be33b45eff5a69f4060d0",
+    "visual_seed": 8926312649901325416,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_116_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c217786a272148d087fd7005097771318fa1e945
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_116_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3810590951754339,
+              -0.07770670280575527,
+              1.0515485870697105
+            ],
+            "current_z": 1.0515485870697105,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.1904420194502996,
+            "gripper_z": 1.0531275574786898,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3766018622333898,
+              -0.082090828392431,
+              1.0531275574786898
+            ],
+            "object_minus_gripper": [
+              0.004457232942044087,
+              0.0043841255866757245,
+              -0.0015789704089792522
+            ],
+            "object_to_gripper_xy": 0.006251998293296932,
+            "object_to_gripper_z": -0.0015789704089792522,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3810590951754339,
+              -0.10195914335020928,
+              1.0515485870697105
+            ],
+            "finger_b": [
+              0.3702469046559179,
+              -0.07770670280575527,
+              1.0515485870697105
+            ],
+            "finger_midpoint": [
+              0.3756529999156759,
+              -0.08983292307798227,
+              1.0515485870697105
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054060952597579925,
+              0.012126220272226998,
+              0.0
+            ],
+            "finger_gap": 0.02655342418959536,
+            "fingertip_max_gap": 0.09826341393058471,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013276712094797674,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0515485870697105,
+            "object_top_z": 1.1044245733701077,
+            "finger_top_clearance": 0.05287598630039714,
+            "fingertip_min_top_clearance": 0.015862795890119175,
+            "object_projection_between_fingers": 0.8341993179687088,
+            "object_to_finger_line_xy": 0.009875261505166589,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05163170696529236,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.224145219659275,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3818491722998336,
+              -0.08130870786247649,
+              1.2420867169584875
+            ],
+            "held_position": [
+              0.38649950467143485,
+              -0.07716585671283337,
+              1.2403651880908546
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006461615003739776,
+            "max_held_gripper_dist": 0.006474630127399775,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0017215288676328822,
+            "max_held_gripper_z_dist": 0.001749064049666682,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08798304338331156,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38649950467143485,
+              -0.10212442865004155,
+              1.2403651880908546
+            ],
+            "held_grasp_finger_b": [
+              0.3775089550605114,
+              -0.07716585671283337,
+              1.2403651880908546
+            ],
+            "held_grasp_midpoint": [
+              0.38200422986597316,
+              -0.08964514268143746,
+              1.2403651880908546
+            ],
+            "held_grasp_object_position": [
+              0.38649950467143485,
+              -0.07716585671283337,
+              1.2403651880908546
+            ],
+            "held_grasp_finger_gap": 0.02652848083572204,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024874621598411376,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.00890498655161284,
+              -0.9998441571324789,
+              0.015243446544610403
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004388107112236071,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03720287854751249,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32931913953604164,
+              -0.3322716625986971,
+              0.851539598329357
+            ],
+            "target_position": [
+              0.3244340672494462,
+              -0.33347060116494426,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005030048203635603,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18280654859945517,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539598329357,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584881172701693,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08867746742122805,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15020093698142017,
+            "release_required_pad_clearance": 0.054338733710614026,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.699828694837172,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008077383041381836,
+            "max_z_decrease": 0.008077383041381836,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505472301607185,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008077383041381836,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021104468408339565,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008077383041381836,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008077387011507916,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18013399839401242,
+              -0.3897320628166199,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18013399839401242,
+              -0.3897320628166199,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17891277857871463,
+              -0.3901100515870933,
+              0.8037627149918216
+            ],
+            "closest_button": [
+              0.18013633787631986,
+              -0.38972440361976624,
+              0.7687314748764038
+            ],
+            "closest_ee_minus_button": [
+              -0.0012235592976052312,
+              -0.00038564796732704076,
+              0.035031240115417805
+            ],
+            "button_min_z_position": [
+              0.18013633787631986,
+              -0.38972440361976624,
+              0.7687314748764038
+            ],
+            "min_active_finger_to_button": 0.1469518363176739,
+            "closest_active_finger": [
+              0.03798893839120865,
+              -0.3756645917892456,
+              0.8095359206199646
+            ],
+            "closest_active_finger_button": [
+              0.1801384538412094,
+              -0.38973599672317505,
+              0.7750344276428223
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14214951545000076,
+              0.014071404933929443,
+              0.034501492977142334
+            ],
+            "min_contact_pad_to_button": 0.021104468408339565,
+            "closest_contact_pad": [
+              0.18013633787631986,
+              -0.39114038975480303,
+              0.7897883875196188
+            ],
+            "closest_contact_pad_button": [
+              0.18013633787631986,
+              -0.38972440361976624,
+              0.7687314748764038
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014159861350367953,
+              0.021056912643214964
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5152395e392116ed67e8d6cb1a2d917e2c5314e609ad3a995465aecefa711502",
+    "visual_seed": 2400389058892594393,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_117_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ae94c5e758db90002db1604efcba5e875157973
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_117_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3794862510561622,
+              -0.08257328028439583,
+              1.0514991317776219
+            ],
+            "current_z": 1.0514991317776219,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.19039238534427705,
+            "gripper_z": 1.0530204096510842,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3750070595354598,
+              -0.08699067651044907,
+              1.0530204096510842
+            ],
+            "object_minus_gripper": [
+              0.004479191520702364,
+              0.0044173962260532496,
+              -0.0015212778734623456
+            ],
+            "object_to_gripper_xy": 0.006290989278093028,
+            "object_to_gripper_z": -0.0015212778734623456,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3794862510561622,
+              -0.10687690476062287,
+              1.0514991317776219
+            ],
+            "finger_b": [
+              0.3686751722571018,
+              -0.08257328028439583,
+              1.0514991317776219
+            ],
+            "finger_midpoint": [
+              0.374080711656632,
+              -0.09472509252250935,
+              1.0514991317776219
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054055393995302015,
+              0.012151812238113527,
+              0.0
+            ],
+            "finger_gap": 0.026599729086608296,
+            "fingertip_max_gap": 0.09531570678654436,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013299864543304155,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514991317776219,
+            "object_top_z": 1.1028259647989564,
+            "finger_top_clearance": 0.05132683302133456,
+            "fingertip_min_top_clearance": 0.015398049906400334,
+            "object_projection_between_fingers": 0.8348100435257971,
+            "object_to_finger_line_xy": 0.009877859975932789,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05015785339327218,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4728213914056894,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3802070809063807,
+              -0.08634742628183216,
+              1.2418967934750207
+            ],
+            "held_position": [
+              0.3848756554592414,
+              -0.08215628854517207,
+              1.2402391203697576
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006489152795796013,
+            "max_held_gripper_dist": 0.0064956024661205515,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016576731052631022,
+            "max_held_gripper_z_dist": 0.0016851881656170242,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08802262388608519,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3848756554592414,
+              -0.1071244040037344,
+              1.2402391203697576
+            ],
+            "held_grasp_finger_b": [
+              0.3758213654335515,
+              -0.08215628854517207,
+              1.2402391203697576
+            ],
+            "held_grasp_midpoint": [
+              0.38034851044639645,
+              -0.09464034627445322,
+              1.2402391203697576
+            ],
+            "held_grasp_object_position": [
+              0.3848756554592414,
+              -0.08215628854517207,
+              1.2402391203697576
+            ],
+            "held_grasp_finger_gap": 0.02655912192489441,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024838965505184687,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.013988264743694794,
+              -0.9999000265984737,
+              -0.002065250065300006
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043521485280112885,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03717411351155717,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3308258651001714,
+              -0.3313610043866617,
+              0.8515396682335477
+            ],
+            "target_position": [
+              0.3253305199599936,
+              -0.3327442078057226,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005666751265776318,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18200009873191364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396682335477,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565756926964295,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08988691631016225,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15004776984435184,
+            "release_required_pad_clearance": 0.05494345815508113,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.955299783957373,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008167147636413574,
+            "max_z_decrease": 0.008167147636413574,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035047882036514454,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008167147636413574,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021148273612445735,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008167147636413574,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008167158904184155,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18103045225143427,
+              -0.3890056610107422,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18103045225143427,
+              -0.3890056610107422,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18273315366767134,
+              -0.38953555712032845,
+              0.803644211970538
+            ],
+            "closest_button": [
+              0.18103481829166407,
+              -0.3889928162097931,
+              0.7686417102813721
+            ],
+            "closest_ee_minus_button": [
+              0.0016983353760072761,
+              -0.0005427409105353553,
+              0.035002501689165966
+            ],
+            "button_min_z_position": [
+              0.18103481829166407,
+              -0.3889928162097931,
+              0.7686417102813721
+            ],
+            "min_active_finger_to_button": 0.144156952307744,
+            "closest_active_finger": [
+              0.041793279349803925,
+              -0.37514230608940125,
+              0.8078762292861938
+            ],
+            "closest_active_finger_button": [
+              0.18103876709938044,
+              -0.38901281356811523,
+              0.7732419967651367
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392454877495765,
+              0.01387050747871399,
+              0.03463423252105713
+            ],
+            "min_contact_pad_to_button": 0.021148273612445735,
+            "closest_contact_pad": [
+              0.18103481829166407,
+              -0.39056848693261836,
+              0.7897312038400164
+            ],
+            "closest_contact_pad_button": [
+              0.18103481829166407,
+              -0.3889928162097931,
+              0.7686417102813721
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001575670722825273,
+              0.021089493558644312
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 117,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b09461967b2c2ead5b810602ec1848e348e27f4ab3dd2bd10692b24d92d3f674",
+    "visual_seed": 2519522561463674129,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_119_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dd71db09c9b01fa03303ec7b1fe093c4e430265
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_119_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3734529658075859,
+              -0.07910238111294239,
+              1.0507161071679652
+            ],
+            "current_z": 1.0507161071679652,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18960942033926487,
+            "gripper_z": 1.052348767411282,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3690528522546682,
+              -0.08351083379760944,
+              1.052348767411282
+            ],
+            "object_minus_gripper": [
+              0.004400113552917695,
+              0.004408452684667052,
+              -0.0016326602433167636
+            ],
+            "object_to_gripper_xy": 0.0062285997103296116,
+            "object_to_gripper_z": -0.0016326602433167636,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3734529658075859,
+              -0.10320345334242997,
+              1.0507161071679652
+            ],
+            "finger_b": [
+              0.36246303433897314,
+              -0.07910238111294239,
+              1.0507161071679652
+            ],
+            "finger_midpoint": [
+              0.3679580000732795,
+              -0.09115291722768618,
+              1.0507161071679652
+            ],
+            "object_minus_finger_midpoint": [
+              0.005494965734306412,
+              0.012050536114743784,
+              0.0
+            ],
+            "finger_gap": 0.026488493280966034,
+            "fingertip_max_gap": 0.09900960633144293,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013244246640483024,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507161071679652,
+            "object_top_z": 1.1036322000610133,
+            "finger_top_clearance": 0.052916092893048106,
+            "fingertip_min_top_clearance": 0.015874827867914446,
+            "object_projection_between_fingers": 0.8278625133630586,
+            "object_to_finger_line_xy": 0.009999403488626643,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05200480316572147,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.9419530435126418,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3742102622524194,
+              -0.08273942471804245,
+              1.2427675137261747
+            ],
+            "held_position": [
+              0.37884726442924826,
+              -0.07860581097346278,
+              1.2410106463546835
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00645562814436396,
+            "max_held_gripper_dist": 0.006462047820764729,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0017568673714911665,
+            "max_held_gripper_z_dist": 0.0017940291226945515,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08759172210878718,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37884726442924826,
+              -0.10356520592795795,
+              1.2410106463546835
+            ],
+            "held_grasp_finger_b": [
+              0.3698153711289091,
+              -0.07860581097346278,
+              1.2410106463546835
+            ],
+            "held_grasp_midpoint": [
+              0.3743313177790787,
+              -0.09108550845071037,
+              1.2410106463546835
+            ],
+            "held_grasp_object_position": [
+              0.37884726442924826,
+              -0.07860581097346278,
+              1.2410106463546835
+            ],
+            "held_grasp_finger_gap": 0.026543294691563638,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024923281240391244,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0035767650932744467,
+              -0.9998474020132282,
+              0.017099106376234133
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004476376558428189,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03722630448921661,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3272220146869122,
+              -0.3302742065902304,
+              0.8515396114817844
+            ],
+            "target_position": [
+              0.32543391070927785,
+              -0.32977458491964434,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.001856593021787747,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18007439939180572,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396114817844,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537189472866083,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08929170525344936,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.148460704564285,
+            "release_required_pad_clearance": 0.05464585262672468,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.333087598244493,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007983088493347168,
+            "max_z_decrease": 0.007983088493347168,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503813753376291,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007983088493347168,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021240177144953538,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007983088493347168,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007983109297636995,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18113383650779724,
+              -0.38603603839874256,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18113383650779724,
+              -0.38603603839874256,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18218937958489834,
+              -0.3862037011322064,
+              0.8073201267343677
+            ],
+            "closest_button": [
+              0.1811220794916153,
+              -0.38603937625885004,
+              0.7722986340522766
+            ],
+            "closest_ee_minus_button": [
+              0.0010673000932830412,
+              -0.00016432487335638069,
+              0.03502149268209109
+            ],
+            "button_min_z_position": [
+              0.18111607432365417,
+              -0.38604012131690973,
+              0.7688257694244385
+            ],
+            "min_active_finger_to_button": 0.14523132137845535,
+            "closest_active_finger": [
+              0.04101157188415527,
+              -0.3704473078250885,
+              0.8077649474143982
+            ],
+            "closest_active_finger_button": [
+              0.18114593625068662,
+              -0.38604190945625294,
+              0.7729611396789551
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14013436436653134,
+              0.01559460163116444,
+              0.034803807735443115
+            ],
+            "min_contact_pad_to_button": 0.021240177144953538,
+            "closest_contact_pad": [
+              0.18111607432365417,
+              -0.3874127464273065,
+              0.7900215479063748
+            ],
+            "closest_contact_pad_button": [
+              0.18111607432365417,
+              -0.38604012131690973,
+              0.7688257694244385
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013726251103967635,
+              0.021195778481936323
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29dd94f5b6f7530b4d5b86eed555adad10316b494887b317823ea5723bbd741c",
+    "visual_seed": 7666933999551845943,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa1d18f846d4bb89e95f87c854e3cf6c8b3fa92f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37570434034133254,
+              -0.08271845296629171,
+              1.0543356172093818
+            ],
+            "current_z": 1.0543356172093818,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1932288707760369,
+            "gripper_z": 1.0554805644584848,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3717204352756623,
+              -0.08700691330436475,
+              1.0554805644584848
+            ],
+            "object_minus_gripper": [
+              0.003983905065670257,
+              0.004288460338073036,
+              -0.0011449472491029677
+            ],
+            "object_to_gripper_xy": 0.005853408549170187,
+            "object_to_gripper_z": -0.0011449472491029677,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37570434034133254,
+              -0.10632418703952426,
+              1.0543356172093818
+            ],
+            "finger_b": [
+              0.3646234191542711,
+              -0.08271845296629171,
+              1.0543356172093818
+            ],
+            "finger_midpoint": [
+              0.37016387974780185,
+              -0.09452132000290799,
+              1.0543356172093818
+            ],
+            "object_minus_finger_midpoint": [
+              0.005540460593530694,
+              0.011802867036616274,
+              0.0
+            ],
+            "finger_gap": 0.026077145079360955,
+            "fingertip_max_gap": 0.09285470800152076,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013038572539680467,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0543356172093818,
+            "object_top_z": 1.10471513952416,
+            "finger_top_clearance": 0.05037952231477805,
+            "fingertip_min_top_clearance": 0.015113856694433414,
+            "object_projection_between_fingers": 0.8194358010371724,
+            "object_to_finger_line_xy": 0.010030748305927305,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048927354000760384,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6367561339909005,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37744039361771964,
+              -0.08707683655651001,
+              1.2478306382257134
+            ],
+            "held_position": [
+              0.3817929446228342,
+              -0.08318762251789698,
+              1.2465485503656124
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005976155567861896,
+            "max_held_gripper_dist": 0.005981357852604072,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012820878601009777,
+            "max_held_gripper_z_dist": 0.0013042854658753544,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08802678615875677,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3817929446228342,
+              -0.10822706414382215,
+              1.2465485503656124
+            ],
+            "held_grasp_finger_b": [
+              0.3734791850823707,
+              -0.08318762251789698,
+              1.2465485503656124
+            ],
+            "held_grasp_midpoint": [
+              0.3776360648526025,
+              -0.09570734333085956,
+              1.2465485503656124
+            ],
+            "held_grasp_object_position": [
+              0.3817929446228342,
+              -0.08318762251789698,
+              1.2465485503656124
+            ],
+            "held_grasp_finger_gap": 0.026383559931039663,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024388041513914827,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07076837777496296,
+              -0.9974820190856277,
+              -0.004632311297786629
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032609851076902804,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03693787803724793,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33277920904053665,
+              -0.32673271575049573,
+              0.8515395613457513
+            ],
+            "target_position": [
+              0.32467123295788547,
+              -0.3290477769106477,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008432009507352782,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853280191968789,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395613457513,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513514013027596,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510485777960085,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1546768408239946,
+            "release_required_pad_clearance": 0.052552428889800426,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17245846473597531,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007877945899963379,
+            "max_z_decrease": 0.007877945899963379,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506554369516752,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007877945899963379,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021161258433533208,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007877945899963379,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007877970378214031,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18037116527557367,
+              -0.385309249162674,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18037116527557367,
+              -0.385309249162674,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18043939743486484,
+              -0.38483952884809697,
+              0.8075826195868745
+            ],
+            "closest_button": [
+              0.1803607046604156,
+              -0.3853131830692291,
+              0.7725203633308411
+            ],
+            "closest_ee_minus_button": [
+              7.869277444924605e-05,
+              0.00047365422113215816,
+              0.03506225625603343
+            ],
+            "button_min_z_position": [
+              0.18035188317298884,
+              -0.3853129744529724,
+              0.7689309120178223
+            ],
+            "min_active_finger_to_button": 0.1459492262117034,
+            "closest_active_finger": [
+              0.05368751287460327,
+              -0.4490087628364563,
+              0.8109689950942993
+            ],
+            "closest_active_finger_button": [
+              0.18037529289722437,
+              -0.3853113651275635,
+              0.7764143347740173
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1266877800226211,
+              -0.06369739770889282,
+              0.03455466032028198
+            ],
+            "min_contact_pad_to_button": 0.021161258433533208,
+            "closest_contact_pad": [
+              0.18035188317298884,
+              -0.38595936813508147,
+              0.7900822957479358
+            ],
+            "closest_contact_pad_button": [
+              0.18035188317298884,
+              -0.3853129744529724,
+              0.7689309120178223
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006463936821090588,
+              0.021151383730113493
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "59d5b7f1a6ec2639a5a9c34d304b82d105bb95cf0661877fa11bcb5c96a2dbeb",
+    "visual_seed": 3282367450975921416,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_121_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc7ee7f8b1eee35be12f0e718c3e8f9fc376984e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_121_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3728976433458634,
+              -0.08454508179421255,
+              1.0517014639857427
+            ],
+            "current_z": 1.0517014639857427,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.19059477715704243,
+            "gripper_z": 1.053162989950805,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3689345671026284,
+              -0.08880572972949609,
+              1.053162989950805
+            ],
+            "object_minus_gripper": [
+              0.0039630762432349975,
+              0.0042606479352835375,
+              -0.001461525965062327
+            ],
+            "object_to_gripper_xy": 0.005818856772436445,
+            "object_to_gripper_z": -0.001461525965062327,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3728976433458634,
+              -0.10815297758669551,
+              1.0517014639857427
+            ],
+            "finger_b": [
+              0.3618845443591132,
+              -0.08454508179421255,
+              1.0517014639857427
+            ],
+            "finger_midpoint": [
+              0.3673910938524883,
+              -0.09634902969045403,
+              1.0517014639857427
+            ],
+            "object_minus_finger_midpoint": [
+              0.00550654949337509,
+              0.011803947896241479,
+              0.0
+            ],
+            "finger_gap": 0.02605035686973774,
+            "fingertip_max_gap": 0.10203987413858354,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01302517843486887,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0517014639857427,
+            "object_top_z": 1.106186238910519,
+            "finger_top_clearance": 0.054484774924776325,
+            "fingertip_min_top_clearance": 0.01634543247743293,
+            "object_projection_between_fingers": 0.8212723557582008,
+            "object_to_finger_line_xy": 0.009980519442846126,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05351993706929177,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.760857790701208,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37433511803128733,
+              -0.08830358539729065,
+              1.2437057492352657
+            ],
+            "held_position": [
+              0.378617240196768,
+              -0.08438661434722461,
+              1.2421184082132624
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006016550836425381,
+            "max_held_gripper_dist": 0.006022186638474557,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001587341022003308,
+            "max_held_gripper_z_dist": 0.0016103291825155797,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08775531005428316,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.378617240196768,
+              -0.10923372252023311,
+              1.2421184082132624
+            ],
+            "held_grasp_finger_b": [
+              0.3701132925959637,
+              -0.08438661434722461,
+              1.2421184082132624
+            ],
+            "held_grasp_midpoint": [
+              0.37436526639636586,
+              -0.09681016843372886,
+              1.2421184082132624
+            ],
+            "held_grasp_object_position": [
+              0.378617240196768,
+              -0.08438661434722461,
+              1.2421184082132624
+            ],
+            "held_grasp_finger_gap": 0.026262062168809427,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02466762747426064,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.018892659251861142,
+              -0.9992426275806764,
+              0.03401821059460264
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004038817746316247,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03722577414864706,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33135134162203833,
+              -0.33234972887487013,
+              0.8515395754142155
+            ],
+            "target_position": [
+              0.3276945815568599,
+              -0.33225442898499497,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0036580016734952645,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18178822811878692,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395754142155,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576831089747539,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08898861928520273,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14908543478066955,
+            "release_required_pad_clearance": 0.054494309642601366,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.019674007498097,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007766306400299072,
+            "max_z_decrease": 0.007766306400299072,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350180714233754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007766306400299072,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021369233573670057,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007766306400299072,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007766324816386506,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18339450657367706,
+              -0.38851588964462275,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18339450657367706,
+              -0.38851588964462275,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18394278510035544,
+              -0.38960329863407295,
+              0.8043991304108887
+            ],
+            "closest_button": [
+              0.18338024616241452,
+              -0.38852047920227045,
+              0.7694023251533508
+            ],
+            "closest_ee_minus_button": [
+              0.0005625389379409207,
+              -0.0010828194318024953,
+              0.0349968052575379
+            ],
+            "button_min_z_position": [
+              0.18337781727313993,
+              -0.3885186314582824,
+              0.7690425515174866
+            ],
+            "min_active_finger_to_button": 0.1452867188172199,
+            "closest_active_finger": [
+              0.04327261447906494,
+              -0.37287232279777527,
+              0.8082853555679321
+            ],
+            "closest_active_finger_button": [
+              0.1834052205085754,
+              -0.3885204195976257,
+              0.773267924785614
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14013260602951047,
+              0.01564809679985041,
+              0.035017430782318115
+            ],
+            "min_contact_pad_to_button": 0.021369233573670057,
+            "closest_contact_pad": [
+              0.18337781727313993,
+              -0.3908413641482599,
+              0.7902851750931417
+            ],
+            "closest_contact_pad_button": [
+              0.18337781727313993,
+              -0.3885186314582824,
+              0.7690425515174866
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002322732689977458,
+              0.021242623575655095
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e603d2a1c9623124b8a19470af36792a9799b27b0c8c4c12998fc237200a80e",
+    "visual_seed": 5753738814022064918,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_122_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_122_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bb13a8331c3300af0ead95f943d877f6462b964
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_122_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 122,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37922390964374286,
+              -0.08535509111266065,
+              1.0543895313484648
+            ],
+            "current_z": 1.0543895313484648,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1932829041244093,
+            "gripper_z": 1.0555381044256267,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37506984976588553,
+              -0.08973999083691506,
+              1.0555381044256267
+            ],
+            "object_minus_gripper": [
+              0.00415405987785733,
+              0.004384899724254404,
+              -0.001148573077161874
+            ],
+            "object_to_gripper_xy": 0.00604016217171281,
+            "object_to_gripper_z": -0.001148573077161874,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37922390964374286,
+              -0.10908026309213413,
+              1.0543895313484648
+            ],
+            "finger_b": [
+              0.3679899790514338,
+              -0.08535509111266065,
+              1.0543895313484648
+            ],
+            "finger_midpoint": [
+              0.37360694434758834,
+              -0.0972176771023974,
+              1.0543895313484648
+            ],
+            "object_minus_finger_midpoint": [
+              0.005616965296154519,
+              0.011862585989736746,
+              0.0
+            ],
+            "finger_gap": 0.026250428225238733,
+            "fingertip_max_gap": 0.09783344281630799,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013125214112619374,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0543895313484648,
+            "object_top_z": 1.107192343666613,
+            "finger_top_clearance": 0.052802812318148096,
+            "fingertip_min_top_clearance": 0.015840843695444393,
+            "object_projection_between_fingers": 0.8168568466185546,
+            "object_to_finger_line_xy": 0.010153241426048258,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051416721408153995,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.256062854129241,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38104751980788,
+              -0.0904352751465438,
+              1.248307103618007
+            ],
+            "held_position": [
+              0.3856131969074577,
+              -0.08650955679727751,
+              1.2470008172150369
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006161416728477219,
+            "max_held_gripper_dist": 0.006166698564223724,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001306286402970036,
+            "max_held_gripper_z_dist": 0.001327247497077133,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08773102309258606,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3856131969074577,
+              -0.11177487359382013,
+              1.2470008172150369
+            ],
+            "held_grasp_finger_b": [
+              0.37739372858971615,
+              -0.0859864008437342,
+              1.2470008172150369
+            ],
+            "held_grasp_midpoint": [
+              0.38150346274858693,
+              -0.09888063721877716,
+              1.2470008172150369
+            ],
+            "held_grasp_object_position": [
+              0.3856131969074577,
+              -0.08650955679727751,
+              1.2470008172150369
+            ],
+            "held_grasp_finger_gap": 0.027066676674617478,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025241594999344218,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06009692818994124,
+              -0.9979481935978266,
+              0.022085337148610714
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033701575870241744,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037127570311980634,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3296912093250391,
+              -0.32968715327309556,
+              0.8515395929355791
+            ],
+            "target_position": [
+              0.3243729752783924,
+              -0.33050552774998937,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005380831734903402,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18194295358003465,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395929355791,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544586207645512,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866238739728457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15016189632808485,
+            "release_required_pad_clearance": 0.05331193698642285,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6418291641412663,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007986009120941162,
+            "max_z_decrease": 0.007986009120941162,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504075339398446,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007986009120941162,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021397648116513398,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007986009120941162,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007986035306894984,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1800729036331177,
+              -0.3867669999599456,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1800729036331177,
+              -0.3867669999599456,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17980125542212222,
+              -0.38846973991626516,
+              0.8058812369084183
+            ],
+            "closest_button": [
+              0.18005591630935674,
+              -0.38676986098289484,
+              0.7708826661109924
+            ],
+            "closest_ee_minus_button": [
+              -0.00025466088723452573,
+              -0.0016998789333703135,
+              0.034998570797425854
+            ],
+            "button_min_z_position": [
+              0.18005275726318362,
+              -0.38677051663398737,
+              0.7688228487968445
+            ],
+            "min_active_finger_to_button": 0.14619881203332216,
+            "closest_active_finger": [
+              0.03890912979841232,
+              -0.3716139793395996,
+              0.8077743649482727
+            ],
+            "closest_active_finger_button": [
+              0.1800845414400101,
+              -0.38677245378494257,
+              0.7729344964027405
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14117541164159778,
+              0.015158474445342962,
+              0.03483986854553223
+            ],
+            "min_contact_pad_to_button": 0.021397648116513398,
+            "closest_contact_pad": [
+              0.18005275726318362,
+              -0.3897793992800617,
+              0.7900078899849159
+            ],
+            "closest_contact_pad_button": [
+              0.18005275726318362,
+              -0.38677051663398737,
+              0.7688228487968445
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003008882646074351,
+              0.021185041188071407
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 122,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9c9b75fd434e6552981adc1b2902f4cca463a37949d9bcba667a0bfe3568e7be",
+    "visual_seed": 957251973839013961,
+    "episode_index": 122,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_123_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..687b9b2e5786aba2d106a08410e942ba2b52c83c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_123_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3811522633856741,
+              -0.08711204588991224,
+              1.054300594587537
+            ],
+            "current_z": 1.054300594587537,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.1931942057820606,
+            "gripper_z": 1.055281107961419,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3769005497655813,
+              -0.09139423427290205,
+              1.055281107961419
+            ],
+            "object_minus_gripper": [
+              0.004251713620092801,
+              0.004282188382989813,
+              -0.0009805133738820526
+            ],
+            "object_to_gripper_xy": 0.006034418452071048,
+            "object_to_gripper_z": -0.0009805133738820526,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3811522633856741,
+              -0.11119790950758139,
+              1.054300594587537
+            ],
+            "finger_b": [
+              0.3704559114221991,
+              -0.08711204588991224,
+              1.054300594587537
+            ],
+            "finger_midpoint": [
+              0.37580408740393656,
+              -0.09915497769874682,
+              1.054300594587537
+            ],
+            "object_minus_finger_midpoint": [
+              0.005348175981737535,
+              0.012042931808834575,
+              0.0
+            ],
+            "finger_gap": 0.026354141449409698,
+            "fingertip_max_gap": 0.09418132965404016,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317707072470486,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054300594587537,
+            "object_top_z": 1.1051738824675366,
+            "finger_top_clearance": 0.05087328787999956,
+            "fingertip_min_top_clearance": 0.015261986363999868,
+            "object_projection_between_fingers": 0.835269648643386,
+            "object_to_finger_line_xy": 0.009775726334830688,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049590664827020084,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.182107861543911,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3823597339617037,
+              -0.09126106633274178,
+              1.246120940688043
+            ],
+            "held_position": [
+              0.38685537916705937,
+              -0.08726358869579469,
+              1.245002675605137
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006118919027571442,
+            "max_held_gripper_dist": 0.006126484587487846,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011182650829058005,
+            "max_held_gripper_z_dist": 0.0011415131762217978,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08849250308890122,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38685537916705937,
+              -0.11222006832545237,
+              1.245002675605137
+            ],
+            "held_grasp_finger_b": [
+              0.37821764042908773,
+              -0.08726358869579469,
+              1.245002675605137
+            ],
+            "held_grasp_midpoint": [
+              0.3825365097980735,
+              -0.09974182851062352,
+              1.245002675605137
+            ],
+            "held_grasp_object_position": [
+              0.38685537916705937,
+              -0.08726358869579469,
+              1.245002675605137
+            ],
+            "held_grasp_finger_gap": 0.026409021299756155,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024676888671498386,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03095819788455264,
+              -0.9995118649258679,
+              -0.004197839462728225
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003930848202260796,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03711439690922068,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3349780015445386,
+              -0.3262216818276865,
+              0.8515395776607677
+            ],
+            "target_position": [
+              0.32731710797856006,
+              -0.32866393892746787,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008040765508997502,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18362161996541362,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395776607677,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582191452288606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08789091928124575,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15126826419495348,
+            "release_required_pad_clearance": 0.053945459640622875,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9012776732139094,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007821977138519287,
+            "max_z_decrease": 0.007821977138519287,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505523536909331,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007821977138519287,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021195463216286275,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007821977138519287,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007822006616944112,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18301703035831451,
+              -0.3849253952503204,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18301703035831451,
+              -0.3849253952503204,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18102292967961453,
+              -0.3842567194697509,
+              0.8074552656595071
+            ],
+            "closest_button": [
+              0.18300677835941315,
+              -0.3849289119243621,
+              0.7724626660346985
+            ],
+            "closest_ee_minus_button": [
+              -0.0019838486797986166,
+              0.0006721924546112534,
+              0.03499259962480861
+            ],
+            "button_min_z_position": [
+              0.18299593031406403,
+              -0.3849293887615203,
+              0.7689868807792664
+            ],
+            "min_active_finger_to_button": 0.1477337776248302,
+            "closest_active_finger": [
+              0.05349650979042053,
+              -0.4468778371810913,
+              0.8078216910362244
+            ],
+            "closest_active_finger_button": [
+              0.18302685022354123,
+              -0.38492959737777704,
+              0.7730427384376526
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1295303404331207,
+              -0.061948239803314264,
+              0.03477895259857178
+            ],
+            "min_contact_pad_to_button": 0.021195463216286275,
+            "closest_contact_pad": [
+              0.18299593031406403,
+              -0.38557545046371533,
+              0.7901724953615696
+            ],
+            "closest_contact_pad_button": [
+              0.18299593031406403,
+              -0.3849293887615203,
+              0.7689868807792664
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006460617021950554,
+              0.02118561458230328
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "36a6f2f7465aff283f2cd6512238f3b1acbc7749c9165eb885090aaa6663652c",
+    "visual_seed": 2738125262974156793,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_124_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e06dd1a2a1896562072d3f387401c4e4859f84
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_124_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38034229123800956,
+              -0.08004949104559154,
+              1.0510559912168373
+            ],
+            "current_z": 1.0510559912168373,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18994960241136094,
+            "gripper_z": 1.0523648167276005,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37616744651582035,
+              -0.08433851193847333,
+              1.0523648167276005
+            ],
+            "object_minus_gripper": [
+              0.004174844722189208,
+              0.004289020892881787,
+              -0.0013088255107631674
+            ],
+            "object_to_gripper_xy": 0.005985401295984052,
+            "object_to_gripper_z": -0.0013088255107631674,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38034229123800956,
+              -0.10400350859706405,
+              1.0510559912168373
+            ],
+            "finger_b": [
+              0.3695405431072899,
+              -0.08004949104559154,
+              1.0510559912168373
+            ],
+            "finger_midpoint": [
+              0.3749414171726497,
+              -0.0920264998213278,
+              1.0510559912168373
+            ],
+            "object_minus_finger_midpoint": [
+              0.005400874065359829,
+              0.01197700877573625,
+              0.0
+            ],
+            "finger_gap": 0.026276847595093255,
+            "fingertip_max_gap": 0.09817354829323141,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013138423797546627,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0510559912168373,
+            "object_top_z": 1.1038557495953771,
+            "finger_top_clearance": 0.052799758378539785,
+            "fingertip_min_top_clearance": 0.015839927513561936,
+            "object_projection_between_fingers": 0.8310175632167562,
+            "object_to_finger_line_xy": 0.00984689138883462,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05158677414661571,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.220958166591366,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3813674184524673,
+              -0.08367727588214505,
+              1.2440651701738037
+            ],
+            "held_position": [
+              0.38578727353209913,
+              -0.07965971101178493,
+              1.242637252374295
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006141245448168695,
+            "max_held_gripper_dist": 0.006146299414346938,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014279177995086823,
+            "max_held_gripper_z_dist": 0.001454290199378594,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879938476347053,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38578727353209913,
+              -0.10453295361692105,
+              1.242637252374295
+            ],
+            "held_grasp_finger_b": [
+              0.37695148842711795,
+              -0.07965971101178493,
+              1.242637252374295
+            ],
+            "held_grasp_midpoint": [
+              0.38136938097960854,
+              -0.09209633231435299,
+              1.242637252374295
+            ],
+            "held_grasp_object_position": [
+              0.38578727353209913,
+              -0.07965971101178493,
+              1.242637252374295
+            ],
+            "held_grasp_finger_gap": 0.02639600909447044,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02470439928143936,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.018215850125420208,
+              -0.9996827117955912,
+              0.017397084273554575
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004196233624610292,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037207099092162625,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32919859617080616,
+              -0.3292858207331244,
+              0.8515395598554578
+            ],
+            "target_position": [
+              0.3234070721027019,
+              -0.33080180671484893,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005986648856264741,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18298882614255343,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395598554578,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580997945200496,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0886292953058324,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15048281700305735,
+            "release_required_pad_clearance": 0.0543146476529162,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.650626148954666,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007835984230041504,
+            "max_z_decrease": 0.007835984230041504,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503405759238768,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007835984230041504,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021200321269873243,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007835984230041504,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007836009837169575,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17910699546337133,
+              -0.38706326484680176,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17910699546337133,
+              -0.38706326484680176,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17864806244006687,
+              -0.38601765647604813,
+              0.8072458290151001
+            ],
+            "closest_button": [
+              0.17909482121467596,
+              -0.3870665729045868,
+              0.772230327129364
+            ],
+            "closest_ee_minus_button": [
+              -0.00044675877460909064,
+              0.0010489164285386599,
+              0.0350155018857361
+            ],
+            "button_min_z_position": [
+              0.17908734083175665,
+              -0.38706713914871216,
+              0.7689728736877441
+            ],
+            "min_active_finger_to_button": 0.14620008723011596,
+            "closest_active_finger": [
+              0.050940997898578644,
+              -0.4482097029685974,
+              0.8082877397537231
+            ],
+            "closest_active_finger_button": [
+              0.17911605536937716,
+              -0.3870674967765808,
+              0.7735422253608704
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12817505747079852,
+              -0.0611422061920166,
+              0.03474551439285278
+            ],
+            "min_contact_pad_to_button": 0.021200321269873243,
+            "closest_contact_pad": [
+              0.17908734083175665,
+              -0.3873745706877648,
+              0.7901709657668591
+            ],
+            "closest_contact_pad_button": [
+              0.17908734083175665,
+              -0.38706713914871216,
+              0.7689728736877441
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003074315390526605,
+              0.02119809207911494
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 124,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b3e2a2413c8ea2d9636b4892ac44b97c95836d41b9e5487be9835228deb46eea",
+    "visual_seed": 6271444670897887937,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_125_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f556eb2fbb9aa608e4fa1c70ed84c5e8b1383da4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_125_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 125,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3812549139913633,
+              -0.07901582088394726,
+              1.0526010464123197
+            ],
+            "current_z": 1.0526010464123197,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1914942999789745,
+            "gripper_z": 1.0539027814769983,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37691276298704646,
+              -0.0834001908730199,
+              1.0539027814769983
+            ],
+            "object_minus_gripper": [
+              0.004342151004316841,
+              0.004384369989072642,
+              -0.0013017350646786774
+            ],
+            "object_to_gripper_xy": 0.006170654385506499,
+            "object_to_gripper_z": -0.0013017350646786774,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3812549139913633,
+              -0.10306134532463007,
+              1.0526010464123197
+            ],
+            "finger_b": [
+              0.37026914617577106,
+              -0.07901582088394726,
+              1.0526010464123197
+            ],
+            "finger_midpoint": [
+              0.3757620300835672,
+              -0.09103858310428867,
+              1.0526010464123197
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549288390779612,
+              0.012022762220341404,
+              0.0
+            ],
+            "finger_gap": 0.026436231579511794,
+            "fingertip_max_gap": 0.09646890231434793,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013218115789755897,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0526010464123197,
+            "object_top_z": 1.1044480796088836,
+            "finger_top_clearance": 0.05184703319656392,
+            "fingertip_min_top_clearance": 0.015554109958969175,
+            "object_projection_between_fingers": 0.8273121681983391,
+            "object_to_finger_line_xy": 0.009992292120568865,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05073445115717397,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1123424385426652,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38231230811112593,
+              -0.08304550363766204,
+              1.2425506656433132
+            ],
+            "held_position": [
+              0.3869194713657558,
+              -0.07896597654268135,
+              1.241098627307338
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006322729624350093,
+            "max_held_gripper_dist": 0.0063275434867221475,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00145203833597507,
+            "max_held_gripper_z_dist": 0.0014760409786505058,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08771397463988122,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3869194713657558,
+              -0.1039575984339317,
+              1.241098627307338
+            ],
+            "held_grasp_finger_b": [
+              0.37813396800951504,
+              -0.07896597654268135,
+              1.241098627307338
+            ],
+            "held_grasp_midpoint": [
+              0.3825267196876354,
+              -0.09146178748830652,
+              1.241098627307338
+            ],
+            "held_grasp_object_position": [
+              0.3869194713657558,
+              -0.07896597654268135,
+              1.241098627307338
+            ],
+            "held_grasp_finger_gap": 0.02649087076669509,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0247885590850255,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02234754891036872,
+              -0.9997307761657758,
+              0.006241974421145714
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004113149326755678,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03712963606162652,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3347682486758408,
+              -0.3324350772002297,
+              0.8515395934572815
+            ],
+            "target_position": [
+              0.3280793427427824,
+              -0.3341577544664583,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006907175945702058,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18348999226495097,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395934572815,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520027481815732,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08652103823962169,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527222586379582,
+            "release_required_pad_clearance": 0.05326051911981085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5410039090615615,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008123159408569336,
+            "max_z_decrease": 0.008123159408569336,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035045608048220794,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008123159408569336,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108487088641553,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008123159408569336,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008123162278499848,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1837792694568634,
+              -0.39041921496391296,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1837792694568634,
+              -0.39041921496391296,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1821666427199617,
+              -0.38932505163298664,
+              0.8036773737752972
+            ],
+            "closest_button": [
+              0.1837773621082306,
+              -0.3904126584529876,
+              0.7686856985092163
+            ],
+            "closest_ee_minus_button": [
+              -0.0016107193882688997,
+              0.0010876068200009747,
+              0.034991675266080935
+            ],
+            "button_min_z_position": [
+              0.1837773621082306,
+              -0.3904126584529876,
+              0.7686856985092163
+            ],
+            "min_active_finger_to_button": 0.14677648016262493,
+            "closest_active_finger": [
+              0.05586104840040207,
+              -0.4535338878631592,
+              0.8106914758682251
+            ],
+            "closest_active_finger_button": [
+              0.18378333747386932,
+              -0.39042344689369196,
+              0.7761039733886719
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12792228907346725,
+              -0.06311044096946722,
+              0.03458750247955322
+            ],
+            "min_contact_pad_to_button": 0.02108487088641553,
+            "closest_contact_pad": [
+              0.1837773621082306,
+              -0.3904126584529876,
+              0.7897705693956318
+            ],
+            "closest_contact_pad_button": [
+              0.1837773621082306,
+              -0.3904126584529876,
+              0.7686856985092163
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108487088641553
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 125,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba13341110cd422a569b75339a886636096dfb0a40b9cb34f770fb21937dcac8",
+    "visual_seed": 4104676183799792558,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_126_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_126_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cbbbdef139bb7cd1e2fe970912492002ad884bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_126_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 126,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3727557205043523,
+              -0.08358937737706909,
+              1.0517008589754417
+            ],
+            "current_z": 1.0517008589754417,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.19059423175138612,
+            "gripper_z": 1.0528700056719809,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3686752011928348,
+              -0.08789271939094333,
+              1.0528700056719809
+            ],
+            "object_minus_gripper": [
+              0.004080519311517483,
+              0.004303342013874237,
+              -0.001169146696539114
+            ],
+            "object_to_gripper_xy": 0.005930378600059383,
+            "object_to_gripper_z": -0.001169146696539114,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3727557205043523,
+              -0.1073456947335154,
+              1.0517008589754417
+            ],
+            "finger_b": [
+              0.3617565921861784,
+              -0.08358937737706909,
+              1.0517008589754417
+            ],
+            "finger_midpoint": [
+              0.3672561563452653,
+              -0.09546753605529225,
+              1.0517008589754417
+            ],
+            "object_minus_finger_midpoint": [
+              0.005499564159086978,
+              0.011878158678223158,
+              0.0
+            ],
+            "finger_gap": 0.026179064882074138,
+            "fingertip_max_gap": 0.0925939263835435,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013089532441037083,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0517008589754417,
+            "object_top_z": 1.1020079179628248,
+            "finger_top_clearance": 0.05030705898738308,
+            "fingertip_min_top_clearance": 0.01509211769621489,
+            "object_projection_between_fingers": 0.8234741634134836,
+            "object_to_finger_line_xy": 0.009981211481306072,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879696319177175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4837562367644028,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3743127034470407,
+              -0.08810049517109857,
+              1.242997652554077
+            ],
+            "held_position": [
+              0.378735563312764,
+              -0.08417740855714179,
+              1.24167496827152
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006058200366755426,
+            "max_held_gripper_dist": 0.006063476644091703,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013226842825568852,
+            "max_held_gripper_z_dist": 0.0013424206764314217,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08802566875323159,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.378735563312764,
+              -0.1092136595978314,
+              1.24167496827152
+            ],
+            "held_grasp_finger_b": [
+              0.37045058789240676,
+              -0.08417740855714179,
+              1.24167496827152
+            ],
+            "held_grasp_midpoint": [
+              0.37459307560258537,
+              -0.0966955340774866,
+              1.24167496827152
+            ],
+            "held_grasp_object_position": [
+              0.378735563312764,
+              -0.08417740855714179,
+              1.24167496827152
+            ],
+            "held_grasp_finger_gap": 0.026371474814434536,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024412311011261505,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06814974223243632,
+              -0.9976305921348894,
+              -0.009424132333683444
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032819188059437705,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036949475625164895,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33519073203235533,
+              -0.3327281085036482,
+              0.8515395688114166
+            ],
+            "target_position": [
+              0.32738784798128145,
+              -0.3348856291097677,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008095671354516151,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18337209871286791,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395688114166,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753126815287832,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525305832857892,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15222970065670688,
+            "release_required_pad_clearance": 0.05262652916428946,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3140350249017798,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007865965366363525,
+            "max_z_decrease": 0.007865965366363525,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035015041641142525,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007865965366363525,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021360214846881356,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007865965366363525,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00786598133014314,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1830877810716629,
+              -0.3911470770835876,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1830877810716629,
+              -0.3911470770835876,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.183338755557262,
+              -0.39229929332395724,
+              0.8040135486688641
+            ],
+            "closest_button": [
+              0.18307191133499146,
+              -0.39114937186241144,
+              0.7690184116363525
+            ],
+            "closest_ee_minus_button": [
+              0.0002668442222705514,
+              -0.0011499214615457998,
+              0.03499513703251156
+            ],
+            "button_min_z_position": [
+              0.18307210505008698,
+              -0.3911494016647338,
+              0.7689428925514221
+            ],
+            "min_active_finger_to_button": 0.14556781772726485,
+            "closest_active_finger": [
+              0.04266943037509918,
+              -0.37549299001693726,
+              0.8081838488578796
+            ],
+            "closest_active_finger_button": [
+              0.1831015944480896,
+              -0.391151875257492,
+              0.7732039093971252
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14043216407299042,
+              0.015658885240554754,
+              0.034979939460754395
+            ],
+            "min_contact_pad_to_button": 0.021360214846881356,
+            "closest_contact_pad": [
+              0.18307210505008698,
+              -0.39355122582374297,
+              0.7901676427034058
+            ],
+            "closest_contact_pad_button": [
+              0.18307210505008698,
+              -0.3911494016647338,
+              0.7689428925514221
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024018241590091916,
+              0.021224750151983662
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 126,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d14165c78bb57181f73dd859a44b4cb07f65ee9dc432fa3b980afaa680fb402",
+    "visual_seed": 4480438565966045448,
+    "episode_index": 126,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_127_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_127_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e9541681d350d31927942c7829289937d51e48e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_127_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 127,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3819025176015848,
+              -0.08214013611894914,
+              1.0542095763016754
+            ],
+            "current_z": 1.0542095763016754,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19310306828690948,
+            "gripper_z": 1.0551075313958962,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37776653457856035,
+              -0.08644626559112166,
+              1.0551075313958962
+            ],
+            "object_minus_gripper": [
+              0.0041359830230244254,
+              0.004306129472172515,
+              -0.0008979550942207482
+            ],
+            "object_to_gripper_xy": 0.005970687280193044,
+            "object_to_gripper_z": -0.0008979550942207482,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3819025176015848,
+              -0.10599434322428156,
+              1.0542095763016754
+            ],
+            "finger_b": [
+              0.3709706907086181,
+              -0.08214013611894914,
+              1.0542095763016754
+            ],
+            "finger_midpoint": [
+              0.37643660415510144,
+              -0.09406723967161534,
+              1.0542095763016754
+            ],
+            "object_minus_finger_midpoint": [
+              0.005465913446483339,
+              0.011927103552666199,
+              0.0
+            ],
+            "finger_gap": 0.02623981775550053,
+            "fingertip_max_gap": 0.0925508986281999,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013119908877750257,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0542095763016754,
+            "object_top_z": 1.1045851115782974,
+            "finger_top_clearance": 0.050375535276621974,
+            "fingertip_min_top_clearance": 0.015112660582986624,
+            "object_projection_between_fingers": 0.8264343164012663,
+            "object_to_finger_line_xy": 0.009937952510733664,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877544931409995,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3337607240938025,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38349953524961344,
+              -0.08678566426311764,
+              1.2470423847603915
+            ],
+            "held_position": [
+              0.3879742515776524,
+              -0.08285601869246416,
+              1.245994329325534
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006046785982810167,
+            "max_held_gripper_dist": 0.0060511169982566055,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001048055434857531,
+            "max_held_gripper_z_dist": 0.0010703923675701166,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08818471253621242,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3879742515776524,
+              -0.10796737998147973,
+              1.245994329325534
+            ],
+            "held_grasp_finger_b": [
+              0.3796163104693118,
+              -0.08279986323924604,
+              1.245994329325534
+            ],
+            "held_grasp_midpoint": [
+              0.38379528102348215,
+              -0.09538362161036289,
+              1.245994329325534
+            ],
+            "held_grasp_object_position": [
+              0.3879742515776524,
+              -0.08285601869246416,
+              1.245994329325534
+            ],
+            "held_grasp_finger_gap": 0.026519032383197975,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024551002490963016,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06696633159619136,
+              -0.997742582387846,
+              -0.00502491020629714
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033312702862737372,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03694107685579998,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3337503793023605,
+              -0.328861332050913,
+              0.8515395985242636
+            ],
+            "target_position": [
+              0.3257779955550581,
+              -0.3310667906985583,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00827181663606763,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843937167329545,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395985242636,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754009377138062,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561831540119084,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15301161456362883,
+            "release_required_pad_clearance": 0.052809157700595424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6644049157031002,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008057355880737305,
+            "max_z_decrease": 0.008057355880737305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035015105152985754,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008057355880737305,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021288267185300924,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008057355880737305,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008057359591324557,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18147791922092432,
+              -0.38732823729515065,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18147791922092432,
+              -0.38732823729515065,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18094664620780757,
+              -0.3886000848269913,
+              0.8037394906506261
+            ],
+            "closest_button": [
+              0.18147057294845576,
+              -0.3873258233070373,
+              0.7687515020370483
+            ],
+            "closest_ee_minus_button": [
+              -0.0005239267406481896,
+              -0.001274261519954023,
+              0.03498798861357777
+            ],
+            "button_min_z_position": [
+              0.18147057294845576,
+              -0.3873258233070373,
+              0.7687515020370483
+            ],
+            "min_active_finger_to_button": 0.14628533390675222,
+            "closest_active_finger": [
+              0.04019761085510254,
+              -0.3723876476287842,
+              0.8076768517494202
+            ],
+            "closest_active_finger_button": [
+              0.18148824572563166,
+              -0.38733583688735956,
+              0.7728500366210938
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14129063487052912,
+              0.014948189258575384,
+              0.034826815128326416
+            ],
+            "min_contact_pad_to_button": 0.021288267185300924,
+            "closest_contact_pad": [
+              0.18147057294845576,
+              -0.38979200757267546,
+              0.789896436534953
+            ],
+            "closest_contact_pad_button": [
+              0.18147057294845576,
+              -0.3873258233070373,
+              0.7687515020370483
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024661842656381605,
+              0.021144934497904666
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 127,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20532d6136f41b8bfd067197aef16261ca23ea28f4814abda85ecb6cd0f66bdb",
+    "visual_seed": 6339120483188124269,
+    "episode_index": 127,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6181f4b860c85b04203e262e98420e54f5b9eb8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38172004194159087,
+              -0.08600727031605845,
+              1.0541036472679668
+            ],
+            "current_z": 1.0541036472679668,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1929971988578456,
+            "gripper_z": 1.0549247163629416,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37779926120991414,
+              -0.09025263973826386,
+              1.0549247163629416
+            ],
+            "object_minus_gripper": [
+              0.003920780731676732,
+              0.004245369422205408,
+              -0.0008210690949748134
+            ],
+            "object_to_gripper_xy": 0.005778899815439286,
+            "object_to_gripper_z": -0.0008210690949748134,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38172004194159087,
+              -0.10959131004511509,
+              1.0541036472679668
+            ],
+            "finger_b": [
+              0.37073013943593264,
+              -0.08600727031605845,
+              1.0541036472679668
+            ],
+            "finger_midpoint": [
+              0.37622509068876175,
+              -0.09779929018058678,
+              1.0541036472679668
+            ],
+            "object_minus_finger_midpoint": [
+              0.005494951252829117,
+              0.011792019864528325,
+              0.0
+            ],
+            "finger_gap": 0.026018933241499256,
+            "fingertip_max_gap": 0.09345571447988035,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013009466620749635,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0541036472679668,
+            "object_top_z": 1.1044494728306509,
+            "finger_top_clearance": 0.05034582556268408,
+            "fingertip_min_top_clearance": 0.015103747668805255,
+            "object_projection_between_fingers": 0.821594308235559,
+            "object_to_finger_line_xy": 0.009961449799122049,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04922785723994018,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2310065756545283,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38355623492109137,
+              -0.09054919545611557,
+              1.2451514165408641
+            ],
+            "held_position": [
+              0.3878405926744795,
+              -0.0866927032643811,
+              1.2441769757191248
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005846177238076024,
+            "max_held_gripper_dist": 0.005850344491607805,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009744408217393641,
+            "max_held_gripper_z_dist": 0.000996024216891156,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08729779324338424,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3878405926744795,
+              -0.11164557646684839,
+              1.2441769757191248
+            ],
+            "held_grasp_finger_b": [
+              0.379652969157978,
+              -0.0866927032643811,
+              1.2441769757191248
+            ],
+            "held_grasp_midpoint": [
+              0.38374678091622877,
+              -0.09916913986561474,
+              1.2441769757191248
+            ],
+            "held_grasp_object_position": [
+              0.3878405926744795,
+              -0.0866927032643811,
+              1.2441769757191248
+            ],
+            "held_grasp_finger_gap": 0.026261817528617067,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024425941042203917,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05894841754204963,
+              -0.9982252660775288,
+              -0.008449984244673246
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003352916538677673,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037024632099265264,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3393787228348793,
+              -0.3230543218839802,
+              0.8515396287172836
+            ],
+            "target_position": [
+              0.3310045211194405,
+              -0.3257042185214625,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008783462105582162,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18398045848203368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396287172836,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585782220872583,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08698573786097567,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15159770848756807,
+            "release_required_pad_clearance": 0.05349286893048784,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9983355309560993,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007860064506530762,
+            "max_z_decrease": 0.007860064506530762,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502569796434063,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007860064506530762,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021355688283274523,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007860064506530762,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00786008281098478,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18670444190502167,
+              -0.3819656670093536,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18670444190502167,
+              -0.3819656670093536,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18567132657406635,
+              -0.3829410795299752,
+              0.8041619023768644
+            ],
+            "closest_button": [
+              0.18668757379055023,
+              -0.38196489214897145,
+              0.7691645622253418
+            ],
+            "closest_ee_minus_button": [
+              -0.0010162472164838843,
+              -0.0009761873810037458,
+              0.03499734015152256
+            ],
+            "button_min_z_position": [
+              0.18668749928474426,
+              -0.38196483254432667,
+              0.7689487934112549
+            ],
+            "min_active_finger_to_button": 0.1469386130595645,
+            "closest_active_finger": [
+              0.04511509835720062,
+              -0.36504605412483215,
+              0.8084255456924438
+            ],
+            "closest_active_finger_button": [
+              0.1867174506187439,
+              -0.3819718658924102,
+              0.773024320602417
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14160235226154327,
+              0.01692581176757807,
+              0.035401225090026855
+            ],
+            "min_contact_pad_to_button": 0.021355688283274523,
+            "closest_contact_pad": [
+              0.18668749928474426,
+              -0.3842974752618086,
+              0.7901767042836174
+            ],
+            "closest_contact_pad_button": [
+              0.18668749928474426,
+              -0.38196483254432667,
+              0.7689487934112549
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002332642717481903,
+              0.021227910872362532
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51dbb4ae61a62667ba02af12f0041bb9d50e49a7ea40f349b9fded26e0a5b6d9",
+    "visual_seed": 369753916734770485,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dcdd03139be706450f2ac15cb84627fd5d851b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3772201069093529,
+              -0.08036477829422294,
+              1.0518245192374134
+            ],
+            "current_z": 1.0518245192374134,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1907178324087131,
+            "gripper_z": 1.0528302343779279,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37325351075352564,
+              -0.08459314692355777,
+              1.0528302343779279
+            ],
+            "object_minus_gripper": [
+              0.003966596155827284,
+              0.0042283686293348305,
+              -0.001005715140514507
+            ],
+            "object_to_gripper_xy": 0.005797670767555424,
+            "object_to_gripper_z": -0.001005715140514507,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3772201069093529,
+              -0.1041058603808114,
+              1.0518245192374134
+            ],
+            "finger_b": [
+              0.36641355135895165,
+              -0.08036477829422294,
+              1.0518245192374134
+            ],
+            "finger_midpoint": [
+              0.37181682913415226,
+              -0.09223531933751716,
+              1.0518245192374134
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054032777752006655,
+              0.011870541043294228,
+              0.0
+            ],
+            "finger_gap": 0.026084873423232104,
+            "fingertip_max_gap": 0.09312482056614682,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013042436711616057,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0518245192374134,
+            "object_top_z": 1.1020940153278014,
+            "finger_top_clearance": 0.050269496090388,
+            "fingertip_min_top_clearance": 0.015080848827116366,
+            "object_projection_between_fingers": 0.8283684544930098,
+            "object_to_finger_line_xy": 0.009835559415322052,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04906241028307341,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0105968671460706,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3788285650202854,
+              -0.08448632745037944,
+              1.2425415791115062
+            ],
+            "held_position": [
+              0.38311253511397014,
+              -0.08060799300875866,
+              1.2413870503719986
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0058929461574832274,
+            "max_held_gripper_dist": 0.005897629478983769,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011545287395076098,
+            "max_held_gripper_z_dist": 0.0011748092197745308,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08811847655693425,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38311253511397014,
+              -0.10553491207233705,
+              1.2413870503719986
+            ],
+            "held_grasp_finger_b": [
+              0.37484209352817077,
+              -0.08060799300875866,
+              1.2413870503719986
+            ],
+            "held_grasp_midpoint": [
+              0.37897731432107046,
+              -0.09307145254054786,
+              1.2413870503719986
+            ],
+            "held_grasp_object_position": [
+              0.38311253511397014,
+              -0.08060799300875866,
+              1.2413870503719986
+            ],
+            "held_grasp_finger_gap": 0.026263120492932807,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02446321468490372,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05186859330166138,
+              -0.9986067990373335,
+              -0.009701028054684313
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003485326326830941,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037059666556604226,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33069930699764705,
+              -0.32906070083362404,
+              0.8515395829050543
+            ],
+            "target_position": [
+              0.32294431310784105,
+              -0.3312267348637195,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008051809340170687,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854463684950974,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395829050543,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752834197274537,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605031053885025,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15428602505540698,
+            "release_required_pad_clearance": 0.053025155269425125,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.082081794160466,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008014798164367676,
+            "max_z_decrease": 0.008014798164367676,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514361990540076,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008014798164367676,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0211321878132803,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008014798164367676,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008014833187217293,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17864423990249634,
+              -0.3874881863594055,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17864423990249634,
+              -0.3874881863594055,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1798709638674995,
+              -0.3864793183258955,
+              0.8042762781734099
+            ],
+            "closest_button": [
+              0.17862507700920105,
+              -0.38749125599861145,
+              0.7691693305969238
+            ],
+            "closest_ee_minus_button": [
+              0.0012458868582984617,
+              0.0010119376727159568,
+              0.035106947576486025
+            ],
+            "button_min_z_position": [
+              0.17862123250961304,
+              -0.3874938488006592,
+              0.768794059753418
+            ],
+            "min_active_finger_to_button": 0.14433474807548397,
+            "closest_active_finger": [
+              0.05395122617483139,
+              -0.45150211453437805,
+              0.8107591867446899
+            ],
+            "closest_active_finger_button": [
+              0.17864806950092316,
+              -0.3874906003475189,
+              0.7763245701789856
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12469684332609177,
+              -0.06401151418685913,
+              0.034434616565704346
+            ],
+            "min_contact_pad_to_button": 0.0211321878132803,
+            "closest_contact_pad": [
+              0.1786242574453354,
+              -0.3874913454055786,
+              0.790007250278948
+            ],
+            "closest_contact_pad_button": [
+              0.1786242574453354,
+              -0.3874913454055786,
+              0.7688750624656677
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0211321878132803
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f6e4a10e2dff3daaf229792c0199b878d4b0ec4786ae5a19d33696375a53673",
+    "visual_seed": 4422796142947438826,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bdb32ac98f0ec2f177fbb9e0bccbd85c1180838
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37767375335967124,
+              -0.08203714882459277,
+              1.0511267695295645
+            ],
+            "current_z": 1.0511267695295645,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1900201423055089,
+            "gripper_z": 1.0521213298948227,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3737456876371469,
+              -0.0862466900457131,
+              1.0521213298948227
+            ],
+            "object_minus_gripper": [
+              0.003928065722524354,
+              0.004209541221120328,
+              -0.0009945603652581347
+            ],
+            "object_to_gripper_xy": 0.005757598250380274,
+            "object_to_gripper_z": -0.0009945603652581347,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37767375335967124,
+              -0.10571688662022666,
+              1.0511267695295645
+            ],
+            "finger_b": [
+              0.36685178604900376,
+              -0.08203714882459277,
+              1.0511267695295645
+            ],
+            "finger_midpoint": [
+              0.37226276970433747,
+              -0.09387701772240972,
+              1.0511267695295645
+            ],
+            "object_minus_finger_midpoint": [
+              0.005410983655333768,
+              0.01183986889781695,
+              0.0
+            ],
+            "finger_gap": 0.026035455796723193,
+            "fingertip_max_gap": 0.0934055412359577,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013017727898361616,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511267695295645,
+            "object_top_z": 1.1014365858744086,
+            "finger_top_clearance": 0.050309816344844105,
+            "fingertip_min_top_clearance": 0.015092944903453264,
+            "object_projection_between_fingers": 0.8272245371200115,
+            "object_to_finger_line_xy": 0.009842783254894296,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049202770617978855,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2191855153574984,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3793042565724941,
+              -0.08611697222641902,
+              1.2414432284535422
+            ],
+            "held_position": [
+              0.3835481374016765,
+              -0.08224903023067762,
+              1.2403015445703265
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005854480494793372,
+            "max_held_gripper_dist": 0.005859599531868357,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011416838832156717,
+            "max_held_gripper_z_dist": 0.001163007747694067,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08800771461709814,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3835481374016765,
+              -0.10713401191027054,
+              1.2403015445703265
+            ],
+            "held_grasp_finger_b": [
+              0.3752946432060212,
+              -0.08224903023067762,
+              1.2403015445703265
+            ],
+            "held_grasp_midpoint": [
+              0.3794213903038488,
+              -0.09469152107047407,
+              1.2403015445703265
+            ],
+            "held_grasp_object_position": [
+              0.3835481374016765,
+              -0.08224903023067762,
+              1.2403015445703265
+            ],
+            "held_grasp_finger_gap": 0.026217980082977238,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024447387250486754,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.049202502045381645,
+              -0.9987341013761434,
+              -0.01045507249433042
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035119966821585084,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03709046387980841,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3320985895440589,
+              -0.3243846759050436,
+              0.8515395548362146
+            ],
+            "target_position": [
+              0.3244174526202211,
+              -0.32660735461669393,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007996259444138131,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18487427612718674,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395548362146,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572024064482163,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08719304731796144,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528543820720727,
+            "release_required_pad_clearance": 0.053596523658980724,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2036126984349442,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007634639739990234,
+            "max_z_decrease": 0.007634639739990234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035039880436627535,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007634639739990234,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02136532548851183,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007634639739990234,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007634665273475454,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1801173835992813,
+              -0.38286882638931263,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1801173835992813,
+              -0.38286882638931263,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17861659300070612,
+              -0.3838162457439623,
+              0.8081553835210434
+            ],
+            "closest_button": [
+              0.18012803792953488,
+              -0.3828756213188171,
+              0.7731607556343079
+            ],
+            "closest_ee_minus_button": [
+              -0.0015114449288287646,
+              -0.0009406244251451978,
+              0.034994627886735574
+            ],
+            "button_min_z_position": [
+              0.1800976991653442,
+              -0.3828703761100768,
+              0.7691742181777954
+            ],
+            "min_active_finger_to_button": 0.1477211433198795,
+            "closest_active_finger": [
+              0.03761233389377594,
+              -0.3658975064754486,
+              0.8081257939338684
+            ],
+            "closest_active_finger_button": [
+              0.18012803792953488,
+              -0.3828756213188171,
+              0.7731607556343079
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14251570403575894,
+              0.016978114843368475,
+              0.03496503829956055
+            ],
+            "min_contact_pad_to_button": 0.02136532548851183,
+            "closest_contact_pad": [
+              0.1800976991653442,
+              -0.3853120006621344,
+              0.7903995710082395
+            ],
+            "closest_contact_pad_button": [
+              0.1800976991653442,
+              -0.3828703761100768,
+              0.7691742181777954
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024416245520575974,
+              0.021225352830444133
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "be4168a945b2b29f27a5da8ca5f004b68f64df7ae505b172bdd3e5a3e2b4897e",
+    "visual_seed": 6042190636037265681,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be38e875e9caea183015b92161038ba07385da9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38042787039743503,
+              -0.0826898365512596,
+              1.0512588217557353
+            ],
+            "current_z": 1.0512588217557353,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.19015231374096897,
+            "gripper_z": 1.052126383264033,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3764142894554501,
+              -0.08689948492776439,
+              1.052126383264033
+            ],
+            "object_minus_gripper": [
+              0.004013580941984951,
+              0.004209648376504796,
+              -0.0008675615082978094
+            ],
+            "object_to_gripper_xy": 0.005816353791824761,
+            "object_to_gripper_z": -0.0008675615082978094,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38042787039743503,
+              -0.10652793308209457,
+              1.0512588217557353
+            ],
+            "finger_b": [
+              0.3697280387903282,
+              -0.0826898365512596,
+              1.0512588217557353
+            ],
+            "finger_midpoint": [
+              0.3750779545938816,
+              -0.09460888481667709,
+              1.0512588217557353
+            ],
+            "object_minus_finger_midpoint": [
+              0.005349915803553429,
+              0.011919048265417495,
+              0.0
+            ],
+            "finger_gap": 0.026129317684046964,
+            "fingertip_max_gap": 0.09248899996035356,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013064658842023489,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512588217557353,
+            "object_top_z": 1.1014506747177975,
+            "finger_top_clearance": 0.05019185296206219,
+            "fingertip_min_top_clearance": 0.015057555888618623,
+            "object_projection_between_fingers": 0.8323136361606305,
+            "object_to_finger_line_xy": 0.009761587416789678,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048744499980176784,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5335882621634012,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38204911108031986,
+              -0.08699242731487779,
+              1.243669889986185
+            ],
+            "held_position": [
+              0.3863660293783345,
+              -0.08312209335019667,
+              1.242657091428835
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005885663047411733,
+            "max_held_gripper_dist": 0.0058917197645776175,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010127985573500364,
+            "max_held_gripper_z_dist": 0.0010341474356363456,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08796996718085816,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3863660293783345,
+              -0.10811538413286301,
+              1.242657091428835
+            ],
+            "held_grasp_finger_b": [
+              0.37811496768363906,
+              -0.08312209335019667,
+              1.242657091428835
+            ],
+            "held_grasp_midpoint": [
+              0.38224049853098674,
+              -0.09561873874152985,
+              1.242657091428835
+            ],
+            "held_grasp_object_position": [
+              0.3863660293783345,
+              -0.08312209335019667,
+              1.242657091428835
+            ],
+            "held_grasp_finger_gap": 0.02632004185476505,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024480955533159855,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05704566493558665,
+              -0.9983336348514412,
+              -0.008703196904936929
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034077020760338904,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037009085002716685,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3328516423089812,
+              -0.3301929721333421,
+              0.8515395777798386
+            ],
+            "target_position": [
+              0.3250315540441173,
+              -0.33239748371289746,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008124878569840604,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18342582529752163,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395777798386,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537607721580997,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860775207000946,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217453958286806,
+            "release_required_pad_clearance": 0.0530387603500473,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1085217012236364,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008038997650146484,
+            "max_z_decrease": 0.008038997650146484,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499953080836665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008038997650146484,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02127940695053727,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008038997650146484,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008039020856018283,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.180731475353241,
+              -0.3886589407920837,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.180731475353241,
+              -0.3886589407920837,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18036035095246494,
+              -0.38913510573081234,
+              0.8037644016126024
+            ],
+            "closest_button": [
+              0.18071220815181732,
+              -0.3886603116989135,
+              0.7687698602676392
+            ],
+            "closest_ee_minus_button": [
+              -0.0003518571993523789,
+              -0.0004747940318988175,
+              0.03499454134496327
+            ],
+            "button_min_z_position": [
+              0.18071220815181732,
+              -0.3886603116989135,
+              0.7687698602676392
+            ],
+            "min_active_finger_to_button": 0.14621860507309078,
+            "closest_active_finger": [
+              0.039746902883052826,
+              -0.37192144989967346,
+              0.8078209161758423
+            ],
+            "closest_active_finger_button": [
+              0.1807437539100647,
+              -0.3886643946170806,
+              0.772900402545929
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14099685102701187,
+              0.016742944717407116,
+              0.03492051362991333
+            ],
+            "min_contact_pad_to_button": 0.02127940695053727,
+            "closest_contact_pad": [
+              0.18071220815181732,
+              -0.39042071441494575,
+              0.7899763249056678
+            ],
+            "closest_contact_pad_button": [
+              0.18071220815181732,
+              -0.3886603116989135,
+              0.7687698602676392
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017604027160322278,
+              0.021206464638028666
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c2aade63b1c623c75e80ad97de30fd997807c1da39b1b68a678f7be4e6f52a9",
+    "visual_seed": 4795215787941284360,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..226ea85f0ca7c31aca53a9234881e2e96fb523cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3788412454246388,
+              -0.08464726383155871,
+              1.0535957943453949
+            ],
+            "current_z": 1.0535957943453949,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1924890479120499,
+            "gripper_z": 1.0545692654115795,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37496584319808834,
+              -0.08883505474949485,
+              1.0545692654115795
+            ],
+            "object_minus_gripper": [
+              0.003875402226550473,
+              0.0041877909179361406,
+              -0.0009734710661846169
+            ],
+            "object_to_gripper_xy": 0.0057058159092193625,
+            "object_to_gripper_z": -0.0009734710661846169,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3788412454246388,
+              -0.10827189857118164,
+              1.0535957943453949
+            ],
+            "finger_b": [
+              0.3680294547231485,
+              -0.08464726383155871,
+              1.0535957943453949
+            ],
+            "finger_midpoint": [
+              0.37343535007389367,
+              -0.09645958120137017,
+              1.0535957943453949
+            ],
+            "object_minus_finger_midpoint": [
+              0.005405895350745149,
+              0.011812317369811462,
+              0.0
+            ],
+            "finger_gap": 0.025981112076919076,
+            "fingertip_max_gap": 0.09373173060400056,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012990556038459538,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0535957943453949,
+            "object_top_z": 1.1039351699422908,
+            "finger_top_clearance": 0.05033937559689594,
+            "fingertip_min_top_clearance": 0.015101812679068814,
+            "object_projection_between_fingers": 0.8268271569372148,
+            "object_to_finger_line_xy": 0.009831165249884434,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04936586530200028,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5002117785087097,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3805837982843716,
+              -0.08882952968096966,
+              1.2442004549255459
+            ],
+            "held_position": [
+              0.3847756261794891,
+              -0.0849862835283614,
+              1.243080136805926
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00579629836887059,
+            "max_held_gripper_dist": 0.005802686177262094,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011203181196197676,
+            "max_held_gripper_z_dist": 0.001140029096121653,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791027849606878,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3847756261794891,
+              -0.10982866331195822,
+              1.243080136805926
+            ],
+            "held_grasp_finger_b": [
+              0.37658299263741085,
+              -0.0849862835283614,
+              1.243080136805926
+            ],
+            "held_grasp_midpoint": [
+              0.38067930940844996,
+              -0.09740747342015982,
+              1.243080136805926
+            ],
+            "held_grasp_object_position": [
+              0.3847756261794891,
+              -0.0849862835283614,
+              1.243080136805926
+            ],
+            "held_grasp_finger_gap": 0.02615842269073664,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024441765614870478,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045559185711033026,
+              -0.9988984768786758,
+              -0.011233587441657589
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003528965212973379,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037126117549653836,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33778533430387236,
+              -0.32727463756618347,
+              0.8515395823888813
+            ],
+            "target_position": [
+              0.33094059062482306,
+              -0.3289049685132151,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007036227329239331,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18389086896970702,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395823888813,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513998984117473,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641294634970374,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15319479544203965,
+            "release_required_pad_clearance": 0.05320647317485187,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4352860413905388,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008153557777404785,
+            "max_z_decrease": 0.008153557777404785,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500151565943616,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008153557777404785,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02114617093046652,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008153557777404785,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008153561368123171,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18664051592350003,
+              -0.385166436433792,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18664051592350003,
+              -0.385166436433792,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18641387475684792,
+              -0.38462416528146515,
+              0.8037204498976479
+            ],
+            "closest_button": [
+              0.18664164841175074,
+              -0.3851605653762816,
+              0.7687237858772278
+            ],
+            "closest_ee_minus_button": [
+              -0.0002277736549028131,
+              0.0005364000948164804,
+              0.03499666402042012
+            ],
+            "button_min_z_position": [
+              0.18664249777793882,
+              -0.38515904545783985,
+              0.7686553001403809
+            ],
+            "min_active_finger_to_button": 0.1458402816112202,
+            "closest_active_finger": [
+              0.06040289252996445,
+              -0.449420303106308,
+              0.808022141456604
+            ],
+            "closest_active_finger_button": [
+              0.18664839863777155,
+              -0.3851715922355651,
+              0.7733297348022461
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1262455061078071,
+              -0.06424871087074291,
+              0.03469240665435791
+            ],
+            "min_contact_pad_to_button": 0.02114617093046652,
+            "closest_contact_pad": [
+              0.18664249777793882,
+              -0.3856300064303031,
+              0.7897962258718365
+            ],
+            "closest_contact_pad_button": [
+              0.18664249777793882,
+              -0.38515904545783985,
+              0.7686553001403809
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004709609724632413,
+              0.02114092573145565
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "366ec92e782966402350acbdf13a0efe8e5b315a8f2ab69ec62261a37d94204e",
+    "visual_seed": 276760321130809334,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dfedb7af3c47b2c87826ee22ee6a32b41a62a08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3823483914438188,
+              -0.08692645430496693,
+              1.0534554628967074
+            ],
+            "current_z": 1.0534554628967074,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19234895488194148,
+            "gripper_z": 1.0542881577788814,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37839084470182155,
+              -0.09119240464523853,
+              1.0542881577788814
+            ],
+            "object_minus_gripper": [
+              0.003957546741997275,
+              0.004265950340271607,
+              -0.0008326948821739677
+            ],
+            "object_to_gripper_xy": 0.00581897830557536,
+            "object_to_gripper_z": -0.0008326948821739677,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3823483914438188,
+              -0.11053217587316232,
+              1.0534554628967074
+            ],
+            "finger_b": [
+              0.37132213542587217,
+              -0.08692645430496693,
+              1.0534554628967074
+            ],
+            "finger_midpoint": [
+              0.3768352634348455,
+              -0.09872931508906463,
+              1.0534554628967074
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055131280089733,
+              0.011802860784097702,
+              0.0
+            ],
+            "finger_gap": 0.026053951956055914,
+            "fingertip_max_gap": 0.09277151514553425,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013026975978027952,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0534554628967074,
+            "object_top_z": 1.103820805765541,
+            "finger_top_clearance": 0.05036534286883354,
+            "fingertip_min_top_clearance": 0.015109602860650061,
+            "object_projection_between_fingers": 0.8208944975793067,
+            "object_to_finger_line_xy": 0.009990143911307394,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04888575757276713,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5748664125024356,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3840878711977216,
+              -0.09148008053010889,
+              1.2465248135503848
+            ],
+            "held_position": [
+              0.3884143868980482,
+              -0.08760911194310031,
+              1.245550564454124
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005886620185500738,
+            "max_held_gripper_dist": 0.005890856366869267,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009742490962607597,
+            "max_held_gripper_z_dist": 0.0009978512139696694,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08816693140287749,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3884143868980482,
+              -0.11261894184838146,
+              1.245550564454124
+            ],
+            "held_grasp_finger_b": [
+              0.38013777321389686,
+              -0.08760897030650339,
+              1.245550564454124
+            ],
+            "held_grasp_midpoint": [
+              0.3842760800559725,
+              -0.10011395607744242,
+              1.245550564454124
+            ],
+            "held_grasp_object_position": [
+              0.3884143868980482,
+              -0.08760911194310031,
+              1.245550564454124
+            ],
+            "held_grasp_finger_gap": 0.026343898925600066,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024362573267515345,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07063186302930315,
+              -0.9974887764197519,
+              -0.005223106512036724
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00324540347833149,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03695451207316772,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3383435989772509,
+              -0.3303685297200413,
+              0.8515395194100568
+            ],
+            "target_position": [
+              0.3298686858838695,
+              -0.33301773551928493,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008879326737265283,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18577612277022001,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395194100568,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556375598149853,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555941054251114,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15403486582009973,
+            "release_required_pad_clearance": 0.05277970527125557,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6078048875849409,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007857143878936768,
+            "max_z_decrease": 0.007857143878936768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502375797929806,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007857143878936768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021413009352667458,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007857143878936768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007857166126084253,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18556861579418182,
+              -0.38927918672561646,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18556861579418182,
+              -0.38927918672561646,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1854698557322852,
+              -0.3907440939698589,
+              0.8049949190584355
+            ],
+            "closest_button": [
+              0.18555310368537903,
+              -0.38927826285362244,
+              0.7700019478797913
+            ],
+            "closest_ee_minus_button": [
+              -8.324795309383459e-05,
+              -0.001465831116236438,
+              0.034992971178644194
+            ],
+            "button_min_z_position": [
+              0.18554992973804474,
+              -0.3892785310745239,
+              0.7689517140388489
+            ],
+            "min_active_finger_to_button": 0.146027967305848,
+            "closest_active_finger": [
+              0.044764772057533264,
+              -0.3733237385749817,
+              0.8084117770195007
+            ],
+            "closest_active_finger_button": [
+              0.18558107316493988,
+              -0.38928675651550293,
+              0.7731964588165283
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14081630110740662,
+              0.01596301794052124,
+              0.03521531820297241
+            ],
+            "min_contact_pad_to_button": 0.021413009352667458,
+            "closest_contact_pad": [
+              0.18554992973804474,
+              -0.3920601644082372,
+              0.7901832821753337
+            ],
+            "closest_contact_pad_button": [
+              0.18554992973804474,
+              -0.3892785310745239,
+              0.7689517140388489
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002781633333713285,
+              0.021231568136484857
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "862d52cf2761dc88b53f186456ffc050aa4f7b158242c684afab8a92510bc1d9",
+    "visual_seed": 7067998621582951518,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae31d84668c58067a114c83e864e17eefa2255a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3759706211700058,
+              -0.07758030543603815,
+              1.0525679442756664
+            ],
+            "current_z": 1.0525679442756664,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1914611978423213,
+            "gripper_z": 1.0539661893837198,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37201031117515726,
+              -0.08184062020399963,
+              1.0539661893837198
+            ],
+            "object_minus_gripper": [
+              0.003960309994848532,
+              0.004260314767961473,
+              -0.0013982451080534197
+            ],
+            "object_to_gripper_xy": 0.005816729078907475,
+            "object_to_gripper_z": -0.0013982451080534197,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3759706211700058,
+              -0.10126093568723787,
+              1.0525679442756664
+            ],
+            "finger_b": [
+              0.36506055641551594,
+              -0.07758030543603815,
+              1.0525679442756664
+            ],
+            "finger_midpoint": [
+              0.37051558879276086,
+              -0.08942062056163802,
+              1.0525679442756664
+            ],
+            "object_minus_finger_midpoint": [
+              0.005455032377244928,
+              0.011840315125599868,
+              0.0
+            ],
+            "finger_gap": 0.02607300830439781,
+            "fingertip_max_gap": 0.10082952464864839,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013036504152198912,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525679442756664,
+            "object_top_z": 1.1061309917231892,
+            "finger_top_clearance": 0.05356304744752283,
+            "fingertip_min_top_clearance": 0.01606891423425683,
+            "object_projection_between_fingers": 0.8249055539518468,
+            "object_to_finger_line_xy": 0.009908991185499004,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0529147623243242,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.5746466047476355,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37715230938728406,
+              -0.08096810294101207,
+              1.245433739601645
+            ],
+            "held_position": [
+              0.38139123710125983,
+              -0.07699913066501728,
+              1.243926098571047
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005999519194824701,
+            "max_held_gripper_dist": 0.006005285035112452,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015076410305980836,
+            "max_held_gripper_z_dist": 0.0015399808294542794,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08739184174959569,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38139123710125983,
+              -0.10176321314169035,
+              1.243926098571047
+            ],
+            "held_grasp_finger_b": [
+              0.3726248166343507,
+              -0.07699913066501728,
+              1.243926098571047
+            ],
+            "held_grasp_midpoint": [
+              0.37700802686780527,
+              -0.08938117190335382,
+              1.243926098571047
+            ],
+            "held_grasp_object_position": [
+              0.38139123710125983,
+              -0.07699913066501728,
+              1.243926098571047
+            ],
+            "held_grasp_finger_gap": 0.0262699430664421,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02472804746452286,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0032654567886314725,
+              -0.9997008310349669,
+              0.024240157176847688
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004353125393347839,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037327599970607965,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33289767757485567,
+              -0.3310939925554608,
+              0.8515396355861364
+            ],
+            "target_position": [
+              0.3301533305542111,
+              -0.3300596844896595,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0029327860039052253,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1798576497862394,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396355861364,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542793319967647,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0918488723677953,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1480607747698521,
+            "release_required_pad_clearance": 0.055924436183897655,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.071254159301697,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008142828941345215,
+            "max_z_decrease": 0.008142828941345215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035021452578418356,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008142828941345215,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021249786309781856,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008142828941345215,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008142845998586131,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18585325777530665,
+              -0.3863211572170257,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18585325777530665,
+              -0.3863211572170257,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18646984582125717,
+              -0.38514354079442326,
+              0.8036620312482375
+            ],
+            "closest_button": [
+              0.18583676218986506,
+              -0.3863187730312347,
+              0.7686660289764404
+            ],
+            "closest_ee_minus_button": [
+              0.0006330836313921118,
+              0.0011752322368114299,
+              0.03499600227179711
+            ],
+            "button_min_z_position": [
+              0.18583676218986506,
+              -0.3863187730312347,
+              0.7686660289764404
+            ],
+            "min_active_finger_to_button": 0.1448952072187723,
+            "closest_active_finger": [
+              0.0596146285533905,
+              -0.44822239875793457,
+              0.8078290224075317
+            ],
+            "closest_active_finger_button": [
+              0.18586570024490354,
+              -0.3863265216350555,
+              0.7728406190872192
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12625107169151303,
+              -0.061895877122879084,
+              0.0349884033203125
+            ],
+            "min_contact_pad_to_button": 0.021249786309781856,
+            "closest_contact_pad": [
+              0.18583676218986506,
+              -0.3863233205155667,
+              0.7899158147996382
+            ],
+            "closest_contact_pad_button": [
+              0.18583676218986506,
+              -0.3863187730312347,
+              0.7686660289764404
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -4.54748433204033e-06,
+              0.02124978582319781
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fcfa5e3486ffdee9705defd12477d9f4d7a21e6f1069e29ae9317afe6cf61ad0",
+    "visual_seed": 952973198495587853,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9625b5877f351cdee3dfabe33e05b0cfb29faa2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37822860650554574,
+              -0.07839946308307708,
+              1.0517013948832759
+            ],
+            "current_z": 1.0517013948832759,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.190594827263865,
+            "gripper_z": 1.0527033299957902,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3742551852706574,
+              -0.08266369379545131,
+              1.0527033299957902
+            ],
+            "object_minus_gripper": [
+              0.0039734212348883635,
+              0.004264230712374237,
+              -0.0010019351125143405
+            ],
+            "object_to_gripper_xy": 0.00582852810563846,
+            "object_to_gripper_z": -0.0010019351125143405,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37822860650554574,
+              -0.10203776189266803,
+              1.0517013948832759
+            ],
+            "finger_b": [
+              0.36723020158292274,
+              -0.07839946308307708,
+              1.0517013948832759
+            ],
+            "finger_midpoint": [
+              0.37272940404423427,
+              -0.09021861248787255,
+              1.0517013948832759
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549920246131147,
+              0.011819149404795476,
+              0.0
+            ],
+            "finger_gap": 0.026071710366860987,
+            "fingertip_max_gap": 0.09282684114207604,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013035855183430483,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0517013948832759,
+            "object_top_z": 1.1019646734650408,
+            "finger_top_clearance": 0.050263278581764936,
+            "fingertip_min_top_clearance": 0.01507898357452948,
+            "object_projection_between_fingers": 0.8220408331103298,
+            "object_to_finger_line_xy": 0.00997186522600745,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891342057103802,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7620812407199036,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3799324248219679,
+              -0.08267239574290751,
+              1.243006142006716
+            ],
+            "held_position": [
+              0.3842595236375134,
+              -0.07879770622428157,
+              1.241849411383578
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005922417475976378,
+            "max_held_gripper_dist": 0.00593195860169498,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011567306231379249,
+            "max_held_gripper_z_dist": 0.001180847003878771,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08794719963214447,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3842595236375134,
+              -0.10380528705698398,
+              1.241849411383578
+            ],
+            "held_grasp_finger_b": [
+              0.37602684936329134,
+              -0.0787935063532241,
+              1.241849411383578
+            ],
+            "held_grasp_midpoint": [
+              0.38014318650040235,
+              -0.09129939670510404,
+              1.241849411383578
+            ],
+            "held_grasp_object_position": [
+              0.3842595236375134,
+              -0.07879770622428157,
+              1.241849411383578
+            ],
+            "held_grasp_finger_gap": 0.026331845732466483,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02441411079386369,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06591294415516562,
+              -0.9977998323724527,
+              -0.007139909684529709
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003284601903313473,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697474550411588,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3378134133305033,
+              -0.3252031747533375,
+              0.8515395691376604
+            ],
+            "target_position": [
+              0.3290153809300257,
+              -0.32794150690194446,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009214327814656273,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18404829650671467,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376604,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517740444602018,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15343737308462507,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007934927940368652,
+            "max_z_decrease": 0.007934927940368652,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500828940264405,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007934927940368652,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02136373285991377,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007934927940368652,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007934946362143692,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18471530079841614,
+              -0.38420295715332026,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18471530079841614,
+              -0.38420295715332026,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1845217411510739,
+              -0.3852257248980863,
+              0.8045942169356667
+            ],
+            "closest_button": [
+              0.1846995204687119,
+              -0.3842021822929382,
+              0.7696013450622559
+            ],
+            "closest_ee_minus_button": [
+              -0.00017777931763801602,
+              -0.0010235426051481422,
+              0.034992871873410825
+            ],
+            "button_min_z_position": [
+              0.18469820916652685,
+              -0.3842024803161621,
+              0.768873929977417
+            ],
+            "min_active_finger_to_button": 0.14615418496408883,
+            "closest_active_finger": [
+              0.04389144480228424,
+              -0.3674391210079193,
+              0.8082654476165771
+            ],
+            "closest_active_finger_button": [
+              0.18472774326801306,
+              -0.384210467338562,
+              0.7729822397232056
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14083629846572882,
+              0.0167713463306427,
+              0.03528320789337158
+            ],
+            "min_contact_pad_to_button": 0.02136373285991377,
+            "closest_contact_pad": [
+              0.18469820916652685,
+              -0.3865802376848353,
+              0.7901049297561716
+            ],
+            "closest_contact_pad_button": [
+              0.18469820916652685,
+              -0.3842024803161621,
+              0.768873929977417
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023777573686731834,
+              0.021230999778754645
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "64d89f0f0737a7054ee15c94f8c34ad04070e8dda412acb570fc3219c2aabf8f",
+    "visual_seed": 347350052836641324,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c3d38e45a2390809ae5171ecd7ab3c0fff409c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3815558364540586,
+              -0.07758518529166758,
+              1.0529340047757247
+            ],
+            "current_z": 1.0529340047757247,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.19182761597024822,
+            "gripper_z": 1.054460203288373,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37698155239603237,
+              -0.08205868054275187,
+              1.054460203288373
+            ],
+            "object_minus_gripper": [
+              0.0045742840580262345,
+              0.004473495251084286,
+              -0.0015261985126482358
+            ],
+            "object_to_gripper_xy": 0.006398143043492121,
+            "object_to_gripper_z": -0.0015261985126482358,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3815558364540586,
+              -0.10187675846493055,
+              1.0529340047757247
+            ],
+            "finger_b": [
+              0.37055454605591315,
+              -0.07758518529166758,
+              1.0529340047757247
+            ],
+            "finger_midpoint": [
+              0.3760551912549859,
+              -0.08973097187829907,
+              1.0529340047757247
+            ],
+            "object_minus_finger_midpoint": [
+              0.005500645199072729,
+              0.012145786586631485,
+              0.0
+            ],
+            "finger_gap": 0.026666625539357555,
+            "fingertip_max_gap": 0.09709059360533925,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013333312769678777,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0529340047757247,
+            "object_top_z": 1.1052714462004831,
+            "finger_top_clearance": 0.05233744142475838,
+            "fingertip_min_top_clearance": 0.015701232427427513,
+            "object_projection_between_fingers": 0.8298033009862756,
+            "object_to_finger_line_xy": 0.01002146485735306,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05104529680266963,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8962409758794596,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38227932752219174,
+              -0.08145189892002264,
+              1.2428758986664366
+            ],
+            "held_position": [
+              0.38706340144468576,
+              -0.07724128970303272,
+              1.2412025830637567
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006589125767524815,
+            "max_held_gripper_dist": 0.0066023561586008896,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016733156026798035,
+            "max_held_gripper_z_dist": 0.0017029700535897696,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08750646296880522,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38706340144468576,
+              -0.10227180600171246,
+              1.2412025830637567
+            ],
+            "held_grasp_finger_b": [
+              0.37796680779589814,
+              -0.07724128970303272,
+              1.2412025830637567
+            ],
+            "held_grasp_midpoint": [
+              0.3825151046202919,
+              -0.08975654785237258,
+              1.2412025830637567
+            ],
+            "held_grasp_object_position": [
+              0.38706340144468576,
+              -0.07724128970303272,
+              1.2412025830637567
+            ],
+            "held_grasp_finger_gap": 0.026632212866933066,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024882147418243346,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01583879687149657,
+              -0.9998286179414156,
+              0.00958474094706141
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004351162987407996,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0371350972619477,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3255677601552001,
+              -0.3279485787684411,
+              0.8515395663436786
+            ],
+            "target_position": [
+              0.32310535680817115,
+              -0.3274934652616635,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002504108333820807,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17778862720680477,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395663436786,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548174996544815,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08949094447067461,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14589568139313133,
+            "release_required_pad_clearance": 0.05474547223533731,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.540592093228315,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00765836238861084,
+            "max_z_decrease": 0.00765836238861084,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502403482835082,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00765836238861084,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021221463003884847,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00765836238861084,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007658387260622505,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17880527675151825,
+              -0.3837549090385437,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17880527675151825,
+              -0.3837549090385437,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17940303743736283,
+              -0.3827477691212405,
+              0.8075819122218071
+            ],
+            "closest_button": [
+              0.17879420518875122,
+              -0.38375863432884216,
+              0.7725777626037598
+            ],
+            "closest_ee_minus_button": [
+              0.0006088322486116071,
+              0.0010108652076016855,
+              0.03500414961804732
+            ],
+            "button_min_z_position": [
+              0.1787862032651901,
+              -0.3837590515613556,
+              0.7691504955291748
+            ],
+            "min_active_finger_to_button": 0.14533277611764406,
+            "closest_active_finger": [
+              0.051641374826431274,
+              -0.44488388299942017,
+              0.8079599738121033
+            ],
+            "closest_active_finger_button": [
+              0.17881585657596588,
+              -0.38375875353813166,
+              0.773146390914917
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271744817495346,
+              -0.06112512946128851,
+              0.03481358289718628
+            ],
+            "min_contact_pad_to_button": 0.021221463003884847,
+            "closest_contact_pad": [
+              0.1787862032651901,
+              -0.3840947888333764,
+              0.7903693025764484
+            ],
+            "closest_contact_pad_button": [
+              0.1787862032651901,
+              -0.3837590515613556,
+              0.7691504955291748
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003357372720207974,
+              0.021218807047273636
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb442c54ff3a382b4e81d0e9df0c6a3799ef8a1880880cf5927a4963ef4b0719",
+    "visual_seed": 7014812361551413126,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..60a8d7a825cf329b673eba433a40ab0bda8c0eb0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3806540622171437,
+              -0.0845444095464045,
+              1.0545504672660417
+            ],
+            "current_z": 1.0545504672660417,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19344401885592055,
+            "gripper_z": 1.0554879128846788,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3766364516332889,
+              -0.08882057684120957,
+              1.0554879128846788
+            ],
+            "object_minus_gripper": [
+              0.004017610583854803,
+              0.004276167294805067,
+              -0.0009374456186370672
+            ],
+            "object_to_gripper_xy": 0.005867435686623468,
+            "object_to_gripper_z": -0.0009374456186370672,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3806540622171437,
+              -0.1082432416660256,
+              1.0545504672660417
+            ],
+            "finger_b": [
+              0.3696761999111193,
+              -0.0845444095464045,
+              1.0545504672660417
+            ],
+            "finger_midpoint": [
+              0.3751651310641315,
+              -0.09639382560621505,
+              1.0545504672660417
+            ],
+            "object_minus_finger_midpoint": [
+              0.005488931153012189,
+              0.011849416059810547,
+              0.0
+            ],
+            "finger_gap": 0.026117965170434247,
+            "fingertip_max_gap": 0.09280222697413357,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013058982585217113,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0545504672660417,
+            "object_top_z": 1.1048557832151324,
+            "finger_top_clearance": 0.05030531594909071,
+            "fingertip_min_top_clearance": 0.015091594784727214,
+            "object_projection_between_fingers": 0.8233324112614476,
+            "object_to_finger_line_xy": 0.009961056082473666,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048901113487066786,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6800437407976354,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38240856859830563,
+              -0.08905225528123803,
+              1.2446012289050241
+            ],
+            "held_position": [
+              0.38677453865814276,
+              -0.0851575161149895,
+              1.2435007632559145
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005953294246161086,
+            "max_held_gripper_dist": 0.005958119227253301,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011004656491095943,
+            "max_held_gripper_z_dist": 0.0011222329921158902,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08817129887426317,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38677453865814276,
+              -0.11014491761495444,
+              1.2435007632559145
+            ],
+            "held_grasp_finger_b": [
+              0.3785651743374988,
+              -0.0851575161149895,
+              1.2435007632559145
+            ],
+            "held_grasp_midpoint": [
+              0.3826698564978208,
+              -0.09765121686497197,
+              1.2435007632559145
+            ],
+            "held_grasp_object_position": [
+              0.38677453865814276,
+              -0.0851575161149895,
+              1.2435007632559145
+            ],
+            "held_grasp_finger_gap": 0.0263014048345238,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024393006728442454,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06567444567709238,
+              -0.9977889129286625,
+              -0.010205509377034128
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003277838208283931,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036984601254754244,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3327467478892413,
+              -0.32609496279488215,
+              0.8515395809678287
+            ],
+            "target_position": [
+              0.32487350902327267,
+              -0.3284378478604412,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008214438548739579,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18369808560996817,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395809678287,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572999102300125,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08628992354218655,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15150511208982845,
+            "release_required_pad_clearance": 0.05314496177109328,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3151981839293412,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00770336389541626,
+            "max_z_decrease": 0.00770336389541626,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035009791613271224,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00770336389541626,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02125194812881512,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00770336389541626,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007703389615761491,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18057343363761894,
+              -0.3846993148326874,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18057343363761894,
+              -0.3846993148326874,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18020080625416032,
+              -0.38369535725504134,
+              0.8055902435701563
+            ],
+            "closest_button": [
+              0.18055698275566093,
+              -0.3847000300884247,
+              0.7705966830253601
+            ],
+            "closest_ee_minus_button": [
+              -0.00035617650150060465,
+              0.0010046728333833466,
+              0.03499356054479619
+            ],
+            "button_min_z_position": [
+              0.1805535852909087,
+              -0.3847008347511291,
+              0.7691054940223694
+            ],
+            "min_active_finger_to_button": 0.14601269830192695,
+            "closest_active_finger": [
+              0.052118413150310516,
+              -0.44458362460136414,
+              0.8081961274147034
+            ],
+            "closest_active_finger_button": [
+              0.1805849373340606,
+              -0.3847056031227112,
+              0.7731150388717651
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1284665241837501,
+              -0.059878021478652954,
+              0.03508108854293823
+            ],
+            "min_contact_pad_to_button": 0.02125194812881512,
+            "closest_contact_pad": [
+              0.1805535852909087,
+              -0.3851303441972993,
+              0.7903531014383939
+            ],
+            "closest_contact_pad_button": [
+              0.1805535852909087,
+              -0.3847008347511291,
+              0.7691054940223694
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004295094461702065,
+              0.021247607416024494
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "06e42e999302c80d3d6b5c13466f9a4c7024b059545035c96e73eecfd9d2e041",
+    "visual_seed": 1836725742329464176,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc0abc6adbe5dc4c328ac59f2c9017d8b26013e8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38157615574179604,
+              -0.07571345625005056,
+              1.0540040359880445
+            ],
+            "current_z": 1.0540040359880445,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.19289758757792352,
+            "gripper_z": 1.0549280721793532,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3775511885505236,
+              -0.07999613988567482,
+              1.0549280721793532
+            ],
+            "object_minus_gripper": [
+              0.004024967191272433,
+              0.004282683635624257,
+              -0.0009240361913087636
+            ],
+            "object_to_gripper_xy": 0.005877222134109217,
+            "object_to_gripper_z": -0.0009240361913087636,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38157615574179604,
+              -0.09941049521075172,
+              1.0540040359880445
+            ],
+            "finger_b": [
+              0.37057649300346446,
+              -0.07571345625005056,
+              1.0540040359880445
+            ],
+            "finger_midpoint": [
+              0.3760763243726303,
+              -0.08756197573040114,
+              1.0540040359880445
+            ],
+            "object_minus_finger_midpoint": [
+              0.005499831369165764,
+              0.01184851948035058,
+              0.0
+            ],
+            "finger_gap": 0.0261255092938306,
+            "fingertip_max_gap": 0.09291106740985214,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013062754646915288,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0540040359880445,
+            "object_top_z": 1.1042693403406794,
+            "finger_top_clearance": 0.050265304352634876,
+            "fingertip_min_top_clearance": 0.015079591305790462,
+            "object_projection_between_fingers": 0.8227324640148744,
+            "object_to_finger_line_xy": 0.009977200196681716,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895553370492607,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8383008373219774,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3833325142811237,
+              -0.08020131864556378,
+              1.2457432790958187
+            ],
+            "held_position": [
+              0.38771796886684873,
+              -0.07631516668998287,
+              1.244657029401416
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005959389846612812,
+            "max_held_gripper_dist": 0.005963500155198043,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00108624969440263,
+            "max_held_gripper_z_dist": 0.0011070593453830213,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08823077828564033,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38771796886684873,
+              -0.10138519626941249,
+              1.244657029401416
+            ],
+            "held_grasp_finger_b": [
+              0.3794945021524997,
+              -0.07619469012328378,
+              1.244657029401416
+            ],
+            "held_grasp_midpoint": [
+              0.3836062355096742,
+              -0.08878994319634814,
+              1.244657029401416
+            ],
+            "held_grasp_object_position": [
+              0.38771796886684873,
+              -0.07631516668998287,
+              1.244657029401416
+            ],
+            "held_grasp_finger_gap": 0.026498811382780072,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02460351065672902,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06486612295431789,
+              -0.9978733620481772,
+              -0.006414000899800376
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032948760498363377,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03700529069538688,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3341421094893501,
+              -0.33238912526392417,
+              0.8515395922329758
+            ],
+            "target_position": [
+              0.3258216346038636,
+              -0.33498876853907533,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008717135279324854,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18259172543334434,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395922329758,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755951757800749,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859127851055722,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1508972496872458,
+            "release_required_pad_clearance": 0.0529563925527861,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9487304499755409,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008121669292449951,
+            "max_z_decrease": 0.008121669292449951,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509890329914426,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008121669292449951,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02144900999659798,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008121669292449951,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008121697489837633,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1815215647220611,
+              -0.39125022292137146,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1815215647220611,
+              -0.39125022292137146,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17932996808280732,
+              -0.392859917519392,
+              0.8100158201037004
+            ],
+            "closest_button": [
+              0.18152777850627894,
+              -0.3912552893161773,
+              0.775022566318512
+            ],
+            "closest_ee_minus_button": [
+              -0.0021978104234716134,
+              -0.0016046282032146642,
+              0.03499325378518847
+            ],
+            "button_min_z_position": [
+              0.1815004795789718,
+              -0.3912465572357177,
+              0.7686871886253357
+            ],
+            "min_active_finger_to_button": 0.14828809135297574,
+            "closest_active_finger": [
+              0.03839065879583359,
+              -0.37465086579322815,
+              0.8078336119651794
+            ],
+            "closest_active_finger_button": [
+              0.18153238296508784,
+              -0.39125746488571167,
+              0.7728475332260132
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14314172416925425,
+              0.01660659909248352,
+              0.03498607873916626
+            ],
+            "min_contact_pad_to_button": 0.02144900999659798,
+            "closest_contact_pad": [
+              0.1815004795789718,
+              -0.39435660868996775,
+              0.7899095261447061
+            ],
+            "closest_contact_pad_button": [
+              0.1815004795789718,
+              -0.3912465572357177,
+              0.7686871886253357
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003110051454250029,
+              0.021222337519370416
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fa79a9b11b93800c1d333e5a954c0693d58c2a8e3141efdcd09fb9bfbc1fca7",
+    "visual_seed": 4864414767959667596,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ac7e6121454f247766dc1ea4d12176948f2c9d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3742203044893695,
+              -0.0807132770296214,
+              1.0511682862050415
+            ],
+            "current_z": 1.0511682862050415,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1900615397716966,
+            "gripper_z": 1.0522953018265553,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37027003985257,
+              -0.08497151804221896,
+              1.0522953018265553
+            ],
+            "object_minus_gripper": [
+              0.003950264636799483,
+              0.004258241012597558,
+              -0.0011270156215137384
+            ],
+            "object_to_gripper_xy": 0.005808373887941136,
+            "object_to_gripper_z": -0.0011270156215137384,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3742203044893695,
+              -0.10432016061310864,
+              1.0511682862050415
+            ],
+            "finger_b": [
+              0.36321500850981664,
+              -0.0807132770296214,
+              1.0511682862050415
+            ],
+            "finger_midpoint": [
+              0.3687176564995931,
+              -0.09251671882136503,
+              1.0511682862050415
+            ],
+            "object_minus_finger_midpoint": [
+              0.005502647989776399,
+              0.011803441791743627,
+              0.0
+            ],
+            "finger_gap": 0.026046141597593327,
+            "fingertip_max_gap": 0.09288584707826927,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013023070798796658,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511682862050415,
+            "object_top_z": 1.101450856557387,
+            "finger_top_clearance": 0.05028257035234551,
+            "fingertip_min_top_clearance": 0.01508477110570362,
+            "object_projection_between_fingers": 0.8214677576566968,
+            "object_to_finger_line_xy": 0.009974634439334025,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04894292353913464,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8048177213436456,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37587571484584104,
+              -0.08494281420779597,
+              1.245281021235762
+            ],
+            "held_position": [
+              0.38018495115558715,
+              -0.08107240975473712,
+              1.2440192774488592
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0059280304981738745,
+            "max_held_gripper_dist": 0.005933294330783088,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012617437869026915,
+            "max_held_gripper_z_dist": 0.0012820930615686787,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08795387453898466,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38018495115558715,
+              -0.10608990406045088,
+              1.2440192774488592
+            ],
+            "held_grasp_finger_b": [
+              0.37188542109419065,
+              -0.08107240975473712,
+              1.2440192774488592
+            ],
+            "held_grasp_midpoint": [
+              0.3760351861248889,
+              -0.093581156907594,
+              1.2440192774488592
+            ],
+            "held_grasp_object_position": [
+              0.38018495115558715,
+              -0.08107240975473712,
+              1.2440192774488592
+            ],
+            "held_grasp_finger_gap": 0.02635824767651379,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024420043689957704,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0654785014227555,
+              -0.997841117732947,
+              -0.005066518814058839
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033224232027997997,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696678743418286,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3338883628441315,
+              -0.3273411109751231,
+              0.8515395739624948
+            ],
+            "target_position": [
+              0.325883649887042,
+              -0.3296598286169447,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008333779516395377,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18409590201508802,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395739624948,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751359811305602,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506771540897261,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15341065375146418,
+            "release_required_pad_clearance": 0.052533857704486306,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13705608572124292,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00785595178604126,
+            "max_z_decrease": 0.00785595178604126,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350443296393285,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00785595178604126,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021252085580796165,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00785595178604126,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00785597778323963,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18158358335494998,
+              -0.38592129945755005,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18158358335494998,
+              -0.38592129945755005,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18223060978568012,
+              -0.38423822252074846,
+              0.8043116136696443
+            ],
+            "closest_button": [
+              0.18156768381595612,
+              -0.3859247863292694,
+              0.769314169883728
+            ],
+            "closest_ee_minus_button": [
+              0.0006629259697240042,
+              0.0016865638085209467,
+              0.03499744378591629
+            ],
+            "button_min_z_position": [
+              0.18156343698501587,
+              -0.385922908782959,
+              0.7689529061317444
+            ],
+            "min_active_finger_to_button": 0.1446529569190108,
+            "closest_active_finger": [
+              0.0547095388174057,
+              -0.445900559425354,
+              0.8080615997314453
+            ],
+            "closest_active_finger_button": [
+              0.18159511685371402,
+              -0.3859268128871918,
+              0.7730233669281006
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12688557803630832,
+              -0.05997374653816223,
+              0.03503823280334473
+            ],
+            "min_contact_pad_to_button": 0.021252085580796165,
+            "closest_contact_pad": [
+              0.18156343698501587,
+              -0.385922908782959,
+              0.7902049917125405
+            ],
+            "closest_contact_pad_button": [
+              0.18156343698501587,
+              -0.385922908782959,
+              0.7689529061317444
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021252085580796165
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cbd9ebde83f6b248a24576e5942d78e97a941870f2a93716d2de497e15870f3e",
+    "visual_seed": 1646890622580899831,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..14af8a8bc0e79cd5fa555ce6fb9bc86ea5b9fe47
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3826505460382273,
+              -0.08095989141422316,
+              1.0541432556936536
+            ],
+            "current_z": 1.0541432556936536,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.19303674767888745,
+            "gripper_z": 1.05504836721748,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3784693929438415,
+              -0.08530280513546766,
+              1.05504836721748
+            ],
+            "object_minus_gripper": [
+              0.00418115309438577,
+              0.0043429137212444985,
+              -0.0009051115238263296
+            ],
+            "object_to_gripper_xy": 0.006028510660923263,
+            "object_to_gripper_z": -0.0009051115238263296,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3826505460382273,
+              -0.10481962920698448,
+              1.0541432556936536
+            ],
+            "finger_b": [
+              0.3716318285760581,
+              -0.08095989141422316,
+              1.0541432556936536
+            ],
+            "finger_midpoint": [
+              0.3771411873071427,
+              -0.09288976031060382,
+              1.0541432556936536
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055093587310846015,
+              0.01192986889638066,
+              0.0
+            ],
+            "finger_gap": 0.026281157167264067,
+            "fingertip_max_gap": 0.09285343888900258,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013140578583632033,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0541432556936536,
+            "object_top_z": 1.104634461715556,
+            "finger_top_clearance": 0.05049120602190227,
+            "fingertip_min_top_clearance": 0.015147361806570713,
+            "object_projection_between_fingers": 0.8242185156214829,
+            "object_to_finger_line_xy": 0.010003505849710152,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04892671944450129,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4505857255001773,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3842092564832955,
+              -0.08558732660733398,
+              1.246564612546975
+            ],
+            "held_position": [
+              0.38873572961508596,
+              -0.08162946731186684,
+              1.2455059156483261
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006105280365285859,
+            "max_held_gripper_dist": 0.006109613645834283,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010586968986487921,
+            "max_held_gripper_z_dist": 0.0010807677317623554,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08821261305805123,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38873572961508596,
+              -0.10675623091395912,
+              1.2455059156483261
+            ],
+            "held_grasp_finger_b": [
+              0.3803196169813138,
+              -0.08162946731186684,
+              1.2455059156483261
+            ],
+            "held_grasp_midpoint": [
+              0.38452767329819987,
+              -0.09419284911291298,
+              1.2455059156483261
+            ],
+            "held_grasp_object_position": [
+              0.38873572961508596,
+              -0.08162946731186684,
+              1.2455059156483261
+            ],
+            "held_grasp_finger_gap": 0.026498777348771575,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024515227195140713,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06610649014517751,
+              -0.997804064982654,
+              -0.0041206631477832545
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033687370664332843,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03690627680563954,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33400703019650724,
+              -0.3262984822644653,
+              0.8515395743488772
+            ],
+            "target_position": [
+              0.32612170120537204,
+              -0.32854495303063713,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008199088010364444,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18409031417307775,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395743488772,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075603991104481,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610408932513312,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15222729576731936,
+            "release_required_pad_clearance": 0.053052044662566564,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1343455192212923,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007919847965240479,
+            "max_z_decrease": 0.007919847965240479,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500815604623591,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007919847965240479,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02123149496880492,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007919847965240479,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007919877561397434,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18182162940502167,
+              -0.38480642437934875,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18182162940502167,
+              -0.38480642437934875,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18193844404864698,
+              -0.38470019234050623,
+              0.8073342711975724
+            ],
+            "closest_button": [
+              0.18180836737155914,
+              -0.3848100006580353,
+              0.7723265290260315
+            ],
+            "closest_ee_minus_button": [
+              0.000130076677087837,
+              0.00010980831752904763,
+              0.0350077421715409
+            ],
+            "button_min_z_position": [
+              0.18180030584335327,
+              -0.3848101794719696,
+              0.7688890099525452
+            ],
+            "min_active_finger_to_button": 0.14611738570050084,
+            "closest_active_finger": [
+              0.054610706865787506,
+              -0.4477064609527588,
+              0.8077508211135864
+            ],
+            "closest_active_finger_button": [
+              0.18183299899101257,
+              -0.38481196761131287,
+              0.7729792594909668
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12722229212522507,
+              -0.06289449334144592,
+              0.03477156162261963
+            ],
+            "min_contact_pad_to_button": 0.02123149496880492,
+            "closest_contact_pad": [
+              0.18180030584335327,
+              -0.38597685404415,
+              0.7900884261957585
+            ],
+            "closest_contact_pad_button": [
+              0.18180030584335327,
+              -0.3848101794719696,
+              0.7688890099525452
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011666745721803928,
+              0.02119941624321331
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d573b2ca66cc89ba1f30ba9e2bf084bd3447f4d934a37b40e6c8947f485aeb7",
+    "visual_seed": 7354300284087700416,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b311ccf26ea0c96d559aee3389a668147d813d5f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.376960907764584,
+              -0.08290064577837421,
+              1.0529282221901153
+            ],
+            "current_z": 1.0529282221901153,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.19182165457070433,
+            "gripper_z": 1.0539778971519334,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3729457541232769,
+              -0.08719239314680623,
+              1.0539778971519334
+            ],
+            "object_minus_gripper": [
+              0.004015153641307112,
+              0.0042917473684320195,
+              -0.00104967496181807
+            ],
+            "object_to_gripper_xy": 0.00587712125430001,
+            "object_to_gripper_z": -0.00104967496181807,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.376960907764584,
+              -0.1065586151459679,
+              1.0529282221901153
+            ],
+            "finger_b": [
+              0.3659117918195058,
+              -0.08290064577837421,
+              1.0529282221901153
+            ],
+            "finger_midpoint": [
+              0.3714363497920449,
+              -0.09472963046217106,
+              1.0529282221901153
+            ],
+            "object_minus_finger_midpoint": [
+              0.005524557972539146,
+              0.011828984683796853,
+              0.0
+            ],
+            "finger_gap": 0.026110964703851592,
+            "fingertip_max_gap": 0.09293258657292472,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013055482351925813,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0529282221901153,
+            "object_top_z": 1.1032792961921027,
+            "finger_top_clearance": 0.05035107400198746,
+            "fingertip_min_top_clearance": 0.015105322200596238,
+            "object_projection_between_fingers": 0.8209356104782117,
+            "object_to_finger_line_xy": 0.010011106427220355,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896629328646236,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7466627480721073,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3786714440452823,
+              -0.08744511941624372,
+              1.2455785089955473
+            ],
+            "held_position": [
+              0.3830562029338699,
+              -0.08355736065411401,
+              1.244382152430327
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005980973811572008,
+            "max_held_gripper_dist": 0.005985986944916046,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011963565652204355,
+            "max_held_gripper_z_dist": 0.0012176167268258542,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0882413496120855,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3830562029338699,
+              -0.10863157681778744,
+              1.244382152430327
+            ],
+            "held_grasp_finger_b": [
+              0.3748032080077194,
+              -0.08343139064124062,
+              1.244382152430327
+            ],
+            "held_grasp_midpoint": [
+              0.37892970547079463,
+              -0.09603148372951403,
+              1.244382152430327
+            ],
+            "held_grasp_object_position": [
+              0.3830562029338699,
+              -0.08355736065411401,
+              1.244382152430327
+            ],
+            "held_grasp_finger_gap": 0.026517188926876982,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024571474209138928,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06887977293010593,
+              -0.9976092418334036,
+              -0.005601561360785378
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032582485831827855,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036991717398055395,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3376931650267114,
+              -0.32393091241365063,
+              0.8515396127820155
+            ],
+            "target_position": [
+              0.33001437460579225,
+              -0.3259753820390644,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007946299665733656,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18522032483237252,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396127820155,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535060563975342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560215910877143,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15385218014425758,
+            "release_required_pad_clearance": 0.05280107955438572,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6489098959120005,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007752835750579834,
+            "max_z_decrease": 0.007752835750579834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035090205144862247,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007752835750579834,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02122714893450972,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007752835750579834,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007752854006961064,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18571430444717402,
+              -0.3822368383407593,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18571430444717402,
+              -0.3822368383407593,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1838619187793761,
+              -0.38042741798542457,
+              0.8077224792931418
+            ],
+            "closest_button": [
+              0.18570481240749354,
+              -0.3822411000728608,
+              0.7727276682853699
+            ],
+            "closest_ee_minus_button": [
+              -0.0018428936281174313,
+              0.001813682087436208,
+              0.03499481100777191
+            ],
+            "button_min_z_position": [
+              0.18569771945476526,
+              -0.38223966956138616,
+              0.7690560221672058
+            ],
+            "min_active_finger_to_button": 0.14717139809091345,
+            "closest_active_finger": [
+              0.05651264637708664,
+              -0.4434545636177063,
+              0.8079819083213806
+            ],
+            "closest_active_finger_button": [
+              0.18572394549846646,
+              -0.38224190473556524,
+              0.7730982303619385
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12921129912137982,
+              -0.06121265888214106,
+              0.03488367795944214
+            ],
+            "min_contact_pad_to_button": 0.02122714893450972,
+            "closest_contact_pad": [
+              0.18569771945476526,
+              -0.38223966956138616,
+              0.7902831711017155
+            ],
+            "closest_contact_pad_button": [
+              0.18569771945476526,
+              -0.38223966956138616,
+              0.7690560221672058
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02122714893450972
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "38bb4ade101f6b5136155108e8c629e6f7ac0c8ff5f13c67b70ceb1156ef07f6",
+    "visual_seed": 5057055475892797160,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69b9943403d292dc1b72d991873738bac13042d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3801174221309058,
+              -0.0766215835573485,
+              1.0533001417966228
+            ],
+            "current_z": 1.0533001417966228,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.19219375299114638,
+            "gripper_z": 1.0545390804415047,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37585304697797833,
+              -0.08097534460964412,
+              1.0545390804415047
+            ],
+            "object_minus_gripper": [
+              0.004264375152927491,
+              0.004353761052295624,
+              -0.0012389386448818929
+            ],
+            "object_to_gripper_xy": 0.006094270320997556,
+            "object_to_gripper_z": -0.0012389386448818929,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3801174221309058,
+              -0.10062398839021049,
+              1.0533001417966228
+            ],
+            "finger_b": [
+              0.3691981738171652,
+              -0.0766215835573485,
+              1.0533001417966228
+            ],
+            "finger_midpoint": [
+              0.37465779797403553,
+              -0.08862278597377948,
+              1.0533001417966228
+            ],
+            "object_minus_finger_midpoint": [
+              0.005459624156870291,
+              0.01200120241643099,
+              0.0
+            ],
+            "finger_gap": 0.02636940313123762,
+            "fingertip_max_gap": 0.0952463215524871,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013184701565618793,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0533001417966228,
+            "object_top_z": 1.104601025695882,
+            "finger_top_clearance": 0.05130088389925924,
+            "fingertip_min_top_clearance": 0.015390265169777772,
+            "object_projection_between_fingers": 0.8285312881181919,
+            "object_to_finger_line_xy": 0.009939103179262885,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050123160776243555,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5305520434312703,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38120766814875756,
+              -0.080492151954934,
+              1.2444132163211827
+            ],
+            "held_position": [
+              0.3857277622347915,
+              -0.07643628144008721,
+              1.2430352826018978
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006227362002850405,
+            "max_held_gripper_dist": 0.00623666910935525,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013779337192849628,
+            "max_held_gripper_z_dist": 0.001403098593818708,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08822414957974409,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3857277622347915,
+              -0.10139245806942832,
+              1.2430352826018978
+            ],
+            "held_grasp_finger_b": [
+              0.37694374961277993,
+              -0.07643628144008721,
+              1.2430352826018978
+            ],
+            "held_grasp_midpoint": [
+              0.3813357559237857,
+              -0.08891436975475776,
+              1.2430352826018978
+            ],
+            "held_grasp_object_position": [
+              0.3857277622347915,
+              -0.07643628144008721,
+              1.2430352826018978
+            ],
+            "held_grasp_finger_gap": 0.026456939159670935,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024689520787469957,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029148964405248952,
+              -0.9995748158552301,
+              0.0007248324524961046
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004026426964251494,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0371194448051058,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3338935383751714,
+              -0.3264131215257562,
+              0.8515395693288003
+            ],
+            "target_position": [
+              0.3272756488657888,
+              -0.3284992518923878,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006938904918283477,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18358342260207594,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395693288003,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588512649679449,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08802935183276082,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15108344326641288,
+            "release_required_pad_clearance": 0.054014675916380414,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.040912379104985,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00793302059173584,
+            "max_z_decrease": 0.00793302059173584,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512870937128205,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00793302059173584,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021157891609201007,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00793302059173584,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007933040333840943,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1829755753278732,
+              -0.3847607076168059,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1829755753278732,
+              -0.3847607076168059,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18212027215240925,
+              -0.38269326072248927,
+              0.8074457607172209
+            ],
+            "closest_button": [
+              0.1829649060964584,
+              -0.38476449251174916,
+              0.7723883390426636
+            ],
+            "closest_ee_minus_button": [
+              -0.0008446339440491557,
+              0.0020712317892598864,
+              0.035057421674557276
+            ],
+            "button_min_z_position": [
+              0.1829583197832107,
+              -0.3847646415233611,
+              0.7688758373260498
+            ],
+            "min_active_finger_to_button": 0.14605734769130715,
+            "closest_active_finger": [
+              0.055562399327754974,
+              -0.44722944498062134,
+              0.8109170198440552
+            ],
+            "closest_active_finger_button": [
+              0.18297997117042536,
+              -0.38476303219795216,
+              0.7763416171073914
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12741757184267039,
+              -0.06246641278266918,
+              0.03457540273666382
+            ],
+            "min_contact_pad_to_button": 0.021157891609201007,
+            "closest_contact_pad": [
+              0.1829583197832107,
+              -0.3847646415233611,
+              0.7900337289352508
+            ],
+            "closest_contact_pad_button": [
+              0.1829583197832107,
+              -0.3847646415233611,
+              0.7688758373260498
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021157891609201007
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b5e81347647451e49fa843da6e4b782e9b911eda14b64196bda7e88cf8c2e6e",
+    "visual_seed": 3706724362747794675,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae21c5fabc404896f53dc50637d18cec29fa8dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3825372125367004,
+              -0.08131248086188682,
+              1.0522638608879284
+            ],
+            "current_z": 1.0522638608879284,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.19115729326851782,
+            "gripper_z": 1.0531680320154675,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37857812409024394,
+              -0.08557946624386967,
+              1.0531680320154675
+            ],
+            "object_minus_gripper": [
+              0.003959088446456482,
+              0.004266985381982849,
+              -0.000904171127539044
+            ],
+            "object_to_gripper_xy": 0.0058207856494566544,
+            "object_to_gripper_z": -0.000904171127539044,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3825372125367004,
+              -0.10492021593377625,
+              1.0522638608879284
+            ],
+            "finger_b": [
+              0.3715088811531105,
+              -0.08131248086188682,
+              1.0522638608879284
+            ],
+            "finger_midpoint": [
+              0.37702304684490545,
+              -0.09311634839783153,
+              1.0522638608879284
+            ],
+            "object_minus_finger_midpoint": [
+              0.00551416569179497,
+              0.011803867535944715,
+              0.0
+            ],
+            "finger_gap": 0.026056654588238932,
+            "fingertip_max_gap": 0.09288487069332366,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013028327294119466,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0522638608879284,
+            "object_top_z": 1.1026788402159542,
+            "finger_top_clearance": 0.050414979328025744,
+            "fingertip_min_top_clearance": 0.01512449379840769,
+            "object_projection_between_fingers": 0.8208642348374501,
+            "object_to_finger_line_xy": 0.009991840077056918,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04894243534666183,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6097479055133765,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3842940952888737,
+              -0.08564493828981622,
+              1.2441849603820623
+            ],
+            "held_position": [
+              0.38861491743073556,
+              -0.0817675378202501,
+              1.2431303863726946
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005900496989595797,
+            "max_held_gripper_dist": 0.005904673056161829,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010545740093677036,
+            "max_held_gripper_z_dist": 0.0010778658669934327,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879494685899018,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38861491743073556,
+              -0.1067559049077978,
+              1.2431303863726946
+            ],
+            "held_grasp_finger_b": [
+              0.38034825467924305,
+              -0.0817675378202501,
+              1.2431303863726946
+            ],
+            "held_grasp_midpoint": [
+              0.3844815860549893,
+              -0.09426172136402394,
+              1.2431303863726946
+            ],
+            "held_grasp_object_position": [
+              0.38861491743073556,
+              -0.0817675378202501,
+              1.2431303863726946
+            ],
+            "held_grasp_finger_gap": 0.026320262208970303,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024355508271459946,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06925174672832132,
+              -0.9975837564446929,
+              -0.005553778242984641
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032589198938397356,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697001509921028,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.34003965850603585,
+              -0.3277731592378829,
+              0.851539580706763
+            ],
+            "target_position": [
+              0.33185274706310924,
+              -0.3302753184499477,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008560742940705735,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843979715326158,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539580706763,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545168243940378,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854394748497269,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15289348586860868,
+            "release_required_pad_clearance": 0.05271973742486345,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.49257669500088347,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008140861988067627,
+            "max_z_decrease": 0.008140861988067627,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503311765214738,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008140861988067627,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021234447627089006,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008140861988067627,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008140874609070585,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18755267560482022,
+              -0.38653677701950073,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18755267560482022,
+              -0.38653677701950073,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18601075509566808,
+              -0.38582810212163204,
+              0.8049735365234901
+            ],
+            "closest_button": [
+              0.18753708899021146,
+              -0.386536180973053,
+              0.7699808478355408
+            ],
+            "closest_ee_minus_button": [
+              -0.0015263338945433746,
+              0.0007080788514209346,
+              0.03499268868794936
+            ],
+            "button_min_z_position": [
+              0.18753841519355774,
+              -0.38653531670570374,
+              0.768667995929718
+            ],
+            "min_active_finger_to_button": 0.1471613866920909,
+            "closest_active_finger": [
+              0.05848328024148941,
+              -0.4478422701358795,
+              0.8079774975776672
+            ],
+            "closest_active_finger_button": [
+              0.18756571412086484,
+              -0.386544406414032,
+              0.7728097438812256
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12908243387937543,
+              -0.061297863721847534,
+              0.03516775369644165
+            ],
+            "min_contact_pad_to_button": 0.021234447627089006,
+            "closest_contact_pad": [
+              0.18753841519355774,
+              -0.38713103330959586,
+              0.7898940857193009
+            ],
+            "closest_contact_pad_button": [
+              0.18753841519355774,
+              -0.38653531670570374,
+              0.768667995929718
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005957166038921269,
+              0.021226089789582847
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4bb122e1da502b53481283ff0c09107d406c5562430f97c5dc46fe9848c1aa78",
+    "visual_seed": 8405994140424131772,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7567ec518a8ea17f400c436ee0a25199c05243cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3771188050114693,
+              -0.08009207540334502,
+              1.0528372691228303
+            ],
+            "current_z": 1.0528372691228303,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1917305822941301,
+            "gripper_z": 1.0538673227081858,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3733623092750926,
+              -0.08424584913687085,
+              1.0538673227081858
+            ],
+            "object_minus_gripper": [
+              0.003756495736376708,
+              0.004153773733525823,
+              -0.0010300535853555726
+            ],
+            "object_to_gripper_xy": 0.005600455021401872,
+            "object_to_gripper_z": -0.0010300535853555726,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3771188050114693,
+              -0.10355466259025799,
+              1.0528372691228303
+            ],
+            "finger_b": [
+              0.3662549823956567,
+              -0.08009207540334502,
+              1.0528372691228303
+            ],
+            "finger_midpoint": [
+              0.371686893703563,
+              -0.0918233689968015,
+              1.0528372691228303
+            ],
+            "object_minus_finger_midpoint": [
+              0.005431911307906323,
+              0.011731293593456482,
+              0.0
+            ],
+            "finger_gap": 0.02585566938470816,
+            "fingertip_max_gap": 0.09477734062927615,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01292783469235408,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0528372691228303,
+            "object_top_z": 1.1036352541894792,
+            "finger_top_clearance": 0.0507979850666489,
+            "fingertip_min_top_clearance": 0.015239395519994668,
+            "object_projection_between_fingers": 0.8234556757028282,
+            "object_to_finger_line_xy": 0.009858317010249723,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049888670314638076,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8849911960219856,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3789769949901105,
+              -0.08409748772995665,
+              1.242832593007471
+            ],
+            "held_position": [
+              0.38306679407110084,
+              -0.08029986395878234,
+              1.2416571264495846
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005703518603368185,
+            "max_held_gripper_dist": 0.00571228482630342,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011754665578864731,
+            "max_held_gripper_z_dist": 0.001197248555502739,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666204643716895,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38306679407110084,
+              -0.10509276525661661,
+              1.2416571264495846
+            ],
+            "held_grasp_finger_b": [
+              0.3749448205523604,
+              -0.08029986395878234,
+              1.2416571264495846
+            ],
+            "held_grasp_midpoint": [
+              0.3790058073117306,
+              -0.09269631460769948,
+              1.2416571264495846
+            ],
+            "held_grasp_object_position": [
+              0.38306679407110084,
+              -0.08029986395878234,
+              1.2416571264495846
+            ],
+            "held_grasp_finger_gap": 0.026089354315568504,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024405692780634935,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04459785678129459,
+              -0.9989922153470898,
+              -0.005058146540891872
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035046602008743377,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03715518106800734,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3350332765894848,
+              -0.3242174774328581,
+              0.8515395142589657
+            ],
+            "target_position": [
+              0.3276021460647554,
+              -0.326252687017541,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007704789350082834,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18362930479428835,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395142589657,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553735854234585,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08702693051919351,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519849758037619,
+            "release_required_pad_clearance": 0.05351346525959676,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.039047969510089,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007884323596954346,
+            "max_z_decrease": 0.007884323596954346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507883034456833,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007884323596954346,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021141370926001483,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007884323596954346,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007884352457741607,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1833020746707916,
+              -0.3825141489505767,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1833020746707916,
+              -0.3825141489505767,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18281851737112223,
+              -0.38176704396639277,
+              0.807654578185688
+            ],
+            "closest_button": [
+              0.18329155445098874,
+              -0.38251912593841547,
+              0.7725870013237
+            ],
+            "closest_ee_minus_button": [
+              -0.0004730370798665118,
+              0.0007520819720227001,
+              0.035067576861988026
+            ],
+            "button_min_z_position": [
+              0.1832810044288635,
+              -0.3825174868106842,
+              0.7689245343208313
+            ],
+            "min_active_finger_to_button": 0.14629290272303247,
+            "closest_active_finger": [
+              0.05659937858581543,
+              -0.4469814896583557,
+              0.8109209537506104
+            ],
+            "closest_active_finger_button": [
+              0.18330548703670496,
+              -0.38251626491546625,
+              0.7764041423797607
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12670610845088953,
+              -0.06446522474288946,
+              0.03451681137084961
+            ],
+            "min_contact_pad_to_button": 0.021141370926001483,
+            "closest_contact_pad": [
+              0.1832810044288635,
+              -0.38281026049075856,
+              0.790063877929445
+            ],
+            "closest_contact_pad_button": [
+              0.1832810044288635,
+              -0.3825174868106842,
+              0.7689245343208313
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002927736800743541,
+              0.021139343608613692
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e2e419e24a41fa4034e7780ac3a7b8dadb62c7ea5be520c0ddec27220428eb1",
+    "visual_seed": 3726927729541216157,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59373cccb9951d5dbce411474397c1f13358df85
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3757501275150156,
+              -0.08402763424552903,
+              1.0526048667729628
+            ],
+            "current_z": 1.0526048667729628,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.19149817994426255,
+            "gripper_z": 1.0538683636051933,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37151896248856875,
+              -0.08837848716526897,
+              1.0538683636051933
+            ],
+            "object_minus_gripper": [
+              0.004231165026446826,
+              0.004350852919739939,
+              -0.0012634968322304818
+            ],
+            "object_to_gripper_xy": 0.006068993212241741,
+            "object_to_gripper_z": -0.0012634968322304818,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3757501275150156,
+              -0.1079525985085725,
+              1.0526048667729628
+            ],
+            "finger_b": [
+              0.36476533582827386,
+              -0.08402763424552903,
+              1.0526048667729628
+            ],
+            "finger_midpoint": [
+              0.3702577316716447,
+              -0.09599011637705077,
+              1.0526048667729628
+            ],
+            "object_minus_finger_midpoint": [
+              0.005492395843370856,
+              0.011962482131521734,
+              0.0
+            ],
+            "finger_gap": 0.026326214376340116,
+            "fingertip_max_gap": 0.09712587440967238,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013163107188170058,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0526048667729628,
+            "object_top_z": 1.1050864279482195,
+            "finger_top_clearance": 0.05248156117525671,
+            "fingertip_min_top_clearance": 0.015744468352577045,
+            "object_projection_between_fingers": 0.825896771730862,
+            "object_to_finger_line_xy": 0.0099828537740111,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05106293720483619,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7479899774479466,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3770709255478156,
+              -0.08813519135438058,
+              1.2459231836120206
+            ],
+            "held_position": [
+              0.38159904669856676,
+              -0.08411306909638801,
+              1.2445284540344628
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006215031714209803,
+            "max_held_gripper_dist": 0.00622016488125493,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013947295775578183,
+            "max_held_gripper_z_dist": 0.001418475734552338,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08811865267486162,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38159904669856676,
+              -0.10915610219608747,
+              1.2445284540344628
+            ],
+            "held_grasp_finger_b": [
+              0.37293257590434076,
+              -0.08411306909638801,
+              1.2445284540344628
+            ],
+            "held_grasp_midpoint": [
+              0.37726581130145376,
+              -0.09663458564623774,
+              1.2445284540344628
+            ],
+            "held_grasp_object_position": [
+              0.38159904669856676,
+              -0.08411306909638801,
+              1.2445284540344628
+            ],
+            "held_grasp_finger_gap": 0.026500211751225973,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02467457747524863,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03991013098742677,
+              -0.9990985261344068,
+              0.014467775247860581
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003834388722943893,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703708134787448,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3369708390193573,
+              -0.3258793240456972,
+              0.851539661602179
+            ],
+            "target_position": [
+              0.3309222577753058,
+              -0.32733182084362367,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006220537116188459,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18117098132102386,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539661602179,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584009703262651,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08759948835505953,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14878080508580116,
+            "release_required_pad_clearance": 0.053799744177529765,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6086263415908197,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008029162883758545,
+            "max_z_decrease": 0.008029162883758545,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499764412714762,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008029162883758545,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02127160368753582,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008029162883758545,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008029185505116245,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18662218749523157,
+              -0.3835932910442352,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18662218749523157,
+              -0.3835932910442352,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18611210424090335,
+              -0.383525243177949,
+              0.8055255438576832
+            ],
+            "closest_button": [
+              0.18660774827003473,
+              -0.3835931718349457,
+              0.7705314755439758
+            ],
+            "closest_ee_minus_button": [
+              -0.0004956440291313813,
+              6.792865699667416e-05,
+              0.03499406831370733
+            ],
+            "button_min_z_position": [
+              0.18660312891006464,
+              -0.3835934698581695,
+              0.7687796950340271
+            ],
+            "min_active_finger_to_button": 0.1465642100928903,
+            "closest_active_finger": [
+              0.05865681171417236,
+              -0.44579264521598816,
+              0.8080419898033142
+            ],
+            "closest_active_finger_button": [
+              0.18663488328456873,
+              -0.383601039648056,
+              0.7729010581970215
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12797807157039637,
+              -0.062191605567932184,
+              0.035140931606292725
+            ],
+            "min_contact_pad_to_button": 0.02127160368753582,
+            "closest_contact_pad": [
+              0.18660312891006464,
+              -0.3848288360645779,
+              0.7900153959590178
+            ],
+            "closest_contact_pad_button": [
+              0.18660312891006464,
+              -0.3835934698581695,
+              0.7687796950340271
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012353662064084059,
+              0.02123570092499072
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2d15fa22d71b7cc633591a18a42ed2772d4f6b10fe74ecb43701548cdd434d3",
+    "visual_seed": 3557081364641146979,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05f2d14525a3eb2190b334bbfd156059147a83c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3783518517857233,
+              -0.08517066657012752,
+              1.052265397648486
+            ],
+            "current_z": 1.052265397648486,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.19115871081978564,
+            "gripper_z": 1.0532094574537345,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3744126325087609,
+              -0.08937370145678808,
+              1.0532094574537345
+            ],
+            "object_minus_gripper": [
+              0.003939219276962391,
+              0.004203034886660559,
+              -0.0009440598052485871
+            ],
+            "object_to_gripper_xy": 0.0057604644578781875,
+            "object_to_gripper_z": -0.0009440598052485871,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3783518517857233,
+              -0.10888494408449359,
+              1.052265397648486
+            ],
+            "finger_b": [
+              0.3675676520288449,
+              -0.08517066657012752,
+              1.052265397648486
+            ],
+            "finger_midpoint": [
+              0.3729597519072841,
+              -0.09702780532731056,
+              1.052265397648486
+            ],
+            "object_minus_finger_midpoint": [
+              0.005392099878439194,
+              0.011857138757183042,
+              0.0
+            ],
+            "finger_gap": 0.02605121729256858,
+            "fingertip_max_gap": 0.09363437173803382,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013025608646284294,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052265397648486,
+            "object_top_z": 1.1030337770677716,
+            "finger_top_clearance": 0.05076837941928569,
+            "fingertip_min_top_clearance": 0.015230513825785707,
+            "object_projection_between_fingers": 0.8286359156199232,
+            "object_to_finger_line_xy": 0.009816796771255909,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049317185869016913,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8509459175113414,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3801076128226185,
+              -0.08968972447970894,
+              1.244884282851582
+            ],
+            "held_position": [
+              0.38438482554079956,
+              -0.08584923121209548,
+              1.2437942166691314
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005850827416466543,
+            "max_held_gripper_dist": 0.00585620192496884,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010900661824506663,
+            "max_held_gripper_z_dist": 0.0011106084425172025,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08820105652178284,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38438482554079956,
+              -0.11084824224858984,
+              1.2437942166691314
+            ],
+            "held_grasp_finger_b": [
+              0.3762443226847122,
+              -0.08572030051185077,
+              1.2437942166691314
+            ],
+            "held_grasp_midpoint": [
+              0.3803145741127559,
+              -0.0982842713802203,
+              1.2437942166691314
+            ],
+            "held_grasp_object_position": [
+              0.38438482554079956,
+              -0.08584923121209548,
+              1.2437942166691314
+            ],
+            "held_grasp_finger_gap": 0.02641365636701818,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024589101316187367,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06052449247744582,
+              -0.9981637725381877,
+              -0.002422602460341539
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033103047909165935,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037061693562277745,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3321509588069066,
+              -0.3316428933485714,
+              0.8515395602954173
+            ],
+            "target_position": [
+              0.324608806244066,
+              -0.3337268973730429,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00782477718885184,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18555866228900353,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395602954173,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531874937150264,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586106511066587,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544009395484588,
+            "release_required_pad_clearance": 0.052930532555332935,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8987391109930609,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008046209812164307,
+            "max_z_decrease": 0.008046209812164307,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509494872234448,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008046209812164307,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021122881777291713,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008046209812164307,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008046216324651731,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18030872941017145,
+              -0.38998836278915405,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18030872941017145,
+              -0.38998836278915405,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17980480445267566,
+              -0.3886847685023105,
+              0.807453940071172
+            ],
+            "closest_button": [
+              0.1802969574928283,
+              -0.3899917304515838,
+              0.7723867893218994
+            ],
+            "closest_ee_minus_button": [
+              -0.0004921530401526542,
+              0.001306961949273322,
+              0.03506715074927258
+            ],
+            "button_min_z_position": [
+              0.18029849231243128,
+              -0.3899883031845092,
+              0.7687626481056213
+            ],
+            "min_active_finger_to_button": 0.1460762731341724,
+            "closest_active_finger": [
+              0.052999235689640045,
+              -0.45274293422698975,
+              0.8107902407646179
+            ],
+            "closest_active_finger_button": [
+              0.18031279742717737,
+              -0.38999068737030024,
+              0.7762693762779236
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12731356173753733,
+              -0.06275224685668951,
+              0.034520864486694336
+            ],
+            "min_contact_pad_to_button": 0.021122881777291713,
+            "closest_contact_pad": [
+              0.18029849231243128,
+              -0.3899883031845092,
+              0.789885529882913
+            ],
+            "closest_contact_pad_button": [
+              0.18029849231243128,
+              -0.3899883031845092,
+              0.7687626481056213
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021122881777291713
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82992cc60104cbbc0fc66d99a7b7790b41285e29b7f5012f04026ee09df30741",
+    "visual_seed": 2201754821582204028,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9f6dcc35c149019c8a1bd2ee90b1e02ce84616d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38068907215701897,
+              -0.07595768776626924,
+              1.053070017401537
+            ],
+            "current_z": 1.053070017401537,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.19196356899141565,
+            "gripper_z": 1.0541860304012913,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37646110697821433,
+              -0.08026791634973642,
+              1.0541860304012913
+            ],
+            "object_minus_gripper": [
+              0.004227965178804638,
+              0.004310228583467177,
+              -0.001116012999754279
+            ],
+            "object_to_gripper_xy": 0.006037694923969081,
+            "object_to_gripper_z": -0.001116012999754279,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38068907215701897,
+              -0.100000514074658,
+              1.053070017401537
+            ],
+            "finger_b": [
+              0.3699295112139652,
+              -0.07595768776626924,
+              1.053070017401537
+            ],
+            "finger_midpoint": [
+              0.3753092916854921,
+              -0.08797910092046363,
+              1.053070017401537
+            ],
+            "object_minus_finger_midpoint": [
+              0.005379780471526874,
+              0.012021413154194388,
+              0.0
+            ],
+            "finger_gap": 0.026340570392127775,
+            "fingertip_max_gap": 0.09423617282970012,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013170285196063895,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.053070017401537,
+            "object_top_z": 1.1037095138932849,
+            "finger_top_clearance": 0.050639496491747815,
+            "fingertip_min_top_clearance": 0.015191848947524345,
+            "object_projection_between_fingers": 0.8331451829090186,
+            "object_to_finger_line_xy": 0.009820981514723687,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04961808641485006,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5900271159052886,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3815433438113095,
+              -0.07895292427228454,
+              1.2465904799451824
+            ],
+            "held_position": [
+              0.38598751826865446,
+              -0.07486957434394927,
+              1.2453396415384583
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006163524151351152,
+            "max_held_gripper_dist": 0.006168084306699363,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012508384067240197,
+            "max_held_gripper_z_dist": 0.001272655782004417,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08749772725796119,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38598751826865446,
+              -0.09968419538892175,
+              1.2453396415384583
+            ],
+            "held_grasp_finger_b": [
+              0.3768803865253812,
+              -0.07486957434394927,
+              1.2453396415384583
+            ],
+            "held_grasp_midpoint": [
+              0.38143395239701783,
+              -0.0872768848664355,
+              1.2453396415384583
+            ],
+            "held_grasp_object_position": [
+              0.38598751826865446,
+              -0.07486957434394927,
+              1.2453396415384583
+            ],
+            "held_grasp_finger_gap": 0.02643303361695223,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024711727059903134,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01112209061278745,
+              -0.9999353751727597,
+              -0.0023546928703110925
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044153860417503205,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726309619567222,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33762984283758724,
+              -0.3249358067842595,
+              0.8515396126842807
+            ],
+            "target_position": [
+              0.3311154922465324,
+              -0.32703501493399006,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006844226653104904,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843415678129402,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396126842807,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522055143301114,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868915942689256,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15341287533391887,
+            "release_required_pad_clearance": 0.053445797134462805,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.905298628021275,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008126616477966309,
+            "max_z_decrease": 0.008126616477966309,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503811186484919,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008126616477966309,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021183035265307515,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008126616477966309,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00812662078224627,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1868154108524322,
+              -0.3832964599132538,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1868154108524322,
+              -0.3832964599132538,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.187599042956947,
+              -0.38190547784020645,
+              0.8036838864150428
+            ],
+            "closest_button": [
+              0.18680746853351585,
+              -0.38329383730888367,
+              0.7686822414398193
+            ],
+            "closest_ee_minus_button": [
+              0.0007915744234311406,
+              0.0013883594686772138,
+              0.03500164497522351
+            ],
+            "button_min_z_position": [
+              0.18680746853351585,
+              -0.38329383730888367,
+              0.7686822414398193
+            ],
+            "min_active_finger_to_button": 0.14460757186685888,
+            "closest_active_finger": [
+              0.061559200286865234,
+              -0.44661951065063477,
+              0.807608425617218
+            ],
+            "closest_active_finger_button": [
+              0.18682855367660514,
+              -0.3833023011684418,
+              0.7728252410888672
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1252693533897399,
+              -0.063317209482193,
+              0.03478318452835083
+            ],
+            "min_contact_pad_to_button": 0.021183035265307515,
+            "closest_contact_pad": [
+              0.18680746853351585,
+              -0.38329383730888367,
+              0.7898652767051269
+            ],
+            "closest_contact_pad_button": [
+              0.18680746853351585,
+              -0.38329383730888367,
+              0.7686822414398193
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021183035265307515
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2276f7e8acad51f8b8d8a6a4a82611d17e4af2ce98f3debc935e6420b878d86a",
+    "visual_seed": 194406033721627006,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54373ae1c22cd12bcb632782ab887493713932d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38149207917216066,
+              -0.08617404121808218,
+              1.05176916604568
+            ],
+            "current_z": 1.05176916604568,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19066271763555886,
+            "gripper_z": 1.0526380107149556,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3773134710652176,
+              -0.09051456850758695,
+              1.0526380107149556
+            ],
+            "object_minus_gripper": [
+              0.004178608106943038,
+              0.004340527289504764,
+              -0.0008688446692755036
+            ],
+            "object_to_gripper_xy": 0.006025026378560151,
+            "object_to_gripper_z": -0.0008688446692755036,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38149207917216066,
+              -0.11003150589293813,
+              1.05176916604568
+            ],
+            "finger_b": [
+              0.37047616806384925,
+              -0.08617404121808218,
+              1.05176916604568
+            ],
+            "finger_midpoint": [
+              0.37598412361800493,
+              -0.09810277355551016,
+              1.05176916604568
+            ],
+            "object_minus_finger_midpoint": [
+              0.00550795555415573,
+              0.011928732337427972,
+              0.0
+            ],
+            "finger_gap": 0.02627791693148865,
+            "fingertip_max_gap": 0.09243659555244191,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013138958465744336,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05176916604568,
+            "object_top_z": 1.102192015246377,
+            "finger_top_clearance": 0.05042284920069706,
+            "fingertip_min_top_clearance": 0.015126854760209151,
+            "object_projection_between_fingers": 0.8242647131240916,
+            "object_to_finger_line_xy": 0.010001238333049394,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048718297776220956,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1790814383757688,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3830278920282941,
+              -0.09086118317438548,
+              1.242948757833876
+            ],
+            "held_position": [
+              0.3875491506179095,
+              -0.08690221491677326,
+              1.2419203413055442
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006096954112890973,
+            "max_held_gripper_dist": 0.006101590626720301,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010284165283318547,
+            "max_held_gripper_z_dist": 0.0010508753428413176,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08730461765642755,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3875491506179095,
+              -0.11198596621518475,
+              1.2419203413055442
+            ],
+            "held_grasp_finger_b": [
+              0.3791690933138499,
+              -0.08690221491677326,
+              1.2419203413055442
+            ],
+            "held_grasp_midpoint": [
+              0.38335912196587973,
+              -0.099444090565979,
+              1.2419203413055442
+            ],
+            "held_grasp_object_position": [
+              0.3875491506179095,
+              -0.08690221491677326,
+              1.2419203413055442
+            ],
+            "held_grasp_finger_gap": 0.02644654872795093,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024426833234602444,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07080213088253384,
+              -0.9974648070375377,
+              -0.007142617451616262
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032927694484695337,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03691350753874868,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3353998214128435,
+              -0.3310775519065152,
+              0.8515395750142372
+            ],
+            "target_position": [
+              0.3274526633350691,
+              -0.3332995801002343,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008251953151031428,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.183069118738124,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395750142372,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540277315273122,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531715051605109,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15172123012462924,
+            "release_required_pad_clearance": 0.052658575258025545,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37534369618867974,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008150339126586914,
+            "max_z_decrease": 0.008150339126586914,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504611654530578,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008150339126586914,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021065064930542055,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008150339126586914,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008150343461587899,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18315258622169495,
+              -0.38956102728843683,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18315258622169495,
+              -0.38956102728843683,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1834901749407659,
+              -0.3878388454197887,
+              0.803660987458496
+            ],
+            "closest_button": [
+              0.18314847350120544,
+              -0.3895536959171295,
+              0.7686585187911987
+            ],
+            "closest_ee_minus_button": [
+              0.0003417014395604434,
+              0.0017148504973408252,
+              0.03500246866729728
+            ],
+            "button_min_z_position": [
+              0.18314847350120544,
+              -0.3895536959171295,
+              0.7686585187911987
+            ],
+            "min_active_finger_to_button": 0.14478604877143947,
+            "closest_active_finger": [
+              0.05767969787120819,
+              -0.45301759243011475,
+              0.8105981349945068
+            ],
+            "closest_active_finger_button": [
+              0.18315768241882324,
+              -0.3895648717880249,
+              0.7760723829269409
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12547798454761505,
+              -0.06345272064208984,
+              0.03452575206756592
+            ],
+            "min_contact_pad_to_button": 0.021065064930542055,
+            "closest_contact_pad": [
+              0.18314847350120544,
+              -0.3895536959171295,
+              0.7897235837217408
+            ],
+            "closest_contact_pad_button": [
+              0.18314847350120544,
+              -0.3895536959171295,
+              0.7686585187911987
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021065064930542055
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26424dd212a809f1285ac433ac9ddb0a3a82cd9f0b7e42ba5e968efa440c66ed",
+    "visual_seed": 1211347256595484125,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a980b4d1ac438738351c55b89acac1029a4ea2f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37608185133542776,
+              -0.08527877725931213,
+              1.05383117844034
+            ],
+            "current_z": 1.05383117844034,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.19272449161163974,
+            "gripper_z": 1.0549047619732093,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3721857223989637,
+              -0.08945406189208274,
+              1.0549047619732093
+            ],
+            "object_minus_gripper": [
+              0.0038961289364640717,
+              0.004175284632770615,
+              -0.0010735835328692378
+            ],
+            "object_to_gripper_xy": 0.005710763736506975,
+            "object_to_gripper_z": -0.0010735835328692378,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37608185133542776,
+              -0.10896388656345499,
+              1.05383117844034
+            ],
+            "finger_b": [
+              0.3653423448709441,
+              -0.08527877725931213,
+              1.05383117844034
+            ],
+            "finger_midpoint": [
+              0.37071209810318595,
+              -0.09712133191138356,
+              1.05383117844034
+            ],
+            "object_minus_finger_midpoint": [
+              0.005369753232241814,
+              0.01184255465207143,
+              0.0
+            ],
+            "finger_gap": 0.02600618007031947,
+            "fingertip_max_gap": 0.09482158804547633,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013003090035159722,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05383117844034,
+            "object_top_z": 1.10499692022137,
+            "finger_top_clearance": 0.05116574178103006,
+            "fingertip_min_top_clearance": 0.015349722534308984,
+            "object_projection_between_fingers": 0.8294642180696694,
+            "object_to_finger_line_xy": 0.009780997585806564,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04991079402273817,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4092061768226665,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37787127042210045,
+              -0.08962892918969168,
+              1.24705126718217
+            ],
+            "held_position": [
+              0.3820947755069376,
+              -0.08580726226431429,
+              1.2458447275730613
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005822273706939334,
+            "max_held_gripper_dist": 0.005827193075337142,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00120653960910877,
+            "max_held_gripper_z_dist": 0.0012300667417348699,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08802731122419023,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3820947755069376,
+              -0.11077991063216934,
+              1.2458447275730613
+            ],
+            "held_grasp_finger_b": [
+              0.3739281416629711,
+              -0.08572457340361858,
+              1.2458447275730613
+            ],
+            "held_grasp_midpoint": [
+              0.37801145858495433,
+              -0.09825224201789395,
+              1.2458447275730613
+            ],
+            "held_grasp_object_position": [
+              0.3820947755069376,
+              -0.08580726226431429,
+              1.2458447275730613
+            ],
+            "held_grasp_finger_gap": 0.026352681684751182,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024614406250319354,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05012630251439662,
+              -0.998740076042223,
+              0.0023694521328644354
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003454490840017954,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037086268465367486,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33656763071842344,
+              -0.33266235700236246,
+              0.8515395708181402
+            ],
+            "target_position": [
+              0.3292631924281152,
+              -0.33456598162747764,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007548417413621622,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18480833172099756,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395708181402,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548668498841876,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671587811690283,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15323986962523445,
+            "release_required_pad_clearance": 0.05335793905845142,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7322990600870385,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007959365844726562,
+            "max_z_decrease": 0.007959365844726562,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035010634272057785,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007959365844726562,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021344868957858677,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007959365844726562,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00795939248296537,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18496312201023096,
+              -0.3908274471759795,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18496312201023096,
+              -0.3908274471759795,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.185535660053699,
+              -0.3916471796546256,
+              0.8042049600070713
+            ],
+            "closest_button": [
+              0.1849470138549804,
+              -0.39083108305931086,
+              0.7692087888717651
+            ],
+            "closest_ee_minus_button": [
+              0.0005886461987185954,
+              -0.0008160965953147303,
+              0.034996171135306176
+            ],
+            "button_min_z_position": [
+              0.18494257330894465,
+              -0.390828788280487,
+              0.7688494920730591
+            ],
+            "min_active_finger_to_button": 0.14530947182126364,
+            "closest_active_finger": [
+              0.04486308991909027,
+              -0.3749351501464844,
+              0.8082230091094971
+            ],
+            "closest_active_finger_button": [
+              0.1849746257066726,
+              -0.39083287119865406,
+              0.7731393575668335
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14011153578758234,
+              0.01589772105216969,
+              0.035083651542663574
+            ],
+            "min_contact_pad_to_button": 0.021344868957858677,
+            "closest_contact_pad": [
+              0.18494257330894465,
+              -0.3928834175318481,
+              0.7900952429298213
+            ],
+            "closest_contact_pad_button": [
+              0.18494257330894465,
+              -0.390828788280487,
+              0.7688494920730591
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002054629251361073,
+              0.02124575085676217
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a962af0d2a0750b3c8339128665128511be587dc9915a571a29397ad8cb4f77d",
+    "visual_seed": 1279495443501923125,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..afcc011badec73fac4c1e9799baf67ec5a7bca08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37845866269719525,
+              -0.07964953339224304,
+              1.0538676343308166
+            ],
+            "current_z": 1.0538676343308166,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.19276100710676103,
+            "gripper_z": 1.0548444296089945,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3744878258252413,
+              -0.08391164811358812,
+              1.0548444296089945
+            ],
+            "object_minus_gripper": [
+              0.003970836871953931,
+              0.004262114721345078,
+              -0.0009767952781778444
+            ],
+            "object_to_gripper_xy": 0.0058252182243736855,
+            "object_to_gripper_z": -0.0009767952781778444,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37845866269719525,
+              -0.10328463071212131,
+              1.0538676343308166
+            ],
+            "finger_b": [
+              0.3674610348354481,
+              -0.07964953339224304,
+              1.0538676343308166
+            ],
+            "finger_midpoint": [
+              0.3729598487663217,
+              -0.09146708205218218,
+              1.0538676343308166
+            ],
+            "object_minus_finger_midpoint": [
+              0.005498813930873536,
+              0.011817548659939142,
+              0.0
+            ],
+            "finger_gap": 0.026068479892498407,
+            "fingertip_max_gap": 0.09299979683387463,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013034239946249198,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0538676343308166,
+            "object_top_z": 1.1041323758085646,
+            "finger_top_clearance": 0.050264741477747954,
+            "fingertip_min_top_clearance": 0.015079422443324351,
+            "object_projection_between_fingers": 0.8220218757817619,
+            "object_to_finger_line_xy": 0.00997104571774425,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04899989841693732,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9411503180189131,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38026405379017003,
+              -0.08413244614378097,
+              1.2463672390769955
+            ],
+            "held_position": [
+              0.38459624923215113,
+              -0.08026890464592246,
+              1.2452373306777964
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005913675950183389,
+            "max_held_gripper_dist": 0.005919821261958137,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001129908399199131,
+            "max_held_gripper_z_dist": 0.0011504041706569268,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08823018516276956,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38459624923215113,
+              -0.10530481352589487,
+              1.2452373306777964
+            ],
+            "held_grasp_finger_b": [
+              0.37640818632232603,
+              -0.08014604752933308,
+              1.2452373306777964
+            ],
+            "held_grasp_midpoint": [
+              0.3805022177772386,
+              -0.09272543052761398,
+              1.2452373306777964
+            ],
+            "held_grasp_object_position": [
+              0.38459624923215113,
+              -0.08026890464592246,
+              1.2452373306777964
+            ],
+            "held_grasp_finger_gap": 0.026457662041174525,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024576280502222433,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06463324691059485,
+              -0.9978828690335437,
+              -0.0072334696500169215
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032816290433294185,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037025485739197034,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33870573783585595,
+              -0.3286269468210187,
+              0.8515395988472472
+            ],
+            "target_position": [
+              0.3317116603695874,
+              -0.33014412653923886,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007156741849581024,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18402791836399193,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395988472472,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513449602547968,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527094469968903,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15326874531800586,
+            "release_required_pad_clearance": 0.05263547234984452,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.331021982508069,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 158,
+            "max_placed_release_frames": 158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008098840713500977,
+            "max_z_decrease": 0.008098840713500977,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035084944461966625,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008098840713500977,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021070796110840284,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008098840713500977,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008098854478455575,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1874115914106369,
+              -0.38640558719635004,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1874115914106369,
+              -0.38640558719635004,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18517329251993314,
+              -0.3843275361756719,
+              0.8036615489740631
+            ],
+            "closest_button": [
+              0.18742343783378598,
+              -0.3863964974880218,
+              0.7687100172042847
+            ],
+            "closest_ee_minus_button": [
+              -0.0022501453138528416,
+              0.002068961312349904,
+              0.03495153176977839
+            ],
+            "button_min_z_position": [
+              0.18742343783378598,
+              -0.3863964974880218,
+              0.7687100172042847
+            ],
+            "min_active_finger_to_button": 0.1468785612111508,
+            "closest_active_finger": [
+              0.05916851758956909,
+              -0.44905149936676025,
+              0.8108139634132385
+            ],
+            "closest_active_finger_button": [
+              0.18741568922996518,
+              -0.3864087760448455,
+              0.7761460542678833
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1282471716403961,
+              -0.06264272332191473,
+              0.034667909145355225
+            ],
+            "min_contact_pad_to_button": 0.021070796110840284,
+            "closest_contact_pad": [
+              0.18742343783378598,
+              -0.3863964974880218,
+              0.789780813315125
+            ],
+            "closest_contact_pad_button": [
+              0.18742343783378598,
+              -0.3863964974880218,
+              0.7687100172042847
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021070796110840284
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2936e9cb6e599892613a87f9adf363f098cb73cbf508b62c967c43ec606769c9",
+    "visual_seed": 5531795578878527999,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bca27f31f65acbbfa2e69f794f8bb13d5d9e629c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37477641548611035,
+              -0.07705272852741846,
+              1.0526593774198676
+            ],
+            "current_z": 1.0526593774198676,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.19155275019581208,
+            "gripper_z": 1.0538120920893406,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37074751263305306,
+              -0.08137331140284973,
+              1.0538120920893406
+            ],
+            "object_minus_gripper": [
+              0.004028902853057292,
+              0.0043205828754312725,
+              -0.0011527146694729762
+            ],
+            "object_to_gripper_xy": 0.005907579418242564,
+            "object_to_gripper_z": -0.0011527146694729762,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37477641548611035,
+              -0.1006843585117877,
+              1.0526593774198676
+            ],
+            "finger_b": [
+              0.3636338292521867,
+              -0.07705272852741846,
+              1.0526593774198676
+            ],
+            "finger_midpoint": [
+              0.3692051223691485,
+              -0.08886854351960308,
+              1.0526593774198676
+            ],
+            "object_minus_finger_midpoint": [
+              0.005571293116961862,
+              0.01181581499218462,
+              0.0
+            ],
+            "finger_gap": 0.026126828427854853,
+            "fingertip_max_gap": 0.09394744245628037,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013063414213927439,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0526593774198676,
+            "object_top_z": 1.1035151637035483,
+            "finger_top_clearance": 0.050855786283680704,
+            "fingertip_min_top_clearance": 0.015256735885104244,
+            "object_projection_between_fingers": 0.8181142726882621,
+            "object_to_finger_line_xy": 0.010078432431097411,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049473721228140186,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.05836400884647,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.376603183257997,
+              -0.08154088518112289,
+              1.242994041042669
+            ],
+            "held_position": [
+              0.3810155270203034,
+              -0.07764599922711247,
+              1.24166912909578
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006032769325817184,
+            "max_held_gripper_dist": 0.006037830541742906,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013249119468889958,
+            "max_held_gripper_z_dist": 0.001347782842351819,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08745251323936715,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3810155270203034,
+              -0.1027393628192307,
+              1.24166912909578
+            ],
+            "held_grasp_finger_b": [
+              0.37287937524481013,
+              -0.07741324757397015,
+              1.24166912909578
+            ],
+            "held_grasp_midpoint": [
+              0.3769474511325568,
+              -0.09007630519660043,
+              1.24166912909578
+            ],
+            "held_grasp_object_position": [
+              0.3810155270203034,
+              -0.07764599922711247,
+              1.24166912909578
+            ],
+            "held_grasp_finger_gap": 0.02660092252404192,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02469605993822317,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06983534226185953,
+              -0.9975572896789631,
+              -0.0015744140275968377
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003190130544460922,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703621226532442,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3354820714352399,
+              -0.328237469170645,
+              0.851539578310338
+            ],
+            "target_position": [
+              0.32754976999121294,
+              -0.3302451684484926,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008182436225793755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18648160150966261,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539578310338,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513170872459135,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506773485846146,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1557591146062306,
+            "release_required_pad_clearance": 0.05253386742923073,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13705608248760667,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 160,
+            "max_placed_release_frames": 160
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007941365242004395,
+            "max_z_decrease": 0.007941365242004395,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503109417327668,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007941365242004395,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021247189528727502,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007941365242004395,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007941392334571834,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18324969708919525,
+              -0.3865066170692444,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18324969708919525,
+              -0.3865066170692444,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1817468241439709,
+              -0.3857233888197325,
+              0.8055167476125061
+            ],
+            "closest_button": [
+              0.18323522806167603,
+              -0.38650658726692194,
+              0.7705260515213013
+            ],
+            "closest_ee_minus_button": [
+              -0.0014884039177051334,
+              0.0007831984471894371,
+              0.034990696091204865
+            ],
+            "button_min_z_position": [
+              0.18322895467281344,
+              -0.3865068554878235,
+              0.7688674926757812
+            ],
+            "min_active_finger_to_button": 0.1471194638370096,
+            "closest_active_finger": [
+              0.05377506464719772,
+              -0.44689419865608215,
+              0.8080319166183472
+            ],
+            "closest_active_finger_button": [
+              0.183261975646019,
+              -0.3865141272544861,
+              0.7729388475418091
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1294869109988213,
+              -0.06038007140159607,
+              0.035093069076538086
+            ],
+            "min_contact_pad_to_button": 0.021247189528727502,
+            "closest_contact_pad": [
+              0.18322895467281344,
+              -0.3871327305878692,
+              0.7901054620520849
+            ],
+            "closest_contact_pad_button": [
+              0.18322895467281344,
+              -0.3865068554878235,
+              0.7688674926757812
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006258751000456919,
+              0.021237969376303623
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49b26d528af96dcc94405a1d20d0a43db33fc5a17bff65a99fdd104f3309ca3b",
+    "visual_seed": 1062246784151409920,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdc4a55f86d9b5adfbbb303a25c5fcd21e27c3d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3774943461694669,
+              -0.07859667423584041,
+              1.051007762699463
+            ],
+            "current_z": 1.051007762699463,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18990107587076266,
+            "gripper_z": 1.052352142252748,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3734311839613112,
+              -0.08289502887351645,
+              1.052352142252748
+            ],
+            "object_minus_gripper": [
+              0.004063162208155724,
+              0.004298354637676041,
+              -0.0013443795532850356
+            ],
+            "object_to_gripper_xy": 0.0059148237269605955,
+            "object_to_gripper_z": -0.0013443795532850356,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3774943461694669,
+              -0.10245914843502067,
+              1.051007762699463
+            ],
+            "finger_b": [
+              0.3666649234053861,
+              -0.07859667423584041,
+              1.051007762699463
+            ],
+            "finger_midpoint": [
+              0.3720796347874265,
+              -0.09052791133543053,
+              1.051007762699463
+            ],
+            "object_minus_finger_midpoint": [
+              0.005414711382040416,
+              0.011931237099590125,
+              0.0
+            ],
+            "finger_gap": 0.02620484825962051,
+            "fingertip_max_gap": 0.09843599366984343,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013102424129810247,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051007762699463,
+            "object_top_z": 1.1039096713221954,
+            "finger_top_clearance": 0.052901908622732474,
+            "fingertip_min_top_clearance": 0.01587057258681976,
+            "object_projection_between_fingers": 0.8292159461800418,
+            "object_to_finger_line_xy": 0.009861412618751658,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05171799683492172,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.154977044340195,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37873114021282295,
+              -0.08227315753765119,
+              1.2450964847057757
+            ],
+            "held_position": [
+              0.38307475685626213,
+              -0.07827834901986655,
+              1.2436331522657493
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00608003638714113,
+            "max_held_gripper_dist": 0.006085733043554604,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001463332440026388,
+            "max_held_gripper_z_dist": 0.0014867977339261262,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878740849666684,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38307475685626213,
+              -0.10322138055274696,
+              1.2436331522657493
+            ],
+            "held_grasp_finger_b": [
+              0.3744138984544884,
+              -0.07827834901986655,
+              1.2436331522657493
+            ],
+            "held_grasp_midpoint": [
+              0.37874432765537525,
+              -0.09074986478630676,
+              1.2436331522657493
+            ],
+            "held_grasp_object_position": [
+              0.38307475685626213,
+              -0.07827834901986655,
+              1.2436331522657493
+            ],
+            "held_grasp_finger_gap": 0.02640388778770734,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024686078707286816,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.028052865373953764,
+              -0.9994390845873198,
+              0.0182907884895992
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00398546046918683,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03713424882168382,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33271631062002516,
+              -0.33373300803817474,
+              0.8515395734615698
+            ],
+            "target_position": [
+              0.32725875682854333,
+              -0.3348503872722659,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005570765633168913,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1819137392225666,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395734615698,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553614455992672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08778625981151765,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15010649030535722,
+            "release_required_pad_clearance": 0.05389312990575883,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7960357527417647,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008167266845703125,
+            "max_z_decrease": 0.008167266845703125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506323910447114,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008167266845703125,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106791515233808,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008167266845703125,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008167279550242493,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1829586774110794,
+              -0.3911118507385253,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1829586774110794,
+              -0.3911118507385253,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1826652960903037,
+              -0.38897294320014564,
+              0.8036387603493985
+            ],
+            "closest_button": [
+              0.18296985328197476,
+              -0.3911027610301971,
+              0.7686415910720825
+            ],
+            "closest_ee_minus_button": [
+              -0.000304557191671051,
+              0.0021298178300514503,
+              0.034997169277316
+            ],
+            "button_min_z_position": [
+              0.18296985328197476,
+              -0.3911027610301971,
+              0.7686415910720825
+            ],
+            "min_active_finger_to_button": 0.14516123951062254,
+            "closest_active_finger": [
+              0.05663660168647766,
+              -0.4537266790866852,
+              0.8105854392051697
+            ],
+            "closest_active_finger_button": [
+              0.18296392261981964,
+              -0.39111548662185663,
+              0.7760451436042786
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12632732093334198,
+              -0.06261119246482855,
+              0.03454029560089111
+            ],
+            "min_contact_pad_to_button": 0.02106791515233808,
+            "closest_contact_pad": [
+              0.18296985328197476,
+              -0.3911027610301971,
+              0.7897095062244206
+            ],
+            "closest_contact_pad_button": [
+              0.18296985328197476,
+              -0.3911027610301971,
+              0.7686415910720825
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106791515233808
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7df678edab49a3825bb7845b3cb2c721f02310a1862cac98db71ac35d074ef85",
+    "visual_seed": 7598958497796506875,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec7fc63f348503e61680c61624ee39ee23a44d2d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3814752728980126,
+              -0.08179172147084912,
+              1.0538635839866144
+            ],
+            "current_z": 1.0538635839866144,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1927571355764931,
+            "gripper_z": 1.05487341347628,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3769853075054361,
+              -0.08618327752341173,
+              1.05487341347628
+            ],
+            "object_minus_gripper": [
+              0.0044899653925765115,
+              0.004391556052562612,
+              -0.001009829489665659
+            ],
+            "object_to_gripper_xy": 0.006280569543388088,
+            "object_to_gripper_z": -0.001009829489665659,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3814752728980126,
+              -0.10607124777206695,
+              1.0538635839866144
+            ],
+            "finger_b": [
+              0.3706473929855717,
+              -0.08179172147084912,
+              1.0538635839866144
+            ],
+            "finger_midpoint": [
+              0.3760613329417921,
+              -0.09393148462145803,
+              1.0538635839866144
+            ],
+            "object_minus_finger_midpoint": [
+              0.00541393995622047,
+              0.012139763150608912,
+              0.0
+            ],
+            "finger_gap": 0.026584551544266623,
+            "fingertip_max_gap": 0.09365686917800656,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013292275772133324,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0538635839866144,
+            "object_top_z": 1.1048280858438693,
+            "finger_top_clearance": 0.050964501857254874,
+            "fingertip_min_top_clearance": 0.015289350557176494,
+            "object_projection_between_fingers": 0.834106953036984,
+            "object_to_finger_line_xy": 0.009889043818654695,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04932843458900328,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5866215977077367,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3825830188065663,
+              -0.0860893193212532,
+              1.2458855344629234
+            ],
+            "held_position": [
+              0.38733011200229245,
+              -0.08199960145473803,
+              1.2447234102537612
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0063726932072808605,
+            "max_held_gripper_dist": 0.0063767720070283624,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011621242091621742,
+            "max_held_gripper_z_dist": 0.0011874842380827921,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08840174385859445,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38733011200229245,
+              -0.1071551488800857,
+              1.2447234102537612
+            ],
+            "held_grasp_finger_b": [
+              0.37857435799521977,
+              -0.08199960145473803,
+              1.2447234102537612
+            ],
+            "held_grasp_midpoint": [
+              0.3829522349987561,
+              -0.09457737516741187,
+              1.2447234102537612
+            ],
+            "held_grasp_object_position": [
+              0.38733011200229245,
+              -0.08199960145473803,
+              1.2447234102537612
+            ],
+            "held_grasp_finger_gap": 0.02663578034338933,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02475492994268355,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04308423136528387,
+              -0.9990704813196659,
+              -0.0013864931856630844
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038319484620562426,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696555016733505,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33491921413173237,
+              -0.3306958340018499,
+              0.8515395595332813
+            ],
+            "target_position": [
+              0.32762278841982434,
+              -0.332620971736424,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007546123737818897,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18500791321702797,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395595332813,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515077319346937,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08616430457927131,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15427202841002388,
+            "release_required_pad_clearance": 0.053082152289635656,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1928657807097052,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007993936538696289,
+            "max_z_decrease": 0.007993936538696289,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504057056214215,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007993936538696289,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021245870485929914,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007993936538696289,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007993962945671108,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18332271277904505,
+              -0.38888242840766907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18332271277904505,
+              -0.38888242840766907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18197894388807823,
+              -0.38765779470602846,
+              0.8068838503317796
+            ],
+            "closest_button": [
+              0.18331028521060938,
+              -0.3888836205005646,
+              0.7718900442123413
+            ],
+            "closest_ee_minus_button": [
+              -0.0013313413225311543,
+              0.0012258257945361173,
+              0.03499380611943825
+            ],
+            "button_min_z_position": [
+              0.1833021789789199,
+              -0.3888831734657287,
+              0.7688149213790894
+            ],
+            "min_active_finger_to_button": 0.14694272676057435,
+            "closest_active_finger": [
+              0.053970448672771454,
+              -0.44914376735687256,
+              0.8079566955566406
+            ],
+            "closest_active_finger_button": [
+              0.18333436548709858,
+              -0.3888889253139496,
+              0.7729353308677673
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12936391681432713,
+              -0.060254842042922974,
+              0.03502136468887329
+            ],
+            "min_contact_pad_to_button": 0.021245870485929914,
+            "closest_contact_pad": [
+              0.1833021789789199,
+              -0.3890750970483141,
+              0.7900599249809567
+            ],
+            "closest_contact_pad_button": [
+              0.1833021789789199,
+              -0.3888831734657287,
+              0.7688149213790894
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001919235825854071,
+              0.02124500360186732
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9f569fd4eaff1057252b83bef655d3bcbca406f416106f1bf18bed1c6885a082",
+    "visual_seed": 7259076142811380376,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c85ba90ff1fe0d073867f9cacfaf5baf7b7fa78b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3752696725641686,
+              -0.07948618276295158,
+              1.0533328075212398
+            ],
+            "current_z": 1.0533328075212398,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.19222612069253942,
+            "gripper_z": 1.0546532485872495,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3708811974229106,
+              -0.08392086116224742,
+              1.0546532485872495
+            ],
+            "object_minus_gripper": [
+              0.004388475141258008,
+              0.004434678399295844,
+              -0.0013204410660097032
+            ],
+            "object_to_gripper_xy": 0.0062389972407928375,
+            "object_to_gripper_z": -0.0013204410660097032,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3752696725641686,
+              -0.1035126876760242,
+              1.0533328075212398
+            ],
+            "finger_b": [
+              0.36414690835748154,
+              -0.07948618276295158,
+              1.0533328075212398
+            ],
+            "finger_midpoint": [
+              0.3697082904608251,
+              -0.09149943521948789,
+              1.0533328075212398
+            ],
+            "object_minus_finger_midpoint": [
+              0.005561382103343504,
+              0.01201325245653631,
+              0.0
+            ],
+            "finger_gap": 0.026476193494070512,
+            "fingertip_max_gap": 0.09530814268263041,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013238096747035244,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0533328075212398,
+            "object_top_z": 1.1048132192032813,
+            "finger_top_clearance": 0.05148041168204154,
+            "fingertip_min_top_clearance": 0.015444123504612427,
+            "object_projection_between_fingers": 0.8235123304021115,
+            "object_to_finger_line_xy": 0.010093639363935182,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05015407134131521,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.428489993772919,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3764991222224461,
+              -0.08394045174596057,
+              1.246734908983062
+            ],
+            "held_position": [
+              0.38120510359940857,
+              -0.0798740027695154,
+              1.2452715082018542
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006389351285129756,
+            "max_held_gripper_dist": 0.006395603622769965,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014634007812077687,
+            "max_held_gripper_z_dist": 0.0014867459369996006,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08828986495452647,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38120510359940857,
+              -0.10505816553928674,
+              1.2452715082018542
+            ],
+            "held_grasp_finger_b": [
+              0.37248088408921487,
+              -0.0798740027695154,
+              1.2452715082018542
+            ],
+            "held_grasp_midpoint": [
+              0.37684299384431175,
+              -0.09246608415440107,
+              1.2452715082018542
+            ],
+            "held_grasp_object_position": [
+              0.38120510359940857,
+              -0.0798740027695154,
+              1.2452715082018542
+            ],
+            "held_grasp_finger_gap": 0.02665246818732519,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02477067267791914,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04447695987383192,
+              -0.9989889149383446,
+              0.006553462496307949
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037986458420738852,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03694688697005011,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33680269814032177,
+              -0.32582236456043656,
+              0.8515395706927565
+            ],
+            "target_position": [
+              0.32964322263241835,
+              -0.3278508475675214,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007441292418545373,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18194652239597295,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395706927565,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568726425982061,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08726305084873491,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14997978362609737,
+            "release_required_pad_clearance": 0.05363152542436746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2731995487162666,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008108377456665039,
+            "max_z_decrease": 0.008108377456665039,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035023640688347873,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008108377456665039,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021374026158496456,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008108377456665039,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008108429746004805,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1853431463241576,
+              -0.38411229848861694,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1853431463241576,
+              -0.38411229848861694,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.184901081425574,
+              -0.38563383092563314,
+              0.8036886005905982
+            ],
+            "closest_button": [
+              0.18531402945518483,
+              -0.3841118812561035,
+              0.7687004804611206
+            ],
+            "closest_ee_minus_button": [
+              -0.0004129480296108379,
+              -0.0015219496695296209,
+              0.03498812012947761
+            ],
+            "button_min_z_position": [
+              0.18531402945518483,
+              -0.3841118812561035,
+              0.7687004804611206
+            ],
+            "min_active_finger_to_button": 0.1461847357682941,
+            "closest_active_finger": [
+              0.044124603271484375,
+              -0.3698517978191376,
+              0.8077942728996277
+            ],
+            "closest_active_finger_button": [
+              0.18535409867763508,
+              -0.38411664962768555,
+              0.7728554606437683
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1412294954061507,
+              0.014264851808547974,
+              0.034938812255859375
+            ],
+            "min_contact_pad_to_button": 0.021374026158496456,
+            "closest_contact_pad": [
+              0.18531402945518483,
+              -0.38679155024597833,
+              0.7899058658225988
+            ],
+            "closest_contact_pad_button": [
+              0.18531402945518483,
+              -0.3841118812561035,
+              0.7687004804611206
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002679668989874817,
+              0.021205385361478202
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e8626a1de915de50c2afa75512c043f7ee2e28ad593046f73da809efd496fab6",
+    "visual_seed": 1739877272348375024,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9592500c11fca3653ff2b9253990cff621b50aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3809010134225108,
+              -0.07786722632340376,
+              1.051887688412122
+            ],
+            "current_z": 1.051887688412122,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19078118039735592,
+            "gripper_z": 1.0527802853894654,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37698585580217525,
+              -0.08206345292523716,
+              1.0527802853894654
+            ],
+            "object_minus_gripper": [
+              0.003915157620335563,
+              0.0041962266018334,
+              -0.0008925969773434517
+            ],
+            "object_to_gripper_xy": 0.005739057142598069,
+            "object_to_gripper_z": -0.0008925969773434517,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3809010134225108,
+              -0.1015565924061556,
+              1.051887688412122
+            ],
+            "finger_b": [
+              0.37012057410009674,
+              -0.07786722632340376,
+              1.051887688412122
+            ],
+            "finger_midpoint": [
+              0.3755107937613038,
+              -0.08971190936477969,
+              1.051887688412122
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053902196612070075,
+              0.011844683041375925,
+              0.0
+            ],
+            "finger_gap": 0.02602698479245886,
+            "fingertip_max_gap": 0.093339646854562,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013013492396229424,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051887688412122,
+            "object_top_z": 1.102138206467524,
+            "finger_top_clearance": 0.05025051805540204,
+            "fingertip_min_top_clearance": 0.015075155416620611,
+            "object_projection_between_fingers": 0.8284363795808937,
+            "object_to_finger_line_xy": 0.009812192064428264,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049169823427281004,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2504446179913304,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3825698228109271,
+              -0.08183595378821286,
+              1.2443822429497344
+            ],
+            "held_position": [
+              0.3868012633182491,
+              -0.07797979191450072,
+              1.2433503309721132
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005817208565354576,
+            "max_held_gripper_dist": 0.005822045317894878,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010319119776212027,
+            "max_held_gripper_z_dist": 0.001055570307533893,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0880170827414833,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3868012633182491,
+              -0.10289547290434142,
+              1.2433503309721132
+            ],
+            "held_grasp_finger_b": [
+              0.378512594530006,
+              -0.07797979191450072,
+              1.2433503309721132
+            ],
+            "held_grasp_midpoint": [
+              0.38265692892412756,
+              -0.09043763240942107,
+              1.2433503309721132
+            ],
+            "held_grasp_object_position": [
+              0.3868012633182491,
+              -0.07797979191450072,
+              1.2433503309721132
+            ],
+            "held_grasp_finger_gap": 0.02625820232743865,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024495548055508805,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0472361608504275,
+              -0.9988518057272368,
+              -0.00798844813159061
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003552663814844352,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708095115022329,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33904637723514675,
+              -0.32480015875125007,
+              0.8515395222439438
+            ],
+            "target_position": [
+              0.3320339479225663,
+              -0.32645697999444334,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007205499392535815,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829893026773152,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395222439438,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515969723379033,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08656091416709615,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15232260828869415,
+            "release_required_pad_clearance": 0.053280457083548075,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.580125065231586,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007705092430114746,
+            "max_z_decrease": 0.007705092430114746,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035125615899507814,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007705092430114746,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021227817569347645,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007705092430114746,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077051109414597065,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18773387372493744,
+              -0.38271844387054443,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18773387372493744,
+              -0.38271844387054443,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18540134590395094,
+              -0.38126827689330794,
+              0.8081455719917822
+            ],
+            "closest_button": [
+              0.18774738907814026,
+              -0.38272383809089655,
+              0.7731286287307739
+            ],
+            "closest_ee_minus_button": [
+              -0.0023460431741893217,
+              0.0014555611975886062,
+              0.03501694326100824
+            ],
+            "button_min_z_position": [
+              0.1877169907093048,
+              -0.38271796703338623,
+              0.7691037654876709
+            ],
+            "min_active_finger_to_button": 0.14794557156795782,
+            "closest_active_finger": [
+              0.05704157054424286,
+              -0.44231298565864563,
+              0.8085265755653381
+            ],
+            "closest_active_finger_button": [
+              0.18774738907814026,
+              -0.38272383809089655,
+              0.7731286287307739
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1307058185338974,
+              -0.05958914756774908,
+              0.03539794683456421
+            ],
+            "min_contact_pad_to_button": 0.021227817569347645,
+            "closest_contact_pad": [
+              0.1877169907093048,
+              -0.382790936822258,
+              0.7903314576412569
+            ],
+            "closest_contact_pad_button": [
+              0.1877169907093048,
+              -0.38271796703338623,
+              0.7691037654876709
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.296978887177952e-05,
+              0.021227692153585997
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e7d3007256338a9e579d645da9b25f838b1affdf5920cac1c4c1428584b66ea",
+    "visual_seed": 2403467541559244094,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..930474dc726a43460cadc456ceacd0cda4ecdc35
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3791905023397678,
+              -0.07572331413335506,
+              1.0542737545956964
+            ],
+            "current_z": 1.0542737545956964,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1931670677669961,
+            "gripper_z": 1.0552579343646837,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3751701267701247,
+              -0.08001763538782354,
+              1.0552579343646837
+            ],
+            "object_minus_gripper": [
+              0.004020375569643131,
+              0.004294321254468478,
+              -0.0009841797689873477
+            ],
+            "object_to_gripper_xy": 0.005882568721023414,
+            "object_to_gripper_z": -0.0009841797689873477,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3791905023397678,
+              -0.09938590400752488,
+              1.0542737545956964
+            ],
+            "finger_b": [
+              0.3681352494754449,
+              -0.07572331413335506,
+              1.0542737545956964
+            ],
+            "finger_midpoint": [
+              0.3736628759076064,
+              -0.08755460907043996,
+              1.0542737545956964
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055276264321614255,
+              0.011831294937084902,
+              0.0
+            ],
+            "finger_gap": 0.02611774828440009,
+            "fingertip_max_gap": 0.09308032258068602,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013058874142200028,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0542737545956964,
+            "object_top_z": 1.1046223847067345,
+            "finger_top_clearance": 0.05034863011103807,
+            "fingertip_min_top_clearance": 0.015104589033311421,
+            "object_projection_between_fingers": 0.8208297510217362,
+            "object_to_finger_line_xy": 0.010016020969156924,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04904016129034301,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.883793949375457,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3809619323050164,
+              -0.08025641970004024,
+              1.2474915821365564
+            ],
+            "held_position": [
+              0.3853536894737194,
+              -0.07636984773241995,
+              1.2463543343488084
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0059738015717869155,
+            "max_held_gripper_dist": 0.005978402038650753,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011372477877480414,
+            "max_held_gripper_z_dist": 0.0011598341835801218,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08800658528773464,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3853536894737194,
+              -0.1014664318539759,
+              1.2463543343488084
+            ],
+            "held_grasp_finger_b": [
+              0.37710374603813035,
+              -0.07621012398333227,
+              1.2463543343488084
+            ],
+            "held_grasp_midpoint": [
+              0.3812287177559249,
+              -0.08883827791865409,
+              1.2463543343488084
+            ],
+            "held_grasp_object_position": [
+              0.3853536894737194,
+              -0.07636984773241995,
+              1.2463543343488084
+            ],
+            "held_grasp_finger_gap": 0.026569581365673684,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024650209156575738,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06663629212586482,
+              -0.9977687525207268,
+              -0.004137760861768314
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003285367375402654,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03700476721688657,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3331595286013485,
+              -0.33021311385401053,
+              0.8515395207620566
+            ],
+            "target_position": [
+              0.32472813365697967,
+              -0.33289524938024945,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008847726922155847,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850844410515784,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395207620566,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536640105136183,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535457508682519,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15389426664185882,
+            "release_required_pad_clearance": 0.052677287543412596,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.411168454364256,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008122384548187256,
+            "max_z_decrease": 0.008122384548187256,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502842274219064,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008122384548187256,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021249957815521366,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008122384548187256,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008122390581063444,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18042805790901179,
+              -0.38915669918060297,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18042805790901179,
+              -0.38915669918060297,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18065574748585334,
+              -0.390570489926605,
+              0.803685221681408
+            ],
+            "closest_button": [
+              0.18042387068271631,
+              -0.3891477286815643,
+              0.7686864733695984
+            ],
+            "closest_ee_minus_button": [
+              0.00023187680313702108,
+              -0.0014227612450407046,
+              0.0349987483118096
+            ],
+            "button_min_z_position": [
+              0.18042387068271631,
+              -0.3891477286815643,
+              0.7686864733695984
+            ],
+            "min_active_finger_to_button": 0.1454975902854818,
+            "closest_active_finger": [
+              0.039813198149204254,
+              -0.3752439618110657,
+              0.8074938058853149
+            ],
+            "closest_active_finger_button": [
+              0.1804352551698684,
+              -0.38916307687759394,
+              0.772834837436676
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14062205702066416,
+              0.013919115066528265,
+              0.034658968448638916
+            ],
+            "min_contact_pad_to_button": 0.021249957815521366,
+            "closest_contact_pad": [
+              0.18042387068271631,
+              -0.391683528860069,
+              0.7897845876127276
+            ],
+            "closest_contact_pad_button": [
+              0.18042387068271631,
+              -0.3891477286815643,
+              0.7686864733695984
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025358001785047435,
+              0.02109811424312924
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c42e49340798d5816b5a6912ba44661e412540a519cb99395d9ebb6ef8129d5d",
+    "visual_seed": 1392802386505921170,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eeddeb6fa6a948c941d058991ca6d978460434e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3808972724272403,
+              -0.08712839666015032,
+              1.0518420583921109
+            ],
+            "current_z": 1.0518420583921109,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.19073566958663468,
+            "gripper_z": 1.0527451166997221,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3767373895632622,
+              -0.09139613201277834,
+              1.0527451166997221
+            ],
+            "object_minus_gripper": [
+              0.004159882863978115,
+              0.004267735352628019,
+              -0.0009030583076112819
+            ],
+            "object_to_gripper_xy": 0.005959713959754257,
+            "object_to_gripper_z": -0.0009030583076112819,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3808972724272403,
+              -0.11110096182979466,
+              1.0518420583921109
+            ],
+            "finger_b": [
+              0.370151010549044,
+              -0.08712839666015032,
+              1.0518420583921109
+            ],
+            "finger_midpoint": [
+              0.37552414148814217,
+              -0.0991146792449725,
+              1.0518420583921109
+            ],
+            "object_minus_finger_midpoint": [
+              0.005373130939098136,
+              0.011986282584822178,
+              0.0
+            ],
+            "finger_gap": 0.02627101111810546,
+            "fingertip_max_gap": 0.09385153049767073,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013135505559052725,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0518420583921109,
+            "object_top_z": 1.1027256110752306,
+            "finger_top_clearance": 0.050883552683119726,
+            "fingertip_min_top_clearance": 0.015265065804935918,
+            "object_projection_between_fingers": 0.8326748345418359,
+            "object_to_finger_line_xy": 0.009806073395765988,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049425765248835365,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9145115548318388,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38239138056669075,
+              -0.09160413773495586,
+              1.2448556143206928
+            ],
+            "held_position": [
+              0.38685281045997816,
+              -0.08767462860780427,
+              1.2438074145461986
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006036896672988189,
+            "max_held_gripper_dist": 0.006041553931698591,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010481997744942184,
+            "max_held_gripper_z_dist": 0.0010688100414493196,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08819392599524548,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38685281045997816,
+              -0.11275036283114946,
+              1.2438074145461986
+            ],
+            "held_grasp_finger_b": [
+              0.3784732179592134,
+              -0.08767462860780427,
+              1.2438074145461986
+            ],
+            "held_grasp_midpoint": [
+              0.3826630142095958,
+              -0.10021249571947687,
+              1.2438074145461986
+            ],
+            "held_grasp_object_position": [
+              0.38685281045997816,
+              -0.08767462860780427,
+              1.2438074145461986
+            ],
+            "held_grasp_finger_gap": 0.026438797577021503,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02463254623428938,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04925631760791205,
+              -0.9987860726572495,
+              -0.00044299166587391525
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035671457844626436,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036991229083307826,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3338674331415717,
+              -0.32526313434831816,
+              0.8515395876212214
+            ],
+            "target_position": [
+              0.3260104454399844,
+              -0.3274225812528627,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008148341345110716,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18379180228201827,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395876212214,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532564761132918,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08650169979231091,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15275132453584858,
+            "release_required_pad_clearance": 0.05325084989615546,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5220948903967721,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007855594158172607,
+            "max_z_decrease": 0.007855594158172607,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512107614869586,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007855594158172607,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021205715174299256,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007855594158172607,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007855620150519776,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18171037733554837,
+              -0.38368403911590565,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18171037733554837,
+              -0.38368403911590565,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18310780295733214,
+              -0.3817178899799792,
+              0.8039903850964513
+            ],
+            "closest_button": [
+              0.18169057369232178,
+              -0.383688062429428,
+              0.768953263759613
+            ],
+            "closest_ee_minus_button": [
+              0.0014172292650103668,
+              0.0019701724494488038,
+              0.03503712133683823
+            ],
+            "button_min_z_position": [
+              0.18169057369232178,
+              -0.383688062429428,
+              0.768953263759613
+            ],
+            "min_active_finger_to_button": 0.14381474044622053,
+            "closest_active_finger": [
+              0.05657564103603363,
+              -0.4454491436481476,
+              0.8077757954597473
+            ],
+            "closest_active_finger_button": [
+              0.18172208964824674,
+              -0.3836903274059295,
+              0.7730354070663452
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1251464486122131,
+              -0.06175881624221807,
+              0.0347403883934021
+            ],
+            "min_contact_pad_to_button": 0.021205715174299256,
+            "closest_contact_pad": [
+              0.18169057369232178,
+              -0.383688062429428,
+              0.7901589789339123
+            ],
+            "closest_contact_pad_button": [
+              0.18169057369232178,
+              -0.383688062429428,
+              0.768953263759613
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021205715174299256
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "98cd155659a93e4da38aeddf4aec2ee596e8cc47bfe7ce3b690044b33deb5410",
+    "visual_seed": 7884688500871466057,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c07030ab6ee6d8af3b7f5f4a5e4999612a56092
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3741658768170037,
+              -0.07749469952162093,
+              1.0540828270912723
+            ],
+            "current_z": 1.0540828270912723,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.19297590184399294,
+            "gripper_z": 1.055429156178445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3695766574599778,
+              -0.0819627961209968,
+              1.055429156178445
+            ],
+            "object_minus_gripper": [
+              0.004589219357025887,
+              0.004468096599375873,
+              -0.001346329087172693
+            ],
+            "object_to_gripper_xy": 0.006405062179889852,
+            "object_to_gripper_z": -0.001346329087172693,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3741658768170037,
+              -0.10179517384250897,
+              1.0540828270912723
+            ],
+            "finger_b": [
+              0.36316644801819725,
+              -0.07749469952162093,
+              1.0540828270912723
+            ],
+            "finger_midpoint": [
+              0.3686661624176005,
+              -0.08964493668206494,
+              1.0540828270912723
+            ],
+            "object_minus_finger_midpoint": [
+              0.005499714399403222,
+              0.012150237160444013,
+              0.0
+            ],
+            "finger_gap": 0.026673966448958274,
+            "fingertip_max_gap": 0.09523937131217339,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01333698322447913,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0540828270912723,
+            "object_top_z": 1.1058590175786838,
+            "finger_top_clearance": 0.051776190487411444,
+            "fingertip_min_top_clearance": 0.015532857146223433,
+            "object_projection_between_fingers": 0.8299545309381823,
+            "object_to_finger_line_xy": 0.010020682060214246,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050119685656086696,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0109021431212706,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3750564024279597,
+              -0.08161365732155432,
+              1.2482652433232084
+            ],
+            "held_position": [
+              0.37990484540932035,
+              -0.07745247529178574,
+              1.2467841358030514
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006558697638604806,
+            "max_held_gripper_dist": 0.006563726441468651,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014811075201570656,
+            "max_held_gripper_z_dist": 0.0015062130435838927,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867380596840317,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37990484540932035,
+              -0.1026604892995648,
+              1.2467841358030514
+            ],
+            "held_grasp_finger_b": [
+              0.37090166850162243,
+              -0.07745247529178574,
+              1.2467841358030514
+            ],
+            "held_grasp_midpoint": [
+              0.3754032569554714,
+              -0.09005648229567527,
+              1.2467841358030514
+            ],
+            "held_grasp_object_position": [
+              0.37990484540932035,
+              -0.07745247529178574,
+              1.2467841358030514
+            ],
+            "held_grasp_finger_gap": 0.026767539383508714,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024838927232948237,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03876256386478435,
+              -0.9992026125122739,
+              0.009570934712713973
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004011481015618951,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036951800233750345,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3346529033638708,
+              -0.33041010303782037,
+              0.851539604499906
+            ],
+            "target_position": [
+              0.32771075181457626,
+              -0.3324015680109917,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00722214655575066,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18577439642469354,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539604499906,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542553609455525,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08666848390968605,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15427177565556208,
+            "release_required_pad_clearance": 0.05333424195484303,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6855820868105276,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008016467094421387,
+            "max_z_decrease": 0.008016467094421387,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507334034034715,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008016467094421387,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021197841595159472,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008016467094421387,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008016489938901881,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1834106743335724,
+              -0.38866302371025074,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1834106743335724,
+              -0.38866302371025074,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18183442917548773,
+              -0.38693708567021673,
+              0.8073220481201123
+            ],
+            "closest_button": [
+              0.1833997219800949,
+              -0.3886663019657134,
+              0.7723263502120972
+            ],
+            "closest_ee_minus_button": [
+              -0.0015652928046071823,
+              0.0017292162954966606,
+              0.034995697908015155
+            ],
+            "button_min_z_position": [
+              0.18339182436466217,
+              -0.3886663317680358,
+              0.7687923908233643
+            ],
+            "min_active_finger_to_button": 0.14693460134009165,
+            "closest_active_finger": [
+              0.05429933965206146,
+              -0.4495397210121155,
+              0.8077232837677002
+            ],
+            "closest_active_finger_button": [
+              0.18342207372188568,
+              -0.38866740465164173,
+              0.7729144096374512
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12912273406982422,
+              -0.060872316360473744,
+              0.03480887413024902
+            ],
+            "min_contact_pad_to_button": 0.021197841595159472,
+            "closest_contact_pad": [
+              0.18339182436466217,
+              -0.3886663317680358,
+              0.7899902324185237
+            ],
+            "closest_contact_pad_button": [
+              0.18339182436466217,
+              -0.3886663317680358,
+              0.7687923908233643
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021197841595159472
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8ba4a6d3bd146ef4222b7e55b96eb97465bc7341ce78cacf9044b36e59379d02",
+    "visual_seed": 6847508241946226027,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bddbe3534ba43d970e8dcc19df57efd5cb19f900
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3816914950573165,
+              -0.07700400521383766,
+              1.0528509624317612
+            ],
+            "current_z": 1.0528509624317612,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19174445441699517,
+            "gripper_z": 1.0542911607489045,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3772411051256323,
+              -0.0814244088284018,
+              1.0542911607489045
+            ],
+            "object_minus_gripper": [
+              0.004450389931684173,
+              0.004420403614564139,
+              -0.0014401983171432597
+            ],
+            "object_to_gripper_xy": 0.006272634108545433,
+            "object_to_gripper_z": -0.0014401983171432597,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3816914950573165,
+              -0.10119620233452016,
+              1.0528509624317612
+            ],
+            "finger_b": [
+              0.37075452845758033,
+              -0.07700400521383766,
+              1.0528509624317612
+            ],
+            "finger_midpoint": [
+              0.37622301175744843,
+              -0.0891001037741789,
+              1.0528509624317612
+            ],
+            "object_minus_finger_midpoint": [
+              0.005468483299868043,
+              0.012096098560341245,
+              0.0
+            ],
+            "finger_gap": 0.026549569486711132,
+            "fingertip_max_gap": 0.09661527171359155,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013274784743355549,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0528509624317612,
+            "object_top_z": 1.104725336993912,
+            "finger_top_clearance": 0.05187437456215083,
+            "fingertip_min_top_clearance": 0.015562312368645281,
+            "object_projection_between_fingers": 0.8303011867165389,
+            "object_to_finger_line_xy": 0.009965858467707832,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05080763585679578,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.034182909130942,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3824559916264706,
+              -0.08066610052096335,
+              1.2448597484829524
+            ],
+            "held_position": [
+              0.38712944727686405,
+              -0.07650664093312293,
+              1.2432896600760532
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006450385212105661,
+            "max_held_gripper_dist": 0.006456399277620576,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001570088406899206,
+            "max_held_gripper_z_dist": 0.0016004608826190037,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08805091873201472,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38712944727686405,
+              -0.10149203132720132,
+              1.2432896600760532
+            ],
+            "held_grasp_finger_b": [
+              0.3780324430706875,
+              -0.07650664093312293,
+              1.2432896600760532
+            ],
+            "held_grasp_midpoint": [
+              0.3825809451737758,
+              -0.08899933613016212,
+              1.2432896600760532
+            ],
+            "held_grasp_object_position": [
+              0.38712944727686405,
+              -0.07650664093312293,
+              1.2432896600760532
+            ],
+            "held_grasp_finger_gap": 0.026589945819269704,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024880120218208093,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011318966061494387,
+              -0.9999078864102976,
+              0.007489973417186822
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004407803695344891,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03717722127912003,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3338710947649015,
+              -0.33370289653398044,
+              0.8515395855281367
+            ],
+            "target_position": [
+              0.3296577453843475,
+              -0.3343567332769821,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042637794841095976,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18093882008483567,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395855281367,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579042093542092,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08941994259668344,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14852374422930262,
+            "release_required_pad_clearance": 0.05470997129834172,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.466537782448085,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007956326007843018,
+            "max_z_decrease": 0.007956326007843018,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504946394456631,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007956326007843018,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021244908699620257,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007956326007843018,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007956343193989442,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1853576749563217,
+              -0.39061820507049555,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1853576749563217,
+              -0.39061820507049555,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1866162962851923,
+              -0.3892905386107467,
+              0.8038535322928723
+            ],
+            "closest_button": [
+              0.18534132838249204,
+              -0.39062070846557617,
+              0.7688525319099426
+            ],
+            "closest_ee_minus_button": [
+              0.0012749679027002636,
+              0.0013301698548294771,
+              0.03500100038292964
+            ],
+            "button_min_z_position": [
+              0.18534132838249204,
+              -0.39062070846557617,
+              0.7688525319099426
+            ],
+            "min_active_finger_to_button": 0.14427042173968407,
+            "closest_active_finger": [
+              0.059805095195770264,
+              -0.4524838328361511,
+              0.8080707788467407
+            ],
+            "closest_active_finger_button": [
+              0.18537016212940213,
+              -0.39062210917472834,
+              0.7731351852416992
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12556506693363187,
+              -0.061861723661422785,
+              0.034935593605041504
+            ],
+            "min_contact_pad_to_button": 0.021244908699620257,
+            "closest_contact_pad": [
+              0.18534132838249204,
+              -0.39062070846557617,
+              0.7900974406095629
+            ],
+            "closest_contact_pad_button": [
+              0.18534132838249204,
+              -0.39062070846557617,
+              0.7688525319099426
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021244908699620257
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2b36c3236e300108649976def729410e0998767599e3403f9724bf61bc3426fc",
+    "visual_seed": 5618521156634330322,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffa9e7b7f7754b67a9a08a512db588e33eafddb5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3814326575968614,
+              -0.08427457979417136,
+              1.052334301372332
+            ],
+            "current_z": 1.052334301372332,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.19122791256685545,
+            "gripper_z": 1.0531620288347485,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3772214379876798,
+              -0.08870007186652862,
+              1.0531620288347485
+            ],
+            "object_minus_gripper": [
+              0.004211219609181582,
+              0.004425492072357262,
+              -0.0008277274624164388
+            ],
+            "object_to_gripper_xy": 0.006108956594972046,
+            "object_to_gripper_z": -0.0008277274624164388,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3814326575968614,
+              -0.10811621483250333,
+              1.052334301372332
+            ],
+            "finger_b": [
+              0.370262008811404,
+              -0.08427457979417136,
+              1.052334301372332
+            ],
+            "finger_midpoint": [
+              0.37584733320413266,
+              -0.09619539731333734,
+              1.052334301372332
+            ],
+            "object_minus_finger_midpoint": [
+              0.005585324392728741,
+              0.011920817519165988,
+              0.0
+            ],
+            "finger_gap": 0.026328823665121473,
+            "fingertip_max_gap": 0.09557913361035139,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013164411832560747,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052334301372332,
+            "object_top_z": 1.1041138529325256,
+            "finger_top_clearance": 0.05177955156019354,
+            "fingertip_min_top_clearance": 0.01553386546805806,
+            "object_projection_between_fingers": 0.8199911393243229,
+            "object_to_finger_line_xy": 0.010115398047086816,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0502895668051757,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4484934173629758,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3826321997665112,
+              -0.08812840351209177,
+              1.245172107742496
+            ],
+            "held_position": [
+              0.38716357638582294,
+              -0.0840513292424327,
+              1.244213758873256
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0061704409260225955,
+            "max_held_gripper_dist": 0.006181490733876527,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009583488692399555,
+            "max_held_gripper_z_dist": 0.0009867075966702998,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08772756784952343,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38716357638582294,
+              -0.10902459640316584,
+              1.244213758873256
+            ],
+            "held_grasp_finger_b": [
+              0.37832315898679364,
+              -0.0840513292424327,
+              1.244213758873256
+            ],
+            "held_grasp_midpoint": [
+              0.3827433676863083,
+              -0.09653796282279928,
+              1.244213758873256
+            ],
+            "held_grasp_object_position": [
+              0.38716357638582294,
+              -0.0840513292424327,
+              1.244213758873256
+            ],
+            "held_grasp_finger_gap": 0.026491829919248908,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02455804399466725,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044091595124666795,
+              -0.9989815084581799,
+              0.009585248978603798
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003867235927175922,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03705143996807038,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3371953249560802,
+              -0.33010817415206306,
+              0.8515394968531967
+            ],
+            "target_position": [
+              0.3301505332303492,
+              -0.3321668169697222,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007339421006430084,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1830638660647669,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394968531967,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552557353715192,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646875624602522,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15144773458629587,
+            "release_required_pad_clearance": 0.05323437812301261,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4898716358626285,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008146882057189941,
+            "max_z_decrease": 0.008146882057189941,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035001924810978705,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008146882057189941,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02126326206879517,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008146882057189941,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008146928691786445,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18585045635700226,
+              -0.388428270816803,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18585045635700226,
+              -0.388428270816803,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18665198209307698,
+              -0.38848616557099636,
+              0.8036540336804816
+            ],
+            "closest_button": [
+              0.18582330644130704,
+              -0.3884235024452209,
+              0.7686619758605957
+            ],
+            "closest_ee_minus_button": [
+              0.0008286756517699445,
+              -6.266312577546396e-05,
+              0.0349920578198859
+            ],
+            "button_min_z_position": [
+              0.18582330644130704,
+              -0.3884235024452209,
+              0.7686619758605957
+            ],
+            "min_active_finger_to_button": 0.14526834446184486,
+            "closest_active_finger": [
+              0.04615730047225952,
+              -0.370336651802063,
+              0.8082138299942017
+            ],
+            "closest_active_finger_button": [
+              0.1858649104833603,
+              -0.3884353935718536,
+              0.7727580666542053
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13970761001110077,
+              0.018098741769790594,
+              0.03545576333999634
+            ],
+            "min_contact_pad_to_button": 0.02126326206879517,
+            "closest_contact_pad": [
+              0.18582330644130704,
+              -0.3898634013884266,
+              0.7898764285954559
+            ],
+            "closest_contact_pad_button": [
+              0.18582330644130704,
+              -0.3884235024452209,
+              0.7686619758605957
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014398989432057308,
+              0.021214452734860223
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba04da413fdb2e0ff986f661034afcdaa90034588c32e2a8f84f96c891d49765",
+    "visual_seed": 5123397937737741623,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..546b8771a0cdb06a71282c14435ce0141c58aa6b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38050452055379613,
+              -0.0773125477179979,
+              1.0532578170327458
+            ],
+            "current_z": 1.0532578170327458,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1921513686226246,
+            "gripper_z": 1.0541737782250047,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3766168578061073,
+              -0.08152301887107989,
+              1.0541737782250047
+            ],
+            "object_minus_gripper": [
+              0.0038876627476888137,
+              0.004210471153081985,
+              -0.0009159611922588962
+            ],
+            "object_to_gripper_xy": 0.005730793049020605,
+            "object_to_gripper_z": -0.0009159611922588962,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38050452055379613,
+              -0.10090912364456836,
+              1.0532578170327458
+            ],
+            "finger_b": [
+              0.36960711266354734,
+              -0.0773125477179979,
+              1.0532578170327458
+            ],
+            "finger_midpoint": [
+              0.3750558166086717,
+              -0.08911083568128314,
+              1.0532578170327458
+            ],
+            "object_minus_finger_midpoint": [
+              0.005448703945124422,
+              0.011798287963285234,
+              0.0
+            ],
+            "finger_gap": 0.025991381151929206,
+            "fingertip_max_gap": 0.09308194702367609,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012995690575964622,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0532578170327458,
+            "object_top_z": 1.1034317280132466,
+            "finger_top_clearance": 0.050173910980500835,
+            "fingertip_min_top_clearance": 0.015052173294150217,
+            "object_projection_between_fingers": 0.8242126182330556,
+            "object_to_finger_line_xy": 0.009893337763852438,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049040973511838046,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.14851865337414,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38236116919604135,
+              -0.08161733370990093,
+              1.2450720077684874
+            ],
+            "held_position": [
+              0.3866008664224335,
+              -0.07778448157918896,
+              1.244004701556444
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00581420076860502,
+            "max_held_gripper_dist": 0.005818715071307112,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010673062120434285,
+            "max_held_gripper_z_dist": 0.0010881839115941538,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792601002082329,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3866008664224335,
+              -0.1027519148411889,
+              1.244004701556444
+            ],
+            "held_grasp_finger_b": [
+              0.378457019734969,
+              -0.0777415235328634,
+              1.244004701556444
+            ],
+            "held_grasp_midpoint": [
+              0.3825289430787012,
+              -0.09024671918702615,
+              1.244004701556444
+            ],
+            "held_grasp_object_position": [
+              0.3866008664224335,
+              -0.07778448157918896,
+              1.244004701556444
+            ],
+            "held_grasp_finger_gap": 0.026302887907309547,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024489652098631725,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.058558806273934026,
+              -0.9982469179047462,
+              -0.008599831477826168
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003336916516314519,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037041412817627045,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3376266885476291,
+              -0.3261868522899434,
+              0.8515394998685935
+            ],
+            "target_position": [
+              0.33004985389919583,
+              -0.3282101214117556,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007842323713605421,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18464896404356154,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394998685935,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534357649655915,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860820534346997,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533254947924861,
+            "release_required_pad_clearance": 0.05304102671734985,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1127500506542576,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007918298244476318,
+            "max_z_decrease": 0.007918298244476318,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505021314725866,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007918298244476318,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021212926696438796,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007918298244476318,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007918314354453948,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18574978411197657,
+              -0.3844715654850006,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18574978411197657,
+              -0.3844715654850006,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18417667562807566,
+              -0.3832631883252875,
+              0.8073932089011621
+            ],
+            "closest_button": [
+              0.18573889136314387,
+              -0.3844740390777588,
+              0.7723987698554993
+            ],
+            "closest_ee_minus_button": [
+              -0.0015622157350682064,
+              0.001210850752471293,
+              0.034994439045662795
+            ],
+            "button_min_z_position": [
+              0.18573404848575586,
+              -0.3844743072986603,
+              0.7688905596733093
+            ],
+            "min_active_finger_to_button": 0.14715046084988354,
+            "closest_active_finger": [
+              0.056912846863269806,
+              -0.4464135766029358,
+              0.8078460693359375
+            ],
+            "closest_active_finger_button": [
+              0.18576255440711964,
+              -0.384476363658905,
+              0.7729921936988831
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12884970754384983,
+              -0.06193721294403082,
+              0.03485387563705444
+            ],
+            "min_contact_pad_to_button": 0.021212926696438796,
+            "closest_contact_pad": [
+              0.18573404848575586,
+              -0.3845283964230556,
+              0.7901034174108964
+            ],
+            "closest_contact_pad_button": [
+              0.18573404848575586,
+              -0.3844743072986603,
+              0.7688905596733093
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -5.4089124395306776e-05,
+              0.021212857737587076
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4aa6cc4fda965369e23b4302c63e67bbf94e077ae545186d08d24e9d7fe3f24b",
+    "visual_seed": 5112542029277481328,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b2484c7a4ac247eef9e9343b3959b6e8ad36a54
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3744896485354273,
+              -0.07999189762915491,
+              1.0525240184266489
+            ],
+            "current_z": 1.0525240184266489,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1914173315979486,
+            "gripper_z": 1.0537099030531238,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37046202833032116,
+              -0.08429424886617072,
+              1.0537099030531238
+            ],
+            "object_minus_gripper": [
+              0.004027620205106164,
+              0.004302351237015806,
+              -0.0011858846264749534
+            ],
+            "object_to_gripper_xy": 0.00589338193936477,
+            "object_to_gripper_z": -0.0011858846264749534,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3744896485354273,
+              -0.10365601411121471,
+              1.0525240184266489
+            ],
+            "finger_b": [
+              0.3634203765683793,
+              -0.07999189762915491,
+              1.0525240184266489
+            ],
+            "finger_midpoint": [
+              0.3689550125519033,
+              -0.09182395587018481,
+              1.0525240184266489
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055346359835239944,
+              0.011832058241029897,
+              0.0
+            ],
+            "finger_gap": 0.026125068244063396,
+            "fingertip_max_gap": 0.09266826487083371,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013062534122031686,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525240184266489,
+            "object_top_z": 1.1029203744765719,
+            "finger_top_clearance": 0.050396356049922986,
+            "fingertip_min_top_clearance": 0.015118906814976895,
+            "object_projection_between_fingers": 0.8204756971821096,
+            "object_to_finger_line_xy": 0.010026559117576593,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883413243541686,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4367778001928861,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3761734651386035,
+              -0.08456099196858657,
+              1.2440021978835243
+            ],
+            "held_position": [
+              0.3805673640837888,
+              -0.08066596617070368,
+              1.242654056181503
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006024538152871351,
+            "max_held_gripper_dist": 0.006029908788170365,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013481417020213549,
+            "max_held_gripper_z_dist": 0.001368420415431837,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08830736969140525,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3805673640837888,
+              -0.105738661935262,
+              1.242654056181503
+            ],
+            "held_grasp_finger_b": [
+              0.37237373385545425,
+              -0.08051826980672669,
+              1.242654056181503
+            ],
+            "held_grasp_midpoint": [
+              0.3764705489696215,
+              -0.09312846587099435,
+              1.242654056181503
+            ],
+            "held_grasp_object_position": [
+              0.3805673640837888,
+              -0.08066596617070368,
+              1.242654056181503
+            ],
+            "held_grasp_finger_gap": 0.026517989279652474,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024528151055076254,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07562239996676444,
+              -0.9971206200608589,
+              -0.005632199633802014
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0031434431618909504,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03698382365027952,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33661447958563806,
+              -0.32937043140972255,
+              0.8515394944179191
+            ],
+            "target_position": [
+              0.32819614147554854,
+              -0.3319004394939757,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008790299053056828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855503968479109,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394944179191,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547233132129745,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509510765195365,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15393853105825914,
+            "release_required_pad_clearance": 0.052547553825976825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1631293708554833,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008096575736999512,
+            "max_z_decrease": 0.008096575736999512,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500851187558131,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008096575736999512,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021091245105519126,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008096575736999512,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008096586177722317,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18389606475830073,
+              -0.3881618976593017,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18389606475830073,
+              -0.3881618976593017,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18201261416002915,
+              -0.38812598788067826,
+              0.8036697252671463
+            ],
+            "closest_button": [
+              0.18390271067619318,
+              -0.3881507217884063,
+              0.7687122821807861
+            ],
+            "closest_ee_minus_button": [
+              -0.001890096516164036,
+              2.473390772805839e-05,
+              0.034957443086360174
+            ],
+            "button_min_z_position": [
+              0.18390271067619318,
+              -0.3881507217884063,
+              0.7687122821807861
+            ],
+            "min_active_finger_to_button": 0.14745309152518532,
+            "closest_active_finger": [
+              0.05558473616838455,
+              -0.45201998949050903,
+              0.8107985258102417
+            ],
+            "closest_active_finger_button": [
+              0.1838993728160858,
+              -0.38816440105438227,
+              0.7761541604995728
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12831463664770124,
+              -0.06385558843612676,
+              0.034644365310668945
+            ],
+            "min_contact_pad_to_button": 0.021091245105519126,
+            "closest_contact_pad": [
+              0.18390271067619318,
+              -0.3892121295441908,
+              0.7897768029129805
+            ],
+            "closest_contact_pad_button": [
+              0.18390271067619318,
+              -0.3881507217884063,
+              0.7687122821807861
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010614077557845047,
+              0.021064520732194336
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "971ccdad39a5edcb2e81bba97a1dfda912f12d4776a9a64ec8b57366fc2f5a2e",
+    "visual_seed": 678834168397010641,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ce81f189d9b2533c4b9ee763dbe23fc19da7e74
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38087945264812706,
+              -0.08010747990964479,
+              1.0537350876474232
+            ],
+            "current_z": 1.0537350876474232,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1926284008187229,
+            "gripper_z": 1.0550481420592968,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3761510551331504,
+              -0.08466634769539068,
+              1.0550481420592968
+            ],
+            "object_minus_gripper": [
+              0.004728397514976668,
+              0.004558867785745893,
+              -0.001313054411873571
+            ],
+            "object_to_gripper_xy": 0.006568182286412976,
+            "object_to_gripper_z": -0.001313054411873571,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38087945264812706,
+              -0.10446877569110093,
+              1.0537350876474232
+            ],
+            "finger_b": [
+              0.3696963707300769,
+              -0.08010747990964479,
+              1.0537350876474232
+            ],
+            "finger_midpoint": [
+              0.37528791168910197,
+              -0.09228812780037285,
+              1.0537350876474232
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055915409590250875,
+              0.012180647890728064,
+              0.0
+            ],
+            "finger_gap": 0.02680548550833231,
+            "fingertip_max_gap": 0.09741400507961565,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01340274275416615,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0537350876474232,
+            "object_top_z": 1.1061687991385591,
+            "finger_top_clearance": 0.05243371149113596,
+            "fingertip_min_top_clearance": 0.01573011344734082,
+            "object_projection_between_fingers": 0.8259493470004077,
+            "object_to_finger_line_xy": 0.010163381158277819,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051207002539807825,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.25861012045143,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38163715094566764,
+              -0.08431450060956543,
+              1.2456815272820738
+            ],
+            "held_position": [
+              0.3866229555931844,
+              -0.08007053463023872,
+              1.2442152028621
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006709664859103872,
+            "max_held_gripper_dist": 0.006715053100219003,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014663244199737413,
+            "max_held_gripper_z_dist": 0.0014926967122212975,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08807556367873973,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3866229555931844,
+              -0.1052876101159289,
+              1.2442152028621
+            ],
+            "held_grasp_finger_b": [
+              0.37750607742841835,
+              -0.08007053463023872,
+              1.2442152028621
+            ],
+            "held_grasp_midpoint": [
+              0.38206451651080137,
+              -0.09267907237308382,
+              1.2442152028621
+            ],
+            "held_grasp_object_position": [
+              0.3866229555931844,
+              -0.08007053463023872,
+              1.2442152028621
+            ],
+            "held_grasp_finger_gap": 0.026814517775305673,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02504680811510456,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.017968689826571814,
+              -0.9997442600090582,
+              0.013731014706025224
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004334625509936927,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037033027656613454,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3386036233612771,
+              -0.3271461655351726,
+              0.8515395610084185
+            ],
+            "target_position": [
+              0.33216425417397266,
+              -0.3285977140345814,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006600944521547007,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846685649697577,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395610084185,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576659976374356,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08846332051551063,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15222021946664674,
+            "release_required_pad_clearance": 0.05423166025775532,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.4811513993905026,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00815504789352417,
+            "max_z_decrease": 0.00815504789352417,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034998080821434546,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00815504789352417,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02132075569517831,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.00815504789352417,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008155082517026069,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1878641843795776,
+              -0.384859174489975,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1878641843795776,
+              -0.384859174489975,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18785351656398167,
+              -0.3854955184178987,
+              0.8036459893103294
+            ],
+            "closest_button": [
+              0.1878412514925003,
+              -0.38485294580459595,
+              0.7686538100242615
+            ],
+            "closest_ee_minus_button": [
+              1.2265071481359913e-05,
+              -0.0006425726133027498,
+              0.034992179286067904
+            ],
+            "button_min_z_position": [
+              0.1878412514925003,
+              -0.38485294580459595,
+              0.7686538100242615
+            ],
+            "min_active_finger_to_button": 0.14591361994674795,
+            "closest_active_finger": [
+              0.04707774519920349,
+              -0.36959972977638245,
+              0.8078963160514832
+            ],
+            "closest_active_finger_button": [
+              0.18787668645381927,
+              -0.38486510515213007,
+              0.7727763652801514
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14079894125461578,
+              0.015265375375747625,
+              0.03511995077133179
+            ],
+            "min_contact_pad_to_button": 0.02132075569517831,
+            "closest_contact_pad": [
+              0.1878412514925003,
+              -0.3866678133030292,
+              0.789897182623183
+            ],
+            "closest_contact_pad_button": [
+              0.1878412514925003,
+              -0.38485294580459595,
+              0.7686538100242615
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001814867498433237,
+              0.021243372598921506
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b55abb55020766254e42d6474db247a74db5850c5f68501ba43a8443f3e8c5a5",
+    "visual_seed": 7179810437803862381,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f03a605a5872db292868bc8fb595fb9252cc95b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37900258131961145,
+              -0.07845160031826941,
+              1.0519710891613585
+            ],
+            "current_z": 1.0519710891613585,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.19086428312336867,
+            "gripper_z": 1.053000039403066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3749059027529682,
+              -0.08277466212373864,
+              1.053000039403066
+            ],
+            "object_minus_gripper": [
+              0.004096678566643253,
+              0.004323061805469236,
+              -0.0010289502417075713
+            ],
+            "object_to_gripper_xy": 0.005955807136929565,
+            "object_to_gripper_z": -0.0010289502417075713,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37900258131961145,
+              -0.10220031343616134,
+              1.0519710891613585
+            ],
+            "finger_b": [
+              0.3679428949963223,
+              -0.07845160031826941,
+              1.0519710891613585
+            ],
+            "finger_midpoint": [
+              0.3734727381579669,
+              -0.09032595687721537,
+              1.0519710891613585
+            ],
+            "object_minus_finger_midpoint": [
+              0.005529843161644565,
+              0.011874356558945962,
+              0.0
+            ],
+            "finger_gap": 0.026197672345563094,
+            "fingertip_max_gap": 0.09644310569990192,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01309883617278154,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0519710891613585,
+            "object_top_z": 1.104177015611425,
+            "finger_top_clearance": 0.0522059264500665,
+            "fingertip_min_top_clearance": 0.01566177793501993,
+            "object_projection_between_fingers": 0.8217784538718709,
+            "object_to_finger_line_xy": 0.010025826500962011,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05072155284995096,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5985769721829146,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38068811649755285,
+              -0.08311053715958223,
+              1.2442637825605702
+            ],
+            "held_position": [
+              0.38514918832494455,
+              -0.07919802339422785,
+              1.2430744872506119
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006051722824743743,
+            "max_held_gripper_dist": 0.006058672609493232,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011892953099583714,
+            "max_held_gripper_z_dist": 0.0012105766655443606,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08824601695188941,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38514918832494455,
+              -0.10432483888934357,
+              1.2430744872506119
+            ],
+            "held_grasp_finger_b": [
+              0.37690460386802366,
+              -0.0789982764904094,
+              1.2430744872506119
+            ],
+            "held_grasp_midpoint": [
+              0.3810268960964841,
+              -0.0916615576898765,
+              1.2430744872506119
+            ],
+            "held_grasp_object_position": [
+              0.38514918832494455,
+              -0.07919802339422785,
+              1.2430744872506119
+            ],
+            "held_grasp_finger_gap": 0.026634712985395728,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0247917139979435,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05920871934175074,
+              -0.998156200077376,
+              0.013361429601770003
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033812941821936664,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703562039441677,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33460044402277606,
+              -0.3321443581540666,
+              0.8515395809576938
+            ],
+            "target_position": [
+              0.32841570043783724,
+              -0.3334113034641582,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006313176983912683,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1836690457740535,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395809576938,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577830411929365,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696587243556102,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15108843267121572,
+            "release_required_pad_clearance": 0.05348293621778051,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9786542806769234,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008087873458862305,
+            "max_z_decrease": 0.008087873458862305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502972980855448,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008087873458862305,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02124282459431868,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008087873458862305,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008087908830662328,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18411563336849213,
+              -0.3896727561950684,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18411563336849213,
+              -0.3896727561950684,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18262723552537263,
+              -0.3889299414371095,
+              0.8051737080008861
+            ],
+            "closest_button": [
+              0.18410062789916992,
+              -0.38967210054397583,
+              0.7701828479766846
+            ],
+            "closest_ee_minus_button": [
+              -0.0014733923737972887,
+              0.0007421591068663136,
+              0.03499086002420149
+            ],
+            "button_min_z_position": [
+              0.184091717004776,
+              -0.38967233896255493,
+              0.7687209844589233
+            ],
+            "min_active_finger_to_button": 0.14711286162486906,
+            "closest_active_finger": [
+              0.054670751094818115,
+              -0.45009058713912964,
+              0.8079789280891418
+            ],
+            "closest_active_finger_button": [
+              0.184128612279892,
+              -0.389679878950119,
+              0.7728590965270996
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12945786118507388,
+              -0.06041070818901062,
+              0.035119831562042236
+            ],
+            "min_contact_pad_to_button": 0.02124282459431868,
+            "closest_contact_pad": [
+              0.184091717004776,
+              -0.3903161995480954,
+              0.7899540492469227
+            ],
+            "closest_contact_pad_button": [
+              0.184091717004776,
+              -0.38967233896255493,
+              0.7687209844589233
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006438605855404456,
+              0.021233064787999356
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3f8cdc530d09ab72ae89e7d95e12d8a4f82bc0047880ccdf2aca22897240e08b",
+    "visual_seed": 2199138446231488480,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e2486a087209808bf9951b3c28be993293da5aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37899676728206755,
+              -0.08316757399851976,
+              1.0536710482015283
+            ],
+            "current_z": 1.0536710482015283,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.19256436137282817,
+            "gripper_z": 1.054655666554247,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37501415900866986,
+              -0.08743671497193063,
+              1.054655666554247
+            ],
+            "object_minus_gripper": [
+              0.003982608273397692,
+              0.00426914097341087,
+              -0.0009846183527186803
+            ],
+            "object_to_gripper_xy": 0.005838384477763627,
+            "object_to_gripper_z": -0.0009846183527186803,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37899676728206755,
+              -0.106814537813336,
+              1.0536710482015283
+            ],
+            "finger_b": [
+              0.3679947527702121,
+              -0.08316757399851976,
+              1.0536710482015283
+            ],
+            "finger_midpoint": [
+              0.3734957600261398,
+              -0.09499105590592788,
+              1.0536710482015283
+            ],
+            "object_minus_finger_midpoint": [
+              0.005501007255927726,
+              0.011823481907408118,
+              0.0
+            ],
+            "finger_gap": 0.026081089336496402,
+            "fingertip_max_gap": 0.09294096710252572,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013040544668248201,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0536710482015283,
+            "object_top_z": 1.1040049768275877,
+            "finger_top_clearance": 0.05033392862605934,
+            "fingertip_min_top_clearance": 0.015100178587817802,
+            "object_projection_between_fingers": 0.8220520564631852,
+            "object_to_finger_line_xy": 0.009975206008280842,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048970483551262864,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.774914649953127,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3807712954392716,
+              -0.08775040880869354,
+              1.2460543433231188
+            ],
+            "held_position": [
+              0.38511668744861266,
+              -0.08387553873215206,
+              1.2449186522688038
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005931849964030874,
+            "max_held_gripper_dist": 0.005936627272337482,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011356910543149912,
+            "max_held_gripper_z_dist": 0.0011573693123598794,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08820786986937398,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38511668744861266,
+              -0.10890653625738858,
+              1.2449186522688038
+            ],
+            "held_grasp_finger_b": [
+              0.3769069261662808,
+              -0.08379287946834382,
+              1.2449186522688038
+            ],
+            "held_grasp_midpoint": [
+              0.38101180680744673,
+              -0.0963497078628662,
+              1.2449186522688038
+            ],
+            "held_grasp_object_position": [
+              0.38511668744861266,
+              -0.08387553873215206,
+              1.2449186522688038
+            ],
+            "held_grasp_finger_gap": 0.02642150521130106,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024504997271618634,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06715727269154657,
+              -0.9977178018821591,
+              -0.0070063208651924835
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003259080336410649,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699887687610764,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33967557665187215,
+              -0.3299519792240899,
+              0.85153956064295
+            ],
+            "target_position": [
+              0.3319725331808455,
+              -0.33208898539384324,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007993977363371109,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18384896697388284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153956064295,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546915418841442,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858474524750845,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1524794931792006,
+            "release_required_pad_clearance": 0.052923726237542254,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8855796362561603,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00785917043685913,
+            "max_z_decrease": 0.00785917043685913,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350023137930774,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00785917043685913,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021223007357618312,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.00785917043685913,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007859184775773905,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18767246603965754,
+              -0.3883504569530486,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18767246603965754,
+              -0.3883504569530486,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18699887629519105,
+              -0.3884631545073933,
+              0.8072134411777954
+            ],
+            "closest_button": [
+              0.1876614093780517,
+              -0.38835296034812916,
+              0.7722175717353821
+            ],
+            "closest_ee_minus_button": [
+              -0.0006625330828606557,
+              -0.00011019415926416531,
+              0.034995869442413285
+            ],
+            "button_min_z_position": [
+              0.18765768408775324,
+              -0.3883530795574187,
+              0.7689496874809265
+            ],
+            "min_active_finger_to_button": 0.14688128284475108,
+            "closest_active_finger": [
+              0.06014566123485565,
+              -0.45234960317611694,
+              0.80803382396698
+            ],
+            "closest_active_finger_button": [
+              0.1876846551895141,
+              -0.3883562088012694,
+              0.7732090950012207
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12753899395465845,
+              -0.06399339437484752,
+              0.03482472896575928
+            ],
+            "min_contact_pad_to_button": 0.021223007357618312,
+            "closest_contact_pad": [
+              0.18765768408775324,
+              -0.3896103390517809,
+              0.7901354218289579
+            ],
+            "closest_contact_pad_button": [
+              0.18765768408775324,
+              -0.3883530795574187,
+              0.7689496874809265
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012572594943621729,
+              0.021185734348031393
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f331365f811269c75f5552329f93cdbccfd3640538f0887bbbcaeffb042ba2e",
+    "visual_seed": 3539344821008117934,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df98d653039704e33c0b5bbbe9e4435a51571481
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3745209466707477,
+              -0.08015290030030228,
+              1.051115594163841
+            ],
+            "current_z": 1.051115594163841,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.1900087881258513,
+            "gripper_z": 1.0521705543625564,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3706745936025713,
+              -0.0843310861246307,
+              1.0521705543625564
+            ],
+            "object_minus_gripper": [
+              0.003846353068176378,
+              0.004178185824328412,
+              -0.0010549601987153157
+            ],
+            "object_to_gripper_xy": 0.005679055265419481,
+            "object_to_gripper_z": -0.0010549601987153157,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3745209466707477,
+              -0.10374425038811556,
+              1.051115594163841
+            ],
+            "finger_b": [
+              0.36370658260248145,
+              -0.08015290030030228,
+              1.051115594163841
+            ],
+            "finger_midpoint": [
+              0.3691137646366146,
+              -0.09194857534420892,
+              1.051115594163841
+            ],
+            "object_minus_finger_midpoint": [
+              0.005407182034133096,
+              0.011795675043906634,
+              0.0
+            ],
+            "finger_gap": 0.02595192226342349,
+            "fingertip_max_gap": 0.09330672162630863,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012975961131711726,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051115594163841,
+            "object_top_z": 1.1012620118749294,
+            "finger_top_clearance": 0.05014641771108841,
+            "fingertip_min_top_clearance": 0.015043925313326522,
+            "object_projection_between_fingers": 0.8263547495605419,
+            "object_to_finger_line_xy": 0.009830695627164023,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049153360813154315,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3916053548864493,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37623773237237945,
+              -0.08421007480227367,
+              1.2427706109528418
+            ],
+            "held_position": [
+              0.38041027397053945,
+              -0.08038740214073306,
+              1.2415736359307696
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0057840884216210095,
+            "max_held_gripper_dist": 0.005789765008729277,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011969750220721664,
+            "max_held_gripper_z_dist": 0.0012166700859592705,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08804819869550476,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38041027397053945,
+              -0.1052763674263964,
+              1.2415736359307696
+            ],
+            "held_grasp_finger_b": [
+              0.3722528868206662,
+              -0.08038740214073306,
+              1.2415736359307696
+            ],
+            "held_grasp_midpoint": [
+              0.3763315803956028,
+              -0.09283188478356473,
+              1.2415736359307696
+            ],
+            "held_grasp_object_position": [
+              0.38041027397053945,
+              -0.08038740214073306,
+              1.2415736359307696
+            ],
+            "held_grasp_finger_gap": 0.02619166963184806,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024446276495179463,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05024133369693245,
+              -0.9986801066169292,
+              -0.01067019381045542
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003450912981208691,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708727381261348,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3378686367164955,
+              -0.3266726482641009,
+              0.8515395417682993
+            ],
+            "target_position": [
+              0.33007713737610134,
+              -0.32920147140573325,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008191605975205195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18227391472957474,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395417682993,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758532556360209,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08745719267402773,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1500064425192114,
+            "release_required_pad_clearance": 0.053728596337013865,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.466422416466504,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00811535120010376,
+            "max_z_decrease": 0.00811535120010376,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035013954640512344,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00811535120010376,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021282294992041404,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.00811535120010376,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008115382588923825,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1857770681381225,
+              -0.38546293973922735,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1857770681381225,
+              -0.38546293973922735,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18690044214590387,
+              -0.3855455520280482,
+              0.8044430353414161
+            ],
+            "closest_button": [
+              0.18576197326183314,
+              -0.3854660987854004,
+              0.7694476842880249
+            ],
+            "closest_ee_minus_button": [
+              0.0011384688840707369,
+              -7.945324264779785e-05,
+              0.034995351053391244
+            ],
+            "button_min_z_position": [
+              0.18575468659400934,
+              -0.3854600191116333,
+              0.7686935067176819
+            ],
+            "min_active_finger_to_button": 0.1448961146842671,
+            "closest_active_finger": [
+              0.046196840703487396,
+              -0.36899906396865845,
+              0.8079819083213806
+            ],
+            "closest_active_finger_button": [
+              0.1857884675264358,
+              -0.38546952605247503,
+              0.7727997303009033
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395916268229484,
+              0.016470462083816584,
+              0.035182178020477295
+            ],
+            "min_contact_pad_to_button": 0.021282294992041404,
+            "closest_contact_pad": [
+              0.18575468659400934,
+              -0.3867625456131344,
+              0.7899359054720871
+            ],
+            "closest_contact_pad_button": [
+              0.18575468659400934,
+              -0.3854600191116333,
+              0.7686935067176819
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001302526501501089,
+              0.021242398754405256
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a91011595a5669d9045cf3a0b6440fa7004996018ec68814254af02d30c82e0d",
+    "visual_seed": 5114951379119652927,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e478e554607f0c881b965fd15efb2f3ce18e6032
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3764498475584397,
+              -0.07698440121187712,
+              1.0523515917286401
+            ],
+            "current_z": 1.0523515917286401,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1912449645045846,
+            "gripper_z": 1.0534173007427665,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37241819182392505,
+              -0.0812618850563535,
+              1.0534173007427665
+            ],
+            "object_minus_gripper": [
+              0.004031655734514639,
+              0.004277483844476376,
+              -0.0010657090141263925
+            ],
+            "object_to_gripper_xy": 0.005878019734689666,
+            "object_to_gripper_z": -0.0010657090141263925,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3764498475584397,
+              -0.10069695794457806,
+              1.0523515917286401
+            ],
+            "finger_b": [
+              0.3654715013004827,
+              -0.07698440121187712,
+              1.0523515917286401
+            ],
+            "finger_midpoint": [
+              0.37096067442946123,
+              -0.08884067957822758,
+              1.0523515917286401
+            ],
+            "object_minus_finger_midpoint": [
+              0.005489173128978453,
+              0.011856278366350462,
+              0.0
+            ],
+            "finger_gap": 0.02613062252150067,
+            "fingertip_max_gap": 0.09277757771077691,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013065311260750318,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0523515917286401,
+            "object_top_z": 1.1025648648595205,
+            "finger_top_clearance": 0.05021327313088042,
+            "fingertip_min_top_clearance": 0.015063981939264158,
+            "object_projection_between_fingers": 0.8234879592006913,
+            "object_to_finger_line_xy": 0.009962436151639347,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04888878885538846,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8226799796406692,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3781769188795292,
+              -0.08141292227299607,
+              1.2445563579746275
+            ],
+            "held_position": [
+              0.3825629730837391,
+              -0.07753149150594163,
+              1.2433354223194635
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005982780303149609,
+            "max_held_gripper_dist": 0.005988746701612528,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012209356551640127,
+            "max_held_gripper_z_dist": 0.0012423294600028,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08800596369445071,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3825629730837391,
+              -0.10261768237305267,
+              1.2433354223194635
+            ],
+            "held_grasp_finger_b": [
+              0.37434203750258666,
+              -0.077353778122581,
+              1.2433354223194635
+            ],
+            "held_grasp_midpoint": [
+              0.3784525052931629,
+              -0.08998573024781684,
+              1.2433354223194635
+            ],
+            "held_grasp_object_position": [
+              0.3825629730837391,
+              -0.07753149150594163,
+              1.2433354223194635
+            ],
+            "held_grasp_finger_gap": 0.026567812100480894,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02467701694938575,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0648584347347604,
+              -0.9978748222481852,
+              -0.00626279226143045
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003294993785087142,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702588029238545,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33876664393462486,
+              -0.33284975557613417,
+              0.851540299172324
+            ],
+            "target_position": [
+              0.33093032973001835,
+              -0.3352653994363683,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008200192410718458,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.184454400919322,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851540299172324,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569791756804478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641465395501723,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15235568066010935,
+            "release_required_pad_clearance": 0.053207326977508615,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4363762029748155,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007904767990112305,
+            "max_z_decrease": 0.007904767990112305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502630845942679,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007904767990112305,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021304067162452915,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007904767990112305,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007904786896260995,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18663024902343744,
+              -0.39152684807777405,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18663024902343744,
+              -0.39152684807777405,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18541117615760996,
+              -0.39197558480106653,
+              0.8081557649564042
+            ],
+            "closest_button": [
+              0.1866426914930343,
+              -0.3915337920188903,
+              0.7731539011001587
+            ],
+            "closest_ee_minus_button": [
+              -0.0012315153354243435,
+              -0.0004417927821762091,
+              0.035001863856245485
+            ],
+            "button_min_z_position": [
+              0.18661305308341974,
+              -0.39152505993843073,
+              0.7689040899276733
+            ],
+            "min_active_finger_to_button": 0.1475685295841259,
+            "closest_active_finger": [
+              0.04436533898115158,
+              -0.37441080808639526,
+              0.8083736300468445
+            ],
+            "closest_active_finger_button": [
+              0.1866426914930343,
+              -0.3915337920188903,
+              0.7731539011001587
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14227735251188273,
+              0.01712298393249506,
+              0.03521972894668579
+            ],
+            "min_contact_pad_to_button": 0.021304067162452915,
+            "closest_contact_pad": [
+              0.18661305308341974,
+              -0.39336132345535746,
+              0.7901288729409036
+            ],
+            "closest_contact_pad_button": [
+              0.18661305308341974,
+              -0.39152505993843073,
+              0.7689040899276733
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018362635169267283,
+              0.021224783013230275
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b75dcceba28d7a1d28cc4354ff42cfc60e8fb255c05734dea088d0d042c419f",
+    "visual_seed": 5554979533030649720,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0d23acb6399bbc9e252ce39d41a59cc4321c32d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3824456930012358,
+              -0.08227913240424234,
+              1.0507134221822811
+            ],
+            "current_z": 1.0507134221822811,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18960673535358108,
+            "gripper_z": 1.0518977406283985,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.378137398297101,
+              -0.08661534697295709,
+              1.0518977406283985
+            ],
+            "object_minus_gripper": [
+              0.004308294704134796,
+              0.004336214568714747,
+              -0.0011843184461173273
+            ],
+            "object_to_gripper_xy": 0.00611262300846453,
+            "object_to_gripper_z": -0.0011843184461173273,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3824456930012358,
+              -0.1063952920256016,
+              1.0507134221822811
+            ],
+            "finger_b": [
+              0.3716670093705238,
+              -0.08227913240424234,
+              1.0507134221822811
+            ],
+            "finger_midpoint": [
+              0.3770563511858798,
+              -0.09433721221492197,
+              1.0507134221822811
+            ],
+            "object_minus_finger_midpoint": [
+              0.005389341815355997,
+              0.012058079810679634,
+              0.0
+            ],
+            "finger_gap": 0.026415320851616735,
+            "fingertip_max_gap": 0.09918948580762207,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013207660425808367,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507134221822811,
+            "object_top_z": 1.103893793713932,
+            "finger_top_clearance": 0.05318037153165078,
+            "fingertip_min_top_clearance": 0.01595411145949525,
+            "object_projection_between_fingers": 0.833497917566436,
+            "object_to_finger_line_xy": 0.009840518553855584,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05209474290381104,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.592509848896527,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38326805083829285,
+              -0.08578839829756459,
+              1.2423267878662958
+            ],
+            "held_position": [
+              0.3877942436463997,
+              -0.08169819229228523,
+              1.241020431679973
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006238811824965198,
+            "max_held_gripper_dist": 0.006243452171588011,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00130635618632291,
+            "max_held_gripper_z_dist": 0.0013393326618247325,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0880315016979295,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3877942436463997,
+              -0.10656866573322046,
+              1.241020431679973
+            ],
+            "held_grasp_finger_b": [
+              0.3787995594073874,
+              -0.08169819229228523,
+              1.241020431679973
+            ],
+            "held_grasp_midpoint": [
+              0.38329690152689355,
+              -0.09413342901275285,
+              1.241020431679973
+            ],
+            "held_grasp_object_position": [
+              0.3877942436463997,
+              -0.08169819229228523,
+              1.241020431679973
+            ],
+            "held_grasp_finger_gap": 0.02644701861714853,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024827295976804543,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.00427663130367574,
+              -0.999810598058833,
+              0.01898626961599259
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004450396840733903,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726813513350955,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32873933407970685,
+              -0.3280978143043736,
+              0.8515396045800326
+            ],
+            "target_position": [
+              0.3239814181346584,
+              -0.3287741239053073,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00480574227528497,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829538573312212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396045800326,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757761879171483,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09026007913659943,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1503817700799287,
+            "release_required_pad_clearance": 0.05513003956829972,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.349917627148222,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007812678813934326,
+            "max_z_decrease": 0.007812678813934326,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035026684193018694,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007812678813934326,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021206327289121536,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007812678813934326,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007812700851379178,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17968134582042694,
+              -0.3850355744361877,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17968134582042694,
+              -0.3850355744361877,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17883063198221427,
+              -0.38461343511772256,
+              0.8071795319391382
+            ],
+            "closest_button": [
+              0.17966932058334356,
+              -0.38503909111022944,
+              0.7721654772758484
+            ],
+            "closest_ee_minus_button": [
+              -0.0008386886011292893,
+              0.00042565599250687924,
+              0.03501405466328977
+            ],
+            "button_min_z_position": [
+              0.17966321110725406,
+              -0.3850395083427429,
+              0.7689961791038513
+            ],
+            "min_active_finger_to_button": 0.14678940519996359,
+            "closest_active_finger": [
+              0.05126437544822693,
+              -0.44707852602005005,
+              0.807738721370697
+            ],
+            "closest_active_finger_button": [
+              0.17969036102294922,
+              -0.38504031300544733,
+              0.7730233669281006
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1284259855747223,
+              -0.06203821301460272,
+              0.034715354442596436
+            ],
+            "min_contact_pad_to_button": 0.021206327289121536,
+            "closest_contact_pad": [
+              0.17966321110725406,
+              -0.38593979060922723,
+              0.790183387719759
+            ],
+            "closest_contact_pad_button": [
+              0.17966321110725406,
+              -0.3850395083427429,
+              0.7689961791038513
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009002822664843091,
+              0.021187208615907727
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f06ea20953873ad8fa773451fb394ee70a5941d50e92ed2a9bde2bedc004415e",
+    "visual_seed": 8092289448516431274,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aeb0a563556089a22a16d1fd46a6b45852427a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3798025002732406,
+              -0.08698957151714058,
+              1.0533207106441846
+            ],
+            "current_z": 1.0533207106441846,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1922139642108397,
+            "gripper_z": 1.0552041132415786,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37538733007215225,
+              -0.09141166588923812,
+              1.0552041132415786
+            ],
+            "object_minus_gripper": [
+              0.0044151702010883365,
+              0.004422094372097535,
+              -0.0018834025973939461
+            ],
+            "object_to_gripper_xy": 0.006248891624945588,
+            "object_to_gripper_z": -0.0018834025973939461,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3798025002732406,
+              -0.11136146220015397,
+              1.0533207106441846
+            ],
+            "finger_b": [
+              0.3691335878140136,
+              -0.08698957151714058,
+              1.0533207106441846
+            ],
+            "finger_midpoint": [
+              0.3744680440436271,
+              -0.09917551685864728,
+              1.0533207106441846
+            ],
+            "object_minus_finger_midpoint": [
+              0.005334456229613482,
+              0.012185945341506702,
+              0.0
+            ],
+            "finger_gap": 0.026604788075220657,
+            "fingertip_max_gap": 0.09821888126241177,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013302394037610334,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0533207106441846,
+            "object_top_z": 1.1054936652612373,
+            "finger_top_clearance": 0.052172954617052625,
+            "fingertip_min_top_clearance": 0.01565188638511582,
+            "object_projection_between_fingers": 0.8391871696662709,
+            "object_to_finger_line_xy": 0.009773487667999887,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051609440631205886,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1862522332267615,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38082502366599247,
+              -0.09129882146765884,
+              1.2457446598641198
+            ],
+            "held_position": [
+              0.38544547169744175,
+              -0.08712834234660262,
+              1.2437264427182093
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006543289429525212,
+            "max_held_gripper_dist": 0.006552045804289335,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002018217145910439,
+            "max_held_gripper_z_dist": 0.0020422752219408924,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08796586841600015,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38544547169744175,
+              -0.11228619551523573,
+              1.2437264427182093
+            ],
+            "held_grasp_finger_b": [
+              0.3766919314632913,
+              -0.08712834234660262,
+              1.2437264427182093
+            ],
+            "held_grasp_midpoint": [
+              0.38106870158036654,
+              -0.09970726893091918,
+              1.2437264427182093
+            ],
+            "held_grasp_object_position": [
+              0.38544547169744175,
+              -0.08712834234660262,
+              1.2437264427182093
+            ],
+            "held_grasp_finger_gap": 0.026637230386911372,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025089837829096007,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007685163752371861,
+              -0.9999704684887178,
+              2.021270958674215e-05
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004279969762275968,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03710805876543463,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3329876180471363,
+              -0.33014357322194665,
+              0.8515395003754875
+            ],
+            "target_position": [
+              0.3272853684114828,
+              -0.3314051489323158,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005840139054877337,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18393591532139492,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395003754875,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549284626166908,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.089009349259822,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15208797029757906,
+            "release_required_pad_clearance": 0.054504674629911,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.041040049042939,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008178651332855225,
+            "max_z_decrease": 0.008178651332855225,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034994828910992065,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008178651332855225,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021107038480350834,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008178651332855225,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008178665889763998,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18298529088497162,
+              -0.38766661286354065,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18298529088497162,
+              -0.38766661286354065,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18279036151577932,
+              -0.38797361579950446,
+              0.8036907193545013
+            ],
+            "closest_button": [
+              0.18299587070941922,
+              -0.38765797019004816,
+              0.7686979174613953
+            ],
+            "closest_ee_minus_button": [
+              -0.00020550919363990228,
+              -0.0003156456094562943,
+              0.03499280189310605
+            ],
+            "button_min_z_position": [
+              0.182996928691864,
+              -0.38765648007392883,
+              0.7686302065849304
+            ],
+            "min_active_finger_to_button": 0.14600660808163285,
+            "closest_active_finger": [
+              0.0418211966753006,
+              -0.37388333678245544,
+              0.8084124326705933
+            ],
+            "closest_active_finger_button": [
+              0.18299317359924314,
+              -0.3876733481884002,
+              0.7737968564033508
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14117197692394254,
+              0.013790011405944769,
+              0.03461557626724243
+            ],
+            "min_contact_pad_to_button": 0.021107038480350834,
+            "closest_contact_pad": [
+              0.182996928691864,
+              -0.3889760858703442,
+              0.7896959539951952
+            ],
+            "closest_contact_pad_button": [
+              0.182996928691864,
+              -0.38765648007392883,
+              0.7686302065849304
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013196057964153796,
+              0.02106574741026479
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2202ecb5e5a12157621d9e58327fd354f492b22f6ff2dfaff0bcfb37f9610870",
+    "visual_seed": 6505637253686307216,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62a37178b17403276299912ebb6d23dab34b374f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38108120212395336,
+              -0.07884132345699102,
+              1.051314751668822
+            ],
+            "current_z": 1.051314751668822,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1902081840494113,
+            "gripper_z": 1.0521400936571264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3769686495752672,
+              -0.08312767649661325,
+              1.0521400936571264
+            ],
+            "object_minus_gripper": [
+              0.004112552548686144,
+              0.004286353039622229,
+              -0.0008253419883044177
+            ],
+            "object_to_gripper_xy": 0.0059401945124704135,
+            "object_to_gripper_z": -0.0008253419883044177,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38108120212395336,
+              -0.10269258040038075,
+              1.051314751668822
+            ],
+            "finger_b": [
+              0.3701963201543857,
+              -0.07884132345699102,
+              1.051314751668822
+            ],
+            "finger_midpoint": [
+              0.3756387611391695,
+              -0.09076695192868589,
+              1.051314751668822
+            ],
+            "object_minus_finger_midpoint": [
+              0.005442440984783858,
+              0.011925628471694871,
+              0.0
+            ],
+            "finger_gap": 0.02621761074680559,
+            "fingertip_max_gap": 0.09267894948883751,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013108805373402812,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051314751668822,
+            "object_top_z": 1.1015524450078704,
+            "finger_top_clearance": 0.050237693339048484,
+            "fingertip_min_top_clearance": 0.015071308001714544,
+            "object_projection_between_fingers": 0.8276301808987178,
+            "object_to_finger_line_xy": 0.009902432344498084,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883947474441876,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6293974952656236,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38263510585456384,
+              -0.08320487432987216,
+              1.2419318070251604
+            ],
+            "held_position": [
+              0.3870691307956772,
+              -0.07927990791541552,
+              1.2409431190502924
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006003619112225242,
+            "max_held_gripper_dist": 0.006008914109280976,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009886879748679522,
+            "max_held_gripper_z_dist": 0.0010098372696520919,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08793514706575922,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3870691307956772,
+              -0.10430794116594275,
+              1.2409431190502924
+            ],
+            "held_grasp_finger_b": [
+              0.37874893460027903,
+              -0.07927990791541552,
+              1.2409431190502924
+            ],
+            "held_grasp_midpoint": [
+              0.3829090326979781,
+              -0.09179392454067914,
+              1.2409431190502924
+            ],
+            "held_grasp_object_position": [
+              0.3870691307956772,
+              -0.07927990791541552,
+              1.2409431190502924
+            ],
+            "held_grasp_finger_gap": 0.02637476280688443,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024495121507571563,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05872175921529624,
+              -0.9982285789338027,
+              -0.009563430057337952
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034202097399312894,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03698411275869909,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3358684856010175,
+              -0.3262228695965443,
+              0.8515395705646148
+            ],
+            "target_position": [
+              0.3272654926168131,
+              -0.3289277713022395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0090182027879031,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18496818051652625,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395705646148,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564464115134963,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678523626274758,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15299554453753653,
+            "release_required_pad_clearance": 0.05339261813137379,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8005375997806954,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008050620555877686,
+            "max_z_decrease": 0.008050620555877686,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035095919909785646,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008050620555877686,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021179688101033767,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008050620555877686,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008050624661316612,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.182965412735939,
+              -0.3851892352104187,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.182965412735939,
+              -0.3851892352104187,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.184354825181269,
+              -0.38344965514938617,
+              0.8037831795332967
+            ],
+            "closest_button": [
+              0.18295730650424952,
+              -0.38518860936164856,
+              0.768758237361908
+            ],
+            "closest_ee_minus_button": [
+              0.0013975186770194825,
+              0.0017389542122623891,
+              0.03502494217138874
+            ],
+            "button_min_z_position": [
+              0.18295730650424952,
+              -0.38518860936164856,
+              0.768758237361908
+            ],
+            "min_active_finger_to_button": 0.14390862356980905,
+            "closest_active_finger": [
+              0.05804087966680527,
+              -0.4476112425327301,
+              0.8075997829437256
+            ],
+            "closest_active_finger_button": [
+              0.18297579884529108,
+              -0.38519415259361267,
+              0.7728857398033142
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12493491917848581,
+              -0.06241708993911743,
+              0.03471404314041138
+            ],
+            "min_contact_pad_to_button": 0.021179688101033767,
+            "closest_contact_pad": [
+              0.18295730650424952,
+              -0.38518860936164856,
+              0.7899379254629417
+            ],
+            "closest_contact_pad_button": [
+              0.18295730650424952,
+              -0.38518860936164856,
+              0.768758237361908
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021179688101033767
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6fc6fa7ebecc0f07e0884b0ec4405965ae9b4717476c417ccea6ee92a81cc9cc",
+    "visual_seed": 5739242008452293198,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21185bdc99424e6a64c2c6fee7f64b7cbc3e758c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3781562194618475,
+              -0.08516145579709472,
+              1.0524566470698014
+            ],
+            "current_z": 1.0524566470698014,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1913501390550354,
+            "gripper_z": 1.0535047930605104,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3740628685972015,
+              -0.08940752883210473,
+              1.0535047930605104
+            ],
+            "object_minus_gripper": [
+              0.004093350864646017,
+              0.004246073035010012,
+              -0.0010481459907090152
+            ],
+            "object_to_gripper_xy": 0.0058978519411508985,
+            "object_to_gripper_z": -0.0010481459907090152,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3781562194618475,
+              -0.10905901326500274,
+              1.0524566470698014
+            ],
+            "finger_b": [
+              0.36741040747759224,
+              -0.08516145579709472,
+              1.0524566470698014
+            ],
+            "finger_midpoint": [
+              0.3727833134697199,
+              -0.09711023453104872,
+              1.0524566470698014
+            ],
+            "object_minus_finger_midpoint": [
+              0.005372905992127641,
+              0.011948778733954002,
+              0.0
+            ],
+            "finger_gap": 0.02620239928199192,
+            "fingertip_max_gap": 0.09221869317904188,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013101199640995953,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0524566470698014,
+            "object_top_z": 1.102314639983078,
+            "finger_top_clearance": 0.04985799291327675,
+            "fingertip_min_top_clearance": 0.014957397873983024,
+            "object_projection_between_fingers": 0.8318114778100211,
+            "object_to_finger_line_xy": 0.009800578056589095,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048609346589520944,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1431596209208648,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37953107346684867,
+              -0.08924062022389248,
+              1.2453141550990796
+            ],
+            "held_position": [
+              0.38390742400696676,
+              -0.08530869595349305,
+              1.2441351274250372
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006000214894010538,
+            "max_held_gripper_dist": 0.006004881071329888,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011790276740424321,
+            "max_held_gripper_z_dist": 0.0012028368891823238,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08815963497957305,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38390742400696676,
+              -0.11027354976445568,
+              1.2441351274250372
+            ],
+            "held_grasp_finger_b": [
+              0.3754119730071166,
+              -0.08530869595349305,
+              1.2441351274250372
+            ],
+            "held_grasp_midpoint": [
+              0.3796596985070417,
+              -0.09779112285897437,
+              1.2441351274250372
+            ],
+            "held_grasp_object_position": [
+              0.38390742400696676,
+              -0.08530869595349305,
+              1.2441351274250372
+            ],
+            "held_grasp_finger_gap": 0.026370752994436662,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024601383465093652,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04012795843332563,
+              -0.9990961196310021,
+              -0.014024645815409631
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037475569082510256,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037078653232953895,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33892290245563833,
+              -0.3237476097979439,
+              0.8515395771843691
+            ],
+            "target_position": [
+              0.33221906137950863,
+              -0.32547412896189654,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0069225973158562,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18392214589717729,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395771843691,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513017470209661,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640396205578758,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15316386989625383,
+            "release_required_pad_clearance": 0.053201981027893794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4265341028288079,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 159,
+            "max_placed_release_frames": 159
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007929027080535889,
+            "max_z_decrease": 0.007929027080535889,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506537249473007,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007929027080535889,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021460957089520914,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007929027080535889,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007929045679493627,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18791899085044855,
+              -0.3817355930805206,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18791899085044855,
+              -0.3817355930805206,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18731378591628708,
+              -0.38347440262958105,
+              0.8079894437852008
+            ],
+            "closest_button": [
+              0.18793305754661555,
+              -0.38174244761466974,
+              0.7729723453521729
+            ],
+            "closest_ee_minus_button": [
+              -0.0006192716303284607,
+              -0.0017319550149113017,
+              0.035017098433027916
+            ],
+            "button_min_z_position": [
+              0.18790188431739802,
+              -0.38173407316207875,
+              0.7688798308372498
+            ],
+            "min_active_finger_to_button": 0.14689716693189148,
+            "closest_active_finger": [
+              0.04633442312479019,
+              -0.365389347076416,
+              0.8084854483604431
+            ],
+            "closest_active_finger_button": [
+              0.18793305754661555,
+              -0.38174244761466974,
+              0.7729723453521729
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14159863442182535,
+              0.01635310053825373,
+              0.035513103008270264
+            ],
+            "min_contact_pad_to_button": 0.021460957089520914,
+            "closest_contact_pad": [
+              0.18790188431739802,
+              -0.384931245141272,
+              0.7901013004030861
+            ],
+            "closest_contact_pad_button": [
+              0.18790188431739802,
+              -0.38173407316207875,
+              0.7688798308372498
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031971719791932807,
+              0.02122146956583637
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0dfaa43f8931fcb18ba2fcdb37217d816b67d9c85f32f1ed9febb7b7702cf390",
+    "visual_seed": 36938538889695809,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c1705827f6ef673f17a2cdbe380c60a7aa44fe9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37562271303874284,
+              -0.0807882830003089,
+              1.0543046603211712
+            ],
+            "current_z": 1.0543046603211712,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.19319797349247103,
+            "gripper_z": 1.055534370759076,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3716247422780836,
+              -0.08507418013016228,
+              1.055534370759076
+            ],
+            "object_minus_gripper": [
+              0.00399797076065922,
+              0.004285897129853389,
+              -0.001229710437904874
+            ],
+            "object_to_gripper_xy": 0.005861116310974521,
+            "object_to_gripper_z": -0.001229710437904874,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37562271303874284,
+              -0.10444638188395068,
+              1.0543046603211712
+            ],
+            "finger_b": [
+              0.36460477202724784,
+              -0.0807882830003089,
+              1.0543046603211712
+            ],
+            "finger_midpoint": [
+              0.37011374253299534,
+              -0.09261733244212979,
+              1.0543046603211712
+            ],
+            "object_minus_finger_midpoint": [
+              0.005508970505747501,
+              0.011829049441820894,
+              0.0
+            ],
+            "finger_gap": 0.026097905412522215,
+            "fingertip_max_gap": 0.09752797332288302,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013048952706261108,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0543046603211712,
+            "object_top_z": 1.1067074154348162,
+            "finger_top_clearance": 0.052402755113645005,
+            "fingertip_min_top_clearance": 0.015720826534093502,
+            "object_projection_between_fingers": 0.8217663995521065,
+            "object_to_finger_line_xy": 0.009987910287199128,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05126398666144151,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.226201069408925,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37713828246369896,
+              -0.08471791472141063,
+              1.2472173915607898
+            ],
+            "held_position": [
+              0.3814661539608084,
+              -0.08078987912074957,
+              1.2458540965613354
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006001542187728959,
+            "max_held_gripper_dist": 0.006006902855140936,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001363294999454423,
+            "max_held_gripper_z_dist": 0.0013819397767833586,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08797017499098013,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3814661539608084,
+              -0.10572011514938431,
+              1.2458540965613354
+            ],
+            "held_grasp_finger_b": [
+              0.3729819473707759,
+              -0.08078987912074957,
+              1.2458540965613354
+            ],
+            "held_grasp_midpoint": [
+              0.3772240506657921,
+              -0.09325499713506694,
+              1.2458540965613354
+            ],
+            "held_grasp_object_position": [
+              0.3814661539608084,
+              -0.08078987912074957,
+              1.2458540965613354
+            ],
+            "held_grasp_finger_gap": 0.026334358353789236,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024583653467002628,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.038375070310050614,
+              -0.9991576278222757,
+              0.014539213983622236
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037650502934278387,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037102841312176255,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.330912611110899,
+              -0.3309088890388695,
+              0.851539589962307
+            ],
+            "target_position": [
+              0.3247882190430469,
+              -0.33223086627891524,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006265445077883019,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18507189768382482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539589962307,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515623971110925,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08598821190709298,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15422000950682332,
+            "release_required_pad_clearance": 0.05299410595354649,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0218144337555874,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00794893503189087,
+            "max_z_decrease": 0.00794893503189087,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504678987839649,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00794893503189087,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02121909551916601,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00794893503189087,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00794895830492782,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18048813939094543,
+              -0.3884923160076141,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18048813939094543,
+              -0.3884923160076141,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18121057664885035,
+              -0.3868791386316975,
+              0.806064969428482
+            ],
+            "closest_button": [
+              0.18047446012496948,
+              -0.3884954154491424,
+              0.7710632085800171
+            ],
+            "closest_ee_minus_button": [
+              0.0007361165238808642,
+              0.0016162768174449171,
+              0.03500176084846496
+            ],
+            "button_min_z_position": [
+              0.18046934902667996,
+              -0.3884964287281036,
+              0.7688599228858948
+            ],
+            "min_active_finger_to_button": 0.14482957384145986,
+            "closest_active_finger": [
+              0.053724564611911774,
+              -0.44924476742744446,
+              0.8078082799911499
+            ],
+            "closest_active_finger_button": [
+              0.18049964308738703,
+              -0.38849630951881403,
+              0.7729756832122803
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12677507847547526,
+              -0.06074845790863043,
+              0.03483259677886963
+            ],
+            "min_contact_pad_to_button": 0.02121909551916601,
+            "closest_contact_pad": [
+              0.18046934902667996,
+              -0.3884964287281036,
+              0.7900790184050608
+            ],
+            "closest_contact_pad_button": [
+              0.18046934902667996,
+              -0.3884964287281036,
+              0.7688599228858948
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02121909551916601
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca8f18d211d944f2ebb70c1a877e94dbfe23dc9ee813ec1b7435e26aa3c6e2cd",
+    "visual_seed": 6740109023385565351,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd8df10376cee309905f38b5c98ee80806ab6f9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37447632874101444,
+              -0.07987697958946097,
+              1.0519444580037394
+            ],
+            "current_z": 1.0519444580037394,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1908377711750392,
+            "gripper_z": 1.0530684644492736,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37050872112359234,
+              -0.08412933469649028,
+              1.0530684644492736
+            ],
+            "object_minus_gripper": [
+              0.0039676076174220976,
+              0.004252355107029315,
+              -0.0011240064455342313
+            ],
+            "object_to_gripper_xy": 0.005815877763683154,
+            "object_to_gripper_z": -0.0011240064455342313,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37447632874101444,
+              -0.10353740731788029,
+              1.0519444580037394
+            ],
+            "finger_b": [
+              0.36353056343293993,
+              -0.07987697958946097,
+              1.0519444580037394
+            ],
+            "finger_midpoint": [
+              0.3690034460869772,
+              -0.09170719345367062,
+              1.0519444580037394
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054728826540372255,
+              0.011830213864209654,
+              0.0
+            ],
+            "finger_gap": 0.02606963019436987,
+            "fingertip_max_gap": 0.09270807379069992,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013034815097184918,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0519444580037394,
+            "object_top_z": 1.1021814485636061,
+            "finger_top_clearance": 0.050236990559866745,
+            "fingertip_min_top_clearance": 0.015071097167960023,
+            "object_projection_between_fingers": 0.8237120924768019,
+            "object_to_finger_line_xy": 0.009934221815692184,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048854036895349964,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.694371928339939,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37621632092276736,
+              -0.08421867546423845,
+              1.2458269167711715
+            ],
+            "held_position": [
+              0.3805409299166006,
+              -0.08035766839029687,
+              1.2445627382031978
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005933613235314065,
+            "max_held_gripper_dist": 0.005939103907704927,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012641785679736728,
+            "max_held_gripper_z_dist": 0.0012876021482928213,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08803466747785964,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3805409299166006,
+              -0.10542917439588471,
+              1.2445627382031978
+            ],
+            "held_grasp_finger_b": [
+              0.3723307154911093,
+              -0.08017635054136137,
+              1.2445627382031978
+            ],
+            "held_grasp_midpoint": [
+              0.37643582270385495,
+              -0.09280276246862304,
+              1.2445627382031978
+            ],
+            "held_grasp_object_position": [
+              0.3805409299166006,
+              -0.08035766839029687,
+              1.2445627382031978
+            ],
+            "held_grasp_finger_gap": 0.026553958905220307,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024637307568423066,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06784202858354878,
+              -0.9976826875003701,
+              -0.005168580047516524
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032519994098955582,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702549636297004,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33968990615742634,
+              -0.32811949846499217,
+              0.8515395704554702
+            ],
+            "target_position": [
+              0.33154600124297984,
+              -0.3304920064171713,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00848245136966308,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18459766250074086,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395704554702,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547405617285004,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584833448556277,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15320900720588798,
+            "release_required_pad_clearance": 0.052924167242781386,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8864630123924827,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008153796195983887,
+            "max_z_decrease": 0.008153796195983887,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502799245933316,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008153796195983887,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02123029677881838,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008153796195983887,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008153849047575575,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18724592030048362,
+              -0.3867534697055816,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18724592030048362,
+              -0.3867534697055816,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1868601904395515,
+              -0.3852670850323739,
+              0.8036496454399348
+            ],
+            "closest_button": [
+              0.18721657991409296,
+              -0.38675448298454285,
+              0.7686550617218018
+            ],
+            "closest_ee_minus_button": [
+              -0.0003563894745414742,
+              0.0014873979521689562,
+              0.03499458371813302
+            ],
+            "button_min_z_position": [
+              0.18721657991409296,
+              -0.38675448298454285,
+              0.7686550617218018
+            ],
+            "min_active_finger_to_button": 0.14563464484048722,
+            "closest_active_finger": [
+              0.06023860722780228,
+              -0.4488663971424103,
+              0.80767822265625
+            ],
+            "closest_active_finger_button": [
+              0.18725609779357905,
+              -0.3867586851119995,
+              0.7727692127227783
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12701749056577677,
+              -0.06210771203041077,
+              0.03490900993347168
+            ],
+            "min_contact_pad_to_button": 0.02123029677881838,
+            "closest_contact_pad": [
+              0.18721657991409296,
+              -0.38675448298454285,
+              0.7898853585006201
+            ],
+            "closest_contact_pad_button": [
+              0.18721657991409296,
+              -0.38675448298454285,
+              0.7686550617218018
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02123029677881838
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52033be705e39e7f2fae9d10ff45be826ea64d5e564c84ea68e6e907d5164952",
+    "visual_seed": 858458274487516407,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..15202c8282a4a46286870cd3626327cf2a778816
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3822646089926078,
+              -0.08084255305294714,
+              1.051218575949636
+            ],
+            "current_z": 1.051218575949636,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.1901118891209359,
+            "gripper_z": 1.053044681144976,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3777372292347254,
+              -0.08524807824222415,
+              1.053044681144976
+            ],
+            "object_minus_gripper": [
+              0.004527379757882366,
+              0.004405525189277004,
+              -0.0018261051953400997
+            ],
+            "object_to_gripper_xy": 0.0063171053232819515,
+            "object_to_gripper_z": -0.0018261051953400997,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3822646089926078,
+              -0.10515265237800292,
+              1.051218575949636
+            ],
+            "finger_b": [
+              0.371434522449186,
+              -0.08084255305294714,
+              1.051218575949636
+            ],
+            "finger_midpoint": [
+              0.3768495657208969,
+              -0.09299760271547503,
+              1.051218575949636
+            ],
+            "object_minus_finger_midpoint": [
+              0.005415043271710884,
+              0.012155049662527881,
+              0.0
+            ],
+            "finger_gap": 0.026613374527332728,
+            "fingertip_max_gap": 0.09591386742441607,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013306687263666357,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051218575949636,
+            "object_top_z": 1.102512139685055,
+            "finger_top_clearance": 0.051293563735419045,
+            "fingertip_min_top_clearance": 0.015388069120625746,
+            "object_projection_between_fingers": 0.8343986157854857,
+            "object_to_finger_line_xy": 0.009892788278282258,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05045693371220804,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.25601071061451,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.382845692092983,
+              -0.0842238690853812,
+              1.242818926758482
+            ],
+            "held_position": [
+              0.38753656644830164,
+              -0.08002079612583066,
+              1.2408676507889984
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006593754805099645,
+            "max_held_gripper_dist": 0.006603775846929345,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0019512759694835236,
+            "max_held_gripper_z_dist": 0.0019858542337241047,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08748765626256352,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38753656644830164,
+              -0.10493642544590982,
+              1.2408676507889984
+            ],
+            "held_grasp_finger_b": [
+              0.3783025704329456,
+              -0.08002079612583066,
+              1.2408676507889984
+            ],
+            "held_grasp_midpoint": [
+              0.3829195684406236,
+              -0.09247861078587025,
+              1.2408676507889984
+            ],
+            "held_grasp_object_position": [
+              0.38753656644830164,
+              -0.08002079612583066,
+              1.2408676507889984
+            ],
+            "held_grasp_finger_gap": 0.02657170048806061,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02496506428541391,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.005392858167936804,
+              -0.9999854442569077,
+              0.00016838971370458644
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004684114565644827,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03728751555822221,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3355409453299293,
+              -0.32799459665814235,
+              0.8515395647432159
+            ],
+            "target_position": [
+              0.3273713538478262,
+              -0.3309486911864758,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008687283779570076,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18574958784337967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395647432159,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551908108303304,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08880924856037885,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15415275279605176,
+            "release_required_pad_clearance": 0.054404624280189426,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8350968753250516,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008016109466552734,
+            "max_z_decrease": 0.008016109466552734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035034994668018585,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008016109466552734,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02122156931766528,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008016109466552734,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00801613840759464,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1830712854862213,
+              -0.38721016049385065,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1830712854862213,
+              -0.38721016049385065,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18276851617492815,
+              -0.38564829835618264,
+              0.8059953586189929
+            ],
+            "closest_button": [
+              0.1830575317144394,
+              -0.3872129023075103,
+              0.7709965109825134
+            ],
+            "closest_ee_minus_button": [
+              -0.0002890155395112448,
+              0.001564603951327681,
+              0.034998847636479424
+            ],
+            "button_min_z_position": [
+              0.18305034935474396,
+              -0.38721522688865656,
+              0.7687927484512329
+            ],
+            "min_active_finger_to_button": 0.14575234401184384,
+            "closest_active_finger": [
+              0.05544159561395645,
+              -0.4483366906642914,
+              0.8077747225761414
+            ],
+            "closest_active_finger_button": [
+              0.18308427929878235,
+              -0.38721424341201777,
+              0.7729158997535706
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276426836848259,
+              -0.061122447252273615,
+              0.0348588228225708
+            ],
+            "min_contact_pad_to_button": 0.02122156931766528,
+            "closest_contact_pad": [
+              0.18305136263370514,
+              -0.3872141242027282,
+              0.7900940687836077
+            ],
+            "closest_contact_pad_button": [
+              0.18305136263370514,
+              -0.3872141242027282,
+              0.7688724994659424
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02122156931766528
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e43662af8ec2b56905b3abb7f7a9e9d84793dbd45340e0026d08f46c42c32d28",
+    "visual_seed": 5547781559796361410,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b5998121aa83d7fb2a70f8a14adf2e06dc1e576
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3825982514614644,
+              -0.0792429916607053,
+              1.0526366371917901
+            ],
+            "current_z": 1.0526366371917901,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.19153000996773462,
+            "gripper_z": 1.0537243964519813,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3782400914740289,
+              -0.08365670426849876,
+              1.0537243964519813
+            ],
+            "object_minus_gripper": [
+              0.004358159987435495,
+              0.0044137126077934685,
+              -0.0010877592601912234
+            ],
+            "object_to_gripper_xy": 0.0062027749806259115,
+            "object_to_gripper_z": -0.0010877592601912234,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3825982514614644,
+              -0.10336297401359894,
+              1.0526366371917901
+            ],
+            "finger_b": [
+              0.3716580077068161,
+              -0.0792429916607053,
+              1.0526366371917901
+            ],
+            "finger_midpoint": [
+              0.37712812958414027,
+              -0.09130298283715212,
+              1.0526366371917901
+            ],
+            "object_minus_finger_midpoint": [
+              0.005470121877324152,
+              0.012059991176446822,
+              0.0
+            ],
+            "finger_gap": 0.02648513700389375,
+            "fingertip_max_gap": 0.09514523408762446,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013242568501946874,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0526366371917901,
+            "object_top_z": 1.1042703790600246,
+            "finger_top_clearance": 0.05163374186823444,
+            "fingertip_min_top_clearance": 0.015490122560470332,
+            "object_projection_between_fingers": 0.8293722950795032,
+            "object_to_finger_line_xy": 0.009963266803553911,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05007261704381223,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3242154866500475,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3835327178093896,
+              -0.08307967075692478,
+              1.2440809282181313
+            ],
+            "held_position": [
+              0.3881462689217627,
+              -0.07897447561412224,
+              1.2428543816545017
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00629618118383837,
+            "max_held_gripper_dist": 0.006310578475950602,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001226546563629638,
+            "max_held_gripper_z_dist": 0.0012527937007125178,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08802111194560353,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3881462689217627,
+              -0.10393834487316529,
+              1.2428543816545017
+            ],
+            "held_grasp_finger_b": [
+              0.37923185717853397,
+              -0.07897447561412224,
+              1.2428543816545017
+            ],
+            "held_grasp_midpoint": [
+              0.3836890630501483,
+              -0.09145641024364376,
+              1.2428543816545017
+            ],
+            "held_grasp_object_position": [
+              0.3881462689217627,
+              -0.07897447561412224,
+              1.2428543816545017
+            ],
+            "held_grasp_finger_gap": 0.026507763110274103,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02466920081190965,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03156479812381023,
+              -0.9994677571842734,
+              0.008238074316351263
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004062311426355495,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037104268057072703,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3368470363836201,
+              -0.33120054863759474,
+              0.8515395661458499
+            ],
+            "target_position": [
+              0.3302898821834224,
+              -0.3330770311042895,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006820370785593931,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827590151896958,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395661458499,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539043784848984,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08680631187794834,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15158287402435927,
+            "release_required_pad_clearance": 0.05340315593897417,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8212842310549535,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008053243160247803,
+            "max_z_decrease": 0.008053243160247803,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035066142783845095,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008053243160247803,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02124080603809807,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008053243160247803,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008053248773602745,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1859898120164871,
+              -0.38933849334716797,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1859898120164871,
+              -0.38933849334716797,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18719362658909344,
+              -0.3903825861518918,
+              0.8037851356517275
+            ],
+            "closest_button": [
+              0.18598070740699763,
+              -0.3893357515335083,
+              0.7687556147575378
+            ],
+            "closest_ee_minus_button": [
+              0.0012129191820958174,
+              -0.0010468346183835076,
+              0.03502952089418965
+            ],
+            "button_min_z_position": [
+              0.18598070740699763,
+              -0.3893357515335083,
+              0.7687556147575378
+            ],
+            "min_active_finger_to_button": 0.1446080858354822,
+            "closest_active_finger": [
+              0.04619656503200531,
+              -0.3766592741012573,
+              0.8078069090843201
+            ],
+            "closest_active_finger_button": [
+              0.18600004911422724,
+              -0.3893451392650604,
+              0.7730858325958252
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13980348408222193,
+              0.0126858651638031,
+              0.03472107648849487
+            ],
+            "min_contact_pad_to_button": 0.02124080603809807,
+            "closest_contact_pad": [
+              0.18598070740699763,
+              -0.3913555290118834,
+              0.7899001729247342
+            ],
+            "closest_contact_pad_button": [
+              0.18598070740699763,
+              -0.3893357515335083,
+              0.7687556147575378
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020197774783751177,
+              0.021144558167196403
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4834d944d558092926708a51865cbd62bb89c7141b4b33f12924241c76b30ce5",
+    "visual_seed": 1258672027762473917,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4158d4def4c41f5a5642fef06cf3bfde74697ffe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37917746004876307,
+              -0.08392934181718882,
+              1.0543193130104838
+            ],
+            "current_z": 1.0543193130104838,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.19321262618178348,
+            "gripper_z": 1.0553103522661769,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37541196134508603,
+              -0.08806466858635642,
+              1.0553103522661769
+            ],
+            "object_minus_gripper": [
+              0.0037654987036770393,
+              0.004135326769167599,
+              -0.0009910392556931047
+            ],
+            "object_to_gripper_xy": 0.005592844354636342,
+            "object_to_gripper_z": -0.0009910392556931047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37917746004876307,
+              -0.10745361769986748,
+              1.0543193130104838
+            ],
+            "finger_b": [
+              0.3684097494899259,
+              -0.08392934181718882,
+              1.0543193130104838
+            ],
+            "finger_midpoint": [
+              0.3737936047693445,
+              -0.09569147975852815,
+              1.0543193130104838
+            ],
+            "object_minus_finger_midpoint": [
+              0.005383855279418592,
+              0.011762137941339332,
+              0.0
+            ],
+            "finger_gap": 0.025871512257370475,
+            "fingertip_max_gap": 0.09458288744545781,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012935756128685237,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0543193130104838,
+            "object_top_z": 1.1051136720035977,
+            "finger_top_clearance": 0.05079435899311391,
+            "fingertip_min_top_clearance": 0.015238307697934172,
+            "object_projection_between_fingers": 0.8267779732050995,
+            "object_to_finger_line_xy": 0.009790791944864196,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04979144372272891,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6975458655328515,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3810676283018811,
+              -0.08804779015291612,
+              1.2450136979301554
+            ],
+            "held_position": [
+              0.38515584721496315,
+              -0.08425309259884828,
+              1.2438800018867084
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005691970671661735,
+            "max_held_gripper_dist": 0.005696659650573569,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00113369604344693,
+            "max_held_gripper_z_dist": 0.0011538218402267209,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788532742618536,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38515584721496315,
+              -0.10904476748442142,
+              1.2438800018867084
+            ],
+            "held_grasp_finger_b": [
+              0.3770311216404474,
+              -0.08425309259884828,
+              1.2438800018867084
+            ],
+            "held_grasp_midpoint": [
+              0.3810934844277053,
+              -0.09664893004163486,
+              1.2438800018867084
+            ],
+            "held_grasp_object_position": [
+              0.38515584721496315,
+              -0.08425309259884828,
+              1.2438800018867084
+            ],
+            "held_grasp_finger_gap": 0.026089045771993054,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02440659659862693,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044352730018752735,
+              -0.9990027084826912,
+              -0.005140407000512104
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035091629000000546,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03715659801089864,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3323719241342707,
+              -0.3284044959798734,
+              0.8515395625954192
+            ],
+            "target_position": [
+              0.3252850477073152,
+              -0.330360796842987,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007351933797169045,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851239223450385,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395625954192,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529186504394225,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637559492692702,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15404747077755757,
+            "release_required_pad_clearance": 0.05318779746346351,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3988314269549604,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008057177066802979,
+            "max_z_decrease": 0.008057177066802979,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506891349414055,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008057177066802979,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02116100765430614,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008057177066802979,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008057180691861794,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18098497390747065,
+              -0.3866222500801086,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18098497390747065,
+              -0.3866222500801086,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1800727482368462,
+              -0.38741117299127736,
+              0.8037999718527906
+            ],
+            "closest_button": [
+              0.18097785115242,
+              -0.38661947846412653,
+              0.7687516808509827
+            ],
+            "closest_ee_minus_button": [
+              -0.0009051029155738022,
+              -0.0007916945271508324,
+              0.03504829100180795
+            ],
+            "button_min_z_position": [
+              0.18097785115242,
+              -0.38661947846412653,
+              0.7687516808509827
+            ],
+            "min_active_finger_to_button": 0.1466222912247405,
+            "closest_active_finger": [
+              0.039121560752391815,
+              -0.37323835492134094,
+              0.8095710873603821
+            ],
+            "closest_active_finger_button": [
+              0.18098998069763178,
+              -0.38662698864936823,
+              0.7750429511070251
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14186841994523997,
+              0.013388633728027288,
+              0.034528136253356934
+            ],
+            "min_contact_pad_to_button": 0.02116100765430614,
+            "closest_contact_pad": [
+              0.18097785115242,
+              -0.38841661690686274,
+              0.7898362377200099
+            ],
+            "closest_contact_pad_button": [
+              0.18097785115242,
+              -0.38661947846412653,
+              0.7687516808509827
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017971384427362125,
+              0.021084556869027216
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd960f353ed4b7c69c835759e46af2bd9806bf6ad64819280fd7b5d6e5fc1f29",
+    "visual_seed": 1486707255432555657,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..368cb4750bbe96c9dde44049a38e14e1675014fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3822890141033953,
+              -0.08120442041475737,
+              1.0510445570919627
+            ],
+            "current_z": 1.0510445570919627,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.18993769144932804,
+            "gripper_z": 1.051830954267509,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3783925514045617,
+              -0.08543219597408543,
+              1.051830954267509
+            ],
+            "object_minus_gripper": [
+              0.0038964626988335915,
+              0.004227775559328059,
+              -0.000786397175546405
+            ],
+            "object_to_gripper_xy": 0.005749478910601659,
+            "object_to_gripper_z": -0.000786397175546405,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3822890141033953,
+              -0.10476391939751853,
+              1.0510445570919627
+            ],
+            "finger_b": [
+              0.371312228331316,
+              -0.08120442041475737,
+              1.0510445570919627
+            ],
+            "finger_midpoint": [
+              0.37680062121735564,
+              -0.09298416990613795,
+              1.0510445570919627
+            ],
+            "object_minus_finger_midpoint": [
+              0.005488392886039639,
+              0.011779749491380581,
+              0.0
+            ],
+            "finger_gap": 0.025991148843497593,
+            "fingertip_max_gap": 0.09296461238733253,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012995574421748797,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0510445570919627,
+            "object_top_z": 1.1012693966487015,
+            "finger_top_clearance": 0.05022483955673884,
+            "fingertip_min_top_clearance": 0.015067451867021651,
+            "object_projection_between_fingers": 0.8216391948496727,
+            "object_to_finger_line_xy": 0.009949832336710509,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04898230619366627,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.957515341491885,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38408301360353775,
+              -0.08543789865547184,
+              1.2435790494585164
+            ],
+            "held_position": [
+              0.3883439217835115,
+              -0.08160245772735839,
+              1.242644460941338
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0058085627592078855,
+            "max_held_gripper_dist": 0.00581645116189021,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009345885171783141,
+            "max_held_gripper_z_dist": 0.0009582298923398458,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.088308551732966,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3883439217835115,
+              -0.1065764032356243,
+              1.242644460941338
+            ],
+            "held_grasp_finger_b": [
+              0.3801442713794554,
+              -0.08157318846575344,
+              1.242644460941338
+            ],
+            "held_grasp_midpoint": [
+              0.38424409658148345,
+              -0.09407479585068887,
+              1.242644460941338
+            ],
+            "held_grasp_object_position": [
+              0.3883439217835115,
+              -0.08160245772735839,
+              1.242644460941338
+            ],
+            "held_grasp_finger_gap": 0.02631339992431662,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02442757215303355,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06390577831947121,
+              -0.9979347625377855,
+              -0.006500862714779121
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00329540904512787,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0370116677661889,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3411204045884879,
+              -0.3242439317229496,
+              0.8515395670683286
+            ],
+            "target_position": [
+              0.3321050213080775,
+              -0.32731314576081283,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009523508308544721,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18725896400258862,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395670683286,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585491384696762,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08685876390887141,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1548776663334587,
+            "release_required_pad_clearance": 0.05342938195443571,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8729812963508143,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007796347141265869,
+            "max_z_decrease": 0.007796347141265869,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503835283238566,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007796347141265869,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021361035338528563,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007796347141265869,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007796362244453774,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18780495226383204,
+              -0.3835746049880981,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18780495226383204,
+              -0.3835746049880981,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1889110904777834,
+              -0.3848151948767219,
+              0.8040110329842544
+            ],
+            "closest_button": [
+              0.18778984248638148,
+              -0.38357728719711304,
+              0.7690125107765198
+            ],
+            "closest_ee_minus_button": [
+              0.0011212479914019247,
+              -0.0012379076796088517,
+              0.034998522207734584
+            ],
+            "button_min_z_position": [
+              0.18778984248638148,
+              -0.38357728719711304,
+              0.7690125107765198
+            ],
+            "min_active_finger_to_button": 0.14474203161423077,
+            "closest_active_finger": [
+              0.04802887141704559,
+              -0.3699842691421509,
+              0.8082535862922668
+            ],
+            "closest_active_finger_button": [
+              0.18781846761703486,
+              -0.38357833027839655,
+              0.7732632160186768
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13978959619998926,
+              0.013594061136245672,
+              0.03499037027359009
+            ],
+            "min_contact_pad_to_button": 0.021361035338528563,
+            "closest_contact_pad": [
+              0.18778984248638148,
+              -0.38589159757840324,
+              0.7902478068232651
+            ],
+            "closest_contact_pad_button": [
+              0.18778984248638148,
+              -0.38357728719711304,
+              0.7690125107765198
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023143103812902077,
+              0.021235296046745344
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2036c3fbd9a2e304659ac90b106ceef8322aa4e3ce4c321814a8b44cf2adfb93",
+    "visual_seed": 7322422396285020453,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..062fc3938fb9a2222306176bdad8862f3543d3b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3769619847049786,
+              -0.07515964348207171,
+              1.051201177646341
+            ],
+            "current_z": 1.051201177646341,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.19009443121299607,
+            "gripper_z": 1.0522944053175916,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3729025969573535,
+              -0.07944966837772653,
+              1.0522944053175916
+            ],
+            "object_minus_gripper": [
+              0.004059387747625098,
+              0.004290024895654818,
+              -0.0010932276712505296
+            ],
+            "object_to_gripper_xy": 0.00590617833212873,
+            "object_to_gripper_z": -0.0010932276712505296,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3769619847049786,
+              -0.09890862884746289,
+              1.051201177646341
+            ],
+            "finger_b": [
+              0.3659912401228439,
+              -0.07515964348207171,
+              1.051201177646341
+            ],
+            "finger_midpoint": [
+              0.3714766124139113,
+              -0.0870341361647673,
+              1.051201177646341
+            ],
+            "object_minus_finger_midpoint": [
+              0.005485372291067325,
+              0.011874492682695581,
+              0.0
+            ],
+            "finger_gap": 0.026160495839566998,
+            "fingertip_max_gap": 0.09614461736141891,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013080247919783482,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051201177646341,
+            "object_top_z": 1.1030097894579298,
+            "finger_top_clearance": 0.0518086118115888,
+            "fingertip_min_top_clearance": 0.015542583543476656,
+            "object_projection_between_fingers": 0.8241346561049105,
+            "object_to_finger_line_xy": 0.009959446263036652,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05057230868070946,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.745998068857964,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3783935146605627,
+              -0.07907722798354258,
+              1.244006548670439
+            ],
+            "held_position": [
+              0.3827767242722198,
+              -0.07514213452020767,
+              1.242776764401993
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0060174626223867805,
+            "max_held_gripper_dist": 0.006022193302448281,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012297842684461102,
+            "max_held_gripper_z_dist": 0.0012523451382187023,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08773324390710265,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3827767242722198,
+              -0.10012590712100457,
+              1.242776764401993
+            ],
+            "held_grasp_finger_b": [
+              0.3742790591492988,
+              -0.07514213452020767,
+              1.242776764401993
+            ],
+            "held_grasp_midpoint": [
+              0.3785278917107593,
+              -0.08763402082060612,
+              1.242776764401993
+            ],
+            "held_grasp_object_position": [
+              0.3827767242722198,
+              -0.07514213452020767,
+              1.242776764401993
+            ],
+            "held_grasp_finger_gap": 0.02638937676243298,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024598495111782862,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04254812313926761,
+              -0.9990506723165188,
+              0.009349404325279085
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037153413106686,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037059442812157325,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3324856474364586,
+              -0.32557093899438355,
+              0.851539543220365
+            ],
+            "target_position": [
+              0.32612686324582923,
+              -0.3270255707478989,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0065230429955146635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18472875032105907,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539543220365,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751632451563462,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08645969078027792,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538041886923771,
+            "release_required_pad_clearance": 0.05322984539013896,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4809137550611389,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00783085823059082,
+            "max_z_decrease": 0.00783085823059082,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512281284570353,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00783085823059082,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021151154396176874,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00783085823059082,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007830883353788634,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1818267852067947,
+              -0.3832870423793792,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1818267852067947,
+              -0.3832870423793792,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18202200724551185,
+              -0.38136041031697276,
+              0.8076115458028034
+            ],
+            "closest_button": [
+              0.18181644380092618,
+              -0.3832906782627105,
+              0.772542417049408
+            ],
+            "closest_ee_minus_button": [
+              0.00020556344458566578,
+              0.0019302679457377514,
+              0.03506912875339541
+            ],
+            "button_min_z_position": [
+              0.18180727958679196,
+              -0.38329064846038813,
+              0.7689779996871948
+            ],
+            "min_active_finger_to_button": 0.14519424041281154,
+            "closest_active_finger": [
+              0.05565248429775238,
+              -0.44627857208251953,
+              0.8109694719314575
+            ],
+            "closest_active_finger_button": [
+              0.18183109164237976,
+              -0.3832893967628479,
+              0.7764341235160828
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12617860734462738,
+              -0.06298917531967163,
+              0.034535348415374756
+            ],
+            "min_contact_pad_to_button": 0.021151154396176874,
+            "closest_contact_pad": [
+              0.18180727958679196,
+              -0.38329064846038813,
+              0.7901291540833717
+            ],
+            "closest_contact_pad_button": [
+              0.18180727958679196,
+              -0.38329064846038813,
+              0.7689779996871948
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021151154396176874
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "74c71c26fa0f0ecc27c60f78071fdea6ab91b26c1225022b11c6163f5756f7b3",
+    "visual_seed": 367619483367125709,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b666b044f242de397faa66f14eaeabb6d0169949
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3754407945786153,
+              -0.08207908677200478,
+              1.0539245074664287
+            ],
+            "current_z": 1.0539245074664287,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.19281788024237312,
+            "gripper_z": 1.0551122391138212,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37110326377260294,
+              -0.08643641305745459,
+              1.0551122391138212
+            ],
+            "object_minus_gripper": [
+              0.004337530806012346,
+              0.004357326285449811,
+              -0.0011877316473924981
+            ],
+            "object_to_gripper_xy": 0.006148208344792649,
+            "object_to_gripper_z": -0.0011877316473924981,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3754407945786153,
+              -0.10617340075213164,
+              1.0539245074664287
+            ],
+            "finger_b": [
+              0.3645636340338367,
+              -0.08207908677200478,
+              1.0539245074664287
+            ],
+            "finger_midpoint": [
+              0.370002214306226,
+              -0.09412624376206821,
+              1.0539245074664287
+            ],
+            "object_minus_finger_midpoint": [
+              0.005438580272389304,
+              0.012047156990063437,
+              0.0
+            ],
+            "finger_gap": 0.026435744507954096,
+            "fingertip_max_gap": 0.09294829162215398,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013217872253977055,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0539245074664287,
+            "object_top_z": 1.1045133536054643,
+            "finger_top_clearance": 0.05058884613903558,
+            "fingertip_min_top_clearance": 0.015176653841710706,
+            "object_projection_between_fingers": 0.8307034977233151,
+            "object_to_finger_line_xy": 0.009913763590024402,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048974145811076994,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4217766428711267,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3767296171117432,
+              -0.0864060699056965,
+              1.2457899755498556
+            ],
+            "held_position": [
+              0.3813524332138907,
+              -0.08237863640306088,
+              1.2444530814332115
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0062751840779010975,
+            "max_held_gripper_dist": 0.0062801873272341205,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013368941166440607,
+            "max_held_gripper_z_dist": 0.0013615263839377167,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08802742068226976,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3813524332138907,
+              -0.10749605141872424,
+              1.2444530814332115
+            ],
+            "held_grasp_finger_b": [
+              0.3727692705806392,
+              -0.08237863640306088,
+              1.2444530814332115
+            ],
+            "held_grasp_midpoint": [
+              0.3770608518972649,
+              -0.09493734391089256,
+              1.2444530814332115
+            ],
+            "held_grasp_object_position": [
+              0.3813524332138907,
+              -0.08237863640306088,
+              1.2444530814332115
+            ],
+            "held_grasp_finger_gap": 0.026543459040937297,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024619128019092825,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.053774866079153445,
+              -0.9985377247057892,
+              -0.00553860249113991
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003610711332262767,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036949127639409954,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33763715680883644,
+              -0.32677183047383684,
+              0.8515395640900838
+            ],
+            "target_position": [
+              0.3296850121631267,
+              -0.3292435497248178,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008327424603198769,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18400512345609613,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395640900838,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557030508681303,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08669972893801818,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15236349690059164,
+            "release_required_pad_clearance": 0.05334986446900909,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.716412020404354,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008125841617584229,
+            "max_z_decrease": 0.008125841617584229,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035032427112998775,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008125841617584229,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02140604935364277,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008125841617584229,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008125873511355878,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18538494408130643,
+              -0.38550502061843867,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18538494408130643,
+              -0.38550502061843867,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18619779250963095,
+              -0.3868664882141666,
+              0.8036788204100351
+            ],
+            "closest_button": [
+              0.18536274135112757,
+              -0.38549998402595514,
+              0.7686830163002014
+            ],
+            "closest_ee_minus_button": [
+              0.0008350511585033804,
+              -0.001366504188211437,
+              0.03499580410983372
+            ],
+            "button_min_z_position": [
+              0.18536274135112757,
+              -0.38549998402595514,
+              0.7686830163002014
+            ],
+            "min_active_finger_to_button": 0.1450316702851235,
+            "closest_active_finger": [
+              0.04546010494232178,
+              -0.37063300609588623,
+              0.8078853487968445
+            ],
+            "closest_active_finger_button": [
+              0.18539765477180475,
+              -0.38551065325736994,
+              0.7728093862533569
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13993754982948298,
+              0.01487764716148371,
+              0.03507596254348755
+            ],
+            "min_contact_pad_to_button": 0.02140604935364277,
+            "closest_contact_pad": [
+              0.18536274135112757,
+              -0.38806888029141506,
+              0.7899343626318552
+            ],
+            "closest_contact_pad_button": [
+              0.18536274135112757,
+              -0.38549998402595514,
+              0.7686830163002014
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002568896265459919,
+              0.02125134633165382
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e17536e56e09ce9def0f96a9f5775340283668d8faf639f142d480fec9ef4224",
+    "visual_seed": 5897165251619790761,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d8abe12fb30869a7b5b2715bfc3ab09570078bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37705542268834985,
+              -0.08218890539996562,
+              1.0539568278979918
+            ],
+            "current_z": 1.0539568278979918,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.192850200673936,
+            "gripper_z": 1.0550035721676707,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37301859605643983,
+              -0.08648780920512743,
+              1.0550035721676707
+            ],
+            "object_minus_gripper": [
+              0.004036826631910018,
+              0.004298903805161805,
+              -0.0010467442696788787
+            ],
+            "object_to_gripper_xy": 0.005897163994848085,
+            "object_to_gripper_z": -0.0010467442696788787,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37705542268834985,
+              -0.10587071078211746,
+              1.0539568278979918
+            ],
+            "finger_b": [
+              0.36600668546058474,
+              -0.08218890539996562,
+              1.0539568278979918
+            ],
+            "finger_midpoint": [
+              0.3715310540744673,
+              -0.09402980809104154,
+              1.0539568278979918
+            ],
+            "object_minus_finger_midpoint": [
+              0.005524368613882558,
+              0.011840902691075919,
+              0.0
+            ],
+            "finger_gap": 0.02613240326656388,
+            "fingertip_max_gap": 0.0929214937202458,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01306620163328194,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0539568278979918,
+            "object_top_z": 1.1042447178039063,
+            "finger_top_clearance": 0.050287889905914485,
+            "fingertip_min_top_clearance": 0.015086366971774345,
+            "object_projection_between_fingers": 0.8212415473054071,
+            "object_to_finger_line_xy": 0.010012628462735096,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0489607468601229,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8162797005057478,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37873988903846645,
+              -0.08676681447060411,
+              1.2441773519387485
+            ],
+            "held_position": [
+              0.38313302752645306,
+              -0.08286128142830754,
+              1.2429678583427757
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006001310596677928,
+            "max_held_gripper_dist": 0.006005988031529511,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001209493595972777,
+            "max_held_gripper_z_dist": 0.0012294154337366692,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08829356672703226,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38313302752645306,
+              -0.10788554060876504,
+              1.2429678583427757
+            ],
+            "held_grasp_finger_b": [
+              0.3748961583428998,
+              -0.08286128142830754,
+              1.2429678583427757
+            ],
+            "held_grasp_midpoint": [
+              0.37901459293467643,
+              -0.09537341101853629,
+              1.2429678583427757
+            ],
+            "held_grasp_object_position": [
+              0.38313302752645306,
+              -0.08286128142830754,
+              1.2429678583427757
+            ],
+            "held_grasp_finger_gap": 0.026345010181772203,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024428452375087003,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06565703897753902,
+              -0.9978021981015923,
+              -0.0089401731713048
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00328998206577501,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696521544151411,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3332295972302023,
+              -0.32884674360005495,
+              0.8515394954718108
+            ],
+            "target_position": [
+              0.32498814697492623,
+              -0.3312916398023213,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008596453905538391,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18414963117895017,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394954718108,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555713354588728,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858664693576917,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15256201356281948,
+            "release_required_pad_clearance": 0.05293323467884585,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9039492631255936,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007855534553527832,
+            "max_z_decrease": 0.007855534553527832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035060494382174574,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007855534553527832,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0211741797696035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007855534553527832,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007855556811522139,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18068806827068326,
+              -0.3875530958175659,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18068806827068326,
+              -0.3875530958175659,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17914291432303572,
+              -0.3866802278340813,
+              0.8074029420162184
+            ],
+            "closest_button": [
+              0.18067628145217893,
+              -0.38755694031715393,
+              0.7723869681358337
+            ],
+            "closest_ee_minus_button": [
+              -0.0015333671291432038,
+              0.0008767124830726392,
+              0.03501597388038469
+            ],
+            "button_min_z_position": [
+              0.18066972494125366,
+              -0.3875567317008972,
+              0.7689533233642578
+            ],
+            "min_active_finger_to_button": 0.14721330155592352,
+            "closest_active_finger": [
+              0.05166545510292053,
+              -0.4493681490421295,
+              0.8111040592193604
+            ],
+            "closest_active_finger_button": [
+              0.1806916147470474,
+              -0.38755500316619873,
+              0.7764177322387695
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12902615964412686,
+              -0.061813145875930786,
+              0.03468632698059082
+            ],
+            "min_contact_pad_to_button": 0.0211741797696035,
+            "closest_contact_pad": [
+              0.18066972494125366,
+              -0.3879848194370391,
+              0.7901231752722342
+            ],
+            "closest_contact_pad_button": [
+              0.18066972494125366,
+              -0.3875567317008972,
+              0.7689533233642578
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004280877361418911,
+              0.021169851907976378
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b32710f82a524641a3c4fd0376db375443ce9c022810aeb8bbd9f785d2750be0",
+    "visual_seed": 3834163868518737174,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..21c42df46e06c89ec4532282bbf9984c148fd467
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3801017167987605,
+              -0.08377609563793077,
+              1.0521675133803225
+            ],
+            "current_z": 1.0521675133803225,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19106106497020137,
+            "gripper_z": 1.0530213488703606,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37622472981182653,
+              -0.08800072089502065,
+              1.0530213488703606
+            ],
+            "object_minus_gripper": [
+              0.00387698698693395,
+              0.004224625257089873,
+              -0.0008538354900380352
+            ],
+            "object_to_gripper_xy": 0.005733976513702934,
+            "object_to_gripper_z": -0.0008538354900380352,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3801017167987605,
+              -0.10731690575358624,
+              1.0521675133803225
+            ],
+            "finger_b": [
+              0.36912190258289773,
+              -0.08377609563793077,
+              1.0521675133803225
+            ],
+            "finger_midpoint": [
+              0.3746118096908291,
+              -0.09554650069575851,
+              1.0521675133803225
+            ],
+            "object_minus_finger_midpoint": [
+              0.005489907107931402,
+              0.01177040505782774,
+              0.0
+            ],
+            "finger_gap": 0.02597548962226138,
+            "fingertip_max_gap": 0.09402701458796273,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012987744811130707,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0521675133803225,
+            "object_top_z": 1.1028061695353997,
+            "finger_top_clearance": 0.05063865615507712,
+            "fingertip_min_top_clearance": 0.01519159684652317,
+            "object_projection_between_fingers": 0.8213255317047873,
+            "object_to_finger_line_xy": 0.009950677554862468,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049513507293981365,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4290850598095104,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38198879332627367,
+              -0.08834783488366173,
+              1.2437865999641335
+            ],
+            "held_position": [
+              0.3862399204442528,
+              -0.08452248953765627,
+              1.2427807353352183
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0058066438190340335,
+            "max_held_gripper_dist": 0.005811052252696511,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010058646289152762,
+            "max_held_gripper_z_dist": 0.0010290059848625521,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08731316943345147,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3862399204442528,
+              -0.10949983083653123,
+              1.2427807353352183
+            ],
+            "held_grasp_finger_b": [
+              0.3781477986820975,
+              -0.08438222751405669,
+              1.2427807353352183
+            ],
+            "held_grasp_midpoint": [
+              0.3821938595631752,
+              -0.09694102917529396,
+              1.2427807353352183
+            ],
+            "held_grasp_object_position": [
+              0.3862399204442528,
+              -0.08452248953765627,
+              1.2427807353352183
+            ],
+            "held_grasp_finger_gap": 0.02638894524756022,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02459495643954711,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05912647379314934,
+              -0.9982407454620944,
+              -0.00441295774627104
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003305180971999114,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708432849201853,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3394419828988038,
+              -0.33299857330053784,
+              0.8515395690068711
+            ],
+            "target_position": [
+              0.3317051589615852,
+              -0.33506734867007987,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008008637597315928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18472095334209482,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395690068711,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545918502409606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646386171404279,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15325941538724086,
+            "release_required_pad_clearance": 0.053231930857021395,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4851359602635086,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00816434621810913,
+            "max_z_decrease": 0.00816434621810913,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501702276726232,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00816434621810913,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02129865603049796,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00816434621810913,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008164373727363266,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18740507960319508,
+              -0.39132881164550776,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18740507960319508,
+              -0.39132881164550776,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18803293413655994,
+              -0.39231714454557437,
+              0.8036414269971429
+            ],
+            "closest_button": [
+              0.18738457560539235,
+              -0.39132344722747797,
+              0.7686445116996765
+            ],
+            "closest_ee_minus_button": [
+              0.0006483585311675977,
+              -0.0009936973180963982,
+              0.0349969152974664
+            ],
+            "button_min_z_position": [
+              0.18738457560539235,
+              -0.39132344722747797,
+              0.7686445116996765
+            ],
+            "min_active_finger_to_button": 0.14521047155251363,
+            "closest_active_finger": [
+              0.04716961085796356,
+              -0.3773045837879181,
+              0.8079221844673157
+            ],
+            "closest_active_finger_button": [
+              0.18741805851459492,
+              -0.3913334012031554,
+              0.7729987502098083
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14024844765663136,
+              0.014028817415237316,
+              0.034923434257507324
+            ],
+            "min_contact_pad_to_button": 0.02129865603049796,
+            "closest_contact_pad": [
+              0.18738457560539235,
+              -0.39340790445457935,
+              0.7898409214610925
+            ],
+            "closest_contact_pad_button": [
+              0.18738457560539235,
+              -0.39132344722747797,
+              0.7686445116996765
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020844572271013773,
+              0.021196409761416013
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "019e842fc48eca26990f12e3c02939d771904b77a109ef17ae077c9a5d81908f",
+    "visual_seed": 8630159052385810966,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e4d721aa022671f3f2fecf6d8c45bf03103e66f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37743927087608675,
+              -0.07959134549743936,
+              1.0522444789003833
+            ],
+            "current_z": 1.0522444789003833,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.19113785167632757,
+            "gripper_z": 1.0535083091746706,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3734162612583778,
+              -0.08381319000591221,
+              1.0535083091746706
+            ],
+            "object_minus_gripper": [
+              0.004023009617708961,
+              0.0042218445084728495,
+              -0.0012638302742873364
+            ],
+            "object_to_gripper_xy": 0.0058316873576951265,
+            "object_to_gripper_z": -0.0012638302742873364,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37743927087608675,
+              -0.10339995157308543,
+              1.0522444789003833
+            ],
+            "finger_b": [
+              0.36668048478485304,
+              -0.07959134549743936,
+              1.0522444789003833
+            ],
+            "finger_midpoint": [
+              0.3720598778304699,
+              -0.0914956485352624,
+              1.0522444789003833
+            ],
+            "object_minus_finger_midpoint": [
+              0.005379393045616854,
+              0.011904303037823041,
+              0.0
+            ],
+            "finger_gap": 0.02612663777492647,
+            "fingertip_max_gap": 0.09427520556063637,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013063318887463241,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0522444789003833,
+            "object_top_z": 1.102787009312128,
+            "finger_top_clearance": 0.05054253041174461,
+            "fingertip_min_top_clearance": 0.015162759123523384,
+            "object_projection_between_fingers": 0.8304259091314913,
+            "object_to_finger_line_xy": 0.009804235129870009,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04963760278031819,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7693142151941714,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3788681786318203,
+              -0.08347459382914647,
+              1.2451142006966127
+            ],
+            "held_position": [
+              0.3831739261379727,
+              -0.07956441506303909,
+              1.2437205929006554
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005980894770735181,
+            "max_held_gripper_dist": 0.005985982034145818,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001393607795957319,
+            "max_held_gripper_z_dist": 0.0014170059728957352,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08770469552533589,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3831739261379727,
+              -0.10447646138967434,
+              1.2437205929006554
+            ],
+            "held_grasp_finger_b": [
+              0.3746982615780174,
+              -0.07956441506303909,
+              1.2437205929006554
+            ],
+            "held_grasp_midpoint": [
+              0.37893609385799504,
+              -0.09202043822635672,
+              1.2437205929006554
+            ],
+            "held_grasp_object_position": [
+              0.3831739261379727,
+              -0.07956441506303909,
+              1.2437205929006554
+            ],
+            "held_grasp_finger_gap": 0.026314386595801608,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024638960466251636,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.030789167356979914,
+              -0.9995131991315959,
+              -0.00503904109794484
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038528292033997483,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037139811182371155,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33698470475107295,
+              -0.32735722661190386,
+              0.8515395875058666
+            ],
+            "target_position": [
+              0.32938498767074703,
+              -0.32971606074862575,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007957373824671177,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18373969358563508,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395875058666,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535254098709239,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08743797167568666,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527257537717263,
+            "release_required_pad_clearance": 0.05371898583784333,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.447306785523749,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008194386959075928,
+            "max_z_decrease": 0.008194386959075928,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505853541429715,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008194386959075928,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02135305362420399,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008194386959075928,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00819440393766386,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18508490920066828,
+              -0.38597750663757324,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18508490920066828,
+              -0.38597750663757324,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18616289010054424,
+              -0.3877334382804496,
+              0.8036114455190991
+            ],
+            "closest_button": [
+              0.18507327139377588,
+              -0.3859655559062957,
+              0.7686144709587097
+            ],
+            "closest_ee_minus_button": [
+              0.0010896187067683527,
+              -0.001767882374153873,
+              0.034996974560389416
+            ],
+            "button_min_z_position": [
+              0.18507327139377588,
+              -0.3859655559062957,
+              0.7686144709587097
+            ],
+            "min_active_finger_to_button": 0.1446900177437244,
+            "closest_active_finger": [
+              0.04525682330131531,
+              -0.3730504810810089,
+              0.8075690865516663
+            ],
+            "closest_active_finger_button": [
+              0.18509706854820246,
+              -0.38598376512527466,
+              0.7727461457252502
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13984024524688715,
+              0.012933284044265747,
+              0.034822940826416016
+            ],
+            "min_contact_pad_to_button": 0.02135305362420399,
+            "closest_contact_pad": [
+              0.18507327139377588,
+              -0.388794809425595,
+              0.7897792583094407
+            ],
+            "closest_contact_pad_button": [
+              0.18507327139377588,
+              -0.3859655559062957,
+              0.7686144709587097
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002829253519299302,
+              0.021164787350731018
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26762287d210eff6002ba2dcc60c33b2056d7687fbe6e2569122e7835acdce9e",
+    "visual_seed": 5097058084519470308,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e2535e035215407b9a2cd2690f51b54dc59c15
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3752376807505516,
+              -0.0786608869785941,
+              1.050928091082758
+            ],
+            "current_z": 1.050928091082758,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1898214042540579,
+            "gripper_z": 1.0520079673910698,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37102249251816016,
+              -0.08305843038428502,
+              1.0520079673910698
+            ],
+            "object_minus_gripper": [
+              0.00421518823239142,
+              0.004397543405690929,
+              -0.0010798763083117446
+            ],
+            "object_to_gripper_xy": 0.006091485848249742,
+            "object_to_gripper_z": -0.0010798763083117446,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3752376807505516,
+              -0.10251686802247896,
+              1.050928091082758
+            ],
+            "finger_b": [
+              0.3641152347526049,
+              -0.0786608869785941,
+              1.050928091082758
+            ],
+            "finger_midpoint": [
+              0.3696764577515782,
+              -0.09058887750053653,
+              1.050928091082758
+            ],
+            "object_minus_finger_midpoint": [
+              0.005561222998973381,
+              0.011927990521942433,
+              0.0
+            ],
+            "finger_gap": 0.026321410230902044,
+            "fingertip_max_gap": 0.09396756513679408,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013160705115451032,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050928091082758,
+            "object_top_z": 1.1017763154415388,
+            "finger_top_clearance": 0.05084822435878067,
+            "fingertip_min_top_clearance": 0.0152544673076342,
+            "object_projection_between_fingers": 0.8214407702528012,
+            "object_to_finger_line_xy": 0.010080647600603737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04948378256839704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1379156079866464,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 215,
+            "max_stable_success_frames": 215,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37648027121680816,
+              -0.08256212683037449,
+              1.2435788642043122
+            ],
+            "held_position": [
+              0.3810173060888267,
+              -0.07852484191387347,
+              1.2423611901743001
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0061941169645305305,
+            "max_held_gripper_dist": 0.006206408324545771,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012176740300120503,
+            "max_held_gripper_z_dist": 0.0012464439337946942,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0877834153721551,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3810173060888267,
+              -0.103556883589539,
+              1.2423611901743001
+            ],
+            "held_grasp_finger_b": [
+              0.3723210187047873,
+              -0.07852484191387347,
+              1.2423611901743001
+            ],
+            "held_grasp_midpoint": [
+              0.37666916239680703,
+              -0.09104086275170624,
+              1.2423611901743001
+            ],
+            "held_grasp_object_position": [
+              0.3810173060888267,
+              -0.07852484191387347,
+              1.2423611901743001
+            ],
+            "held_grasp_finger_gap": 0.026499594802903294,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02457634081549679,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04895094670746317,
+              -0.9988011621157928,
+              -0.00020826085774383607
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003730260924234813,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03700638816205777,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33293707663888544,
+              -0.3248512390444551,
+              0.8515395651310578
+            ],
+            "target_position": [
+              0.32476940588712894,
+              -0.3274261085861615,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008563924256198552,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18589990673031134,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395651310578,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577107825393214,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08709670586659883,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15355648553467127,
+            "release_required_pad_clearance": 0.05354835293329942,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1081256797698265,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007782578468322754,
+            "max_z_decrease": 0.007782578468322754,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035074479035267364,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007782578468322754,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021186790536256928,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007782578468322754,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007782606846683427,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18046933412551874,
+              -0.3836875557899475,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18046933412551874,
+              -0.3836875557899475,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17864825668871614,
+              -0.3839157015990079,
+              0.8075090507133346
+            ],
+            "closest_button": [
+              0.18045744299888605,
+              -0.3836918771266937,
+              0.7724819779396057
+            ],
+            "closest_ee_minus_button": [
+              -0.001809186310169908,
+              -0.00022382447231417135,
+              0.03502707277372885
+            ],
+            "button_min_z_position": [
+              0.18044866621494288,
+              -0.38369137048721313,
+              0.7690262794494629
+            ],
+            "min_active_finger_to_button": 0.1479004010675184,
+            "closest_active_finger": [
+              0.05146672576665878,
+              -0.44721657037734985,
+              0.8110130429267883
+            ],
+            "closest_active_finger_button": [
+              0.180472582578659,
+              -0.3836894631385803,
+              0.7764251232147217
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12900585681200022,
+              -0.06352710723876953,
+              0.03458791971206665
+            ],
+            "min_contact_pad_to_button": 0.021186790536256928,
+            "closest_contact_pad": [
+              0.18044866621494288,
+              -0.3851508030421698,
+              0.7901627443820092
+            ],
+            "closest_contact_pad_button": [
+              0.18044866621494288,
+              -0.38369137048721313,
+              0.7690262794494629
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014594325549566745,
+              0.021136464932546284
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a38fd0a5f1da2b22c866c10378b5fe35522db2b1cffa97a71e033173d7c422d",
+    "visual_seed": 4204516478417290827,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd288505fa3fa0d8d0b6d6a507120876095810ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37753517179927787,
+              -0.07814400552972055,
+              1.0536096454679296
+            ],
+            "current_z": 1.0536096454679296,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19250319705780827,
+            "gripper_z": 1.0546571604417534,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3733753366930717,
+              -0.0825100186581077,
+              1.0546571604417534
+            ],
+            "object_minus_gripper": [
+              0.004159835106206156,
+              0.00436601312838715,
+              -0.0010475149738238265
+            ],
+            "object_to_gripper_xy": 0.00603044764077047,
+            "object_to_gripper_z": -0.0010475149738238265,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37753517179927787,
+              -0.10191234040645934,
+              1.0536096454679296
+            ],
+            "finger_b": [
+              0.3663860712280171,
+              -0.07814400552972055,
+              1.0536096454679296
+            ],
+            "finger_midpoint": [
+              0.3719606215136475,
+              -0.09002817296808995,
+              1.0536096454679296
+            ],
+            "object_minus_finger_midpoint": [
+              0.005574550285630364,
+              0.011884167438369397,
+              0.0
+            ],
+            "finger_gap": 0.026253308103187403,
+            "fingertip_max_gap": 0.09266444225373496,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01312665405159369,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0536096454679296,
+            "object_top_z": 1.1039591657663226,
+            "finger_top_clearance": 0.05034952029839301,
+            "fingertip_min_top_clearance": 0.01510485608951787,
+            "object_projection_between_fingers": 0.8196518900082786,
+            "object_to_finger_line_xy": 0.010093796747846544,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048832221126867484,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5044161421274074,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.379135096527064,
+              -0.08268949922318232,
+              1.243584790609892
+            ],
+            "held_position": [
+              0.38365510750566667,
+              -0.07872548921018613,
+              1.2423711963392035
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0061332443032762664,
+            "max_held_gripper_dist": 0.006138162140230309,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012135942706885672,
+            "max_held_gripper_z_dist": 0.0012360770140291688,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08799630077144874,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38365510750566667,
+              -0.10381424388755374,
+              1.2423711963392035
+            ],
+            "held_grasp_finger_b": [
+              0.37529432791713785,
+              -0.07872548921018613,
+              1.2423711963392035
+            ],
+            "held_grasp_midpoint": [
+              0.3794747177114023,
+              -0.09126986654886993,
+              1.2423711963392035
+            ],
+            "held_grasp_object_position": [
+              0.38365510750566667,
+              -0.07872548921018613,
+              1.2423711963392035
+            ],
+            "held_grasp_finger_gap": 0.026445193260573752,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02443683458119309,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07042642787026802,
+              -0.9974849187871128,
+              -0.007997190112845274
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032881208481117374,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03691301293886778,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3334132341514074,
+              -0.3278660980525597,
+              0.8515396042570348
+            ],
+            "target_position": [
+              0.32539494165801885,
+              -0.3300551743918849,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008311742881545636,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18452764211686978,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396042570348,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527529186739075,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509514793502891,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536016212888602,
+            "release_required_pad_clearance": 0.05254757396751446,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16312936225154176,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008079230785369873,
+            "max_z_decrease": 0.008079230785369873,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504691828337926,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008079230785369873,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021308284306772278,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008079230785369873,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008079233767206592,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1810948699712753,
+              -0.3863166272640228,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1810948699712753,
+              -0.3863166272640228,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1822010521510003,
+              -0.3877758388906121,
+              0.8037283289385803
+            ],
+            "closest_button": [
+              0.18109242618083954,
+              -0.3863101303577423,
+              0.7687296271324158
+            ],
+            "closest_ee_minus_button": [
+              0.0011086259701607593,
+              -0.0014657085328698138,
+              0.03499870180616449
+            ],
+            "button_min_z_position": [
+              0.18109242618083954,
+              -0.3863101303577423,
+              0.7687296271324158
+            ],
+            "min_active_finger_to_button": 0.14466891871341764,
+            "closest_active_finger": [
+              0.041386157274246216,
+              -0.37223416566848755,
+              0.8075599074363708
+            ],
+            "closest_active_finger_button": [
+              0.1811055243015289,
+              -0.3863238990306854,
+              0.7727881669998169
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1397193670272827,
+              0.014089733362197876,
+              0.034771740436553955
+            ],
+            "min_contact_pad_to_button": 0.021308284306772278,
+            "closest_contact_pad": [
+              0.18109242618083954,
+              -0.38891339518171264,
+              0.7898782912120809
+            ],
+            "closest_contact_pad_button": [
+              0.18109242618083954,
+              -0.3863101303577423,
+              0.7687296271324158
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026032648239703304,
+              0.02114866407966509
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e4729638131aa5520cd5f99565405df350738aef1df0e63046b0ded8fa5ac93",
+    "visual_seed": 2284965656760936630,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dd7b7f2a45ab5989f1d31cbd367dcdc17a935c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3774747209803414,
+              -0.08493683204108836,
+              1.053469417301665
+            ],
+            "current_z": 1.053469417301665,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.1923627304729646,
+            "gripper_z": 1.054509452023839,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3735019877952879,
+              -0.08920014996136082,
+              1.054509452023839
+            ],
+            "object_minus_gripper": [
+              0.003972733185053479,
+              0.004263317920272458,
+              -0.0010400347221739548
+            ],
+            "object_to_gripper_xy": 0.005827391238705484,
+            "object_to_gripper_z": -0.0010400347221739548,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3774747209803414,
+              -0.10857321940923431,
+              1.053469417301665
+            ],
+            "finger_b": [
+              0.3664754854212035,
+              -0.08493683204108836,
+              1.053469417301665
+            ],
+            "finger_midpoint": [
+              0.37197510320077243,
+              -0.09675502572516134,
+              1.053469417301665
+            ],
+            "object_minus_finger_midpoint": [
+              0.005499617779568977,
+              0.011818193684072983,
+              0.0
+            ],
+            "finger_gap": 0.02607032778279654,
+            "fingertip_max_gap": 0.09426221124292403,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01303516389139829,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.053469417301665,
+            "object_top_z": 1.1042204374745093,
+            "finger_top_clearance": 0.050751020172844274,
+            "fingertip_min_top_clearance": 0.015225306051853314,
+            "object_projection_between_fingers": 0.8219950732269676,
+            "object_to_finger_line_xy": 0.00997234076208383,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049631105621462016,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4937027063810153,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37924283987652263,
+              -0.08954665619952033,
+              1.247930535021081
+            ],
+            "held_position": [
+              0.38358038700705177,
+              -0.08568627882356332,
+              1.2467525500341035
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005924903140466245,
+            "max_held_gripper_dist": 0.0059336774628920685,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011779849869775205,
+            "max_held_gripper_z_dist": 0.0012008986287539436,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08817481103094006,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38358038700705177,
+              -0.1107526031734067,
+              1.2467525500341035
+            ],
+            "held_grasp_finger_b": [
+              0.3753610836651659,
+              -0.08550197745233809,
+              1.2467525500341035
+            ],
+            "held_grasp_midpoint": [
+              0.37947073533610887,
+              -0.0981272903128724,
+              1.2467525500341035
+            ],
+            "held_grasp_object_position": [
+              0.38358038700705177,
+              -0.08568627882356332,
+              1.2467525500341035
+            ],
+            "held_grasp_finger_gap": 0.026554680316874982,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024748449632726825,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05623499443622646,
+              -0.99841732196728,
+              -0.0006903596471616867
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034035392229662506,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03706782245752463,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33591314238027414,
+              -0.3250992545791434,
+              0.851539586702975
+            ],
+            "target_position": [
+              0.32806715070783016,
+              -0.32724247291677144,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008133447618741112,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18487958043584837,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539586702975,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555214429802516,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678971372942494,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530965054779694,
+            "release_required_pad_clearance": 0.05339485686471247,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8048794785793603,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007852315902709961,
+            "max_z_decrease": 0.007852315902709961,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499446896747119,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007852315902709961,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021270029983297065,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007852315902709961,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00785233798658946,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18376708030700686,
+              -0.3835039436817169,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18376708030700686,
+              -0.3835039436817169,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18377608909555937,
+              -0.3833493323618626,
+              0.8039506556286524
+            ],
+            "closest_button": [
+              0.18374846875667572,
+              -0.38350459933280945,
+              0.7689565420150757
+            ],
+            "closest_ee_minus_button": [
+              2.7620338883649342e-05,
+              0.0001552669709468657,
+              0.03499411361357674
+            ],
+            "button_min_z_position": [
+              0.18374846875667572,
+              -0.38350459933280945,
+              0.7689565420150757
+            ],
+            "min_active_finger_to_button": 0.14587577013675146,
+            "closest_active_finger": [
+              0.0562179759144783,
+              -0.4449273943901062,
+              0.8081835508346558
+            ],
+            "closest_active_finger_button": [
+              0.18377996981143951,
+              -0.38351166248321533,
+              0.7730298042297363
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275619938969612,
+              -0.06141573190689087,
+              0.035153746604919434
+            ],
+            "min_contact_pad_to_button": 0.021270029983297065,
+            "closest_contact_pad": [
+              0.18374846875667572,
+              -0.3846760561793792,
+              0.7901942882313525
+            ],
+            "closest_contact_pad_button": [
+              0.18374846875667572,
+              -0.38350459933280945,
+              0.7689565420150757
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011714568465697739,
+              0.02123774621627683
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73c60e0a6ebe2885e541437daeda31e130868c49b0590edf754d4e36a5207eef",
+    "visual_seed": 2169575113323060950,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c9632b0fb4eb1354b51131fd1634127704fbc9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.374904633002904,
+              -0.07662850678683185,
+              1.0514557838150655
+            ],
+            "current_z": 1.0514557838150655,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.19034915659100982,
+            "gripper_z": 1.0525259894148586,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3709479952224937,
+              -0.08088131906124826,
+              1.0525259894148586
+            ],
+            "object_minus_gripper": [
+              0.003956637780410277,
+              0.004252812274416415,
+              -0.0010702055997930948
+            ],
+            "object_to_gripper_xy": 0.005808734351543104,
+            "object_to_gripper_z": -0.0010702055997930948,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.374904633002904,
+              -0.10026794300080344,
+              1.0514557838150655
+            ],
+            "finger_b": [
+              0.3639429230384767,
+              -0.07662850678683185,
+              1.0514557838150655
+            ],
+            "finger_midpoint": [
+              0.3694237780206904,
+              -0.08844822489381765,
+              1.0514557838150655
+            ],
+            "object_minus_finger_midpoint": [
+              0.005480854982213623,
+              0.011819718106985802,
+              0.0
+            ],
+            "finger_gap": 0.026057283623943925,
+            "fingertip_max_gap": 0.09380191231183718,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013028641811971957,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514557838150655,
+            "object_top_z": 1.101877382669239,
+            "finger_top_clearance": 0.05042159885417341,
+            "fingertip_min_top_clearance": 0.015126479656251988,
+            "object_projection_between_fingers": 0.8230305368033991,
+            "object_to_finger_line_xy": 0.009944576235952058,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04940095615591859,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.43999566231861,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37654612020630307,
+              -0.08073135777317121,
+              1.2420546582763978
+            ],
+            "held_position": [
+              0.3808375630238253,
+              -0.07684846241846081,
+              1.2408327682354394
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0059149279846747276,
+            "max_held_gripper_dist": 0.005921462948245269,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012218900409584066,
+            "max_held_gripper_z_dist": 0.0012423449358567318,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08787520420921059,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3808375630238253,
+              -0.10178241366116375,
+              1.2408327682354394
+            ],
+            "held_grasp_finger_b": [
+              0.37257976429124934,
+              -0.07684846241846081,
+              1.2408327682354394
+            ],
+            "held_grasp_midpoint": [
+              0.3767086636575373,
+              -0.08931543803981229,
+              1.2408327682354394
+            ],
+            "held_grasp_object_position": [
+              0.3808375630238253,
+              -0.07684846241846081,
+              1.2408327682354394
+            ],
+            "held_grasp_finger_gap": 0.02626581741505908,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024482973401204634,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05062399158041094,
+              -0.9986791059440574,
+              -0.008789472523686335
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003494224610286596,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03706072063598209,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3375835640226721,
+              -0.32785614264533225,
+              0.8515395690787396
+            ],
+            "target_position": [
+              0.3302405340274643,
+              -0.33011076298385467,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007681367220840343,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18451051007411856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395690787396,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585549195334564,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08745610551917159,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15222546484839058,
+            "release_required_pad_clearance": 0.053728052759585795,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4654701558366425,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008082270622253418,
+            "max_z_decrease": 0.008082270622253418,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500542419657937,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008082270622253418,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021233268436176463,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008082270622253418,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008082292171258979,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1859404593706131,
+              -0.3863722085952758,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1859404593706131,
+              -0.3863722085952758,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18617448840017728,
+              -0.38548141071440145,
+              0.8037198036975877
+            ],
+            "closest_button": [
+              0.18592186272144318,
+              -0.3863706290721893,
+              0.7687265872955322
+            ],
+            "closest_ee_minus_button": [
+              0.000252625678734103,
+              0.0008892183577878243,
+              0.03499321640205544
+            ],
+            "button_min_z_position": [
+              0.18592186272144318,
+              -0.3863706290721893,
+              0.7687265872955322
+            ],
+            "min_active_finger_to_button": 0.145392636350617,
+            "closest_active_finger": [
+              0.05876641720533371,
+              -0.44739338755607605,
+              0.8080873489379883
+            ],
+            "closest_active_finger_button": [
+              0.185953751206398,
+              -0.3863793015480041,
+              0.7728782296180725
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1271873340010643,
+              -0.061014086008071955,
+              0.03520911931991577
+            ],
+            "min_contact_pad_to_button": 0.021233268436176463,
+            "closest_contact_pad": [
+              0.18592186272144318,
+              -0.3867766830602455,
+              0.7899559727939754
+            ],
+            "closest_contact_pad_button": [
+              0.18592186272144318,
+              -0.3863706290721893,
+              0.7687265872955322
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00040605398805620974,
+              0.02122938549844322
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "443c491990987717a907cdebf79e4668e06adc1be551f912cb5f75350895ebec",
+    "visual_seed": 177719393665380959,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a04954c1d543fde79dc912768fd7b0984935e59e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3764707034658728,
+              -0.08197843027017623,
+              1.054266602578442
+            ],
+            "current_z": 1.054266602578442,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.19315985614509668,
+            "gripper_z": 1.055317570289664,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3724837166481299,
+              -0.08627057592463284,
+              1.055317570289664
+            ],
+            "object_minus_gripper": [
+              0.003986986817742899,
+              0.004292145654456611,
+              -0.0010509677112220395
+            ],
+            "object_to_gripper_xy": 0.005858206056799848,
+            "object_to_gripper_z": -0.0010509677112220395,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3764707034658728,
+              -0.10557987699809682,
+              1.054266602578442
+            ],
+            "finger_b": [
+              0.36537516275735027,
+              -0.08197843027017623,
+              1.054266602578442
+            ],
+            "finger_midpoint": [
+              0.3709229331116115,
+              -0.09377915363413653,
+              1.054266602578442
+            ],
+            "object_minus_finger_midpoint": [
+              0.005547770354261294,
+              0.011800723363960292,
+              0.0
+            ],
+            "finger_gap": 0.026079480655591167,
+            "fingertip_max_gap": 0.09290858896441676,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013039740327795596,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054266602578442,
+            "object_top_z": 1.104486669722542,
+            "finger_top_clearance": 0.05022006714409999,
+            "fingertip_min_top_clearance": 0.01506602014323003,
+            "object_projection_between_fingers": 0.8189914601680045,
+            "object_to_finger_line_xy": 0.010041258735477428,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895429448220838,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9333191343286258,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37823948998816925,
+              -0.08661319725623104,
+              1.2456330090546905
+            ],
+            "held_position": [
+              0.3826035633468793,
+              -0.08273309667740923,
+              1.2444244129184825
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005963306247580531,
+            "max_held_gripper_dist": 0.00596822901272751,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001208596136208051,
+            "max_held_gripper_z_dist": 0.001228737891688425,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0882478397669722,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3826035633468793,
+              -0.1077787519448757,
+              1.2444244129184825
+            ],
+            "held_grasp_finger_b": [
+              0.37440882925183583,
+              -0.08261373652073299,
+              1.2444244129184825
+            ],
+            "held_grasp_midpoint": [
+              0.37850619629935756,
+              -0.09519624423280434,
+              1.2444244129184825
+            ],
+            "held_grasp_object_position": [
+              0.3826035633468793,
+              -0.08273309667740923,
+              1.2444244129184825
+            ],
+            "held_grasp_finger_gap": 0.026465669615292335,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024545500199476454,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0683292909960895,
+              -0.9976326319278431,
+              -0.007761424140996009
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032376706392553693,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03700663718699327,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33901318077166126,
+              -0.3319444271606316,
+              0.8515395583079471
+            ],
+            "target_position": [
+              0.3302630128688014,
+              -0.3347027368830754,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009174623199519807,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18312489397974527,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395583079471,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539489684301122,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852343219418603,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15194992494771764,
+            "release_required_pad_clearance": 0.05261716097093015,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.29607504913578536,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008161067962646484,
+            "max_z_decrease": 0.008161067962646484,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350212341231638,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008161067962646484,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021209511701192358,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008161067962646484,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008161075510368997,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18596294522285461,
+              -0.39096421003341664,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18596294522285461,
+              -0.39096421003341664,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18710869947613187,
+              -0.391250412172273,
+              0.8036487716043547
+            ],
+            "closest_button": [
+              0.18595458567142487,
+              -0.3909569084644317,
+              0.7686477899551392
+            ],
+            "closest_ee_minus_button": [
+              0.0011541138047070076,
+              -0.00029350370784131385,
+              0.0350009816492155
+            ],
+            "button_min_z_position": [
+              0.18595458567142487,
+              -0.3909569084644317,
+              0.7686477899551392
+            ],
+            "min_active_finger_to_button": 0.1447625710715934,
+            "closest_active_finger": [
+              0.04620587080717087,
+              -0.3765930235385895,
+              0.8077974319458008
+            ],
+            "closest_active_finger_button": [
+              0.1859754621982574,
+              -0.39097014069557184,
+              0.7729554772377014
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13976959139108652,
+              0.014377117156982366,
+              0.034841954708099365
+            ],
+            "min_contact_pad_to_button": 0.021209511701192358,
+            "closest_contact_pad": [
+              0.18595458567142487,
+              -0.39230839456407113,
+              0.7898141990016803
+            ],
+            "closest_contact_pad_button": [
+              0.18595458567142487,
+              -0.3909569084644317,
+              0.7686477899551392
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013514860996394207,
+              0.0211664090465411
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b83826ba4b2c1b77f08dec5fc17eb02811ba0a9869f52de145df589f8c25f14d",
+    "visual_seed": 5511982346519356715,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..704a343138db87edafc6c5bf0e9244546cac6a27
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3811861343031126,
+              -0.08041659538792738,
+              1.052328997639676
+            ],
+            "current_z": 1.052328997639676,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1912224300202653,
+            "gripper_z": 1.0532668538702068,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3770753929210876,
+              -0.08476674838034888,
+              1.0532668538702068
+            ],
+            "object_minus_gripper": [
+              0.004110741382024996,
+              0.004350152992421502,
+              -0.0009378562305308868
+            ],
+            "object_to_gripper_xy": 0.0059851504381566315,
+            "object_to_gripper_z": -0.0009378562305308868,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3811861343031126,
+              -0.10412817340472867,
+              1.052328997639676
+            ],
+            "finger_b": [
+              0.3700316826161075,
+              -0.08041659538792738,
+              1.052328997639676
+            ],
+            "finger_midpoint": [
+              0.37560890845961004,
+              -0.09227238439632802,
+              1.052328997639676
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055772258435025646,
+              0.011855789008400647,
+              0.0
+            ],
+            "finger_gap": 0.02620421196076281,
+            "fingertip_max_gap": 0.09243505073683903,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013102105980381418,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052328997639676,
+            "object_top_z": 1.1027008071309568,
+            "finger_top_clearance": 0.05037180949128084,
+            "fingertip_min_top_clearance": 0.015111542847384252,
+            "object_projection_between_fingers": 0.8188016468669841,
+            "object_to_finger_line_xy": 0.010093402228889681,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048717525368419515,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2608056954362183,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3828468130980046,
+              -0.08505974938462918,
+              1.2422838680447958
+            ],
+            "held_position": [
+              0.38732810842566134,
+              -0.08111917520449037,
+              1.2411728113592875
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006069973611249686,
+            "max_held_gripper_dist": 0.0060744916674872725,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011110566855083714,
+            "max_held_gripper_z_dist": 0.0011351467330349418,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08826821209140683,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38732810842566134,
+              -0.10618721352458729,
+              1.2411728113592875
+            ],
+            "held_grasp_finger_b": [
+              0.37904712043949906,
+              -0.08111917520449037,
+              1.2411728113592875
+            ],
+            "held_grasp_midpoint": [
+              0.3831876144325802,
+              -0.09365319436453884,
+              1.2411728113592875
+            ],
+            "held_grasp_object_position": [
+              0.38732810842566134,
+              -0.08111917520449037,
+              1.2411728113592875
+            ],
+            "held_grasp_finger_gap": 0.026400403543219025,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02435126807505137,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07738980534160331,
+              -0.9969719929501047,
+              -0.007593635643430075
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0031595416799921287,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036903751984284125,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3330527152236709,
+              -0.33076239115862816,
+              0.8515395633858259
+            ],
+            "target_position": [
+              0.3244167066378523,
+              -0.3335254751184712,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009067264045095095,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18780010256353938,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395633858259,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588509934138095,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08586733042308241,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15527937091572805,
+            "release_required_pad_clearance": 0.052933665211541206,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9048147058209932,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008075833320617676,
+            "max_z_decrease": 0.008075833320617676,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035001521247840936,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008075833320617676,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021296277189634817,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.008075833320617676,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008075852560252294,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1801166385412216,
+              -0.38978692889213556,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1801166385412216,
+              -0.38978692889213556,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18053655528152454,
+              -0.39002870999529665,
+              0.8037309761788815
+            ],
+            "closest_button": [
+              0.18009901046752927,
+              -0.38978698849678034,
+              0.768733024597168
+            ],
+            "closest_ee_minus_button": [
+              0.000437544813995272,
+              -0.00024172149851631186,
+              0.03499795158171348
+            ],
+            "button_min_z_position": [
+              0.18009901046752927,
+              -0.38978698849678034,
+              0.768733024597168
+            ],
+            "min_active_finger_to_button": 0.14550908359849193,
+            "closest_active_finger": [
+              0.03996122628450394,
+              -0.372419536113739,
+              0.8077952861785889
+            ],
+            "closest_active_finger_button": [
+              0.18012998998165125,
+              -0.38979235291481007,
+              0.7728124856948853
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1401687636971473,
+              0.017372816801071056,
+              0.03498280048370361
+            ],
+            "min_contact_pad_to_button": 0.021296277189634817,
+            "closest_contact_pad": [
+              0.18009901046752927,
+              -0.391350159616216,
+              0.7899718550308129
+            ],
+            "closest_contact_pad_button": [
+              0.18009901046752927,
+              -0.38978698849678034,
+              0.768733024597168
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001563171119435658,
+              0.02123883043364494
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95f469d413a487feac1e5c59123e8b25cf20bf992bad18bcb3fdecc6307a1adf",
+    "visual_seed": 4869633964833752856,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..78b7071d504dcad96f379ff59e6738fff4d8f9a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37878812878027496,
+              -0.0825774613421444,
+              1.0518373626572521
+            ],
+            "current_z": 1.0518373626572521,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.19073085464248596,
+            "gripper_z": 1.0530949401857115,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37432140392886687,
+              -0.08699724255186417,
+              1.0530949401857115
+            ],
+            "object_minus_gripper": [
+              0.004466724851408088,
+              0.004419781209719767,
+              -0.0012575775284593416
+            ],
+            "object_to_gripper_xy": 0.0062837963716195116,
+            "object_to_gripper_z": -0.0012575775284593416,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37878812878027496,
+              -0.10676589332170316,
+              1.0518373626572521
+            ],
+            "finger_b": [
+              0.36782430126499155,
+              -0.0825774613421444,
+              1.0518373626572521
+            ],
+            "finger_midpoint": [
+              0.3733062150226333,
+              -0.09467167733192378,
+              1.0518373626572521
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054819137576416765,
+              0.012094215989779375,
+              0.0
+            ],
+            "finger_gap": 0.026557216635306996,
+            "fingertip_max_gap": 0.09805736990469807,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01327860831765348,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0518373626572521,
+            "object_top_z": 1.1049975958823313,
+            "finger_top_clearance": 0.05316023322507912,
+            "fingertip_min_top_clearance": 0.01594806996752372,
+            "object_projection_between_fingers": 0.8295648070841605,
+            "object_to_finger_line_xy": 0.009985903256762066,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05152868495234904,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8797741552108596,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3797529167870012,
+              -0.08668079658591131,
+              1.2423679990927747
+            ],
+            "held_position": [
+              0.38447284232147294,
+              -0.0825671866392387,
+              1.240959854004088
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006417348084303576,
+            "max_held_gripper_dist": 0.006426831556233453,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014081450886866964,
+            "max_held_gripper_z_dist": 0.0014322322062734205,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08793537709343345,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38447284232147294,
+              -0.10763550039600012,
+              1.240959854004088
+            ],
+            "held_grasp_finger_b": [
+              0.37564249244625575,
+              -0.0825671866392387,
+              1.240959854004088
+            ],
+            "held_grasp_midpoint": [
+              0.3800576673838644,
+              -0.09510134351761941,
+              1.240959854004088
+            ],
+            "held_grasp_object_position": [
+              0.38447284232147294,
+              -0.0825671866392387,
+              1.240959854004088
+            ],
+            "held_grasp_finger_gap": 0.026578100638047514,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02476682990831932,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03215420276751352,
+              -0.999299873608709,
+              0.019127724642620133
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004017108129814522,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03705290225553958,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3350339777618067,
+              -0.3250697360858584,
+              0.851539566429414
+            ],
+            "target_position": [
+              0.32981546668676415,
+              -0.3259526758559926,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005292678006267389,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18070929310633974,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539566429414,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530056726000103,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08703582804812791,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14951812890777508,
+            "release_required_pad_clearance": 0.05351791402406396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.047857881660235,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007976114749908447,
+            "max_z_decrease": 0.007976114749908447,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035040338437071716,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007976114749908447,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021187102863599764,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007976114749908447,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007976137795872173,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18551538884639737,
+              -0.3822141289710998,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18551538884639737,
+              -0.3822141289710998,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18554984123865909,
+              -0.3812786996706851,
+              0.8072460767305215
+            ],
+            "closest_button": [
+              0.18550401926040647,
+              -0.3822174966335296,
+              0.7722183465957642
+            ],
+            "closest_ee_minus_button": [
+              4.5821978252619244e-05,
+              0.0009387969628444903,
+              0.03502773013475735
+            ],
+            "button_min_z_position": [
+              0.18549668788909912,
+              -0.38221836090087885,
+              0.7688327431678772
+            ],
+            "min_active_finger_to_button": 0.14579585925586347,
+            "closest_active_finger": [
+              0.05904646962881088,
+              -0.4459027647972107,
+              0.8098392486572266
+            ],
+            "closest_active_finger_button": [
+              0.18552185595035547,
+              -0.38221737742424006,
+              0.7751321792602539
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1264753863215446,
+              -0.06368538737297064,
+              0.034707069396972656
+            ],
+            "min_contact_pad_to_button": 0.021187102863599764,
+            "closest_contact_pad": [
+              0.18549668788909912,
+              -0.38235750786962724,
+              0.7900193891004887
+            ],
+            "closest_contact_pad_button": [
+              0.18549668788909912,
+              -0.38221836090087885,
+              0.7688327431678772
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00013914696874839372,
+              0.021186645932611547
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51bc22a505274af8ce93078041a990b432392cfc0294283f65e9edcf32799d99",
+    "visual_seed": 730256803658380397,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..168b84ea92984a17db8e4fd5229fc7e531e375b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3767603993864734,
+              -0.08009882804829313,
+              1.051776390358944
+            ],
+            "current_z": 1.051776390358944,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19066994194882292,
+            "gripper_z": 1.0528207408385943,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3726609402328632,
+              -0.08438773629723323,
+              1.0528207408385943
+            ],
+            "object_minus_gripper": [
+              0.004099459153610152,
+              0.004288908248940099,
+              -0.0010443504796502356
+            ],
+            "object_to_gripper_xy": 0.005932984014806081,
+            "object_to_gripper_z": -0.0010443504796502356,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3767603993864734,
+              -0.10391194864859898,
+              1.051776390358944
+            ],
+            "finger_b": [
+              0.3658340577622942,
+              -0.08009882804829313,
+              1.051776390358944
+            ],
+            "finger_midpoint": [
+              0.3712972285743838,
+              -0.09200538834844606,
+              1.051776390358944
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054631708120895794,
+              0.011906560300152927,
+              0.0
+            ],
+            "finger_gap": 0.026200184236241184,
+            "fingertip_max_gap": 0.0927408335590045,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013100092118120592,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051776390358944,
+            "object_top_z": 1.1020521788588673,
+            "finger_top_clearance": 0.0502757884999232,
+            "fingertip_min_top_clearance": 0.015082736549976994,
+            "object_projection_between_fingers": 0.8260834708119579,
+            "object_to_finger_line_xy": 0.009930857297438945,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048870416779502254,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6873359211019991,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3783620518782701,
+              -0.08454947143106444,
+              1.2426799779638815
+            ],
+            "held_position": [
+              0.3827918249197947,
+              -0.08063514707304216,
+              1.241477400993424
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006032496643107178,
+            "max_held_gripper_dist": 0.006038323505141567,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012025769704575584,
+            "max_held_gripper_z_dist": 0.001223938360090715,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879978848907425,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3827918249197947,
+              -0.10569331188226622,
+              1.241477400993424
+            ],
+            "held_grasp_finger_b": [
+              0.3745149644454526,
+              -0.08060584460343415,
+              1.241477400993424
+            ],
+            "held_grasp_midpoint": [
+              0.37865339468262366,
+              -0.09314957824285018,
+              1.241477400993424
+            ],
+            "held_grasp_object_position": [
+              0.3827918249197947,
+              -0.08063514707304216,
+              1.241477400993424
+            ],
+            "held_grasp_finger_gap": 0.026417559194183624,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02452904136315649,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06160470106304568,
+              -0.9980654722984272,
+              -0.008376981117940607
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003361290591266531,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697508165642327,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33864296010759243,
+              -0.3292436909252127,
+              0.8515395775486772
+            ],
+            "target_position": [
+              0.33035745445088344,
+              -0.3316491471202428,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00862761980464863,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18379500530574427,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395775486772,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540724984752326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597543924479205,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15257737383005823,
+            "release_required_pad_clearance": 0.052987719622396026,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.00948431735316,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00782996416091919,
+            "max_z_decrease": 0.00782996416091919,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035008200611466395,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00782996416091919,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021351194395391564,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.00782996416091919,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00782999035013552,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18605737388133997,
+              -0.3879106044769286,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18605737388133997,
+              -0.3879106044769286,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18639865384994767,
+              -0.38887412664839477,
+              0.8039719698608573
+            ],
+            "closest_button": [
+              0.18603712320327753,
+              -0.3879107832908629,
+              0.7689788937568665
+            ],
+            "closest_ee_minus_button": [
+              0.0003615306466701329,
+              -0.0009633433575318429,
+              0.03499307610399083
+            ],
+            "button_min_z_position": [
+              0.18603712320327753,
+              -0.3879107832908629,
+              0.7689788937568665
+            ],
+            "min_active_finger_to_button": 0.14554000706046727,
+            "closest_active_finger": [
+              0.04574264585971832,
+              -0.3720167279243469,
+              0.8084021210670471
+            ],
+            "closest_active_finger_button": [
+              0.18606753647327418,
+              -0.3879172801971435,
+              0.7732170224189758
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14032489061355585,
+              0.015900552272796575,
+              0.03518509864807129
+            ],
+            "min_contact_pad_to_button": 0.021351194395391564,
+            "closest_contact_pad": [
+              0.18603712320327753,
+              -0.39013107097169664,
+              0.7902143317020593
+            ],
+            "closest_contact_pad_button": [
+              0.18603712320327753,
+              -0.3879107832908629,
+              0.7689788937568665
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00222028768083371,
+              0.021235437945192892
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2d659f60905d8051d67c1fecb244b5f5c96170a0a9501f725dee6d40c9e6e72",
+    "visual_seed": 7579542756675462307,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c88e3c87a8f47af672d8fb0f8b74b61ae1172470
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3791066870377079,
+              -0.0787485071005244,
+              1.052378941316034
+            ],
+            "current_z": 1.052378941316034,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.19127225448733398,
+            "gripper_z": 1.0536690525096328,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3748886641888323,
+              -0.08317797492397157,
+              1.0536690525096328
+            ],
+            "object_minus_gripper": [
+              0.004218022848875569,
+              0.004429467823447164,
+              -0.0012901111935987863
+            ],
+            "object_to_gripper_xy": 0.006116526951840409,
+            "object_to_gripper_z": -0.0012901111935987863,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3791066870377079,
+              -0.10262261329352713,
+              1.052378941316034
+            ],
+            "finger_b": [
+              0.36799117895366734,
+              -0.0787485071005244,
+              1.052378941316034
+            ],
+            "finger_midpoint": [
+              0.3735489329956876,
+              -0.09068556019702577,
+              1.052378941316034
+            ],
+            "object_minus_finger_midpoint": [
+              0.005557754042020302,
+              0.011937053096501365,
+              0.0
+            ],
+            "finger_gap": 0.02633490965393924,
+            "fingertip_max_gap": 0.1008416305786092,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013167454826969632,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052378941316034,
+            "object_top_z": 1.1060818265376873,
+            "finger_top_clearance": 0.05370288522165323,
+            "fingertip_min_top_clearance": 0.016110865566495984,
+            "object_projection_between_fingers": 0.821846248435886,
+            "object_to_finger_line_xy": 0.010076845672712205,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052920815289304604,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.248029858974538,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3798513413134752,
+              -0.08193831119414259,
+              1.2458619231394976
+            ],
+            "held_position": [
+              0.3843280917210493,
+              -0.07779748629664696,
+              1.244465493201714
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006256016433368194,
+            "max_held_gripper_dist": 0.006265746453373337,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013964299377835498,
+            "max_held_gripper_z_dist": 0.0014234162600843536,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0876784653549231,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3843280917210493,
+              -0.10259737240591163,
+              1.244465493201714
+            ],
+            "held_grasp_finger_b": [
+              0.37512312929430147,
+              -0.07779748629664696,
+              1.244465493201714
+            ],
+            "held_grasp_midpoint": [
+              0.3797256105076754,
+              -0.09019742935127929,
+              1.244465493201714
+            ],
+            "held_grasp_object_position": [
+              0.3843280917210493,
+              -0.07779748629664696,
+              1.244465493201714
+            ],
+            "held_grasp_finger_gap": 0.02645308458970973,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02477706347365753,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.001606816495802361,
+              -0.9996761295555464,
+              0.025397916008820458
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004593366300010475,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037316927647795754,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33491543461386164,
+              -0.3329685569196057,
+              0.8515395683414124
+            ],
+            "target_position": [
+              0.3301533076932103,
+              -0.333402860453692,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00478189004140751,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18277676282652777,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395683414124,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588280799419504,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09050921240224001,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1499034956075281,
+            "release_required_pad_clearance": 0.05525460620112001,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.615402175259224,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007967650890350342,
+            "max_z_decrease": 0.007967650890350342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503044542005064,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007967650890350342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02122932424394436,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 119,
+            "max_z_decrease_with_contact_point": 0.007967650890350342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007967669094284209,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18585322797298426,
+              -0.3896643221378326,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18585322797298426,
+              -0.3896643221378326,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18687441045788752,
+              -0.38868060410310373,
+              0.8038423661731109
+            ],
+            "closest_button": [
+              0.18583646416664118,
+              -0.38966733217239374,
+              0.7688412070274353
+            ],
+            "closest_ee_minus_button": [
+              0.0010379462912463444,
+              0.0009867280692900104,
+              0.03500115914567559
+            ],
+            "button_min_z_position": [
+              0.18583646416664118,
+              -0.38966733217239374,
+              0.7688412070274353
+            ],
+            "min_active_finger_to_button": 0.14461890546253894,
+            "closest_active_finger": [
+              0.060214489698410034,
+              -0.45218420028686523,
+              0.8080155253410339
+            ],
+            "closest_active_finger_button": [
+              0.18586684763431546,
+              -0.38966798782348633,
+              0.7731180191040039
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12565235793590543,
+              -0.0625162124633789,
+              0.03489750623703003
+            ],
+            "min_contact_pad_to_button": 0.02122932424394436,
+            "closest_contact_pad": [
+              0.18583646416664118,
+              -0.38981817770634597,
+              0.7900699953461173
+            ],
+            "closest_contact_pad_button": [
+              0.18583646416664118,
+              -0.38966733217239374,
+              0.7688412070274353
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00015084553395222633,
+              0.021228788318682024
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b75fe2069e3907e387d3434f68a68b3ab881c6fc8bf870c723f8145cae6a440",
+    "visual_seed": 512588812119627088,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2cb763d783dd48f6cec3c0f3496fb8ad94fdc07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3785710088439906,
+              -0.08603867938199661,
+              1.053044423646968
+            ],
+            "current_z": 1.053044423646968,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.19193773681826765,
+            "gripper_z": 1.0543980737386152,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3744601942039914,
+              -0.09030107186129627,
+              1.0543980737386152
+            ],
+            "object_minus_gripper": [
+              0.004110814639999183,
+              0.004262392479299659,
+              -0.0013536500916471184
+            ],
+            "object_to_gripper_xy": 0.0059217215952813845,
+            "object_to_gripper_z": -0.0013536500916471184,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3785710088439906,
+              -0.10993802754286505,
+              1.053044423646968
+            ],
+            "finger_b": [
+              0.36779372442736274,
+              -0.08603867938199661,
+              1.053044423646968
+            ],
+            "finger_midpoint": [
+              0.37318236663567667,
+              -0.09798835346243083,
+              1.053044423646968
+            ],
+            "object_minus_finger_midpoint": [
+              0.005388642208313921,
+              0.011949674080434222,
+              0.0
+            ],
+            "finger_gap": 0.02621695447437202,
+            "fingertip_max_gap": 0.09549335009208551,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01310847723718601,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.053044423646968,
+            "object_top_z": 1.104396848478065,
+            "finger_top_clearance": 0.05135242483109703,
+            "fingertip_min_top_clearance": 0.015405727449329143,
+            "object_projection_between_fingers": 0.8310126449340692,
+            "object_to_finger_line_xy": 0.009824561153869883,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05024667504604276,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.727348442638008,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3797671723618513,
+              -0.08988672331737867,
+              1.2443012080606795
+            ],
+            "held_position": [
+              0.3841207723385566,
+              -0.08590348386485122,
+              1.2428201761674247
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006083870869945997,
+            "max_held_gripper_dist": 0.006094673412955978,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014810318932547695,
+            "max_held_gripper_z_dist": 0.001506320498206204,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08777799714590946,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3841207723385566,
+              -0.11072482679026363,
+              1.2428201761674247
+            ],
+            "held_grasp_finger_b": [
+              0.3754535054959464,
+              -0.08590348386485122,
+              1.2428201761674247
+            ],
+            "held_grasp_midpoint": [
+              0.3797871389172515,
+              -0.09831415532755743,
+              1.2428201761674247
+            ],
+            "held_grasp_object_position": [
+              0.3841207723385566,
+              -0.08590348386485122,
+              1.2428201761674247
+            ],
+            "held_grasp_finger_gap": 0.026291074134426898,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02460110790361644,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02454680792016412,
+              -0.9996985945748346,
+              -0.0004174039186457535
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004027688609650288,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03720694238390848,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32916942548620304,
+              -0.3263995891792514,
+              0.8515395815619176
+            ],
+            "target_position": [
+              0.3243654272460618,
+              -0.327412502266568,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004909622390137265,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1814649666998151,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395815619176,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758644721038134,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08882712458891483,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1489901245489182,
+            "release_required_pad_clearance": 0.054413562294457415,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.853424092425779,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007941901683807373,
+            "max_z_decrease": 0.007941901683807373,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509142219322802,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007941901683807373,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021239910770276337,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007941901683807373,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007941925335645654,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1800653487443924,
+              -0.38367396593093867,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1800653487443924,
+              -0.38367396593093867,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17960014957941517,
+              -0.3848469432606951,
+              0.8061302722175603
+            ],
+            "closest_button": [
+              0.180049329996109,
+              -0.3836767971515655,
+              0.7710612416267395
+            ],
+            "closest_ee_minus_button": [
+              -0.00044918041669383957,
+              -0.0011701461091295773,
+              0.03506903059082078
+            ],
+            "button_min_z_position": [
+              0.1800462156534195,
+              -0.38367706537246704,
+              0.7688669562339783
+            ],
+            "min_active_finger_to_button": 0.1463919193944313,
+            "closest_active_finger": [
+              0.03841925412416458,
+              -0.37050861120224,
+              0.8090935945510864
+            ],
+            "closest_active_finger_button": [
+              0.18006983399391174,
+              -0.38367971777915955,
+              0.7745649218559265
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14165057986974716,
+              0.013171106576919556,
+              0.03452867269515991
+            ],
+            "min_contact_pad_to_button": 0.021239910770276337,
+            "closest_contact_pad": [
+              0.1800462156534195,
+              -0.3859319999682501,
+              0.7899868302747495
+            ],
+            "closest_contact_pad_button": [
+              0.1800462156534195,
+              -0.38367706537246704,
+              0.7688669562339783
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022549345957830758,
+              0.021119874040771203
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "056d2c51439eafa203eb2bfe6b89a367d6519c063a612c3cf5ee6c0c68374b2e",
+    "visual_seed": 1279351519488821849,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4b9d437aca7483551cc81c64827412ad6c5ebf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38262668684792117,
+              -0.08233441331618989,
+              1.0549167680316258
+            ],
+            "current_z": 1.0549167680316258,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.19381008120292542,
+            "gripper_z": 1.0557916225406452,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3784141875206934,
+              -0.08668658918169371,
+              1.0557916225406452
+            ],
+            "object_minus_gripper": [
+              0.004212499327227781,
+              0.004352175865503821,
+              -0.0008748545090193627
+            ],
+            "object_to_gripper_xy": 0.006056945215714638,
+            "object_to_gripper_z": -0.0008748545090193627,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38262668684792117,
+              -0.10622365852618595,
+              1.0549167680316258
+            ],
+            "finger_b": [
+              0.37160286914296736,
+              -0.08233441331618989,
+              1.0549167680316258
+            ],
+            "finger_midpoint": [
+              0.37711477799544424,
+              -0.09427903592118791,
+              1.0549167680316258
+            ],
+            "object_minus_finger_midpoint": [
+              0.005511908852476932,
+              0.011944622604998026,
+              0.0
+            ],
+            "finger_gap": 0.026310085395060447,
+            "fingertip_max_gap": 0.09310640009255097,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013155042697530228,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0549167680316258,
+            "object_top_z": 1.1054167919222828,
+            "finger_top_clearance": 0.050500023890657,
+            "fingertip_min_top_clearance": 0.015150007167197131,
+            "object_projection_between_fingers": 0.8244424422879216,
+            "object_to_finger_line_xy": 0.01000949561164783,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905320004627549,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7131774969983626,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 220,
+            "max_stable_success_frames": 220,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3841540326637198,
+              -0.08705571694139504,
+              1.2466384788941374
+            ],
+            "held_position": [
+              0.3887067868992677,
+              -0.08308511141043351,
+              1.2456045951162542
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006128800459957203,
+            "max_held_gripper_dist": 0.006132950127682396,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00103388377788316,
+            "max_held_gripper_z_dist": 0.0010566532550031482,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08820309403141692,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3887067868992677,
+              -0.10820490434470705,
+              1.2456045951162542
+            ],
+            "held_grasp_finger_b": [
+              0.38027372004618715,
+              -0.08308511141043351,
+              1.2456045951162542
+            ],
+            "held_grasp_midpoint": [
+              0.3844902534727274,
+              -0.09564500787757027,
+              1.2456045951162542
+            ],
+            "held_grasp_object_position": [
+              0.3887067868992677,
+              -0.08308511141043351,
+              1.2456045951162542
+            ],
+            "held_grasp_finger_gap": 0.026497558634887564,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02456492491399415,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06033778198603771,
+              -0.9981673626392947,
+              -0.004611748770275703
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003451510606294081,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03692895506384313,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3313955350215018,
+              -0.329727758748397,
+              0.8515395635586483
+            ],
+            "target_position": [
+              0.3233745574436655,
+              -0.33193149736289296,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008318205646963388,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18610581104036406,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395635586483,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513597530207482,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852478269267156,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15534474774798268,
+            "release_required_pad_clearance": 0.052623913463357805,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.30901013691550644,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00797581672668457,
+            "max_z_decrease": 0.00797581672668457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506196499136541,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00797581672668457,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021280690480252606,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00797581672668457,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007975835300274623,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17907448112964625,
+              -0.3881929516792297,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17907448112964625,
+              -0.3881929516792297,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17839304728545521,
+              -0.38937402629491197,
+              0.8063753715920831
+            ],
+            "closest_button": [
+              0.17906169593334192,
+              -0.3881956040859222,
+              0.7713395953178406
+            ],
+            "closest_ee_minus_button": [
+              -0.0006686486478867104,
+              -0.0011784222089897822,
+              0.03503577627424248
+            ],
+            "button_min_z_position": [
+              0.1790576130151748,
+              -0.38819637894630427,
+              0.7688330411911011
+            ],
+            "min_active_finger_to_button": 0.14665954901494724,
+            "closest_active_finger": [
+              0.03735581785440445,
+              -0.37334126234054565,
+              0.8076190948486328
+            ],
+            "closest_active_finger_button": [
+              0.17908336222171778,
+              -0.38820078969001764,
+              0.772956132888794
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14172754436731333,
+              0.01485952734947199,
+              0.03466296195983887
+            ],
+            "min_contact_pad_to_button": 0.021280690480252606,
+            "closest_contact_pad": [
+              0.1790576130151748,
+              -0.3905873206789676,
+              0.7899789908020153
+            ],
+            "closest_contact_pad_button": [
+              0.1790576130151748,
+              -0.38819637894630427,
+              0.7688330411911011
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002390941732663354,
+              0.021145949610914205
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a38e684e1ce93c78ed18a9e0000e4fa6d5e495b36134fa67ea51eb30963f9ca0",
+    "visual_seed": 4925570528020273164,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85170eb48017d08a67523c1a4e6eed263745915d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38246013521521544,
+              -0.07922841245450715,
+              1.0526740051128542
+            ],
+            "current_z": 1.0526740051128542,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19156755670273296,
+            "gripper_z": 1.054097751085312,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37778086086997975,
+              -0.08373608949238315,
+              1.054097751085312
+            ],
+            "object_minus_gripper": [
+              0.004679274345235684,
+              0.004507677037875996,
+              -0.0014237459724577572
+            ],
+            "object_to_gripper_xy": 0.006497288717286261,
+            "object_to_gripper_z": -0.0014237459724577572,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38246013521521544,
+              -0.10367913341822127,
+              1.0526740051128542
+            ],
+            "finger_b": [
+              0.3715246343927859,
+              -0.07922841245450715,
+              1.0526740051128542
+            ],
+            "finger_midpoint": [
+              0.37699238480400066,
+              -0.09145377293636421,
+              1.0526740051128542
+            ],
+            "object_minus_finger_midpoint": [
+              0.005467750411214778,
+              0.012225360481857059,
+              0.0
+            ],
+            "finger_gap": 0.026784751891379664,
+            "fingertip_max_gap": 0.09503178890424349,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013392375945689832,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0526740051128542,
+            "object_top_z": 1.1039762711284975,
+            "finger_top_clearance": 0.05130226601564325,
+            "fingertip_min_top_clearance": 0.015390679804692975,
+            "object_projection_between_fingers": 0.8333128583022148,
+            "object_to_finger_line_xy": 0.009982578158349268,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05001589445212175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2503188554298545,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3830387547496631,
+              -0.08297940057505378,
+              1.2439650923240047
+            ],
+            "held_position": [
+              0.38790674705830275,
+              -0.07871108880938019,
+              1.242392718408853
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006662446560762176,
+            "max_held_gripper_dist": 0.00667190706309036,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001572373915151637,
+            "max_held_gripper_z_dist": 0.001590988111092928,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879717675575363,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38790674705830275,
+              -0.10380701611662696,
+              1.242392718408853
+            ],
+            "held_grasp_finger_b": [
+              0.37865684329361754,
+              -0.07871108880938019,
+              1.242392718408853
+            ],
+            "held_grasp_midpoint": [
+              0.38328179517596017,
+              -0.09125905246300357,
+              1.242392718408853
+            ],
+            "held_grasp_object_position": [
+              0.38790674705830275,
+              -0.07871108880938019,
+              1.242392718408853
+            ],
+            "held_grasp_finger_gap": 0.026746332217082624,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024946562237489592,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.015806513304925912,
+              -0.9998742288821306,
+              0.0012963620273878096
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00442606459528724,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03710076022442448,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3309692044610906,
+              -0.3288902435278257,
+              0.8515395727590942
+            ],
+            "target_position": [
+              0.32670571158350087,
+              -0.32974849969687475,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004349020023978891,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18102992282920585,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395727590942,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577982092156592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08778654246260863,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1487878753904203,
+            "release_required_pad_clearance": 0.053893271231304316,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7963156920921217,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007887959480285645,
+            "max_z_decrease": 0.007887959480285645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507560284770157,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007887959480285645,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021233499215842055,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007887959480285645,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007887978131895096,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18240563571453092,
+              -0.3860099613666534,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18240563571453092,
+              -0.3860099613666534,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1807311802445073,
+              -0.38431544124821615,
+              0.8075191607719057
+            ],
+            "closest_button": [
+              0.18239519000053406,
+              -0.386013776063919,
+              0.7725242376327515
+            ],
+            "closest_ee_minus_button": [
+              -0.001664009756026763,
+              0.0016983348157028622,
+              0.0349949231391542
+            ],
+            "button_min_z_position": [
+              0.1823886930942535,
+              -0.3860126435756683,
+              0.7689208984375
+            ],
+            "min_active_finger_to_button": 0.1470763823973511,
+            "closest_active_finger": [
+              0.05284638702869415,
+              -0.4462294280529022,
+              0.8078632950782776
+            ],
+            "closest_active_finger_button": [
+              0.1824151873588562,
+              -0.3860158324241638,
+              0.7729675769805908
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12956880033016205,
+              -0.0602135956287384,
+              0.03489571809768677
+            ],
+            "min_contact_pad_to_button": 0.021233499215842055,
+            "closest_contact_pad": [
+              0.1823886930942535,
+              -0.3860126435756683,
+              0.790154397653342
+            ],
+            "closest_contact_pad_button": [
+              0.1823886930942535,
+              -0.3860126435756683,
+              0.7689208984375
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021233499215842055
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "34449d41311b4b6087a263a3edda6e339887d2874cb476c7c7d0bfff4577df73",
+    "visual_seed": 8118080947526202127,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a0bcacb9f297c5a2ea9deb9f176705ff88ced25
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38024342458055505,
+              -0.08318807927554694,
+              1.0525356958721868
+            ],
+            "current_z": 1.0525356958721868,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.19142930706671057,
+            "gripper_z": 1.053495455051043,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3761278268611089,
+              -0.08749309347182596,
+              1.053495455051043
+            ],
+            "object_minus_gripper": [
+              0.00411559771944614,
+              0.004305014196279017,
+              -0.0009597591788561566
+            ],
+            "object_to_gripper_xy": 0.005955778019576799,
+            "object_to_gripper_z": -0.0009597591788561566,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38024342458055505,
+              -0.10700392360536687,
+              1.0525356958721868
+            ],
+            "finger_b": [
+              0.3692837742351635,
+              -0.08318807927554694,
+              1.0525356958721868
+            ],
+            "finger_midpoint": [
+              0.3747635994078593,
+              -0.0950960014404569,
+              1.0525356958721868
+            ],
+            "object_minus_finger_midpoint": [
+              0.00547982517269574,
+              0.011907922164909962,
+              0.0
+            ],
+            "finger_gap": 0.026216566839223184,
+            "fingertip_max_gap": 0.09258869925696969,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01310828341961158,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525356958721868,
+            "object_top_z": 1.102874977407462,
+            "finger_top_clearance": 0.05033928153527523,
+            "fingertip_min_top_clearance": 0.015101784460582567,
+            "object_projection_between_fingers": 0.8252401109291346,
+            "object_to_finger_line_xy": 0.009956045279910335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879434962848485,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4210350289302438,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.381845840293188,
+              -0.08777306269704954,
+              1.2430287956530837
+            ],
+            "held_position": [
+              0.38629452247080853,
+              -0.0838402429633447,
+              1.2419034026937465
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006043538159739053,
+            "max_held_gripper_dist": 0.006048162906344139,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011253929593371126,
+            "max_held_gripper_z_dist": 0.001146638675050271,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08746776104388737,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38629452247080853,
+              -0.10887677170102718,
+              1.2419034026937465
+            ],
+            "held_grasp_finger_b": [
+              0.3779956761963516,
+              -0.0838402429633447,
+              1.2419034026937465
+            ],
+            "held_grasp_midpoint": [
+              0.3821450993335801,
+              -0.09635850733218594,
+              1.2419034026937465
+            ],
+            "held_grasp_object_position": [
+              0.38629452247080853,
+              -0.0838402429633447,
+              1.2419034026937465
+            ],
+            "held_grasp_finger_gap": 0.02637609942201212,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024432366260126324,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06609137598762904,
+              -0.9977760372154276,
+              -0.008655031989512008
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033148114536029564,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036955584770643236,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3311198599161801,
+              -0.32538399084908964,
+              0.8515395831753415
+            ],
+            "target_position": [
+              0.3228332425994953,
+              -0.32799857646295866,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00868930863103797,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18268039697224628,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395831753415,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580364528744182,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621259155286486,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15048645005424222,
+            "release_required_pad_clearance": 0.05310629577643243,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2398397043153886,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007791280746459961,
+            "max_z_decrease": 0.007791280746459961,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509026286250494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007791280746459961,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021133598098689654,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007791280746459961,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007791306085794005,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17853316664695743,
+              -0.3842600286006927,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17853316664695743,
+              -0.3842600286006927,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17737720675918384,
+              -0.3838743023684972,
+              0.8064625809171513
+            ],
+            "closest_button": [
+              0.17851753532886508,
+              -0.38426259160041804,
+              0.7713930010795593
+            ],
+            "closest_ee_minus_button": [
+              -0.0011403285696812426,
+              0.0003882892319208575,
+              0.03506957983759196
+            ],
+            "button_min_z_position": [
+              0.1785136312246323,
+              -0.384263664484024,
+              0.7690175771713257
+            ],
+            "min_active_finger_to_button": 0.1468705205694142,
+            "closest_active_finger": [
+              0.050708480179309845,
+              -0.447836697101593,
+              0.8108890056610107
+            ],
+            "closest_active_finger_button": [
+              0.17853718996047976,
+              -0.384263813495636,
+              0.7764033675193787
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12782870978116992,
+              -0.06357288360595703,
+              0.03448563814163208
+            ],
+            "min_contact_pad_to_button": 0.021133598098689654,
+            "closest_contact_pad": [
+              0.1785136312246323,
+              -0.38500902278339694,
+              0.7901380272044688
+            ],
+            "closest_contact_pad_button": [
+              0.1785136312246323,
+              -0.384263664484024,
+              0.7690175771713257
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007453582993729446,
+              0.021120450033143112
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2ef7b90e278ffe3714149f49491ec81878cdae576a17f9671e31c5e5afba7aa9",
+    "visual_seed": 6974939614104795970,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..019a974f52263eac377a2678834fd83c1a913368
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.38209791431192924,
+              -0.07913182513076676,
+              1.0544864173304385
+            ],
+            "current_z": 1.0544864173304385,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.19337979010638295,
+            "gripper_z": 1.0554273117076414,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3780204809314317,
+              -0.0834408194699268,
+              1.0554273117076414
+            ],
+            "object_minus_gripper": [
+              0.0040774333804975416,
+              0.004308994339160044,
+              -0.0009408943772029055
+            ],
+            "object_to_gripper_xy": 0.005932360001492569,
+            "object_to_gripper_z": -0.0009408943772029055,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.38209791431192924,
+              -0.10286990940537673,
+              1.0544864173304385
+            ],
+            "finger_b": [
+              0.3710650917332012,
+              -0.07913182513076676,
+              1.0544864173304385
+            ],
+            "finger_midpoint": [
+              0.3765815030225652,
+              -0.09100086726807174,
+              1.0544864173304385
+            ],
+            "object_minus_finger_midpoint": [
+              0.005516411289364032,
+              0.011869042137304983,
+              0.0
+            ],
+            "finger_gap": 0.026176703747457904,
+            "fingertip_max_gap": 0.09267159420399365,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013088351873728952,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0544864173304385,
+            "object_top_z": 1.1049278391223707,
+            "finger_top_clearance": 0.05044142179193223,
+            "fingertip_min_top_clearance": 0.0151324265375797,
+            "object_projection_between_fingers": 0.8223589413733905,
+            "object_to_finger_line_xy": 0.010005005774881046,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04883579710199683,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.36893903848505,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 219,
+            "max_stable_success_frames": 219,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38382172186841057,
+              -0.08382964578309308,
+              1.2477318107296198
+            ],
+            "held_position": [
+              0.38826365317335687,
+              -0.0799250268618459,
+              1.2466352544241661
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006014917985230866,
+            "max_held_gripper_dist": 0.006019154169583454,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0010965563054536887,
+            "max_held_gripper_z_dist": 0.0011166300572216237,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08818362283760263,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38826365317335687,
+              -0.10505331141797128,
+              1.2466352544241661
+            ],
+            "held_grasp_finger_b": [
+              0.3799694023214626,
+              -0.07975208370897909,
+              1.2466352544241661
+            ],
+            "held_grasp_midpoint": [
+              0.38411652774740973,
+              -0.09240269756347519,
+              1.2466352544241661
+            ],
+            "held_grasp_object_position": [
+              0.38826365317335687,
+              -0.0799250268618459,
+              1.2466352544241661
+            ],
+            "held_grasp_finger_gap": 0.02662605342097141,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024624853601104783,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07332938815665507,
+              -0.9973059897138524,
+              -0.001887780030632502
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00322106871182945,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697208817158952,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33492920371976503,
+              -0.3236966864099584,
+              0.8515395778862147
+            ],
+            "target_position": [
+              0.3266067665417303,
+              -0.3263722886327881,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00874195675104525,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18520420071351834,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395778862147,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578869712562011,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622803132779165,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15308620052009836,
+            "release_required_pad_clearance": 0.05311401566389583,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.254899188190119,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008022665977478027,
+            "max_z_decrease": 0.008022665977478027,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507746980577967,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008022665977478027,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02134210690876248,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008022665977478027,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008022697797845063,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1823066920042038,
+              -0.38263374567031855,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1823066920042038,
+              -0.38263374567031855,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18202043437486531,
+              -0.3843617622012937,
+              0.8059557589942493
+            ],
+            "closest_button": [
+              0.1822901219129562,
+              -0.38263678550720204,
+              0.7709217667579651
+            ],
+            "closest_ee_minus_button": [
+              -0.00026968753809089585,
+              -0.0017249766940916622,
+              0.03503399223628423
+            ],
+            "button_min_z_position": [
+              0.1822845488786697,
+              -0.38263824582099903,
+              0.7687861919403076
+            ],
+            "min_active_finger_to_button": 0.14619860833682735,
+            "closest_active_finger": [
+              0.040886685252189636,
+              -0.36958977580070496,
+              0.8075690865516663
+            ],
+            "closest_active_finger_button": [
+              0.1823144406080246,
+              -0.3826408386230468,
+              0.7729007601737976
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14142775535583496,
+              0.013051062822341863,
+              0.03466832637786865
+            ],
+            "min_contact_pad_to_button": 0.02134210690876248,
+            "closest_contact_pad": [
+              0.18228571116924286,
+              -0.3854871385735278,
+              0.7900165044858717
+            ],
+            "closest_contact_pad_button": [
+              0.18228571116924286,
+              -0.38263729214668263,
+              0.7688655257225037
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028498464268451595,
+              0.021150978763368022
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "064c74e31cd30878ee0f711bce305377a8071a614c4fe9c60f95b78c7d51f7d9",
+    "visual_seed": 7403314829048041089,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e637e8af25a13a0f93e3c69589db7a6915cecf7b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3732130378365217,
+              -0.08590206983697296,
+              1.0521740242195041
+            ],
+            "current_z": 1.0521740242195041,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1910673969954486,
+            "gripper_z": 1.0534029305109487,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3690204348775224,
+              -0.09026769415135436,
+              1.0534029305109487
+            ],
+            "object_minus_gripper": [
+              0.004192602958999314,
+              0.004365624314381394,
+              -0.0012289062914445648
+            ],
+            "object_to_gripper_xy": 0.006052817131396572,
+            "object_to_gripper_z": -0.0012289062914445648,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3732130378365217,
+              -0.1097345833050842,
+              1.0521740242195041
+            ],
+            "finger_b": [
+              0.36212848081761834,
+              -0.08590206983697296,
+              1.0521740242195041
+            ],
+            "finger_midpoint": [
+              0.36767075932707005,
+              -0.09781832657102858,
+              1.0521740242195041
+            ],
+            "object_minus_finger_midpoint": [
+              0.005542278509451659,
+              0.011916256734055622,
+              0.0
+            ],
+            "finger_gap": 0.026284141654484817,
+            "fingertip_max_gap": 0.09738407930340179,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013142070827242398,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0521740242195041,
+            "object_top_z": 1.1046502365810893,
+            "finger_top_clearance": 0.05247621236158517,
+            "fingertip_min_top_clearance": 0.015742863708475517,
+            "object_projection_between_fingers": 0.8221519592019472,
+            "object_to_finger_line_xy": 0.010050655559299423,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051192039651700896,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9931911801600344,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37442705878283583,
+              -0.0899078536595214,
+              1.2456094690612027
+            ],
+            "held_position": [
+              0.3789276905693637,
+              -0.08588771615509413,
+              1.244254916853214
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0061848204271890556,
+            "max_held_gripper_dist": 0.006191926835417927,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013545522079887462,
+            "max_held_gripper_z_dist": 0.0013766107878425693,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08672842370286701,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3789276905693637,
+              -0.1108614092503943,
+              1.244254916853214
+            ],
+            "held_grasp_finger_b": [
+              0.3702084619662501,
+              -0.08588771615509413,
+              1.244254916853214
+            ],
+            "held_grasp_midpoint": [
+              0.3745680762678069,
+              -0.09837456270274422,
+              1.244254916853214
+            ],
+            "held_grasp_object_position": [
+              0.3789276905693637,
+              -0.08588771615509413,
+              1.244254916853214
+            ],
+            "held_grasp_finger_gap": 0.026452037620032166,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024631643681716713,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03699977858819686,
+              -0.9992215854605808,
+              0.013683549761221991
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003898413280200262,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708181870146163,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33343175029601174,
+              -0.32860736490221676,
+              0.8515395120650904
+            ],
+            "target_position": [
+              0.3276356559851312,
+              -0.329877367477796,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005933600576597603,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18378319026265122,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395120650904,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558693333479434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08713935486536804,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15172312000759527,
+            "release_required_pad_clearance": 0.053569677432684024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.150400220425695,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008164763450622559,
+            "max_z_decrease": 0.008164763450622559,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503636400746064,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008164763450622559,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021200451187477803,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008164763450622559,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008164794629697034,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1833355873823165,
+              -0.3861388266086578,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1833355873823165,
+              -0.3861388266086578,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18484299444630226,
+              -0.3861950888106966,
+              0.8036470024942121
+            ],
+            "closest_button": [
+              0.18331342935562123,
+              -0.38613456487655634,
+              0.7686440944671631
+            ],
+            "closest_ee_minus_button": [
+              0.0015295650906810287,
+              -6.052393414024415e-05,
+              0.03500290802704897
+            ],
+            "button_min_z_position": [
+              0.18331342935562123,
+              -0.38613456487655634,
+              0.7686440944671631
+            ],
+            "min_active_finger_to_button": 0.144434611607158,
+            "closest_active_finger": [
+              0.043978482484817505,
+              -0.3711755871772766,
+              0.8076300621032715
+            ],
+            "closest_active_finger_button": [
+              0.1833491474390029,
+              -0.38614588975906367,
+              0.7728009819984436
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1393706649541854,
+              0.014970302581787054,
+              0.03482908010482788
+            ],
+            "min_contact_pad_to_button": 0.021200451187477803,
+            "closest_contact_pad": [
+              0.18331342935562123,
+              -0.3872839113763442,
+              0.7898133677937573
+            ],
+            "closest_contact_pad_button": [
+              0.18331342935562123,
+              -0.38613456487655634,
+              0.7686440944671631
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011493464997878733,
+              0.02116927332659424
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3fd196befcd099118d785edd4ba4c60b00457f5b0bffca0b18b99a5a2ca4e63e",
+    "visual_seed": 2745223601818069160,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3870ac07b13095f93876e106b391955573264a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.37755042264387634,
+              -0.0832847373794785,
+              1.0540251854973228
+            ],
+            "current_z": 1.0540251854973228,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.1929183198546881,
+            "gripper_z": 1.0556874191222896,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37306465625011204,
+              -0.08770422149149429,
+              1.0556874191222896
+            ],
+            "object_minus_gripper": [
+              0.004485766393764301,
+              0.004419484112015787,
+              -0.001662233624966758
+            ],
+            "object_to_gripper_xy": 0.006297137441392331,
+            "object_to_gripper_z": -0.001662233624966758,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.37755042264387634,
+              -0.1074992696301269,
+              1.0540251854973228
+            ],
+            "finger_b": [
+              0.36661298822483324,
+              -0.0832847373794785,
+              1.0540251854973228
+            ],
+            "finger_midpoint": [
+              0.3720817054343548,
+              -0.0953920035048027,
+              1.0540251854973228
+            ],
+            "object_minus_finger_midpoint": [
+              0.005468717209521523,
+              0.012107266125324201,
+              0.0
+            ],
+            "finger_gap": 0.02657011561488885,
+            "fingertip_max_gap": 0.09675781219467558,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013285057807444413,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0540251854973228,
+            "object_top_z": 1.1057342705249729,
+            "finger_top_clearance": 0.05170908502765004,
+            "fingertip_min_top_clearance": 0.01551272550829501,
+            "object_projection_between_fingers": 0.8305490391944498,
+            "object_to_finger_line_xy": 0.009967772151163052,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05087890609733779,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.4941398515711435,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37826713641620324,
+              -0.08694878123816005,
+              1.246599622874805
+            ],
+            "held_position": [
+              0.38296181760717923,
+              -0.08277666901285402,
+              1.2448151733360309
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006529227524132031,
+            "max_held_gripper_dist": 0.006535599448526142,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0017844495387742132,
+            "max_held_gripper_z_dist": 0.0018222942714423152,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08794880696428739,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.38296181760717923,
+              -0.10773963202395634,
+              1.2448151733360309
+            ],
+            "held_grasp_finger_b": [
+              0.37382275655774766,
+              -0.08277666901285402,
+              1.2448151733360309
+            ],
+            "held_grasp_midpoint": [
+              0.3783922870824634,
+              -0.09525815051840518,
+              1.2448151733360309
+            ],
+            "held_grasp_object_position": [
+              0.38296181760717923,
+              -0.08277666901285402,
+              1.2448151733360309
+            ],
+            "held_grasp_finger_gap": 0.02658330226211371,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024956100260308207,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0007216425651905625,
+              -0.9999892795044063,
+              0.004573850485814823
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004560879562269287,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03723560480448181,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.338223515671342,
+              -0.32700140287913404,
+              0.8515395433368437
+            ],
+            "target_position": [
+              0.3316624747602486,
+              -0.3285660261715312,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006745020673367341,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825331974283065,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395433368437,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585438227830266,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0893843379851633,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15002397690192198,
+            "release_required_pad_clearance": 0.054692168992581655,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.4294000704819405,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00804901123046875,
+            "max_z_decrease": 0.00804901123046875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506729214802275,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00804901123046875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021321217135636904,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00804901123046875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008049039209435808,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.187362402677536,
+              -0.3848274946212768,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.187362402677536,
+              -0.3848274946212768,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18524921793742735,
+              -0.38537137648548625,
+              0.8078958158742349
+            ],
+            "closest_button": [
+              0.18737438321113584,
+              -0.38483652472496027,
+              0.7728970646858215
+            ],
+            "closest_ee_minus_button": [
+              -0.0021251652737084847,
+              -0.0005348517605259784,
+              0.034998751188413335
+            ],
+            "button_min_z_position": [
+              0.18734118342399592,
+              -0.3848271071910857,
+              0.7687598466873169
+            ],
+            "min_active_finger_to_button": 0.1484032818132574,
+            "closest_active_finger": [
+              0.04411177337169647,
+              -0.3685552179813385,
+              0.8080293536186218
+            ],
+            "closest_active_finger_button": [
+              0.18737438321113584,
+              -0.38483652472496027,
+              0.7728970646858215
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14326260983943936,
+              0.01628130674362177,
+              0.03513228893280029
+            ],
+            "min_contact_pad_to_button": 0.021321217135636904,
+            "closest_contact_pad": [
+              0.18734118342399592,
+              -0.38674231267447085,
+              0.789994871719122
+            ],
+            "closest_contact_pad_button": [
+              0.18734118342399592,
+              -0.3848271071910857,
+              0.7687598466873169
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019152054833851406,
+              0.021235025031805077
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2550933e908f719eba1a016a88c290baefa02a90b5a0bf2dae9eb9d7591dddd0",
+    "visual_seed": 936608980816190488,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a59563895950aeb548a0363454f8dbffdc2a61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3792446726911495,
+              -0.07962601591585795,
+              1.052176162083562
+            ],
+            "current_z": 1.052176162083562,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.19106953485950628,
+            "gripper_z": 1.0531776734584304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.37521599543194006,
+              -0.08391908713283999,
+              1.0531776734584304
+            ],
+            "object_minus_gripper": [
+              0.004028677259209412,
+              0.004293071216982039,
+              -0.00100151137486848
+            ],
+            "object_to_gripper_xy": 0.005887333941008503,
+            "object_to_gripper_z": -0.00100151137486848,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3792446726911495,
+              -0.1033059692977298,
+              1.052176162083562
+            ],
+            "finger_b": [
+              0.3682063316039264,
+              -0.07962601591585795,
+              1.052176162083562
+            ],
+            "finger_midpoint": [
+              0.37372550214753797,
+              -0.09146599260679387,
+              1.052176162083562
+            ],
+            "object_minus_finger_midpoint": [
+              0.005519170543611507,
+              0.011839976690935922,
+              0.0
+            ],
+            "finger_gap": 0.02612633089673138,
+            "fingertip_max_gap": 0.09259217637211334,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013063165448365678,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052176162083562,
+            "object_top_z": 1.1026452562411357,
+            "finger_top_clearance": 0.050469094157573835,
+            "fingertip_min_top_clearance": 0.015140728247272117,
+            "object_projection_between_fingers": 0.821494840490755,
+            "object_to_finger_line_xy": 0.010004749744302783,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879608818605667,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.268340280487858,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38097218157262736,
+              -0.0840660024779711,
+              1.2442310150841278
+            ],
+            "held_position": [
+              0.3853634953948987,
+              -0.08016739928777493,
+              1.243072902539447
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005985312739233146,
+            "max_held_gripper_dist": 0.005991914089101442,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011581125446809004,
+            "max_held_gripper_z_dist": 0.0011786577827526123,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08798704198550139,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3853634953948987,
+              -0.10521415370251207,
+              1.243072902539447
+            ],
+            "held_grasp_finger_b": [
+              0.37710030627602503,
+              -0.0801359535034893,
+              1.243072902539447
+            ],
+            "held_grasp_midpoint": [
+              0.3812319008354619,
+              -0.09267505360300068,
+              1.243072902539447
+            ],
+            "held_grasp_object_position": [
+              0.3853634953948987,
+              -0.08016739928777493,
+              1.243072902539447
+            ],
+            "held_grasp_finger_gap": 0.026404477264974174,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02438348124520697,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07540064705490379,
+              -0.997142173403717,
+              -0.004714705018697751
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003177308951013229,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036936815558878414,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33178185017470907,
+              -0.32735374034653686,
+              0.8515396528997086
+            ],
+            "target_position": [
+              0.32396538448836565,
+              -0.32968470065960026,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008156623799517836,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18523975248609872,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396528997086,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590035917053424,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600551718181641,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526805674117349,
+            "release_required_pad_clearance": 0.05300275859090821,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0385293464768846,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007895290851593018,
+            "max_z_decrease": 0.007895290851593018,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035154436766007685,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007895290851593018,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02113964522580214,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007895290851593018,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007895313941828786,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17966531217098236,
+              -0.38594615459442133,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17966531217098236,
+              -0.38594615459442133,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18057115714970115,
+              -0.3839389498479223,
+              0.8076646827480649
+            ],
+            "closest_button": [
+              0.1796545833349228,
+              -0.3859500586986541,
+              0.7725797891616821
+            ],
+            "closest_ee_minus_button": [
+              0.0009165738147783598,
+              0.002011108850731802,
+              0.03508489358638278
+            ],
+            "button_min_z_position": [
+              0.1796465963125229,
+              -0.38594993948936457,
+              0.7689135670661926
+            ],
+            "min_active_finger_to_button": 0.1445272698730782,
+            "closest_active_finger": [
+              0.05419471859931946,
+              -0.4488493800163269,
+              0.8108640909194946
+            ],
+            "closest_active_finger_button": [
+              0.17966896295547485,
+              -0.38594827055931086,
+              0.7763996720314026
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1254742443561554,
+              -0.06290110945701605,
+              0.03446441888809204
+            ],
+            "min_contact_pad_to_button": 0.02113964522580214,
+            "closest_contact_pad": [
+              0.1796465963125229,
+              -0.38594993948936457,
+              0.7900532122919948
+            ],
+            "closest_contact_pad_button": [
+              0.1796465963125229,
+              -0.38594993948936457,
+              0.7689135670661926
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02113964522580214
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "80864d388a65fd6b1fb659bdd5f1f496455bfa9d45734a95ec7774c7628f7d57",
+    "visual_seed": 333332551602022204,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1576676e701195f2c12de949205e21f17668c58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3821501168243497,
+              -0.08427749688557427,
+              1.0519418665795528
+            ],
+            "current_z": 1.0519418665795528,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.19083535856478706,
+            "gripper_z": 1.0527722126986598,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3780749785950159,
+              -0.0885573684458878,
+              1.0527722126986598
+            ],
+            "object_minus_gripper": [
+              0.004075138229333808,
+              0.004279871560313522,
+              -0.0008303461191070394
+            ],
+            "object_to_gripper_xy": 0.005909657533305833,
+            "object_to_gripper_z": -0.0008303461191070394,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3821501168243497,
+              -0.10807517091695935,
+              1.0519418665795528
+            ],
+            "finger_b": [
+              0.3712395147479039,
+              -0.08427749688557427,
+              1.0519418665795528
+            ],
+            "finger_midpoint": [
+              0.3766948157861268,
+              -0.09617633390126681,
+              1.0519418665795528
+            ],
+            "object_minus_finger_midpoint": [
+              0.005455301038222893,
+              0.01189883701569254,
+              0.0
+            ],
+            "finger_gap": 0.02617958225363046,
+            "fingertip_max_gap": 0.09252485718801659,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01308979112681523,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0519418665795528,
+            "object_top_z": 1.102284210615783,
+            "finger_top_clearance": 0.05034234403623028,
+            "fingertip_min_top_clearance": 0.015102703210869116,
+            "object_projection_between_fingers": 0.8263111222537962,
+            "object_to_finger_line_xy": 0.009917918062478005,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487624285940083,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3601146485421232,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.38381347404236044,
+              -0.08887248773346222,
+              1.2450209377231396
+            ],
+            "held_position": [
+              0.3882360697697723,
+              -0.0849752621381353,
+              1.244039343718366
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.005975888812486419,
+            "max_held_gripper_dist": 0.00597990277986433,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009815940047734895,
+            "max_held_gripper_z_dist": 0.001004048509547939,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08817583790180802,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3882360697697723,
+              -0.11007227718959219,
+              1.244039343718366
+            ],
+            "held_grasp_finger_b": [
+              0.37995150885086026,
+              -0.08483670306779693,
+              1.244039343718366
+            ],
+            "held_grasp_midpoint": [
+              0.3840937893103163,
+              -0.09745449012869456,
+              1.244039343718366
+            ],
+            "held_grasp_object_position": [
+              0.3882360697697723,
+              -0.0849752621381353,
+              1.244039343718366
+            ],
+            "held_grasp_finger_gap": 0.026560650422679546,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02460693389033025,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06866193670088666,
+              -0.9976300822890981,
+              -0.00444492523344664
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003276136996433801,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036986179824264526,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3399432157003525,
+              -0.32461520868243177,
+              0.8515396084414556
+            ],
+            "target_position": [
+              0.3315377798103959,
+              -0.32720888111090685,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008796504371987928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.182807157354977,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396084414556,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573285421365317,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623900329366106,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15078380556961704,
+            "release_required_pad_clearance": 0.05311950164683053,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2654578961296958,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008088946342468262,
+            "max_z_decrease": 0.008088946342468262,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500925794962975,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008088946342468262,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106758403660589,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008088946342468262,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008088953915762212,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18723770976066587,
+              -0.3834703266620636,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18723770976066587,
+              -0.3834703266620636,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18538170002915139,
+              -0.38318759253400037,
+              0.8036783785110053
+            ],
+            "closest_button": [
+              0.18724651634693146,
+              -0.38346362113952637,
+              0.7687199115753174
+            ],
+            "closest_ee_minus_button": [
+              -0.0018648163177800714,
+              0.00027602860552600195,
+              0.03495846693568794
+            ],
+            "button_min_z_position": [
+              0.18724651634693146,
+              -0.38346362113952637,
+              0.7687199115753174
+            ],
+            "min_active_finger_to_button": 0.14729963269676213,
+            "closest_active_finger": [
+              0.05960190296173096,
+              -0.4483305811882019,
+              0.8107694387435913
+            ],
+            "closest_active_finger_button": [
+              0.18724086880683896,
+              -0.3834733366966248,
+              0.7761426568031311
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.127638965845108,
+              -0.06485724449157709,
+              0.034626781940460205
+            ],
+            "min_contact_pad_to_button": 0.02106758403660589,
+            "closest_contact_pad": [
+              0.18724651634693146,
+              -0.38414692910883835,
+              0.7897764114591662
+            ],
+            "closest_contact_pad_button": [
+              0.18724651634693146,
+              -0.38346362113952637,
+              0.7687199115753174
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006833079693119859,
+              0.021056499883848834
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b4a585aeed98daa90c109df44ffb9c9864def68a0b10d4bc4aa3b82b1f9ab9e",
+    "visual_seed": 9213343289743828003,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..68dfe29f00a96566b788a04cff781c82103db637
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3736807221820573,
+              -0.08356495283674707,
+              1.0522567248997547
+            ],
+            "current_z": 1.0522567248997547,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.19115009767569902,
+            "gripper_z": 1.0533295703135725,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.369776783924156,
+              -0.08779982885527121,
+              1.0533295703135725
+            ],
+            "object_minus_gripper": [
+              0.0039039382579012516,
+              0.004234876018524139,
+              -0.0010728454138178023
+            ],
+            "object_to_gripper_xy": 0.005759766385347232,
+            "object_to_gripper_z": -0.0010728454138178023,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3736807221820573,
+              -0.10713492062239104,
+              1.0522567248997547
+            ],
+            "finger_b": [
+              0.362705116596454,
+              -0.08356495283674707,
+              1.0522567248997547
+            ],
+            "finger_midpoint": [
+              0.36819291938925564,
+              -0.09534993672956905,
+              1.0522567248997547
+            ],
+            "object_minus_finger_midpoint": [
+              0.005487802792801644,
+              0.011784983892821982,
+              0.0
+            ],
+            "finger_gap": 0.026000140372448383,
+            "fingertip_max_gap": 0.09259399171903573,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013000070186224191,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0522567248997547,
+            "object_top_z": 1.1024500025074424,
+            "finger_top_clearance": 0.05019327760768766,
+            "fingertip_min_top_clearance": 0.015057983282306264,
+            "object_projection_between_fingers": 0.8218008620913434,
+            "object_to_finger_line_xy": 0.009949741285040696,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879699585951787,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.66318921709149,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3753754382743368,
+              -0.08794659574324189,
+              1.2457265011481216
+            ],
+            "held_position": [
+              0.37963866010609504,
+              -0.08409807013297171,
+              1.2445157746430011
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0058695884378623005,
+            "max_held_gripper_dist": 0.0058742579702250304,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012107265051204408,
+            "max_held_gripper_z_dist": 0.0012321125960825796,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08729437713281984,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37963866010609504,
+              -0.10908221242077859,
+              1.2445157746430011
+            ],
+            "held_grasp_finger_b": [
+              0.37141308123857036,
+              -0.08408320387991207,
+              1.2445157746430011
+            ],
+            "held_grasp_midpoint": [
+              0.3755258706723327,
+              -0.09658270815034534,
+              1.2445157746430011
+            ],
+            "held_grasp_object_position": [
+              0.37963866010609504,
+              -0.08409807013297171,
+              1.2445157746430011
+            ],
+            "held_grasp_finger_gap": 0.026317495620445837,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0243726576427272,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06886596021196371,
+              -0.9976043645478941,
+              -0.006558304588601738
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032443156262541317,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03698228950065691,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3342593979870672,
+              -0.3246070207277433,
+              0.851539590652262
+            ],
+            "target_position": [
+              0.3271275332262893,
+              -0.3264133408930069,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007357056986694066,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18523727610241242,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539590652262,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528111163626675,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570890147281583,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15417636785838942,
+            "release_required_pad_clearance": 0.05285445073640792,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7517303010219728,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007745623588562012,
+            "max_z_decrease": 0.007745623588562012,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506735768488512,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007745623588562012,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02124931287330689,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007745623588562012,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00774563955325635,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18282745778560633,
+              -0.3826748132705688,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18282745778560633,
+              -0.3826748132705688,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18367098954011393,
+              -0.38069556118121345,
+              0.8040639612188158
+            ],
+            "closest_button": [
+              0.18281210958957664,
+              -0.3826782405376434,
+              0.7690632343292236
+            ],
+            "closest_ee_minus_button": [
+              0.0008588799505372946,
+              0.0019826793564299283,
+              0.035000726889592215
+            ],
+            "button_min_z_position": [
+              0.18281210958957664,
+              -0.3826782405376434,
+              0.7690632343292236
+            ],
+            "min_active_finger_to_button": 0.14433463113571454,
+            "closest_active_finger": [
+              0.05669422447681427,
+              -0.4435044229030609,
+              0.8080414533615112
+            ],
+            "closest_active_finger_button": [
+              0.18284057080745691,
+              -0.38267973065376276,
+              0.7731137871742249
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12614634633064264,
+              -0.06082469224929815,
+              0.03492766618728638
+            ],
+            "min_contact_pad_to_button": 0.02124931287330689,
+            "closest_contact_pad": [
+              0.18281210958957664,
+              -0.3826782405376434,
+              0.7903125472025305
+            ],
+            "closest_contact_pad_button": [
+              0.18281210958957664,
+              -0.3826782405376434,
+              0.7690632343292236
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02124931287330689
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8be3a111be13ccf258e4e6d629877a45b31e37db1523fe82cec55b8560265ba7",
+    "visual_seed": 6713351758604599301,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3fc10cb67d54031d1aa1b81cfa0b4b53dd2fd08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3739889858978775,
+              -0.0804675948213787,
+              1.0520514816820108
+            ],
+            "current_z": 1.0520514816820108,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.19094473524866573,
+            "gripper_z": 1.054191185937539,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.36929051851713135,
+              -0.08496040207200055,
+              1.054191185937539
+            ],
+            "object_minus_gripper": [
+              0.004698467380746141,
+              0.004492807250621844,
+              -0.0021397042555282297
+            ],
+            "object_to_gripper_xy": 0.006500839385739023,
+            "object_to_gripper_z": -0.0021397042555282297,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3739889858978775,
+              -0.10487696133376573,
+              1.0520514816820108
+            ],
+            "finger_b": [
+              0.3630081130141089,
+              -0.0804675948213787,
+              1.0520514816820108
+            ],
+            "finger_midpoint": [
+              0.3684985494559932,
+              -0.09267227807757222,
+              1.0520514816820108
+            ],
+            "object_minus_finger_midpoint": [
+              0.005490436441884294,
+              0.012204683256193519,
+              0.0
+            ],
+            "finger_gap": 0.026765588781596517,
+            "fingertip_max_gap": 0.09593723911348398,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013382794390798265,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0520514816820108,
+            "object_top_z": 1.1033055920395256,
+            "finger_top_clearance": 0.051254110357514815,
+            "fingertip_min_top_clearance": 0.015376233107254444,
+            "object_projection_between_fingers": 0.8316860447830778,
+            "object_to_finger_line_xy": 0.010014207161029676,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05046861955674199,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3155825105293344,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 216,
+            "max_stable_success_frames": 216,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3742628121433592,
+              -0.08392968935749312,
+              1.2434869445492842
+            ],
+            "held_position": [
+              0.37911080062593056,
+              -0.07963000127058723,
+              1.2412240082328188
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006863759228309448,
+            "max_held_gripper_dist": 0.006875285077929389,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002262936316465458,
+            "max_held_gripper_z_dist": 0.002294868437561215,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08732485825409499,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.37911080062593056,
+              -0.10459195214786664,
+              1.2412240082328188
+            ],
+            "held_grasp_finger_b": [
+              0.3696797899962332,
+              -0.07963000127058723,
+              1.2412240082328188
+            ],
+            "held_grasp_midpoint": [
+              0.37439529531108184,
+              -0.09211097670922694,
+              1.2412240082328188
+            ],
+            "held_grasp_object_position": [
+              0.37911080062593056,
+              -0.07963000127058723,
+              1.2412240082328188
+            ],
+            "held_grasp_finger_gap": 0.026684132983800974,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025043123670516598,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.008712586271260401,
+              -0.9999601112707848,
+              -0.0019663946159977908
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00482413013601362,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037280856728573175,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33521968577572053,
+              -0.32732821676023577,
+              0.8515395315875641
+            ],
+            "target_position": [
+              0.3319161477916062,
+              -0.3276106718805017,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003315591064569106,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17911260904042156,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395315875641,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758814778411158,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09059862220158792,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1464155135293361,
+            "release_required_pad_clearance": 0.05529931110079396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.710941131733111,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00814366340637207,
+            "max_z_decrease": 0.00814366340637207,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502066116326684,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00814366340637207,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02111837495855351,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00814366340637207,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008143665711229476,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18761608004570002,
+              -0.3838721215724945,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18761608004570002,
+              -0.3838721215724945,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18651873907056218,
+              -0.3829729681013354,
+              0.8037250080809628
+            ],
+            "closest_button": [
+              0.18761794269084925,
+              -0.38386714458465576,
+              0.768733024597168
+            ],
+            "closest_ee_minus_button": [
+              -0.0010992036202870648,
+              0.0008941764833203525,
+              0.03499198348379484
+            ],
+            "button_min_z_position": [
+              0.18761961162090296,
+              -0.3838671147823334,
+              0.7686651945114136
+            ],
+            "min_active_finger_to_button": 0.14642459280836134,
+            "closest_active_finger": [
+              0.06068257987499237,
+              -0.44810009002685547,
+              0.8108066320419312
+            ],
+            "closest_active_finger_button": [
+              0.18762058019638056,
+              -0.38387492299079895,
+              0.7761362791061401
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1269380003213882,
+              -0.06422516703605652,
+              0.034670352935791016
+            ],
+            "min_contact_pad_to_button": 0.02111837495855351,
+            "closest_contact_pad": [
+              0.18761961162090296,
+              -0.3839404052330521,
+              0.7897834422938385
+            ],
+            "closest_contact_pad_button": [
+              0.18761961162090296,
+              -0.3838671147823334,
+              0.7686651945114136
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.329045071874374e-05,
+              0.02111824778242488
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6098556129387905517,
+    "physical_seed": 7490668268172140043,
+    "layout_id": "layout_00031",
+    "step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "workflow_spec_digest": "c77dcf433d87499c00988f07afb0b4cc38d45623deb27c9efe0716cbc3102777",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aef1a81f7b479c8e2afe80ca8386e39d06413735018907816ddbaea5ed7e2114",
+    "visual_seed": 1144537610492321079,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      4567401361451441112,
+      7000790218311912638,
+      7522013946436761511,
+      7728913421038834906
+    ],
+    "runtime_workflow_digest": "80eca7eb524aa52a2fa9199615662aede9da423b08788ca439a0b1ab510d1032"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..c41dfb613ee4f650c85b3f3c7a3e7d6d3e06ce7d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00031/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s04_pslr_htb_00031",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..568f639b70f0387f293814e3192ad669b2c19234
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17bf706f65e461b9b7ddd8ff512a16594f30731fd6d3bac3b2fe7775a2cceea8
+size 6873889
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a6085351b8a83d3d9f5e66b1896ef8b81705ca36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d550dc35d547dc6371c1e9094a17a154c4fd13802abdb11412c99831b89c52e
+size 6376291
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9bc9f4b1bd2bcef6136751bbc5306d83cad902ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2cbd81cd4f9afcdb6cf55e0ba78aaf32895866c1480c0e64d926b4289a8c7a3
+size 7209636
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4839c45891c8fd1257728916449a85b31a88eef2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdead8f7d003dfccc58402cbacd21257b22c47deb062122a0de93734878228c4
+size 8474668
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bbe8f835ee08095d2b6efdc520cca5b660cd64b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c48d60f170b8b503992564c3e18eecbe2cbc3527fedb15cbec4f4b823ed4b45d
+size 5882000
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..38e284a47f1970ec2c4758371a5cabdf1802da14
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06ff86ff32e5d915bc47b0c08d38619bb2a7dd7a03038afd396ac6d6a1201f82
+size 7284417
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e9203cb4852cf3f05a7efd5de9f47c9b50e4ed2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80363bf3820998f56bbb779c9071518dc4c58c2363f804b82e12a05d72b2c84f
+size 5961424
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a68cb51689bf62816ebdfbcca30c3f135afce88e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1bf19831e3f4947cb02b4fd72f1c161c7c92520406c8b70cf29443875b8c7f2
+size 7207815
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d84018d1e4dc1905f436f0660d056b7846912349
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51aa56a0deede88ce3319595d3303fc8230581b083e474fa48a24e27590b6328
+size 6574573
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e0161d31f23f743d8afb8306d11178ec9cacd156
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2542011bde31482acb513ec9c9b15b4dda05dce9b22eb3740ee8cf3495988da0
+size 5960599
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5b81f2ef8dca52ab7a5a6c858f65143f4dbc1f0b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a36ed16c19084e34ff2734a31c7dca29286d9dc9b2003a625818b8bb2baa22d4
+size 5454405
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..160c3fe3c9e685a5a628d0dc8c158ec8d1c8d669
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dabdf8dc5c25a95ae0e2d36f1cb137b9e1ba3e73b87eb74c2c554b372f70a93
+size 8099251
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a57e952bf977ceae6c7b9d3b52070032573bfdb2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51c0dcc98ebfd6930938c89426da8aac82156c824b466f48bee3f52fa44b2136
+size 7710527
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5b15e1ce011cd97394554fdbd2e47df5629c9b6e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c83909e7e1e485f0cbf93b7a4aef5f1bf58ad05f3f839bb2c960b8f4f55597e0
+size 8611331
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ff418734a16ba5acb8ae52bddc81b59126f29d04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffd9d1fa102afb53d9655eb897e3fc2943dea65278f63441cfc816bb352a2284
+size 7714259
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4d15f3c5eddb0b88d96964442f265fd92233ee5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d260a76c0e4dbcbdb8bf5573322e7135c1c6f4b1f9bfb01728fc6f266b9b5b7
+size 8199851
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..963822d1a434539f0f9b5c82dba118aef6611e46
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:228726e7a54a2ba674a322bd0a4c6a2119688045b1230bf62a15c6be33e8ed35
+size 6006637
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1fa12ad153b8bb27215585265841d6e6601bcdb2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c35d46843bdbdc25509255db02782cc75c3bd528f6e72301a1d5e73c065c59ba
+size 6726511
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3316b7624b8a2347698c888d6ab2d92bea5d0f9a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba5a090b850c6e4d964833a13478055bac3d252b70745f55faad9f9a649ab19d
+size 5313617
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..596df70ab394e84bd259fbc07d9d6b3e67d1c8b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ea5ecdea362d477ac6615e1a1b7c3b894ca60bafc02b307e0776cc01728051c
+size 6519545
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..76feb1b3d3261f45c022fe8e7da8e0ccfbfff479
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b1fd1b385e95be95743ce0a70804ae7c88e5b9bc2967ea2ab9b9d3610308225
+size 6243375
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25707df9b8d2788035ad699170c9b64977d228d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f178aa917a6f0a4b4ca2e2c8aaac519c922848aa930b1592a2d013fe7042c563
+size 6934408
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1a07b8d399ddbfed9ce0c33ec9e3d379c0bcec0e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f233fc4edc6de72968def4ceac4dfd1a547e9f7af4cd4b60c92e4cba765a1c4a
+size 6309935
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..973fd91a3613859c1a2e75bb9dc03ee16d78000f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bea8745ac49ecedf8944c0e6250cfa71dcbde5020ca7dc4b1fda66a86206195d
+size 6035686
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..44da1f0ab0eb6876d0a7f8687b0a75f3e0aa7eb6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8afb52e127a6e8d7e7c309d9446641be2eb8610f5de409686cc551350c61b151
+size 5629921
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b2d61d1a931edee7759c71e157df03417fe54093
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfeda0b4533086a49aa02c02578df0d3b46f8f480a2bac9ae0f98815c6f6a815
+size 6406418
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..22a33042fcf96c4967240f1e3393115f35e5c4e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf3aa06c8293616470926c2d8ca87ac37bf5719f0524ba016f1f0c9089576506
+size 6326402
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..76015df791a96506481672bc1ad442540259d74b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ffc2ffd0ec4414ffa41ee414f7f3e814fd581b3aeb8efa28958b5f7fe263db3
+size 7353971
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d77ddc303edf308b59de34c9a60ffca8589a5a1b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66a9bf4c90e5972f17de98fbb4de7e7a064d980500faf1abbfcb15eb72e66471
+size 6865506
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..380ef4dc888f782b27e9301b667de50522ebaf91
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02f6a981cb5672b6d57d22bf0cd77a88e4a233761cf355b3175d95f2ff2e3441
+size 5744907
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..68e0928067b416e5c979a2cc5ef3c760f3e2b7c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c44467eede6be9ba64f5017f1c9f8d92670f29afaf22ab52d0ca6608e48c4783
+size 7645527
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6c4c96993d1c0fb8f43fc5fbfae0cdcf4ab71113
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ffb639b37310954d86edc27a1f48dc65902d731d7147440bb11111ccf7f4f98
+size 8218808
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6c1f8c7e059ee9d3d210c110784930c1476e4f75
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf85d0c155b60188322e7a6c0b8123e246868ddb0afc6895ebb343e3d7e0d7ee
+size 5812679
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..61a64cae66b0b83452c0b63224d47edab1711d36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9f773f927792b0f37f89f4806285a83de9a1338581b69fd8ca87451918e1ec9
+size 5724173
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7ca60325fbedeb19c8e110ac5215db7b1508bc3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2592d85c6f4819663dd3767bbda6892b6a46aff1f8acd1f48a8bec3b3e167bac
+size 5845693
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..746963eb9372e7c808bd8371a8eeda6c10bb2d28
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faa58f9c8b67d76f9b4181592af7c6c522ed0282c1b7ffbbf5f09782a0a1fb4c
+size 6268377
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f6312f48aee0b3070fb61e961e6b2ec05c2afca9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cc558ba1df76d81f357407c6f010d113135e04786fb2d9ab66b9608c7e192e8
+size 6143170
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1f3eb3d211d4f32c644794ca20520d496a9ea1e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:693aa733d06e9a9c22b64e8f025e5acc405cce6ce32776f1c9e2e2ce4e76c75d
+size 8431032
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ae2850c5e32ff0a8a1a6cd191c163ab492b30d7f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecd00d4ab93aa0aafdf6dd5bb5c905015d4a3713f969ca6085caae2009f7d9a8
+size 9082005
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3e9db892bafbd92ecf343acf8ea899fe826f1848
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e9b27c1421bf4d511330a5985811e5284091ed48263ce914599a044e0b20f9c
+size 6015347
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5fa0f2ce9014b87b95217e4c0b71c72f9d76ed31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:387ffb8b4d370406f144b381c43d420c132294112a1585847c628aeaf3674e2b
+size 7318841
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e1c8426431c5329cd68c89cd7f5e110774c8b29a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce001dcc86839bfee9deef77290918d3d0b2b2a58874527cd6adfb4d605af56e
+size 6052838
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a03ad8979e1cfcdbc0be1020d454f62928eae8c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed10924e28f971f52ea694022c28e20cdfe1928bc6a762cd21a98ec6c1071c5a
+size 7284743
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9667173cc1556213753024ed7b048825ba24731c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d3ce7e7abc53f06f22b16a253332fb1c6f922d85d7ee179d43c6542f2e18a9d
+size 7489499
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d52275b2bc75c60a305e0f61fbd1e61b07907ec7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51d7dc2ef6347adc2a0711769bebbf742c8df553e4ef9c12279e723dc5865202
+size 8056689
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2180407c56d63f7a6c898ffb7874c768fa2a012f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9acf9579aabaf7fedbb72e7700e13e9b641b4d15596f75783af1dfd8a4dc2309
+size 6532241
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..780c5d36860a0d275590272fb1338dcc0fc79cc4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c07d312a4d7c6c52e3d8494abf039399e0a632e5c49d0b7d081c08f897996e2
+size 5912948
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2c769b62a18ca6dab19c0ec32278567313bc43a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8200ed108b3ddf7f776fbc18687ecb3913552a76709944ed931bb1f126b52273
+size 5832525
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c6d3ffc0b0846ac459163fb44843bb27117c8df2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939103e8d7b2220ef94cd2f52f15af0067ec2d3c238f4fa8437e559db900edef
+size 7511626
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c6f0c85b9e53316a97251fb64c3b4500b20cb72e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c839854e21e0397ea10e39749b2cf7470ff000149491a49180f5b7c030c3ea43
+size 6374613
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..91f6cfb14aa5968ade191d8722ec083c6fa69c42
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e74f585f27d90f9d3c2702c7f096ceb948e6164c26bad9d62e3d1fe876f295c
+size 5856123
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3c1a24945b8c1528467c9922309a16118ef11a22
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9146a1feedf769c39b0ce87c5d031954f30c355aa7956b6f8eb943d0e36dcca9
+size 7934631
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8fe4b9db311d28dc7dc35b4d338f4e1a1aaa9330
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ff2851d9ac1fa97d897e9535fe0ee29825db0a6c10606c637bebb6129a59e0d
+size 6153307
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fe0621b7ffadce649f50084822fcedc23eeeaa55
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55b797b61e0e06d6668fe78bdef8f77ca5c61a9bdfaaf261f88f5f858db2dd1f
+size 6033942
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..40439dfd5544e31f74635b0fcbad3f4eea0eee1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75752a5137556f48af72f6d3d2e4811b3c6bbcfea345111722a47fa712d78991
+size 6413963
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b4049f517fd4ece229ab5295d0c007fd6a3be5d6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2cc9ea0a721e8eba2243fb91348829ff1319210eba01a03996726f61a42b9aa
+size 6287244
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c64606c52571681caf44b4634028618e1fd02940
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c025c6645a9757d0b1b162c52ee50808de12d3bb80e6b42bdffa12346344792e
+size 6961566
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3b1193580c2c9967a2bd436f14a7e817975aaf41
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8895495a671ef15078a09ac541de582365cf3d3420fe515e2d1e4f2832839d15
+size 6823297
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4162a61c1b1797ac9f2a172bf37a01aba98dd20e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a794db466136fd0aad6506b7dc26ec04fb29e7908a24c00ae03c959aca7b0e23
+size 8192053
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f9d62be0b6abf9fbbc0fc853100af51aa16d16a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52bc13e86adf6953798e77713404a658659dadc1e0b51540bb7509aa645c7c27
+size 6720290
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7c99a6229048f843389df524ce11bd41e9449c82
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f24b1fcffb2927f230933883136c3ee8e008c52da34cbb1bcef1d4f5605a62f
+size 6540161
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..55e5166c608bce81aa8d7c0a352821427c40aa41
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8403651283da5037ebdc1e2761a1209847996ec264656b50ffdb48838077d712
+size 6548245
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9657f659abf2a35d06427bf2e355961fb100265e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:818e07d1da3c33c3b76389f722c5d47b496f1abb49aaf06845daeffccaa1d91a
+size 6272771
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b556833c63b6f592c80b500cdf8f0727060b2ba2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99a7c93d1c90e44be0ddb9aa969155bd6d015754229e82149659159a9eb90503
+size 5544448
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..23ae30c600ef66562c710a6df89ff73ee7db107c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf15c3f3c88c4196be30550a98e9e6d6fed412be5c9c5d140c6d38c90426b300
+size 7410909
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7e9445a71ca6a7772963d8acae57e3f398bf5848
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0b899adb2b3ffdc03abcb5bb205a01bdc74992e78f5973c988568ca1bd889f3
+size 6874418
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..842031c35f6b4d7279ae211198adc1ca11211ab1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87609d6579618f50aed4948ec4622849a2963ccfcd4db4cb4e399986d37dce3f
+size 7617078
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..14573dcbd4448abf228d4823aaf6a890caa70676
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:143f74703c52a5c6a6ba3493d20857afe8cf947ee873bb0fab3142e9991740b7
+size 5724615
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bd9bff17d60d7e8d4b0ea588dbf79f7d7ee79f37
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3904236d76674fa6835735add811cbf0562cd4094d3ffc12831af28cddf8b547
+size 6073453
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f42e5217101623609c65014e3418417852762c24
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33eddd3c7cfd07313f0884a6323b94034e058a85c0e58c64a5b01fdc0af22cd9
+size 8216936
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..790fe656e4cfef73df0af494b05c5845b1621026
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:077abdb904c29378a6b03cefd3b5a596ba0cac435a216c343438e477a8d6ef28
+size 5317489
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6346f75fe61082036db73335cf77b5278ff17dbf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e64571b43869b7176d78467e5b8d880c39b5e672f540e3a632d6721cafe2661
+size 6880655
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11ff509e0d9724f95ee9840c7f75b0aa875b9ec0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a16601c1e40a0ff7bac833cd2b0f8ee02a5a56b3855339657998dfbeec5d677
+size 7001403
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c810e0c54b6b2d7fe195e7e9de5bc8e0cf9ea26c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b36c2f6c0e9a475dd997b8ab9e9a8aa2bc7980ba0139d27ab58a985adb90bd27
+size 6362739
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..958484656ee1df50d42d5246f08915ca063c3f85
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5afeb3c26636bf0672b906e7ef6023b898db8f1bba99f8298a63e61d4325e36
+size 7869717
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a2ef79edac5db6037b9964a97bba6a266e98b631
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8d82593a5e8825deccf7173e6eeb8fc0d8efe36e7708e32e2b559aaba0ae907
+size 4979086
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9a369e4501c246a6ebcafa85990e156f7eed071c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33e8a34bccabdf2b818f7294e86023875e491591039541ddb72d2db83876f0fe
+size 6981725
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..848636c549a1fa8bc91bf1e8954c7f1a652d82d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abe80e0787284264ed81a9ea929e1e374d5876efa34d24f54f4d11dc896fd302
+size 7076478
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a65ca7e210e1ed32dc9b5d42616ee26b63dbc83a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cd632c587f94140937ec27c1239530846603f32139d0d88b5d99591b8f11fe1
+size 6242123
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f1526f3b078452c86e5a60fedabfc89097bcfcfe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6012a5ddd79c65e3e36a95aa9a5f32734ba8ef7dc3b159af31c2baaa581a727
+size 5609493
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9f59ee7225eb1f3cee3b49f703f5a4f098afa236
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1468fc44dcf1b3693d083b99eca1275b718f70327506a289b85292f8dfb4ed9f
+size 6820258
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e52214129e064fe4d31e94d59e1a42a2e4714cc2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e1ff48dd63f934651ff3d303a32d3b7587e1733b380cf91e13c16b4c630433b
+size 7195949
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b81aff1240502ed78e43fcebd8fd8825d6c1d5be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2514fc5a75b4a1e85352e67ac139f1d947727d31de00f7cd37c1becef0848d7f
+size 8588118
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d9498088649bd4a6f6f68e90c91d59bc5f1c81f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62752c2e0c60703b1c96e97216d29e8080eda4920bd0c1c99ba027526d4b228f
+size 6264097
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..db759dae7a93c1d8664559bf79ffac0e234fe0c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d45d5d926929e8f8b004bf53cc8db15cae1a8c646d7fcf03d42c2132a5a84ae
+size 7105112
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1fd9fe2f0e930de7d76fa539be106831036c7370
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5240c857c7c3cd57f93b03b295f592bbcfaa0cedff4265786e433833568b106
+size 7297004
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dd020659d7b4fe883540cd2f19c7289927e09708
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e26caf627b32c52aa90cc4f11db8318aa8c93263369c08d75baa6450d92d36b
+size 5763813
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..09aae0c6e69790ca043b4d490b43909844324a7c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fe6050273a486648909ec59ad9d91b440ded5a8ad5b643ca39bd39c294fb5bd
+size 6960446
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1888ff3bfa71eac20eb2bd774fb13eef8e082489
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faeff4ae7e07dae340af41a5b8c0944bf08c5af21e59455e43f3612bd58ddd97
+size 6459540
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..170d7d3fbf8743c39ed772709ab3f6c12f778dc1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17f27c4f26f96968335ba7cfa7ce225aedf7b13a2694b0bb386feb8943cb91f6
+size 8161280
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fd558703a46229b3eb5490b492db41a7970ae394
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b67c5b20cbf270826d9c8d70237418baf4dbf71dd4709e40567311b7471f71b6
+size 7221674
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6acc42d15b046db6afda8787ea922127a1c73495
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18331311c743bdd78860e0a981e21e2209902b95f0070b1bbcd6a0c3bc4a48c5
+size 6386214
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..09973b03a76accb9c8cada40c23807d9eba61cec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0584cfc6e9b6d97ef679080345ce4532bac9d9247af112a336b272ee2fd1bc10
+size 7372743
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a8e4bc5536fc84c1876e347a641aad9c5568f992
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f4fb980bc656e0f65302575d71ac665b838d359086d230c74d1ec52a6cc4528
+size 6984283
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..273e83b371c38491889f602d21a3c0d5b23eb6e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cc64c756c8db7d4bc60440ef1a61ca6e3a2335c07741bd074cd915e6484bb56
+size 7397957
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f507fdc87b65243eac9ed5d993dc7648ef46cb78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebb788da8ffac39d106d2e2b51a0229420af5dc5d23ed492a5c4c364542d6269
+size 5791664
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a64edbab48741bfd9869e2164961fe8ce770b834
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8223a7b2fb57654f800f9c72d56c3ed1b9ad9214165f66023ee7a4277e3adefb
+size 6023592
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ab2f5b16f2bcf87510c0c5dd435e76b7bd64c002
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f98fc232743d09be97b7d2d8aa40c3cd0ad68b8ae1277de372cdb8f029a3dad
+size 6506474
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8101884bf58a8e06972883a8ab6ccf3aee795aeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51e061b45f838f90d9e05508f5579828899b92c07087170e27b29850a1c46421
+size 6092049
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..91b26618d464f46354950a5a372fdedd5a3fc379
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6966e90d1573c28491907f159044833cdd9c1cc544c2605828ba28857433a42f
+size 6469499
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e28b888f2af095e967b495434adfd225e8a12ada
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1259,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1254,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1253,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1259,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1262,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1261,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1253,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1254,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1259,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1253,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1259,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1262,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1252,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1262,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1264,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1260,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1254,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1262,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1252,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1252,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1261,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1260,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1260,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1252,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1261,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1260,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1263,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1254,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1259,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1259,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1260,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1259,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1263,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1259,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1259,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1262,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1266,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1256,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1261,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1253,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1258,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1261,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1254,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1259,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1260,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1255,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1253,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1257,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9ecb30f83810d01cd9cd426e553644083dc71773
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-05T01:13:06","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[-0.015935429707817583,0.45642281068565405,0.71338606911949],"aabb_xy":[[-0.023928919503099617,0.44842467874517844],[-0.007941939912535558,0.46442094262612976]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[0.3716923871663036,-0.5940876335525032,0.71338606911949],"aabb_xy":[[0.3478561695256986,-0.6840876343609897],[0.39552860480690877,-0.5040876327440168]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.12496459712956076,-1.2413404551835767,0.71338606911949],"aabb_xy":[[-0.14164173312265627,-1.258040379157507],[-0.10828746113646526,-1.2246405312096464]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[0.4186868099603416,0.4761856973828613,0.71338606911949],"aabb_xy":[[0.3546868128482359,0.4271533275884507],[0.48268680707244727,0.5252180671772719]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[-0.2541192999650925,-1.3413552865643066,0.71338606911949],"aabb_xy":[[-0.26015631296575725,-1.3473819876332547],[-0.2480822869644278,-1.3353285854953585]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.5652630163393828,0.7266876817084711,0.71338606911949],"aabb_xy":[[0.4852630149092556,0.6471705266958615],[0.64526301776951,0.8062048367210805]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[-0.4901909863431716,-1.1357168029741058,0.71338606911949],"aabb_xy":[[-0.5751909850352463,-1.1677026663689847],[-0.405190987651097,-1.103730939579227]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.4448034534528609,1.7531693652156934,0.71338606911949],"aabb_xy":[[0.39480862052491933,1.70316936632045],[0.49479828638080253,1.803169364110937]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.4012865276608315,-1.1261452471865816,0.71338606911949],"aabb_xy":[[0.3971705775487588,-1.130260802219427],[0.4054024777729041,-1.1220296921537358]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[0.007947067090393278,-1.0315678857854,0.71338606911949],"aabb_xy":[[-0.00018062110291994227,-1.0404814941961078],[0.0160747552837065,-1.0226542773746923]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.0208916087569746,-2.501589277818872,0.71338606911949],"aabb_xy":[[-0.012548566439045008,-2.535032903649802],[0.05433178395299419,-2.4681456519879412]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[-0.17561351175049855,-0.8302944108967412,0.71338606911949],"aabb_xy":[[-0.2306135099522434,-0.8708163775231786],[-0.12061351354875373,-0.7897724442703035]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.5901205787277648,-1.3348252169079848,0.71338606911949],"aabb_xy":[[-0.59946758631006,-1.3491288391256289],[-0.5807735711454696,-1.3205215946903408]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[0.016920920339161483,1.0921896952835755,0.71338606911949],"aabb_xy":[[-0.0031374912740788075,1.072124608374418],[0.03697933195240177,1.1122547821927329]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_14","position":[-0.12518140789128107,1.5777631932693654,0.71338606911949],"aabb_xy":[[-0.17499818735611583,1.527763194785062],[-0.07536462842644631,1.6277631917536688]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.6555270170585947,-2.1368333905016574,0.71338606911949],"aabb_xy":[[-0.6663786233074703,-2.147692681229309],[-0.6446754108097191,-2.1259740997740066]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[-0.42441263910859856,-0.8927355511044124,0.71338606911949],"aabb_xy":[[-0.48841264115833055,-0.9328300341937202],[-0.36041263705886656,-0.8526410680151043]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[-0.2950471972723681,-0.2063795833706985,0.71338606911949],"aabb_xy":[[-0.3175608890958253,-0.27637958397170603],[-0.2725335054489109,-0.13637958276969095]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[-0.6351324159702757,-0.36023951162345424,0.71338606911949],"aabb_xy":[[-0.6414445155066141,-0.36600645087667305],[-0.6288203164339371,-0.35447257237023544]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.6115670159929911,-0.6509171959551006,0.71338606911949],"aabb_xy":[[-0.6715670158395579,-0.7077358181481392],[-0.5515670161464243,-0.5940985737620619]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[0.5027881453798404,-1.6967452991327152,0.71338606911949],"aabb_xy":[[0.46629232475256166,-1.7332292415594728],[0.5392839660071191,-1.6602613567059576]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.45250267056669546,-1.3165348607349918,0.71338606911949],"aabb_xy":[[0.38850267127252724,-1.380521001103846],[0.5165026698608637,-1.2525487203661376]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[0.5259735936414793,0.13004253612484407,0.71338606911949],"aabb_xy":[[0.4981285568608721,0.09925803738653238],[0.5538186304220863,0.16082703486315575]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[-0.6384944385411521,0.41859309441372794,0.71338606911949],"aabb_xy":[[-0.6603841861300928,0.3285930971244788],[-0.6166046909522112,0.5085930917029771]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_24","position":[-0.3705088100838972,-1.5783893900925907,0.71338606911949],"aabb_xy":[[-0.4345088124266988,-1.623330241336723],[-0.3065088077410957,-1.533448538848458]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[-0.1477764489610549,0.5596331556949243,0.71338606911949],"aabb_xy":[[-0.21177645063905226,0.51111576421561],[-0.08377644728305755,0.6081505471742384]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[-0.06897681552223267,-2.283719102579142,0.71338606911949],"aabb_xy":[[-0.1589768141167026,-2.299969688892564],[0.021023183072237273,-2.2674685162657213]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[-0.45422201026731623,-2.545419184220113,0.71338606911949],"aabb_xy":[[-0.4633818892111929,-2.5519504022636497],[-0.4450621313234397,-2.538887966176576]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[0.5969311387009515,1.2417956638769283,0.71338606911949],"aabb_xy":[[0.532935441305855,1.1777956655762194],[0.6609268360960482,1.3057956621776368]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_29","position":[-0.3773135017539345,-1.424400400919445,0.71338606911949],"aabb_xy":[[-0.4148135019258064,-1.4571011363023518],[-0.3398135015820625,-1.3916996655365375]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_30","position":[-0.47378140548582026,1.3359651581746723,0.71338606911949],"aabb_xy":[[-0.5080976826604381,1.2859651582014946],[-0.4394651283112022,1.38596515814785]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_31","position":[-0.3041096126204477,1.6790652914122162,0.71338606911949],"aabb_xy":[[-0.35410961363958304,1.6425990756743882],[-0.2541096116013125,1.715531507150044]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877071465627804,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/334.png","name":"334"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/334.png","name":"334"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3277.png","name":"3277"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/117.png","name":"117"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9763.png","name":"9763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2805.png","name":"2805"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":787.962268634202,"rotation_z_degrees":260.3221377221105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016157863735569052,0.014980354145810722,-0.0014916583826643792]},{"name":"camera_2","offset_m":[-0.014763322899267673,0.019147610127737778,-0.004537241316041456]},{"name":"camera_3","offset_m":[0.016621274667651915,-0.007245980235690785,-0.004123036205410453]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005804302372061586,-0.0010746973806685677,-0.0007914882790669956],"end_effector_yaw_offset_degrees":0.19440698260828637},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[8.823773399557928e-05,-0.0016119341576226564,-0.0011606494998041273],"end_effector_yaw_offset_degrees":-0.1661644294002238},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001520801342554046,-0.0015149201369420847,-0.0006651158827522376],"end_effector_yaw_offset_degrees":0.41258080728603663},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015675823124338781,0.00046899820672809773,-0.0017443235480402168],"end_effector_yaw_offset_degrees":0.3814869265844547}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002634069223102946,-0.0031002570953635312],"position_m":[0.14313406922310296,0.23159974290463647,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034322866291308786,-0.0032248666912134084],"position_m":[0.24566771337086912,-0.38662486669121343,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0042204303167903265,0.004959765818563431],"position_m":[0.21782043031679033,-0.04874023418143657,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004196880588654514,0.0013509441364980886],"position_m":[0.3494031194113455,0.11855094413649808,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1dec4d17129a2c3216e221554dc96c04db7bafd3b2e32d04164455ca8ab40135","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_334/tex_ceiling_textures_2805/tex_floor_textures_9763/tex_table_textures_3277/tex_wall_textures_117","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8867158031164763564,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8867158031164763564,"visual_seed":8867158031164763564,"scene_id":"lab_003","finished_at":"2026-09-05T01:17:00"}
+{"episode_id":"ep_000001","started_at":"2026-09-05T01:17:04","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[0.5561915116619147,-1.428430206118129,0.71338606911949],"aabb_xy":[[0.5386915123838278,-1.445768306184475],[0.5736915109400016,-1.4110921060517831]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[0.413542768211403,0.7710289066904759,0.71338606911949],"aabb_xy":[[0.39889936265736997,0.7563701870336915],[0.42818617376543594,0.78568762634726]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.5024964168297875,-2.197760653057644,0.71338606911949],"aabb_xy":[[-0.5119138913996503,-2.2071768301953627],[-0.49307894225992477,-2.1883444759199246]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[0.2701950760745062,-1.3279442671777284,0.71338606911949],"aabb_xy":[[0.2660592197418061,-1.3654442666220856],[0.27433093240720646,-1.2904442677333716]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.21433164801047155,1.7784899719456475,0.71338606911949],"aabb_xy":[[0.1543316463675497,1.7264898226537033],[0.2743316496533934,1.8304901212375917]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[-0.253028753505222,-2.0286395989921235,0.71338606911949],"aabb_xy":[[-0.26278474301439586,-2.038402133051358],[-0.24327276399604808,-2.018877064932889]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[-0.07594294298013593,-1.6310730860872475,0.71338606911949],"aabb_xy":[[-0.09583398286047619,-1.6437288973719448],[-0.056051903099795686,-1.6184172748025512]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_7","position":[-0.4758621561110184,-0.054656205923321544,0.71338606911949],"aabb_xy":[[-0.5408621571115189,-0.10544257107799648],[-0.4108621551105179,-0.003869840768646604]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[0.2719949963679694,-0.9037456344986643,0.71338606911949],"aabb_xy":[[0.24949499635782113,-0.9178418541382676],[0.2944949963781177,-0.889649414859061]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[0.6547263612206367,0.5690140844005236,0.71338606911949],"aabb_xy":[[0.6172263609284617,0.56497260899992],[0.6922263615128114,0.5730555598011272]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.6046146878099597,-0.3144078656419751,0.71338606911949],"aabb_xy":[[-0.622290318398558,-0.3320880819213778],[-0.5869390572213613,-0.2967276493625723]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[-0.19329977013113975,-0.8187397226642226,0.71338606911949],"aabb_xy":[[-0.20129375870884308,-0.8267398027593129],[-0.1853057815534363,-0.8107396425691322]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[-0.0906520910701365,-1.753902244493419,0.71338606911949],"aabb_xy":[[-0.1546520874974584,-1.8010718683155156],[-0.02665209464281461,-1.7067326206713227]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[-0.19927323843104544,-1.2468837494690093,0.71338606911949],"aabb_xy":[[-0.2492732387916115,-1.296863736678612],[-0.14927323807047937,-1.196903762259406]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[0.16748439812663463,0.7203258203230005,0.71338606911949],"aabb_xy":[[0.15986013003645638,0.7126925967864567],[0.17510866621681287,0.7279590438595441]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[-0.3621437580141632,-0.33092782273595356,0.71338606911949],"aabb_xy":[[-0.4161593542960632,-0.3949278256282106],[-0.3081281617322632,-0.2669278198436963]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.1170437210025016,1.5884550509289972,0.71338606911949],"aabb_xy":[[-0.14703538373637193,1.5584550515921969],[-0.08705205826863126,1.618455050265798]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.6181353871679531,-0.23354172838035447,0.71338606911949],"aabb_xy":[[0.5381353885806337,-0.31285733031851537],[0.6981353857552726,-0.15422612644219358]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.04141429602811386,1.787935177951073,0.71338606911949],"aabb_xy":[[0.01276496366769763,1.7592896186739975],[0.07006362838853009,1.816580737228149]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.341171581647907,0.42385339231891406,0.71338606911949],"aabb_xy":[[-0.3513245972020563,0.3877838507461736],[-0.3310185660937575,0.4599229338916543]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[-0.3759874838661112,1.123001634449012,0.71338606911949],"aabb_xy":[[-0.4399874809782169,1.0739692646546013],[-0.3119874867540055,1.1720340042434225]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[0.5264725357901989,1.718209899695625,0.71338606911949],"aabb_xy":[[0.5073602284322201,1.6990751208183832],[0.5455848431481778,1.7373446785728672]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[0.3275548102660506,-1.108199931285721,0.71338606911949],"aabb_xy":[[0.2932578992483099,-1.142496817495662],[0.3618517212837912,-1.0739030450757794]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[-0.00219549813850195,1.3418939620332782,0.71338606911949],"aabb_xy":[[-0.0396954989304974,1.3355261210750877],[0.0353045026534935,1.3482618029914681]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[0.07985487091194121,0.7071196279885257,0.71338606911949],"aabb_xy":[[0.0716403257962572,0.6984430376908843],[0.08806941602762516,0.715796218286167]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6875953539387708,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2773.png","name":"2773"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2773.png","name":"2773"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9767.png","name":"9767"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7957.png","name":"7957"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4549.png","name":"4549"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9379.png","name":"9379"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":527.0566074991425,"rotation_z_degrees":157.99549708513678,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011404801033176825,-0.01014262504196771,-0.017073575587568134]},{"name":"camera_2","offset_m":[0.01660032549904508,0.018170442228141338,-0.01535406359315004]},{"name":"camera_3","offset_m":[0.013327563922999653,-0.0014038446117443995,-0.018426581233455464]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00034088791000413086,0.0012818926663058527,5.8244602211251616e-05],"end_effector_yaw_offset_degrees":-0.5361317040588622},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003006940331251853,-0.0015410664335328485,-0.0018361079709330146],"end_effector_yaw_offset_degrees":0.8829258147860253},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006832783892066346,-0.0012478990348390342,0.0003143130490921367],"end_effector_yaw_offset_degrees":0.28709686711725135},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005154919140900837,-0.0017805165934551108,0.0008571286554336067],"end_effector_yaw_offset_degrees":-0.898883263565774}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026882354569485655,0.002185347476287295],"position_m":[0.1431882354569486,0.23688534747628728,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013207168272990335,0.004063487486964297],"position_m":[0.250420716827299,-0.37933651251303574,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034852679084824813,0.004081151875729129],"position_m":[0.21708526790848248,-0.04961884812427087,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011442649261725214,-0.0014531648733063464],"position_m":[0.3524557350738275,0.11574683512669365,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bcc9d955c5bbc58bfb93d8e38e71b63af7484831d36a70a6244916744b4d0806","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0001.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2773/tex_ceiling_textures_9379/tex_floor_textures_4549/tex_table_textures_9767/tex_wall_textures_7957","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4120103570046862923,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4120103570046862923,"visual_seed":4120103570046862923,"scene_id":"lab_003","finished_at":"2026-09-05T01:21:30"}
+{"episode_id":"ep_000002","started_at":"2026-09-05T01:21:34","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[-0.22903561849539034,1.656437585278144,0.71338606911949],"aabb_xy":[[-0.2940356196013336,1.631472212210016],[-0.16403561738944705,1.6814029583462726]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[-0.6110644535436695,0.39224996423851266,0.71338606911949],"aabb_xy":[[-0.648564453360703,0.3876117529273709],[-0.5735644537266359,0.39688817554965455]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[0.6767890505057792,-1.5675182822090286,0.71338606911949],"aabb_xy":[[0.659686972547411,-1.5846250877402985],[0.6938911284641474,-1.550411476677759]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[-0.47637940286491764,-1.2154506206280709,0.71338606911949],"aabb_xy":[[-0.5109704857189628,-1.2804506209131015],[-0.44178832001087237,-1.1504506203430394]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.5453752503215548,-2.37861703932527,0.71338606911949],"aabb_xy":[[-0.6353752468224264,-2.4245286817437277],[-0.45537525382068295,-2.3327053969068112]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[0.1226166336874075,-1.5493573941889198,0.71338606911949],"aabb_xy":[[0.05861663146700044,-1.5937304783142079],[0.1866166359078145,-1.5049843100636313]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[-0.0906600131559836,-1.656506587942156,0.71338606911949],"aabb_xy":[[-0.1406600141065164,-1.6880557349456773],[-0.04066001220545078,-1.6249574409386345]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[0.7052542560014734,-2.293402822253384,0.71338606911949],"aabb_xy":[[0.6979930084310658,-2.3061898325168935],[0.7125155035718808,-2.2806158119898745]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[0.4115847164260513,1.384238388368117,0.71338606911949],"aabb_xy":[[0.4022377088437561,1.369934766150473],[0.42093172400834655,1.398542010585761]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.6503271474650151,0.8502233463159312,0.71338606911949],"aabb_xy":[[-0.6646615725911785,0.8381631307613924],[-0.6359927223388516,0.8622835618704701]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_10","position":[-0.050909685964966145,1.1018653425890488,0.71338606911949],"aabb_xy":[[-0.11590968860275963,1.0503857438896016],[0.014090316672827341,1.1533449412884955]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.5520872748750743,0.19021144664970047,0.71338606911949],"aabb_xy":[[0.5467547602204612,0.1848871184044649],[0.5574197895296873,0.1955357748949361]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[-0.46991400753922885,1.7553636734871971,0.71338606911949],"aabb_xy":[[-0.473354683779286,1.7515022405128329],[-0.4664733312991717,1.7592251064615618]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[-0.00817460609387799,-2.458816725143244,0.71338606911949],"aabb_xy":[[-0.04947914915761398,-2.522816724711361],[0.033129936969858,-2.3948167255751267]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.48954790659371517,-1.5375344194692553,0.71338606911949],"aabb_xy":[[-0.524010253991857,-1.5720283018670778],[-0.45508555919557336,-1.5030405370714324]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[0.3652357482005604,-2.3341961432757237,0.71338606911949],"aabb_xy":[[0.35263304906348397,-2.346791539500589],[0.3778384473376369,-2.321600747050858]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_16","position":[0.5107075255922704,0.8301146352281878,0.71338606911949],"aabb_xy":[[0.4457075245917699,0.7793282700735128],[0.5757075265927709,0.8809010003828627]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[-0.3052661317690374,-0.8794715287757406,0.71338606911949],"aabb_xy":[[-0.34628407515540827,-0.929471529406698],[-0.2642481883826665,-0.8294715281447833]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[0.43900534050017814,0.4863555303104259,0.71338606911949],"aabb_xy":[[0.41894692888693785,0.4662904434012684],[0.45906375211341843,0.5064206172195835]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[0.20585295639328705,1.6407574393548354,0.71338606911949],"aabb_xy":[[0.17085295720046875,1.6297903933571727],[0.24085295558610528,1.6517244853524977]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[0.23644937191862803,1.2469573393318076,0.71338606911949],"aabb_xy":[[0.21316752972049668,1.1619573380345793],[0.25973121411675937,1.3319573406290355]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[-0.3860549498544056,-2.183973994201762,0.71338606911949],"aabb_xy":[[-0.39001543362414,-2.191641858787283],[-0.3820944660846713,-2.1763061296162416]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[-0.02494446481907986,-0.19759424549474414,0.71338606911949],"aabb_xy":[[-0.04945808891608572,-0.2218588387967806],[-0.0004308407220739996,-0.17332965219270768]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.23773093260584582,-2.179810829486164,0.71338606911949],"aabb_xy":[[-0.26401975692628643,-2.206082263140815],[-0.21144210828540516,-2.1535393958315123]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[-0.3063042768408563,-0.5170342402658936,0.71338606911949],"aabb_xy":[[-0.34380427835648797,-0.5282610132820386],[-0.26880427532522455,-0.5058074672497485]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[0.13030988184329684,0.8493016880523641,0.71338606911949],"aabb_xy":[[0.08033681631078139,0.7993016882398313],[0.18028294737581232,0.8993016878648971]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[-0.23979231839421683,-0.9851307965281,0.71338606911949],"aabb_xy":[[-0.25534808780448215,-1.0006812297725074],[-0.2242365489839516,-0.9695803632836929]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[0.3654909481247468,0.9186795334956739,0.71338606911949],"aabb_xy":[[0.34049094895911364,0.9117272877903173],[0.39049094729037986,0.9256317792010305]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[0.6418341147587852,0.5304885238263854,0.71338606911949],"aabb_xy":[[0.56183411759921,0.5189409228685683],[0.7218341119183606,0.5420361247842024]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[0.14169273860191167,-0.8508955967331098,0.71338606911949],"aabb_xy":[[0.05797051310182921,-0.9408956002678057],[0.22541496410199413,-0.7608955931984138]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_30","position":[-0.06902220343063692,0.8423652898007035,0.71338606911949],"aabb_xy":[[-0.09260732689453177,0.7773652875552717],[-0.04543707996674207,0.9073652920461353]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_31","position":[-0.4266810944144381,-1.9344752439912867,0.71338606911949],"aabb_xy":[[-0.43745406833580586,-1.9694752422103259],[-0.4159081204930703,-1.899475245772248]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_32","position":[-0.18180339460574702,0.5184513585667978,0.71338606911949],"aabb_xy":[[-0.26680339329782166,0.48646549517191895],[-0.09680339591367237,0.5504372219616767]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_33","position":[-0.5485163648747196,-1.0069227620632764,0.71338606911949],"aabb_xy":[[-0.5835163640046751,-1.0126679831389405],[-0.5135163657447638,-1.0011775409876122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915278736654046,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4096.png","name":"4096"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4096.png","name":"4096"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/983.png","name":"983"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4392.png","name":"4392"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4229.png","name":"4229"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3084.png","name":"3084"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":686.7324267736442,"rotation_z_degrees":266.3184276981885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00477481394972099,-0.00016532552226149189,-0.014147594855761513]},{"name":"camera_2","offset_m":[0.0013559428909850277,-0.007268263658393987,0.004284317526702611]},{"name":"camera_3","offset_m":[-0.0033495962091814185,-0.0029696777172454544,-0.00745377156147594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010515426661493743,-0.0010212339196616496,-0.0005988410688231394],"end_effector_yaw_offset_degrees":-0.5419295581322601},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002624521867518666,0.0015466392785940578,-0.000805699913446067],"end_effector_yaw_offset_degrees":0.7558096816143234},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000697101950470076,-0.001634375768073309,-0.0014454134711045855],"end_effector_yaw_offset_degrees":-0.9785589193684234},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001213281067583098,0.001070083421051075,-0.0004374186764993576],"end_effector_yaw_offset_degrees":-0.9593162126006995}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007735677832951269,0.002236663583301303],"position_m":[0.1397264322167049,0.2369366635833013,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004624210771791517,0.001929604086538781],"position_m":[0.2537242107717915,-0.3814703959134612,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00011450841415861206,0.0018287845335759915],"position_m":[0.21371450841415862,-0.05187121546642401,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002722780347867414,0.0031456867967050535],"position_m":[0.3508772196521326,0.12034568679670506,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"465748954995335dd7f249b725929cf29df1f2ef28370fbe5e55e8714dd43152","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0002.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4096/tex_ceiling_textures_3084/tex_floor_textures_4229/tex_table_textures_983/tex_wall_textures_4392","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3664388244999081818,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3664388244999081818,"visual_seed":3664388244999081818,"scene_id":"lab_003","finished_at":"2026-09-05T01:26:00"}
+{"episode_id":"ep_000003","started_at":"2026-09-05T01:26:03","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.195582720391191,-0.39433960585677363,0.71338606911949],"aabb_xy":[[-0.22606697051822117,-0.4443396056382695],[-0.16509847026416086,-0.34433960607527764]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.29209901727957255,0.7939314930692571,0.71338606911949],"aabb_xy":[[0.22809902088399947,0.7299682046505237],[0.3560990136751456,0.8578947814879908]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_2","position":[-0.04226086619660685,1.3994221162964582,0.71338606911949],"aabb_xy":[[-0.0797608669886023,1.393054275338268],[-0.004760865404611403,1.4057899572546484]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.5965864851088152,-2.0433445557812324,0.71338606911949],"aabb_xy":[[0.5553376740789004,-2.0983445552934494],[0.6378352961387299,-1.9883445562690147]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.5240634888194036,1.189195151252766,0.71338606911949],"aabb_xy":[[0.48906349054928366,1.1821210235577777],[0.5590634870895235,1.196269278947754]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[-0.10056087822978332,-1.3550509789347982,0.71338606911949],"aabb_xy":[[-0.11192261288306948,-1.366419445341086],[-0.08919914357649716,-1.34368251252851]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.5696348294498509,-1.409904374189274,0.71338606911949],"aabb_xy":[[-0.5946348290015894,-1.4200468580544088],[-0.5446348298981124,-1.3997618903241393]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[-0.13645424458104805,0.8430730595307572,0.71338606911949],"aabb_xy":[[-0.14286805822423296,0.8366632392830887],[-0.13004043093786308,0.8494828797784254]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[-0.48891394772431207,-1.9561783109872115,0.71338606911949],"aabb_xy":[[-0.4985455839447417,-1.9658156237669204],[-0.47928231150388245,-1.9465409982075026]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.13402518692413057,1.1455564836938987,0.71338606911949],"aabb_xy":[[0.10156348604220307,1.1154236515789957],[0.16648688780605797,1.1756893158088009]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.4592585057224523,-1.7029878984616371,0.71338606911949],"aabb_xy":[[0.4092810888571987,-1.7529878999508857],[0.5092359225877059,-1.6529878969723886]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[-0.21788753134695332,-2.2333219051356172,0.71338606911949],"aabb_xy":[[-0.22202338767965354,-2.2708219045799742],[-0.21375167501425316,-2.1958219056912602]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[-0.43179427957250105,0.9430752335397083,0.71338606911949],"aabb_xy":[[-0.49579428286220917,0.8997403145357907],[-0.36779427628279293,0.986410152543626]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[-0.2645464256213341,-0.768008063243812,0.71338606911949],"aabb_xy":[[-0.3285464242079066,-0.8150150266433206],[-0.20054642703476167,-0.7210010998443032]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.43068004333527343,-0.2431627021463032,0.71338606911949],"aabb_xy":[[-0.4481800426133603,-0.26050080221264915],[-0.41318004405718656,-0.22582460207995725]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[0.02297231369101793,1.73800060020722,0.71338606911949],"aabb_xy":[[-0.008174605152565188,1.668000601520413],[0.05411923253460105,1.8080005988940273]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[0.6724536494888498,-0.5067746928267116,0.71338606911949],"aabb_xy":[[0.622460537379658,-0.5567746935009072],[0.7224467615980418,-0.456774692152516]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[0.5908537905206968,-2.5575168562921573,0.71338606911949],"aabb_xy":[[0.5533537907036631,-2.562155067603299],[0.6283537903377302,-2.5528786449810155]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[-0.4996620124420559,-1.6460234172217971,0.71338606911949],"aabb_xy":[[-0.5636620138500466,-1.6978123687457218],[-0.4356620110340652,-1.5942344656978724]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[-0.61820549968389,-2.3936807478155973,0.71338606911949],"aabb_xy":[[-0.6269194687338244,-2.4161807484747846],[-0.6094915306339554,-2.371180747156408]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[0.5588975562234204,-0.7634271073046284,0.71338606911949],"aabb_xy":[[0.5363975566997129,-0.785923054755249],[0.5813975557471277,-0.7409311598540075]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.22925725290827764,-0.2715439037451062,0.71338606911949],"aabb_xy":[[-0.24712636066273314,-0.2853768117223171],[-0.21138814515382215,-0.25771099576789525]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[0.4008084185608334,1.3256905263233016,0.71338606911949],"aabb_xy":[[0.37247870861229315,1.3212297841295846],[0.4291381285093736,1.3301512685170187]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[0.4056558581290426,-1.8650208814254647,0.71338606911949],"aabb_xy":[[0.34165585621670025,-1.9209320306834754],[0.46965586004138493,-1.8091097321674545]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[-0.056740750101073156,-1.2110766282256444,0.71338606911949],"aabb_xy":[[-0.14674074683668337,-1.2642600915429387],[0.03325924663453706,-1.1578931649083497]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[-0.5938664638441924,-0.42988230068394895,0.71338606911949],"aabb_xy":[[-0.6438664634205272,-0.47986287963605495],[-0.5438664642678578,-0.37990172173184306]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[0.1270539075890066,-2.441244577309341,0.71338606911949],"aabb_xy":[[0.07723712812417183,-2.4912445757936443],[0.17687068705384135,-2.3912445788250376]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[-0.4669895323928441,-0.016184671033493636,0.71338606911949],"aabb_xy":[[-0.5014520104059319,-0.02284834821641646],[-0.4325270543797563,-0.009520993850570814]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_28","position":[0.5831624581236559,-0.9767373502668255,0.71338606911949],"aabb_xy":[[0.5456624577754281,-0.9885287458479091],[0.6206624584718836,-0.964945954685742]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_29","position":[0.6312361634290256,1.010047563606097,0.71338606911949],"aabb_xy":[[0.5712361625682126,0.9586211335996105],[0.6912361642898383,1.0614739936125832]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_30","position":[0.5139440624956599,-0.3027030972148088,0.71338606911949],"aabb_xy":[[0.4789440625191641,-0.31216771326242543],[0.5489440624721558,-0.2932384811671922]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_31","position":[0.1630381526331124,-0.9052949363915883,0.71338606911949],"aabb_xy":[[0.1557943865868671,-0.9852949345951906],[0.17028191867935774,-0.8252949381879858]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_32","position":[-0.40552273451314563,-0.5315015002696475,0.71338606911949],"aabb_xy":[[-0.4288045767112769,-0.6165015015668754],[-0.38224089231501424,-0.44650149897241936]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_33","position":[0.490236268665567,-2.4058295909236556,0.71338606911949],"aabb_xy":[[0.44415117741083554,-2.4698295881762107],[0.5363213599202985,-2.3418295936711004]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879225267597142,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9946.png","name":"9946"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9946.png","name":"9946"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1285.png","name":"1285"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/380.png","name":"380"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6263.png","name":"6263"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2329.png","name":"2329"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":535.1546895081271,"rotation_z_degrees":26.434538510337994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01594090587302341,-0.009825928531188053,-0.013002727087156827]},{"name":"camera_2","offset_m":[-0.010295891079066212,0.01460705124191972,0.0031217951361771946]},{"name":"camera_3","offset_m":[-0.013729368821235282,0.01782783396638842,0.011873690982727333]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006479152671987638,0.001978488242175222,-0.0018810545008765343],"end_effector_yaw_offset_degrees":0.01514889922994156},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003044180560238562,2.5996806131700807e-05,-0.001387237522237478],"end_effector_yaw_offset_degrees":0.776636622770241},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017955995978848945,-0.0012709624941692672,-0.0002678664245141574],"end_effector_yaw_offset_degrees":-0.8830480038488422},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001669491787716637,-0.0009084184119486985,0.0014309515157086149],"end_effector_yaw_offset_degrees":0.9690701158792698}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004233870790786825,0.0019536853724854766],"position_m":[0.14473387079078684,0.23665368537248546,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019609823588145215,-0.0014368199385079439],"position_m":[0.24713901764118545,-0.38483681993850793,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004464174311054809,-0.0017786210173557282],"position_m":[0.21806417431105482,-0.05547862101735573,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033335716398129297,0.004478123348818415],"position_m":[0.35693357163981293,0.12167812334881842,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b2c162339bd81317cee251df29e68944c7978bfe22ab548811fcfd24a4dcae73","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0003.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9946/tex_ceiling_textures_2329/tex_floor_textures_6263/tex_table_textures_1285/tex_wall_textures_380","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2359212470569228125,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2359212470569228125,"visual_seed":2359212470569228125,"scene_id":"lab_003","finished_at":"2026-09-05T01:29:54"}
+{"episode_id":"ep_000004","started_at":"2026-09-05T01:29:58","dimensions":{"distractor":{"count":23,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.3820126661918304,1.6812291043124001,0.71338606911949],"aabb_xy":[[-0.467012664883905,1.6492432409175213],[-0.29701266749975574,1.713214967707279]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.5279520091976372,-0.3979095898039313,0.71338606911949],"aabb_xy":[[-0.5557970459782443,-0.42869408854224306],[-0.5001069724170301,-0.3671250910656197]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.4083967345797679,-1.8718234367229973,0.71338606911949],"aabb_xy":[[-0.44589673468536084,-1.8786455985759785],[-0.3708967344741749,-1.8650012748700162]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.43508085623771753,-1.7961696868320063,0.71338606911949],"aabb_xy":[[0.3850808575917963,-1.8460892304914687],[0.48508085488363867,-1.746250143172544]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.12993847156552818,-2.1836372951249428,0.71338606911949],"aabb_xy":[[0.10743933583930121,-2.206137295903206],[0.15243760729175515,-2.1611372943466796]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[-0.24963708492656989,0.5723590393816642,0.71338606911949],"aabb_xy":[[-0.2552187565606986,0.5598590395638886],[-0.24405541329244113,0.5848590391994396]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[-0.3117869651973944,0.4761540234459867,0.71338606911949],"aabb_xy":[[-0.3200015103130783,0.46747743314834533],[-0.3035724200817103,0.4848306137436279]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.09614702071252734,-2.1933308809944556,0.71338606911949],"aabb_xy":[[-0.10492824785976361,-2.2021106282829863],[-0.08736579356529114,-2.184551133705926]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.5566073565045757,-1.103623170658463,0.71338606911949],"aabb_xy":[[0.5320937324075699,-1.1278877639604994],[0.5811209806015816,-1.0793585773564265]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.5875647033680608,1.4142139148267483,0.71338606911949],"aabb_xy":[[-0.6775647027864315,1.3808384179825584],[-0.49756470394968977,1.4475894116709378]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[-0.3224139883472023,-2.372490218876013,0.71338606911949],"aabb_xy":[[-0.33176099592949754,-2.386793841093657],[-0.3130669807649071,-2.358186596658369]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[-0.1962899426281225,-1.5396805879167175,0.71338606911949],"aabb_xy":[[-0.21875471259952758,-1.5621805887955778],[-0.17382517265671735,-1.5171805870378567]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[0.5841908306146253,-0.4850729398422531,0.71338606911949],"aabb_xy":[[0.49419083202015535,-0.5013235261556741],[0.6741908292090952,-0.4688223535288321]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.001451999193480935,0.9822305798093214,0.71338606911949],"aabb_xy":[[-0.021044422240383165,0.9597305800025738],[0.023948420627345035,1.0047305796160688]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.2844111450011257,1.0531214695250894,0.71338606911949],"aabb_xy":[[-0.3384267412830257,0.9891214666328321],[-0.23039554871922568,1.1171214724173464]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.5915630364987339,-0.16532892850750835,0.71338606911949],"aabb_xy":[[-0.6274765409237235,-0.20124243672426298],[-0.5556495320737442,-0.12941542029075373]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.5163954385775631,-0.6649065651915804,0.71338606911949],"aabb_xy":[[-0.5498746058386041,-0.6983856785626874],[-0.48291627131652226,-0.6314274518204734]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[-0.20064579225458318,-1.804083520950367,0.71338606911949],"aabb_xy":[[-0.23564579360606489,-1.8244432569071878],[-0.16564579090310141,-1.7837237849935461]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[0.42859619270956517,0.5096424194552425,0.71338606911949],"aabb_xy":[[0.41988222365963057,0.4871424187960541],[0.43731016175949955,0.5321424201144305]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.351189851704782,-2.197848969871259,0.71338606911949],"aabb_xy":[[0.3430761970314049,-2.2059547863252877],[0.3593035063781591,-2.18974315341723]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.1803786722741516,-2.0702726296723304,0.71338606911949],"aabb_xy":[[-0.23035608913940517,-2.1202726311615785],[-0.130401255408898,-2.0202726281830814]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[0.6694359432291672,-0.6997365467593353,0.71338606911949],"aabb_xy":[[0.6648008280769337,-0.7036038818364839],[0.6740710583814005,-0.6958692116821866]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[0.2682844146998332,1.485796682657425,0.71338606911949],"aabb_xy":[[0.26282646906281315,1.4057966793497656],[0.2737423603368533,1.5657966859650838]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6836214885020705,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2610.png","name":"2610"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2610.png","name":"2610"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4603.png","name":"4603"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2347.png","name":"2347"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/841.png","name":"841"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9459.png","name":"9459"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":791.7710005313348,"rotation_z_degrees":141.82962369588688,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01704124058452211,-0.014839965711313977,0.005256446049107192]},{"name":"camera_2","offset_m":[-0.015758131499985426,0.01867661879356586,0.006475873453667558]},{"name":"camera_3","offset_m":[-0.007545580775320424,0.01509169644310129,0.005234028271912026]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00186878351048766,-0.0011503321280467054,0.0015370177033337089],"end_effector_yaw_offset_degrees":0.066305159219892},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006345694196659159,0.0011672308463874471,-0.0008272840869385956],"end_effector_yaw_offset_degrees":0.7644386299017145},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010493423413940306,2.4393389110269337e-05,-0.0007875586560961735],"end_effector_yaw_offset_degrees":0.7595730668702749},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003711793185625068,-0.0017463921598343864,-6.520645295161128e-05],"end_effector_yaw_offset_degrees":0.06693430245068765}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0001428621068025283,-0.0021328582955270183],"position_m":[0.14035713789319748,0.23256714170447298,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034069547744222254,0.0041279237238023595],"position_m":[0.24569304522557775,-0.37927207627619763,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018276250655815409,0.0015574127722394228],"position_m":[0.21177237493441847,-0.05214258722776058,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003815123992156462,-0.00446307512807758],"position_m":[0.35741512399215647,0.11273692487192241,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"12246130afff88f1efa34f72b468f1697752ec2edd46311f0cda5ae91d4c942e","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2610/tex_ceiling_textures_9459/tex_floor_textures_841/tex_table_textures_4603/tex_wall_textures_2347","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7480713156797810141,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7480713156797810141,"visual_seed":7480713156797810141,"scene_id":"lab_003","finished_at":"2026-09-05T01:34:22"}
+{"episode_id":"ep_000005","started_at":"2026-09-05T01:34:26","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[-0.24542398583033936,0.36399369094330103,0.71338606911949],"aabb_xy":[[-0.30042398545208526,0.3090099981558283],[-0.19042398620859355,0.41897738373077376]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.3335132394268549,1.0269145767472803,0.71338606911949],"aabb_xy":[[-0.4135132404999752,1.0171365304098958],[-0.2535132383537345,1.0366926230846647]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[0.6586274052698278,-2.2412003237878304,0.71338606911949],"aabb_xy":[[0.6492803976875325,-2.2555039460054744],[0.667974412852123,-2.2268967015701864]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.3172828408201933,-1.9184652039980543,0.71338606911949],"aabb_xy":[[0.2272828384861743,-1.995947558583167],[0.4072828431542124,-1.8409828494129417]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[-0.3329713257456232,-1.0391320501685033,0.71338606911949],"aabb_xy":[[-0.388096531375214,-1.0991320516097902],[-0.27784612011603244,-0.979132048727216]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.2932227446191074,1.2708767709980475,0.71338606911949],"aabb_xy":[[-0.2985552592737204,1.2655524427528118],[-0.2878902299644944,1.2762010992432828]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[-0.03700601168522988,0.7058811059495116,0.71338606911949],"aabb_xy":[[-0.07263516758518962,0.6702484391926586],[-0.0013768557852701369,0.7415137727063645]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.4194646643277734,1.720678492659205,0.71338606911949],"aabb_xy":[[-0.43552659178629105,1.6356784908466129],[-0.40340273686925576,1.8056784944717965]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.244965150917697,-2.3867061708799167,0.71338606911949],"aabb_xy":[[-0.2520054608512341,-2.4667061702795885],[-0.23792484098416009,-2.3067061714802457]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[-0.4143078321487974,-0.5512307500224596,0.71338606911949],"aabb_xy":[[-0.42243552034211057,-0.5601443584331673],[-0.40618014395548413,-0.542317141611752]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[0.610789598674111,-1.2008162439098653,0.71338606911949],"aabb_xy":[[0.5994278640208247,-1.2121847103161532],[0.622151333327397,-1.189447777503577]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[0.5946043318441356,-2.048790160219757,0.71338606911949],"aabb_xy":[[0.5046043321209613,-2.0718635127549363],[0.6846043315673097,-2.0257168076845766]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.4506560901657103,-1.4111972539603537,0.71338606911949],"aabb_xy":[[-0.5056515679863696,-1.4661972553942604],[-0.39566061234505084,-1.3561972525264465]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[0.3990290053450558,1.5127883093925925,0.71338606911949],"aabb_xy":[[0.33743824612106305,1.4487883112835458],[0.4606197645690487,1.5767883075016396]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.08820830794753853,1.2064717648949603,0.71338606911949],"aabb_xy":[[0.08017197324625369,1.1984336455905436],[0.09624464264882338,1.214509884199377]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.6652616781284415,-1.8517346013121174,0.71338606911949],"aabb_xy":[[-0.6877616781385899,-1.8658308209517205],[-0.6427616781182933,-1.837638381672514]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[-0.3666503995523168,-2.092469368634397,0.71338606911949],"aabb_xy":[[-0.45165039796974,-2.177343664096682],[-0.28165040113489354,-2.007595073172112]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[0.6801302760319241,1.5916300537369374,0.71338606911949],"aabb_xy":[[0.6426302748471311,1.587211831040877],[0.7176302772167167,1.596048276432998]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.12612759882042068,1.8146121412124416,0.71338606911949],"aabb_xy":[[-0.13873029795749714,1.8020167449875764],[-0.11352489968334423,1.8272075374373073]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.04820714412053384,-2.364267948383018,0.71338606911949],"aabb_xy":[[-0.1282071443941408,-2.4372174962087345],[0.03179285615307314,-2.291318400557301]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[0.2061203392198775,0.9360147166364707,0.71338606911949],"aabb_xy":[[0.160035247965146,0.8720147193839157],[0.25220543047460897,1.0000147138890259]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_21","position":[0.4329769888723545,1.244961682697587,0.71338606911949],"aabb_xy":[[0.42120880207769706,1.1599616827923656],[0.4447451756670121,1.3299616826028087]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[-0.2633947201085689,-0.5753560172561518,0.71338606911949],"aabb_xy":[[-0.27067703648523245,-0.6653560208656606],[-0.25611240373190514,-0.48535601364664266]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[0.5386029439874616,-1.7965509931301167,0.71338606911949],"aabb_xy":[[0.5102732340389213,-1.8010117353238337],[0.5669326539360018,-1.7920902509363996]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[-0.016474866661154275,-2.162693400332045,0.71338606911949],"aabb_xy":[[-0.05502055948635531,-2.2012391713882336],[0.022070826164046757,-2.124147629275856]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[-0.08970038943909864,1.3237089277906495,0.71338606911949],"aabb_xy":[[-0.1375065570528673,1.2587089250835906],[-0.04189422182532999,1.3887089304977085]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_26","position":[0.4276311622696327,1.706853764038303,0.71338606911949],"aabb_xy":[[0.35763116585967086,1.6864158283866206],[0.49763115867959445,1.727291699689984]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_27","position":[0.2999548754451167,-2.294668490627113,0.71338606911949],"aabb_xy":[[0.2774548756312143,-2.2991431069975934],[0.32245487525901906,-2.2901938742566323]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_28","position":[0.5329587265625289,0.8920571945483733,0.71338606911949],"aabb_xy":[[0.5236651083253782,0.8545571960602393],[0.5422523447996793,0.9295571930365071]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_29","position":[0.5664364516869278,1.4125554163115814,0.71338606911949],"aabb_xy":[[0.5164364503260405,1.3625775117361658],[0.6164364530478149,1.462533320886997]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_30","position":[-0.6119078205895494,-0.1800183356678935,0.71338606911949],"aabb_xy":[[-0.6158683043592837,-0.1876862002534141],[-0.607947336819815,-0.1723504710823729]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_31","position":[0.13193676249857178,-1.0096896586612807,0.71338606911949],"aabb_xy":[[0.051936761068444554,-1.08920681367389],[0.21193676392869895,-0.930172503648671]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_32","position":[-0.44794241170877386,-0.8309394588377803,0.71338606911949],"aabb_xy":[[-0.527942408671813,-0.9080151004815538],[-0.36794241474573464,-0.7538638171940069]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841693839466185,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6161.png","name":"6161"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6161.png","name":"6161"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6512.png","name":"6512"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8910.png","name":"8910"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5018.png","name":"5018"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9528.png","name":"9528"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":648.8350895171479,"rotation_z_degrees":56.66433854579791,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00586064794800651,-0.018804948804441703,0.008512592122836945]},{"name":"camera_2","offset_m":[0.0023451806543868386,-0.01876353369211565,-0.003642646880846933]},{"name":"camera_3","offset_m":[-0.0006224425563135377,-0.01983094410301318,0.003622278445332215]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010390211752946818,0.00133985705542652,-0.0014410066328658364],"end_effector_yaw_offset_degrees":0.05000437720945827},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00016360335162303235,-0.0007364720128585321,-0.00015258503182493484],"end_effector_yaw_offset_degrees":0.6396885107341048},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010183846555165941,0.0003466737890706075,-0.0015366746670666246],"end_effector_yaw_offset_degrees":-0.9588690372036943},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009279564318837692,0.001705281960257233,-0.0003288696644774781],"end_effector_yaw_offset_degrees":-0.8146305430881953}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002195667679602169,0.004780190498566366],"position_m":[0.14269566767960218,0.23948019049856636,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002628613789399119,0.004308010278411834],"position_m":[0.24647138621060086,-0.3790919897215882,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005522643791513416,0.004442338502139991],"position_m":[0.21304773562084867,-0.049257661497860004,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003176042767085414,0.002189304503512856],"position_m":[0.35677604276708547,0.11938930450351286,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7528bf5409c8030330d067dd2e4d7c979df500e96f595b55b9281b6aadf46b83","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6161/tex_ceiling_textures_9528/tex_floor_textures_5018/tex_table_textures_6512/tex_wall_textures_8910","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4510720087218773699,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4510720087218773699,"visual_seed":4510720087218773699,"scene_id":"lab_003","finished_at":"2026-09-05T01:38:36"}
+{"episode_id":"ep_000006","started_at":"2026-09-05T01:38:41","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.621573467354372,-0.5136405594357343,0.71338606911949],"aabb_xy":[[0.6134457791610588,-0.5225541678464419],[0.6297011555476852,-0.5047269510250266]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.5366340177224346,1.0582441121812147,0.71338606911949],"aabb_xy":[[-0.5460514922922972,1.0488279350434957],[-0.5272165431525717,1.0676602893189338]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[-0.559737595761991,-1.0541563353733365,0.71338606911949],"aabb_xy":[[-0.5774132263505892,-1.071836551652739],[-0.5420619651733926,-1.0364761190939336]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[0.6374386130888228,0.380646586865633,0.71338606911949],"aabb_xy":[[0.5574447895102647,0.30064658427279145],[0.7174324366673811,0.4606465894584746]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[-0.1697627031017196,0.3884733984164268,0.71338606911949],"aabb_xy":[[-0.22475818092237895,0.3334733969825199],[-0.11476722528106018,0.44347339985033374]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_5","position":[-0.22133049593512238,1.2865667052549847,0.71338606911949],"aabb_xy":[[-0.2364327973961404,1.2714651836239224],[-0.2062281944741042,1.3016682268860462]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[0.5038521358528627,0.9782089061721844,0.71338606911949],"aabb_xy":[[0.4338521340441174,0.956855137407997],[0.5738521376616083,0.9995626749363717]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.08623059412980572,-1.0848557414013875,0.71338606911949],"aabb_xy":[[0.06294875193167437,-1.1698557426986156],[0.10951243632793706,-0.9998557401041596]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[-0.433738788006638,0.8010979303408345,0.71338606911949],"aabb_xy":[[-0.4390763636726426,0.7760979294116948],[-0.42840121234063344,0.8260979312699743]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.3332019944784897,0.5793542378247603,0.71338606911949],"aabb_xy":[[-0.41320199555161,0.5695761914873758],[-0.25320199340536936,0.5891322841621447]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.6271716313391327,-0.994290684719624,0.71338606911949],"aabb_xy":[[0.5631716296611352,-1.0428080761989382],[0.6911716330171299,-0.9457732932403099]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_11","position":[0.25864780327785764,-1.9180022114225117,0.71338606911949],"aabb_xy":[[0.22865614054398725,-1.948002210759312],[0.2886394660117279,-1.888002212085711]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.31551327753957015,0.8777266815685367,0.71338606911949],"aabb_xy":[[0.2655132762557302,0.8277478271779143],[0.3655132788234101,0.9277055359591585]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[-0.11909385821596152,-0.3484629844124183,0.71338606911949],"aabb_xy":[[-0.15409385811198037,-0.3568372199243582],[-0.08409385831994264,-0.3400887489004783]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[0.6873002734315472,0.1907564788480287,0.71338606911949],"aabb_xy":[[0.6523002751208518,0.18304146392448306],[0.7223002717422426,0.19847149377157436]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.5202008230482595,-0.13027966208098096,0.71338606911949],"aabb_xy":[[0.4977008235245521,-0.1527756095316017],[0.5427008225719668,-0.10778371463036017]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[0.4494876655439708,-0.4041950467157105,0.71338606911949],"aabb_xy":[[0.3844876673880517,-0.4304912912656227],[0.5144876636998899,-0.3778988021657983]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.3543397277382152,-1.3378893932100429,0.71338606911949],"aabb_xy":[[-0.4393397261556385,-1.4227636886723278],[-0.26933972932079203,-1.2530150977477579]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.6415897459322473,1.2824566248963247,0.71338606911949],"aabb_xy":[[-0.6497034006056243,1.2743508084422956],[-0.63347609125887,1.2905624413503538]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[0.3197411057933661,1.7502307454056516,0.71338606911949],"aabb_xy":[[0.3109390504843934,1.7424194192507223],[0.32854316110233883,1.7580420715605805]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[0.11225831284358667,1.3252769069215735,0.71338606911949],"aabb_xy":[[0.08596948852314601,1.299005473266922],[0.13854713716402733,1.3515483405762245]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.445164424274499,-2.2540871851929283,0.71338606911949],"aabb_xy":[[0.3901644246527532,-2.3090708779804014],[0.5001644238962448,-2.199103492405456]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.040151072283388434,-2.2264373003031555,0.71338606911949],"aabb_xy":[[-0.024848927750914296,-2.2731379769834827],[0.10515107231769116,-2.179736623622828]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[-0.10523135415832707,-1.8659279566056415,0.71338606911949],"aabb_xy":[[-0.15236073316016274,-1.9299279576500432],[-0.05810197515649139,-1.8019279555612393]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.30619778000801595,-0.8947586196116415,0.71338606911949],"aabb_xy":[[-0.370197782228423,-0.9391317037369298],[-0.24219777778760893,-0.8503855354863532]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_25","position":[0.27265545122452084,-2.119146075051362,0.71338606911949],"aabb_xy":[[0.21106469200052802,-2.183146073160409],[0.33424621044851366,-2.0551460769423153]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[-0.6229561518529352,-0.29784695939446815,0.71338606911949],"aabb_xy":[[-0.6303686073943237,-0.30369816981609604],[-0.6155436963115467,-0.29199574897284014]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[0.476105038380193,-0.2056230194392903,0.71338606911949],"aabb_xy":[[0.4386050382746001,-0.21244518129227138],[0.513605038485786,-0.19880085758630914]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_28","position":[0.11217381163566154,-0.7431088201226481,0.71338606911949],"aabb_xy":[[0.04817381520833963,-0.7902784439447447],[0.17617380806298344,-0.6959391963005518]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_29","position":[-0.16125011538667378,1.5867603474417984,0.71338606911949],"aabb_xy":[[-0.17792725137976928,1.5700604234678681],[-0.14457297939357827,1.6034602714157287]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_30","position":[-0.044210267445275675,-1.238317522928122,0.71338606911949],"aabb_xy":[[-0.06171026672336255,-1.2556556229944682],[-0.0267102681671888,-1.2209794228617763]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_31","position":[-0.49590402946501133,1.5384409375146126,0.71338606911949],"aabb_xy":[[-0.5509040286416008,1.483451262739655],[-0.44090403028842184,1.5934306122895703]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_32","position":[0.5357218293567327,-0.6906959415031806,0.71338606911949],"aabb_xy":[[0.5307658091718517,-0.7131959417053023],[0.540677849541614,-0.6681959413010591]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_33","position":[0.15660976122423687,1.4643416884420781,0.71338606911949],"aabb_xy":[[0.10660976027370403,1.4327925414385567],[0.20660976217476965,1.4958908354455995]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_34","position":[-0.5332180861034058,-1.602048498248314,0.71338606911949],"aabb_xy":[[-0.5425117043405564,-1.639548496736448],[-0.5239244678662552,-1.5645484997601802]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883050257465801,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4139.png","name":"4139"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3237.png","name":"3237"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8789.png","name":"8789"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/680.png","name":"680"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":670.5029574400878,"rotation_z_degrees":35.8027801075102,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01949729223351054,-0.012379366357320887,0.0007769428147576286]},{"name":"camera_2","offset_m":[-0.010521397646267921,-0.01610891197934649,0.016170010270086094]},{"name":"camera_3","offset_m":[0.012110171631581016,0.01834953512115783,-0.0004856055683743754]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015992797631936618,0.0009749678618989309,0.0014419125564914207],"end_effector_yaw_offset_degrees":-0.11575229754645777},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-4.342775272331723e-05,0.0012100530925546046,-0.0008835156799710201],"end_effector_yaw_offset_degrees":-0.37150105262250865},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002596235466495616,-8.604962463379623e-05,0.0008264901005363497],"end_effector_yaw_offset_degrees":0.30070380484506143},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000957863731000078,-0.0007372703431336998,-0.0015505771035326302],"end_effector_yaw_offset_degrees":-0.34424108856986835}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003012246557137429,-0.0028041397319914143],"position_m":[0.1374877534428626,0.23189586026800857,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004642358794050118,0.00010289939571715007],"position_m":[0.248635764120595,-0.38329710060428285,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023546094062076852,0.0003169743786255244],"position_m":[0.2159546094062077,-0.05338302562137447,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002210756529765884,0.003845942446381774],"position_m":[0.35138924347023415,0.12104594244638177,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"23ed84ccb016c784eb18eb02fc03ba9786cd614cba5720162e28a8a08cd5d8ba","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9846/tex_ceiling_textures_680/tex_floor_textures_8789/tex_table_textures_4139/tex_wall_textures_3237","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7240255608769023264,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7240255608769023264,"visual_seed":7240255608769023264,"scene_id":"lab_003","finished_at":"2026-09-05T01:42:39"}
+{"episode_id":"ep_000007","started_at":"2026-09-05T01:42:43","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.6340257209477125,0.1521070844156709,0.71338606911949],"aabb_xy":[[0.5972310878228061,0.11520120931908859],[0.6708203540726186,0.18901295951225314]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.03280853002732109,-1.2362710663477106,0.71338606911949],"aabb_xy":[[-0.047191466935718074,-1.313346707991484],[0.11280852699036026,-1.159195424703937]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.648396981571389,0.33750743980111864,0.71338606911949],"aabb_xy":[[-0.6658969818164382,0.32000765196155173],[-0.6308969813263394,0.35500722764068543]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.22778064359895717,0.7613562226212411,0.71338606911949],"aabb_xy":[[-0.23786235067753064,0.6813562247291263],[-0.2176989365203837,0.8413562205133556]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[-0.350206266932569,-0.199161413547837,0.71338606911949],"aabb_xy":[[-0.3543222170446416,-0.20327696858068245],[-0.3460903168204963,-0.19504585851499145]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.29940464540685235,0.8851405704610285,0.71338606911949],"aabb_xy":[[-0.3087516529891476,0.8708369482433845],[-0.2900576378245571,0.8994441926786726]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.553134357809093,0.5093221087559812,0.71338606911949],"aabb_xy":[[0.47313436079484505,0.4891875570825699],[0.633134354823341,0.5294566604293924]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[-0.43920160261733354,-0.29787739620214015,0.71338606911949],"aabb_xy":[[-0.47264177781335304,-0.3313210220330702],[-0.4057614274213138,-0.26443377037121]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[-0.567680755460104,0.8944623330591677,0.71338606911949],"aabb_xy":[[-0.6316807525722098,0.8454299632647571],[-0.5036807583479984,0.9434947028535783]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.5875597305358606,0.22004866946602908,0.71338606911949],"aabb_xy":[[-0.6515597322138581,0.17153127798671486],[-0.5235597288578634,0.2685660609453433]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[0.28192536376293875,-1.8097932703812776,0.71338606911949],"aabb_xy":[[0.2279097674810387,-1.8737932732735347],[0.3359409600448387,-1.7457932674890204]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.24161598247304938,1.7992858961934473,0.71338606911949],"aabb_xy":[[-0.26612960657005524,1.7750213028914106],[-0.2171023583760435,1.8235504894954835]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[0.12916783185208747,1.5241998834521477,0.71338606911949],"aabb_xy":[[0.09568866459104652,1.4907207700810408],[0.1626469991131284,1.5576789968232547]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.48573364651759077,1.6451677150526467,0.71338606911949],"aabb_xy":[[-0.49107122218359534,1.620167714123507],[-0.4803960708515862,1.6701677159817865]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.6199733374946601,-1.206726773055596,0.71338606911949],"aabb_xy":[[0.5299733380762891,-1.2401022698997854],[0.7099733369130309,-1.173351276211406]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_15","position":[-0.07041990197685899,-2.325857574319243,0.71338606911949],"aabb_xy":[[-0.10791990316165177,-2.330275797015303],[-0.032919900792066185,-2.321439351623182]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.5852069817768455,-2.430814211632629,0.71338606911949],"aabb_xy":[[-0.597809680913922,-2.443409607857495],[-0.572604282639769,-2.418218815407764]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[0.608553148329567,-0.8373159628723725,0.71338606911949],"aabb_xy":[[0.5445531450398587,-0.88065088187629],[0.672553151619275,-0.7939810438684548]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[-0.12576040516350429,-1.184003240985267,0.71338606911949],"aabb_xy":[[-0.13505402340065487,-1.221503239473401],[-0.1164667869263537,-1.146503242497133]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.5680843033714751,0.7616036168822546,0.71338606911949],"aabb_xy":[[-0.5761206380727598,0.7535654975778379],[-0.5600479686701901,0.7696417361866714]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883076570390921,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9430.png","name":"9430"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9430.png","name":"9430"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/511.png","name":"511"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8092.png","name":"8092"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1355.png","name":"1355"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6618.png","name":"6618"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":577.6180435090037,"rotation_z_degrees":307.35080547213914,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015584046553191034,0.010337258665898515,-0.0032208753790015296]},{"name":"camera_2","offset_m":[0.001662719821722329,0.01969990816257104,0.0014409235966540389]},{"name":"camera_3","offset_m":[-0.00020661204973571393,0.0033258204582939307,-0.014055975229978607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016002543427638604,-0.0013279069530508073,0.0005840210512455539],"end_effector_yaw_offset_degrees":0.554923751090501},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010091599026441013,0.0006828288799825919,0.0019429113186234795],"end_effector_yaw_offset_degrees":-0.9725243578713592},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007741908495352569,0.00014821487623285475,-0.0016859507553667683],"end_effector_yaw_offset_degrees":0.9294850107958788},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000581097754756943,0.001698226216277143,0.0006750674566610134],"end_effector_yaw_offset_degrees":0.26514708152638455}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031000136020420425,-0.002140724003850363],"position_m":[0.14360001360204205,0.23255927599614962,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013064619092300134,-0.0011550184623598326],"position_m":[0.24779353809076998,-0.38455501846235984,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009816043757559867,-8.910116857119982e-05],"position_m":[0.214581604375756,-0.0537891011685712,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003418019890021994,-0.001949931992925539],"position_m":[0.357018019890022,0.11525006800707446,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f4a47da86db28241a09b0d60aef551731adfaae8fef14dce69d0146757b5156f","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9430/tex_ceiling_textures_6618/tex_floor_textures_1355/tex_table_textures_511/tex_wall_textures_8092","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8439025874872273607,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8439025874872273607,"visual_seed":8439025874872273607,"scene_id":"lab_003","finished_at":"2026-09-05T01:46:30"}
+{"episode_id":"ep_000008","started_at":"2026-09-05T01:46:34","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[0.13503281833884395,-1.2340648740580766,0.71338606911949],"aabb_xy":[[0.11514177845850374,-1.2467206853427737],[0.15492385821918422,-1.22140906277338]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.0968903942610031,1.271634555209177,0.71338606911949],"aabb_xy":[[-0.12017223645913444,1.186634553911949],[-0.07360855206287176,1.356634556506405]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.5067433101546537,-1.5028935961853043,0.71338606911949],"aabb_xy":[[0.47174331017815785,-1.5123582122329209],[0.5417433101311495,-1.4934289801376877]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.015355764819558138,0.9166389026079602,0.71338606911949],"aabb_xy":[[-0.05285576633518985,0.905412129591815],[0.022144236696073575,0.9278656756241052]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.3144812324943438,-2.0806577600225578,0.71338606911949],"aabb_xy":[[0.28663619571373666,-2.1114422587608694],[0.3423262692749509,-2.049873261284246]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[0.23457230209822244,-2.3803005193599547,0.71338606911949],"aabb_xy":[[0.21868780883289726,-2.3946534596587785],[0.2504567953635476,-2.365947579061131]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.48912557519548816,-2.342682292206165,0.71338606911949],"aabb_xy":[[0.4851650914257538,-2.3503501567916856],[0.4930860589652225,-2.3350144276206444]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[0.6369408890019095,0.8358589612278182,0.71338606911949],"aabb_xy":[[0.6287263438862254,0.8271823709301768],[0.6451554341175934,0.8445355515254594]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[0.25432021706667374,-1.099002015159599,0.71338606911949],"aabb_xy":[[0.19032021484626666,-1.1433750992848875],[0.3183202192870807,-1.0546289310343109]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[0.6663619956012827,-1.7057036278945565,0.71338606911949],"aabb_xy":[[0.6163887015980222,-1.7557036284491034],[0.7163352896045431,-1.6557036273400088]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.5138862279398997,1.307730217524849,0.71338606911949],"aabb_xy":[[-0.5256544147345572,1.2227302176196277],[-0.5021180411452422,1.3927302174300709]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[-0.6422982390023069,-0.3999859764152216,0.71338606911949],"aabb_xy":[[-0.6672982385540452,-0.4101284602803563],[-0.6172982394505683,-0.3898434925500869]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.30662804466010385,-0.7097302099340375,0.71338606911949],"aabb_xy":[[-0.3218002139417372,-0.7248990668622408],[-0.2914558753784705,-0.6945613530058341]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[0.6627065548225299,1.508206412202591,0.71338606911949],"aabb_xy":[[0.6550822867323517,1.5005731886660476],[0.6703308229127082,1.515839635739135]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.6069886013704493,-2.2345341444622857,0.71338606911949],"aabb_xy":[[0.5419886032145302,-2.260830389012198],[0.6719885995263684,-2.2082378999123735]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.4374144393143617,-0.6451548725804535,0.71338606911949],"aabb_xy":[[-0.44934717367618987,-0.6575370253883128],[-0.42548170495253373,-0.6327727197725941]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.3594427655782631,-0.3495848391274987,0.71338606911949],"aabb_xy":[[-0.40444276704449195,-0.3945846959889795],[-0.3144427641120342,-0.3045849822660181]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[0.36412504456103134,-0.6235901210389136,0.71338606911949],"aabb_xy":[[0.35879252990641836,-0.6289144492841493],[0.3694575592156443,-0.6182657927936782]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.18874956563103762,0.7283757811431695,0.71338606911949],"aabb_xy":[[0.12374956774938986,0.6772521174366286],[0.25374956351268546,0.7794994448497105]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.646508126770448,1.6875306571986362,0.71338606911949],"aabb_xy":[[-0.6635182240604985,1.671396168700362],[-0.6294980294803972,1.7036651456969099]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.17860210882813055,1.1525811128205206,0.71338606911949],"aabb_xy":[[0.12360210965154103,1.0975914380455627],[0.23360210800472,1.207570787595478]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[-0.38463831414885424,-2.060999290011624,0.71338606911949],"aabb_xy":[[-0.43961203618518707,-2.115999289575857],[-0.3296645921125213,-2.0059992904473907]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[0.5906480852890184,-1.862225287291937,0.71338606911949],"aabb_xy":[[0.5006480855658441,-1.8852986398271165],[0.6806480850121924,-1.8391519347567569]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_23","position":[0.6369676576213972,-0.08359120135454301,0.71338606911949],"aabb_xy":[[0.5719676565154539,-0.10855657442267132],[0.7019676587273405,-0.05862582828641473]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[0.6981249001177929,0.6089510955014896,0.71338606911949],"aabb_xy":[[0.6830225986567746,0.5938495738704276],[0.7132272015788108,0.6240526171325512]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_25","position":[-0.11597486681491598,-1.7036625268218204,0.71338606911949],"aabb_xy":[[-0.17597486845783783,-1.7556626761137648],[-0.05597486517199414,-1.6516623775298764]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[-0.5354029144125855,-2.166674275590693,0.71338606911949],"aabb_xy":[[-0.5853871501207627,-2.216674274404188],[-0.48541867870440825,-2.116674276777197]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[-0.1545875767592192,-2.141451522177171,0.71338606911949],"aabb_xy":[[-0.16262391146050403,-2.149489641481588],[-0.14655124205793435,-2.133413402872754]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[0.21303756905608517,0.8422032934683981,0.71338606911949],"aabb_xy":[[0.20745589742195644,0.8297032936506225],[0.21861924069021396,0.8547032932861734]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_29","position":[-0.24185471729544822,1.5690504408452672,0.71338606911949],"aabb_xy":[[-0.25928543237445467,1.5517783261814164],[-0.22442400221644168,1.586322555509118]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[-0.15243203540494954,0.9376675587354968,0.71338606911949],"aabb_xy":[[-0.18946614483300922,0.9032903514017874],[-0.1153979259768898,0.9720447660692062]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_31","position":[-0.2556341827846815,-1.3560634981728998,0.71338606911949],"aabb_xy":[[-0.3196341820788497,-1.4200496385417538],[-0.19163418349051325,-1.2920773578040454]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.689341096010846,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4146.png","name":"4146"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4146.png","name":"4146"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3913.png","name":"3913"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/65.png","name":"65"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7209.png","name":"7209"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5210.png","name":"5210"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":682.339723894019,"rotation_z_degrees":155.77428227410573,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004688309124175238,-0.017472405964564452,-0.01765774682371684]},{"name":"camera_2","offset_m":[-0.01363047684089326,-0.011485042419571725,-0.0026695751433547937]},{"name":"camera_3","offset_m":[0.013373412141646317,-0.015052205643620465,-0.0033558213594393656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004415583376237908,-0.0009373173884874792,0.0004114853981627064],"end_effector_yaw_offset_degrees":0.134008090323688},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008486139374255001,-0.00048514806989010274,0.0018416951618642876],"end_effector_yaw_offset_degrees":0.6616096712683699},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008333823541552526,0.001366718820511155,0.0019499100909779092],"end_effector_yaw_offset_degrees":-0.5845873024888866},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014287749367785981,-0.00032254167419846873,0.001268511284376302],"end_effector_yaw_offset_degrees":-0.027661123487511485}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004959421010666352,-0.001534226414348716],"position_m":[0.13554057898933367,0.23316577358565127,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031925029954899117,0.0037296514629809882],"position_m":[0.2522925029954899,-0.37967034853701903,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023148336558198347,-0.001898912828137921],"position_m":[0.21591483365581984,-0.05559891282813792,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001188763841432446,0.002310389722289671],"position_m":[0.3547887638414325,0.11951038972228967,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f6ced277429a821cd2df777fac87770cfb82cfac316a71a67f966973df1dfa98","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4146/tex_ceiling_textures_5210/tex_floor_textures_7209/tex_table_textures_3913/tex_wall_textures_65","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4308771942367956672,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4308771942367956672,"visual_seed":4308771942367956672,"scene_id":"lab_003","finished_at":"2026-09-05T01:50:03"}
+{"episode_id":"ep_000009","started_at":"2026-09-05T01:50:07","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[0.07141619071836824,0.6383543351334784,0.71338606911949],"aabb_xy":[[0.04891619090446586,0.6338797187629976],[0.09391619053227063,0.6428289515039591]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[0.08398664213542706,1.207779226843483,0.71338606911949],"aabb_xy":[[0.07767454259908863,1.2020122875902641],[0.09029874167176549,1.213546166096702]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[-0.3789015949273948,-0.6840143868826194,0.71338606911949],"aabb_xy":[[-0.4164015933507951,-0.6971786008504499],[-0.3414015965039944,-0.6708501729147887]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.1779303563794522,-2.4116411837599245,0.71338606911949],"aabb_xy":[[0.1714287198714476,-2.4214090057862343],[0.18443199288745682,-2.4018733617336148]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.5674693618452986,0.39582322079356524,0.71338606911949],"aabb_xy":[[0.5174693605614585,0.3458443664029431],[0.6174693631291385,0.4458020751841873]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[0.4323824374894072,1.5446162788534799,0.71338606911949],"aabb_xy":[[0.40786881339240133,1.5203516855514434],[0.45689606158641305,1.5688808721555163]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.026384357686329407,-1.308841847324015,0.71338606911949],"aabb_xy":[[0.00888435744128002,-1.326341635163582],[0.043884357931378785,-1.2913420594844482]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[-0.305431345868078,0.7896353456569085,0.71338606911949],"aabb_xy":[[-0.32322485280299446,0.7718356000611108],[-0.2876378389331616,0.8074350912527062]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[0.348016041927804,0.4313552978784463,0.71338606911949],"aabb_xy":[[0.29801676675936783,0.38135529660249906],[0.39801531709624016,0.4813552991543934]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.2560393490041697,-1.6625828315364362,0.71338606911949],"aabb_xy":[[-0.30603935002330496,-1.6990490472742645],[-0.20603934798503443,-1.6261166157986087]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.4214457607911901,-0.16470331095315505,0.71338606911949],"aabb_xy":[[-0.4267833364571947,-0.18970331188229483],[-0.41610818512518555,-0.13970331002401526]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.6194634887885266,0.20614930838439305,0.71338606911949],"aabb_xy":[[-0.6249214344255467,0.1261493050767339],[-0.6140055431515066,0.2861493116920521]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.12802629508262142,1.2322716992537512,0.71338606911949],"aabb_xy":[[-0.1920262943767896,1.1682855588848968],[-0.06402629578845317,1.2962578396226052]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_13","position":[0.05516397352149516,-0.6835623283471404,0.71338606911949],"aabb_xy":[[0.05125010032607262,-0.6923113437536972],[0.05907784671691767,-0.6748133129405836]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.5837999672899852,0.8627096996047703,0.71338606911949],"aabb_xy":[[0.5337999678497896,0.8127417751204539],[0.6337999667301808,0.9126776240890865]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.6006739246513757,-2.542336571069296,0.71338606911949],"aabb_xy":[[0.5631739260757548,-2.5550728667328535],[0.6381739232269964,-2.5296002754057376]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[-0.35668647921341884,-1.0068682569993666,0.71338606911949],"aabb_xy":[[-0.4266864826049808,-1.0421840307027972],[-0.28668647582185686,-0.9715524832959356]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.09650474839737033,1.6991301520547766,0.71338606911949],"aabb_xy":[[0.048698580783601675,1.6341301493477172],[0.144310916011139,1.764130154761835]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.4312567279867625,-1.2769251548454934,0.71338606911949],"aabb_xy":[[0.4143459955504207,-1.2903973604381078],[0.44816746042310424,-1.263452949252879]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.49527956794405514,-0.08191722351867181,0.71338606911949],"aabb_xy":[[0.4312795706417087,-0.12628365048652856],[0.5592795652464015,-0.03755079655081506]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.14281735017627106,-1.9153363438325344,0.71338606911949],"aabb_xy":[[0.10531734988409625,-1.919377819233138],[0.18031735046844588,-1.911294868431931]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.3679411711696281,1.6733385370011633,0.71338606911949],"aabb_xy":[[0.31031070228235724,1.6133385380744525],[0.4255716400568989,1.7333385359278737]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[0.5198524798729023,-1.0766560387797184,0.71338606911949],"aabb_xy":[[0.5069805763719621,-1.1566560391935545],[0.5327243833738424,-0.9966560383658823]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[0.07739776322046188,-0.896472039369054,0.71338606911949],"aabb_xy":[[0.040901942593183124,-0.9329559817958114],[0.1138935838477406,-0.8599880969422963]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_24","position":[-0.06982015816861009,-0.8144330553204182,0.71338606911949],"aabb_xy":[[-0.07686160911935769,-0.8214598070582128],[-0.0627787072178625,-0.8074063035826237]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[0.6194074987807121,-2.173028621192896,0.71338606911949],"aabb_xy":[[0.6121251824040482,-2.2630286248024043],[0.6266898151573755,-2.0830286175833863]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[-0.4821664530567007,-1.7261698974659772,0.71338606911949],"aabb_xy":[[-0.5180799574816903,-1.7620834056827317],[-0.44625294863171094,-1.6902563892492226]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_27","position":[0.36641859175048896,-2.0847609971610925,0.71338606911949],"aabb_xy":[[0.35297206511644563,-2.098230848814184],[0.3798651183845323,-2.071291145508001]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_28","position":[-0.6451216447794941,-0.12407019519769591,0.71338606911949],"aabb_xy":[[-0.6490821285492283,-0.1317380597832165],[-0.6411611610097596,-0.11640233061217531]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_29","position":[0.6688748434959755,-1.5803603734335925,0.71338606911949],"aabb_xy":[[0.6436540066361357,-1.605584124286479],[0.694095680355815,-1.5551366225807055]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_30","position":[-0.08076552221579958,1.3893743674037116,0.71338606911949],"aabb_xy":[[-0.09212725686908572,1.3780059009974233],[-0.0694037875625134,1.4007428338099994]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_31","position":[-0.1900147810295858,1.0429012147402634,0.71338606911949],"aabb_xy":[[-0.21501478030154808,1.026555851144101],[-0.16501478175762352,1.0592465783364258]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_32","position":[0.4609602713964873,-0.6319156261104908,0.71338606911949],"aabb_xy":[[0.4457973984195503,-0.6470810834056095],[0.47612314437342446,-0.616750168815372]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6838574775034552,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/247.png","name":"247"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/247.png","name":"247"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7249.png","name":"7249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8307.png","name":"8307"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3770.png","name":"3770"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3748.png","name":"3748"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":618.8908240423195,"rotation_z_degrees":37.25345706335589,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016296611333912386,0.0031511392609203555,-0.01610155235930272]},{"name":"camera_2","offset_m":[0.012421959435870263,-0.002626073763374273,-0.01857894578289557]},{"name":"camera_3","offset_m":[0.011643358481061263,-0.01490619244470678,-0.0018614213504600692]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016922778453768647,0.001241579349505727,0.000602087069881877],"end_effector_yaw_offset_degrees":0.5969639390537607},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016404640437220918,0.0008655171607136495,0.0004986480818654233],"end_effector_yaw_offset_degrees":-0.16916997993871763},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016134215155619268,0.0010522239915237248,-0.0016103281973791162],"end_effector_yaw_offset_degrees":-0.05871645030647432},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014146813243292823,0.001873519282727656,-0.001664459859283567],"end_effector_yaw_offset_degrees":0.58658960850241}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0041792924230063516,0.0007595087490339433],"position_m":[0.13632070757699366,0.23545950874903393,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031597010351392995,0.004073358423723272],"position_m":[0.2459402989648607,-0.37932664157627677,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004474625934662203,0.0026300293465370793],"position_m":[0.20912537406533782,-0.051069970653462915,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037009279468418815,-0.004943940277284712],"position_m":[0.35730092794684193,0.11225605972271528,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cfb52529e5142069b53c34362cc7ff869001d5111746e68b2fa5ce5ccff06bad","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_247/tex_ceiling_textures_3748/tex_floor_textures_3770/tex_table_textures_7249/tex_wall_textures_8307","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":370610653073605263,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":370610653073605263,"visual_seed":370610653073605263,"scene_id":"lab_003","finished_at":"2026-09-05T01:54:11"}
+{"episode_id":"ep_000010","started_at":"2026-09-05T01:54:17","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.5691590570921453,1.0525654150280652,0.71338606911949],"aabb_xy":[[-0.6291590573435463,0.9982840899916006],[-0.5091590568407439,1.1068467400645299]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.23848079035921876,1.5279145967995862,0.71338606911949],"aabb_xy":[[-0.27192096555523837,1.4944709709686559],[-0.20504061516319916,1.561358222630516]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[0.02974999104649456,1.1752091597024306,0.71338606911949],"aabb_xy":[[0.025836117851072038,1.1664601442958735],[0.033663864241917085,1.1839581751089872]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_3","position":[-0.0051703550738469994,-2.119184705564039,0.71338606911949],"aabb_xy":[[-0.04079951097380674,-2.154817372320892],[0.030458800826112742,-2.083552038807186]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.4921495291765102,-0.5141337313583678,0.71338606911949],"aabb_xy":[[-0.582149528594881,-0.5475092282025575],[-0.4021495297581392,-0.4807582345141781]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_5","position":[-0.34268281833988457,-0.7506757898730159,0.71338606911949],"aabb_xy":[[-0.39048898595365317,-0.8156757925800747],[-0.2948766507261159,-0.6856757871659569]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[-0.09114771486878603,-0.7837780328788007,0.71338606911949],"aabb_xy":[[-0.14877818375605686,-0.8437780318055111],[-0.03351724598151517,-0.7237780339520901]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.5918939882704564,-0.38510432119568705,0.71338606911949],"aabb_xy":[[0.5838999996927529,-0.39310440129077734],[0.5998879768481596,-0.37710424110059665]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[0.5110371739495441,-1.2218684807532467,0.71338606911949],"aabb_xy":[[0.4560634519132113,-1.27686848031748],[0.5660108959858771,-1.1668684811890135]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[0.5886381023645746,1.817461780287085,0.71338606911949],"aabb_xy":[[0.5511381039411742,1.8042975663192544],[0.6261381007879749,1.830625994254916]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.07007437367555491,0.9304265399364136,0.71338606911949],"aabb_xy":[[-0.12507437187729975,0.8899045733099761],[-0.015074375473810088,0.9709485065628513]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[0.5703357372342945,-0.14073044971501325,0.71338606911949],"aabb_xy":[[0.5330044607090519,-0.17538350450986553],[0.6076670137595371,-0.10607739492016091]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[0.34173867217227993,0.6074597442937755,0.71338606911949],"aabb_xy":[[0.2767386695344865,0.5559801455943285],[0.4067386748100735,0.6589393429932224]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[-0.20701970822981725,0.9060799279734626,0.71338606911949],"aabb_xy":[[-0.2167756977389911,0.8963173939142282],[-0.19726371872064333,0.915842462032697]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[0.5285239364137357,1.6163217435825064,0.71338606911949],"aabb_xy":[[0.5066152542743846,1.5944210767624154],[0.5504326185530867,1.6382224104025969]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.15189463668730618,1.4119684387044122,0.71338606911949],"aabb_xy":[[0.07190081310874799,1.331968436111571],[0.23188846026586443,1.491968441297254]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[-0.2858847355601814,0.24607780535649626,0.71338606911949],"aabb_xy":[[-0.3558847381967677,0.22597294036063073],[-0.215884732923595,0.26618267035236176]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.4259168315884258,0.4495036848811784,0.71338606911949],"aabb_xy":[[-0.49091683014549864,0.4197511514672958],[-0.36091683303135297,0.47925621829506104]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[-0.3749545008032299,1.6387357846657449,0.71338606911949],"aabb_xy":[[-0.39741927077463507,1.6162357837868844],[-0.35248973083182483,1.6612357855446054]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.40826746399235103,-2.0162170621814957,0.71338606911949],"aabb_xy":[[-0.47226746316212104,-2.062983749300458],[-0.34426746482258114,-1.9694503750625334]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[0.031048500011238378,-1.5348418065282405,0.71338606911949],"aabb_xy":[[0.0266178706563982,-1.5402901782629235],[0.035479129366078554,-1.529393434793558]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[0.21297380463749682,-0.9457885043528946,0.71338606911949],"aabb_xy":[[0.20493044471154165,-1.030788505448261],[0.221017164563452,-0.8607885032575282]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[-0.21288016144744915,-1.1646055125587922,0.71338606911949],"aabb_xy":[[-0.2768801587330978,-1.206112231511636],[-0.1488801641618005,-1.123098793605948]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.2785118136229287,-0.20346370529043556,0.71338606911949],"aabb_xy":[[-0.285755579669174,-0.28346370349403793],[-0.2712680475766833,-0.12346370708683319]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[0.009256765755611629,-2.2345692651334907,0.71338606911949],"aabb_xy":[[-0.008418864832986702,-2.252249481412893],[0.026932396344209963,-2.2168890488540876]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[0.48802757524861007,0.6305095806843792,0.71338606911949],"aabb_xy":[[0.47678251967799223,0.619267782960284],[0.4992726308192279,0.6417513784084745]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_26","position":[0.6341941100363873,-2.040199192682959,0.71338606911949],"aabb_xy":[[0.5842210445038718,-2.090199192495492],[0.6841671755689027,-1.9901991928704263]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_27","position":[0.375850730612614,-0.9068920405497227,0.71338606911949],"aabb_xy":[[0.3108507296554867,-0.9588402524834284],[0.44085073156974114,-0.8549438286160173]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_28","position":[0.31366890299785655,-1.7403107424784134,0.71338606911949],"aabb_xy":[[0.24366889960629454,-1.7756265161818443],[0.3836689063894185,-1.7049949687749826]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_29","position":[0.2963701403665663,-2.227348841032887,0.71338606911949],"aabb_xy":[[0.25535219698019546,-2.2773488416638448],[0.3373880837529372,-2.17734884040193]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_30","position":[0.6027693991923759,0.7210676515624157,0.71338606911949],"aabb_xy":[[0.547777148556865,0.6660676498191029],[0.6577616498278869,0.7760676533057286]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_31","position":[0.2678157880240878,-1.2867747072957119,0.71338606911949],"aabb_xy":[[0.2636799316913876,-1.324274706740069],[0.271951644356788,-1.249274707851355]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_32","position":[0.0746536847214212,1.0448024387317303,0.71338606911949],"aabb_xy":[[0.04836486040098053,1.0185310050770788],[0.10094250904186185,1.0710738723863813]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_33","position":[0.4466198132145147,1.1998833584681705,0.71338606911949],"aabb_xy":[[0.42911981408014754,1.1900037314305825],[0.4641198123488819,1.2097629855057581]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885327651955878,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2551.png","name":"2551"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2551.png","name":"2551"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7358.png","name":"7358"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3622.png","name":"3622"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8404.png","name":"8404"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8282.png","name":"8282"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":592.6369596992038,"rotation_z_degrees":150.60753572487036,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012518270800566701,-0.004602010699996394,0.012655665567362608]},{"name":"camera_2","offset_m":[0.016547042929517416,0.012225691516659667,0.016664745157555564]},{"name":"camera_3","offset_m":[0.005796537686699077,-0.001661837942831642,-0.017622790556142708]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016946337955009994,-0.001457110595088424,-0.0015561219117088783],"end_effector_yaw_offset_degrees":0.6210126699558483},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005248409123563688,0.0007127213114261851,-0.0003131722453869573],"end_effector_yaw_offset_degrees":0.9625343992852105},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.2510951427522135e-05,-0.0018046981002943659,-0.00023070604144395592],"end_effector_yaw_offset_degrees":0.9655701972375754},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008243469510704456,-0.0011535393640435428,0.0006547003439712328],"end_effector_yaw_offset_degrees":-0.5702736433180187}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004563531859303349,0.00027932330746307816],"position_m":[0.14506353185930337,0.23497932330746307,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015545499862293709,-0.0019254115339705446],"position_m":[0.24754545001377062,-0.38532541153397054,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013136861502935273,-0.003120731847743944],"position_m":[0.21491368615029355,-0.056820731847743944,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005830284944311932,0.004888623069594463],"position_m":[0.35418302849443123,0.12208862306959446,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e7fa72f996b595a991e4bed7b020313183833a9f5867cde634dbc359eef3e8b2","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2551/tex_ceiling_textures_8282/tex_floor_textures_8404/tex_table_textures_7358/tex_wall_textures_3622","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":338180647283071887,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":338180647283071887,"visual_seed":338180647283071887,"scene_id":"lab_003","finished_at":"2026-09-05T01:58:06"}
+{"episode_id":"ep_000011","started_at":"2026-09-05T01:58:12","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[0.22687321477495193,1.0396301784340385,0.71338606911949],"aabb_xy":[[0.16287321243215036,0.9946893271899059],[0.2908732171177535,1.0845710296781708]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_1","position":[-0.20140252012252152,-0.9999165072917744,0.71338606911949],"aabb_xy":[[-0.29140251871699147,-1.0161670936051956],[-0.11140252152805158,-0.9836659209783536]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[0.12009688007106933,-1.8950778951097182,0.71338606911949],"aabb_xy":[[0.09509688090543622,-1.902030140815075],[0.14509687923670245,-1.888125649404362]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[-0.11840431960709064,1.4051202148375403,0.71338606911949],"aabb_xy":[[-0.12449894749520896,1.3965508202858716],[-0.11230969171897232,1.413689609389209]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[-0.01222438258682268,-2.3614234603793363,0.71338606911949],"aabb_xy":[[-0.040873714947238904,-2.3900690196564116],[0.016424949773593545,-2.33277790110226]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[-0.0025643307918551406,-2.1334631619226263,0.71338606911949],"aabb_xy":[[-0.024454078380795937,-2.223463159211875],[0.019325416797085656,-2.0434631646333767]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[-0.5810407620771343,-1.2146339069978456,0.71338606911949],"aabb_xy":[[-0.6460407606342072,-1.244386440411728],[-0.5160407635200616,-1.1848813735839627]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[0.4153834489380557,-1.6912483483043568,0.71338606911949],"aabb_xy":[[0.3453834455464937,-1.7265641220077874],[0.48538345232961766,-1.6559325746009257]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.12899481588340678,-2.1660572111037304,0.71338606911949],"aabb_xy":[[-0.17897362439372264,-2.2160572111094488],[-0.07901600737309086,-2.116057211098011]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.35701384357455873,-1.402844724589006,0.71338606911949],"aabb_xy":[[-0.3980317869609296,-1.4528447252199637],[-0.31599590018818785,-1.352844723958049]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[0.14505361226793523,1.7155470832672592,0.71338606911949],"aabb_xy":[[0.0810536115644659,1.6695287007943385],[0.20905361297140462,1.7615654657401805]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[0.6601090157809133,0.8746202551180842,0.71338606911949],"aabb_xy":[[0.6101090144200261,0.8246423505426685],[0.7101090171418005,0.9245981596934998]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[0.5122259426590057,0.3881194550482405,0.71338606911949],"aabb_xy":[[0.49467924774288674,0.3506194534839893],[0.5297726375751246,0.42561945661249184]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.026844774854649534,-0.08266826659835358,0.71338606911949],"aabb_xy":[[-0.03555874390458401,-0.10516826725754178],[-0.018130805804715037,-0.060168265939165334]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.1274658002520963,1.6302407487034025,0.71338606911949],"aabb_xy":[[-0.15246579952405856,1.6138953851072402],[-0.10246580098013401,1.6465861122995649]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.09102033322694847,-1.9360946137868003,0.71338606911949],"aabb_xy":[[-0.15502033651665656,-1.9794295327907176],[-0.027020329937240347,-1.8927596947828824]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[0.44047554612954976,0.025289782117980053,0.71338606911949],"aabb_xy":[[0.4229755458845003,0.007789994278413206],[0.4579755463745991,0.0427895699575469]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.5784100621826463,-2.2825729195328996,0.71338606911949],"aabb_xy":[[-0.5864035519779285,-2.2905710514733753],[-0.5704165723873644,-2.274574787592424]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[0.25179341841359115,0.8876683131449035,0.71338606911949],"aabb_xy":[[0.21429341846982475,0.8793752231100669],[0.28929341835735756,0.89596140317974]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.16060303401438558,0.7744761237554538,0.71338606911949],"aabb_xy":[[-0.2506030334327565,0.741100626911264],[-0.07060303459601466,0.8078516205996434]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[0.4988826927372094,-0.6131039036945864,0.71338606911949],"aabb_xy":[[0.4948045348301596,-0.6171848839428498],[0.5029608506442591,-0.6090229234463231]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[-0.3907503206312524,-2.0668010572285977,0.71338606911949],"aabb_xy":[[-0.421148431730396,-2.097207959230267],[-0.36035220953210884,-2.036394155226928]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[-0.18438342939153862,-0.6386037419717141,0.71338606911949],"aabb_xy":[[-0.21938342858435686,-0.6495707879693765],[-0.14938343019872033,-0.6276366959740513]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.5419396818701443,-2.17471153349842,0.71338606911949],"aabb_xy":[[-0.5506376441608596,-2.186836507805895],[-0.533241719579429,-2.1625865591909457]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922723467644649,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7843.png","name":"7843"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7843.png","name":"7843"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5971.png","name":"5971"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/694.png","name":"694"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2005.png","name":"2005"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4430.png","name":"4430"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":714.5196794771291,"rotation_z_degrees":63.40074022850121,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014290894776249776,0.008988301717416554,-0.014615303412223547]},{"name":"camera_2","offset_m":[-0.005551649827582321,-0.01669142056088705,-0.01091202472652968]},{"name":"camera_3","offset_m":[-0.01486012483230657,0.0017666048561406425,-0.01407492400021015]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013419987504869884,6.601301957842717e-05,-0.00020048259744207897],"end_effector_yaw_offset_degrees":0.22873277905006684},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012528277400400845,-0.0005140229030194945,-0.0015008379928744108],"end_effector_yaw_offset_degrees":0.4788507861485065},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006384611888191115,0.0007764798430538811,-0.0018232750246356196],"end_effector_yaw_offset_degrees":-0.4861440466571807},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011190627513144743,0.0013554484120834225,0.00041378861127748696],"end_effector_yaw_offset_degrees":-0.7756346233487537}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004721266489910547,0.004910172414612998],"position_m":[0.14522126648991057,0.239610172414613,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0044708715712687445,0.00035077935381509426],"position_m":[0.25357087157126873,-0.3830492206461849,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0039218194578797905,0.004609289018069704],"position_m":[0.2175218194578798,-0.0490907109819303,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002105972433365185,-0.004220551486318926],"position_m":[0.35149402756663484,0.11297944851368108,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e82b36abc8da5e2645aa26ff057035ea8799956974a6734a5d6092974837b780","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0011.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7843/tex_ceiling_textures_4430/tex_floor_textures_2005/tex_table_textures_5971/tex_wall_textures_694","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1571835608451270317,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1571835608451270317,"visual_seed":1571835608451270317,"scene_id":"lab_003","finished_at":"2026-09-05T02:02:32"}
+{"episode_id":"ep_000012","started_at":"2026-09-05T02:02:36","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.26322130039364267,-1.6884008530935857,0.71338606911949],"aabb_xy":[[0.24572130125927547,-1.6982804801311733],[0.2807212995280098,-1.6785212260559976]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.10684195623856141,0.8479717630652468,0.71338606911949],"aabb_xy":[[0.09676024915998792,0.7679717651731321],[0.11692366331713487,0.9279717609573614]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.4164655094599715,-0.09852401322790927,0.71338606911949],"aabb_xy":[[-0.4240897775501498,-0.106157236764453],[-0.40884124136979333,-0.09089078969136555]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.512199107966822,-1.6170153765544284,0.71338606911949],"aabb_xy":[[0.48969910844311443,-1.6395113240050492],[0.5346991074905292,-1.5945194291038076]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.5803788198639339,-0.5082880210571052,0.71338606911949],"aabb_xy":[[0.5163788194864002,-0.5580332879079175],[0.6443788202414674,-0.458542754206293]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[0.4334723093104458,1.430344371571603,0.71338606911949],"aabb_xy":[[0.4280143636734257,1.350344368263944],[0.43893025494746585,1.5103443748792622]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[0.33239272458740987,-1.3848555120386283,0.71338606911949],"aabb_xy":[[0.308807601123515,-1.4498555142840601],[0.3559778480513047,-1.3198555097931965]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.44580005819794727,-0.39079645514180816,0.71338606911949],"aabb_xy":[[-0.49579489112588887,-0.4407964540370517],[-0.39580522527000567,-0.3407964562465646]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.5591454485328848,-1.6644307931327804,0.71338606911949],"aabb_xy":[[-0.5672731367261981,-1.6733444015434877],[-0.5510177603395716,-1.6555171847220727]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.10466385448247395,-2.387907198023771,0.71338606911949],"aabb_xy":[[0.06335931141873796,-2.451907197591888],[0.14596839754620994,-2.323907198455654]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[0.021708458948313303,-1.0813243300821194,0.71338606911949],"aabb_xy":[[-0.0422915413121575,-1.1263331294350472],[0.0857084592087841,-1.0363155307291911]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.529656083520162,-2.2037165702161863,0.71338606911949],"aabb_xy":[[0.46565608712458895,-2.2676798586349194],[0.5936560799157351,-2.1397532817974523]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.5851894214629552,-1.864547780993609,0.71338606911949],"aabb_xy":[[0.5235986622389625,-1.9285477791026562],[0.6467801806869481,-1.8005477828845624]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.4207108100423107,-1.3529869229673017,0.71338606911949],"aabb_xy":[[-0.4706841040455711,-1.402986923521849],[-0.3707375160390502,-1.3029869224127544]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.21986414334282406,-1.886769686387873,0.71338606911949],"aabb_xy":[[-0.24851347570324028,-1.9154152456649485],[-0.19121481098240783,-1.8581241271107969]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[-0.17139417773370813,-0.510094168272949,0.71338606911949],"aabb_xy":[[-0.20889417802588295,-0.5141356436735526],[-0.1338941774415333,-0.5060526928723453]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[-0.17856226563773514,-1.3299151529788908,0.71338606911949],"aabb_xy":[[-0.20855392837160547,-1.3599151523156914],[-0.1485706029038648,-1.2999151536420903]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.3946891212856909,1.3709030476264301,0.71338606911949],"aabb_xy":[[-0.45468912214650364,1.3194766176199435],[-0.33468912042487803,1.4223294776329163]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[-0.6178830637155919,-2.116842889546951,0.71338606911949],"aabb_xy":[[-0.6291281192862097,-2.128084687271046],[-0.606638008144974,-2.1056010918228556]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[0.6483661275757975,1.0424442792021806,0.71338606911949],"aabb_xy":[[0.6308194326596785,1.0049442776379294],[0.6659128224919164,1.079944280766432]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.08894794630133795,-2.2176573883444557,0.71338606911949],"aabb_xy":[[-0.13876472576617271,-2.2676573868287586],[-0.03913116683650318,-2.167657389860152]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.33038894526556345,-2.00781941171765,0.71338606911949],"aabb_xy":[[-0.36788894508259695,-2.012457623028792],[-0.29288894544852984,-2.0031812004065084]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[-0.4042953044446842,-0.6673791210770514,0.71338606911949],"aabb_xy":[[-0.426185052033625,-0.7573791183663005],[-0.3824055568557434,-0.5773791237878022]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[-0.5544783185539911,-0.5127283512498644,0.71338606911949],"aabb_xy":[[-0.5598158942199957,-0.5377283521790042],[-0.5491407428879865,-0.4877283503207246]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[0.6511836924114445,1.689568123989043,0.71338606911949],"aabb_xy":[[0.6418366848291492,1.675264501771399],[0.6605306999937397,1.703871746206687]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[0.39721426070147414,0.7825402877630654,0.71338606911949],"aabb_xy":[[0.317214263738435,0.7054646461192919],[0.4772142576645133,0.8596159294068388]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_26","position":[0.25902638162995506,-1.945261874347011,0.71338606911949],"aabb_xy":[[0.22402638027847335,-1.9656216103038318],[0.2940263829814368,-1.92490213839019]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[-0.4467707279290175,-1.056915792678733,0.71338606911949],"aabb_xy":[[-0.48054628711971037,-1.0709542878918978],[-0.4129951687383244,-1.042877297465568]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_28","position":[-0.1967420069065055,1.678750261402668,0.71338606911949],"aabb_xy":[[-0.2113854124605385,1.6640915417458837],[-0.18209860135247252,1.6934089810594521]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_29","position":[-0.580725591994018,1.743352210014629,0.71338606911949],"aabb_xy":[[-0.6308230559750916,1.6793522095048175],[-0.5306281280129443,1.807352210524441]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900704195120744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2275.png","name":"2275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2275.png","name":"2275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4623.png","name":"4623"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7496.png","name":"7496"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9012.png","name":"9012"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3682.png","name":"3682"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":814.8537946206344,"rotation_z_degrees":131.4207986715782,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009303125333327165,-0.009670780003507962,-0.008132819965282433]},{"name":"camera_2","offset_m":[-0.005977079687040985,0.006271535645572663,-0.017194679314442296]},{"name":"camera_3","offset_m":[0.01592390460737877,-0.002338561557806238,0.009342169377616096]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008673138398183635,0.0004210399856530802,-0.0018114041561009748],"end_effector_yaw_offset_degrees":0.44009738079619254},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009263736887975193,-0.0015078516914164763,-0.000545633317089437],"end_effector_yaw_offset_degrees":-0.9026710249263987},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007256539748630867,0.001342247838759315,-0.001994814703210753],"end_effector_yaw_offset_degrees":0.18860885276532002},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018172826145330721,-0.001746715183050351,-0.0016058934060250523],"end_effector_yaw_offset_degrees":-0.0009405259133949961}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034184386163712633,0.003634366767887331],"position_m":[0.14391843861637127,0.23833436676788733,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016781714324751906,-0.00484799574349857],"position_m":[0.2474218285675248,-0.3882479957434986,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003951043190471803,-0.002277351436873003],"position_m":[0.20964895680952822,-0.055977351436873,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001142351774172946,0.0038304081118077466],"position_m":[0.35474235177417296,0.12103040811180775,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"285fb09f406606f75c8d0b6116e33faa7fc4d8bde3b98b1265211ecc1b2497fb","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0012.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2275/tex_ceiling_textures_3682/tex_floor_textures_9012/tex_table_textures_4623/tex_wall_textures_7496","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2731712804601893770,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2731712804601893770,"visual_seed":2731712804601893770,"scene_id":"lab_003","finished_at":"2026-09-05T02:06:23"}
+{"episode_id":"ep_000013","started_at":"2026-09-05T02:06:26","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.21936536449633903,1.5959703566490844,0.71338606911949],"aabb_xy":[[-0.23627609693268078,1.5824981510564695],[-0.20245463205999722,1.6094425622416988]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[0.5739094843860602,0.4919297927311419,0.71338606911949],"aabb_xy":[[0.48390948070914186,0.43049738615403743],[0.6639094880629782,0.5533621993082461]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.5588151703426198,1.3026669367876864,0.71338606911949],"aabb_xy":[[0.5213151698452616,1.2986982532395677],[0.5963151708399781,1.3066356203358047]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.463520622955488,0.6081823784639844,0.71338606911949],"aabb_xy":[[0.44102062294533967,0.5940861588243811],[0.48602062296563625,0.6222785981035877]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.5300519327814699,-0.39196178470435283,0.71338606911949],"aabb_xy":[[-0.5940519330554481,-0.4420278849016408],[-0.46605193250749166,-0.34189568450706487]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[-0.5893593755650801,1.4168271849784477,0.71338606911949],"aabb_xy":[[-0.6049151449753455,1.4012767517340408],[-0.573803606154815,1.4323776182228551]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[-0.014891601059224824,0.8632329894123569,0.71338606911949],"aabb_xy":[[-0.07889159834487347,0.8217262704595131],[0.04910839622642382,0.904739708365201]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_7","position":[0.47147586233121697,-1.5979988764633655,0.71338606911949],"aabb_xy":[[0.43397586390781656,-1.611163090431196],[0.5089758607546173,-1.5848346624955345]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.577449169306683,0.6266667919024114,0.71338606911949],"aabb_xy":[[0.5545334564216332,0.6037624947659879],[0.600364882191733,0.6495710890388349]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[-0.36615968257414233,-0.6934115412881374,0.71338606911949],"aabb_xy":[[-0.4211596821958881,-0.7483952340756103],[-0.31115968295239643,-0.6384278485006648]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.023736848823167178,-0.8062175449472428,0.71338606911949],"aabb_xy":[[-0.013763151348704764,-0.8389182803301499],[0.06123684899503912,-0.7735168095643356]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.17980856674119472,1.4144016291476729,0.71338606911949],"aabb_xy":[[0.14230856692416116,1.4097634178365313],[0.21730856655822828,1.419039840458815]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[0.03855619746467087,1.58349555667013,0.71338606911949],"aabb_xy":[[-0.051443799036200874,1.5375839142516714],[0.1285561939655426,1.6294071990885879]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[0.054271890491027874,-0.6980643984896748,0.71338606911949],"aabb_xy":[[0.04627790191332448,-0.7060644785847651],[0.06226587906873127,-0.6900643183945844]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[0.028735633057031307,-2.566622858313117,0.71338606911949],"aabb_xy":[[-0.041264369579555045,-2.5867277233089827],[0.09873563569361765,-2.5465179933172517]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[0.5846135095093459,-0.3407267045257085,0.71338606911949],"aabb_xy":[[0.5046135073465834,-0.4206818881518521],[0.6646135116721084,-0.26077152089956485]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[0.42582427297990066,-2.49399107650918,0.71338606911949],"aabb_xy":[[0.40671196562192186,-2.5131258553864217],[0.4449365803378796,-2.4748562976319377]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.36999428622513814,0.20208466805519754,0.71338606911949],"aabb_xy":[[-0.43399428352748454,0.15771824108734075],[-0.30599428892279174,0.24645109502305426]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[0.16795832436546754,-1.4408646506097949,0.71338606911949],"aabb_xy":[[0.10395832245312522,-1.4967757998678053],[0.2319583262778099,-1.3849535013517844]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.04531601531312901,-1.8017389708856362,0.71338606911949],"aabb_xy":[[-0.10931601672111967,-1.8535279224095609],[0.018683986094861656,-1.7499500193617115]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.254168077682131,1.09148194220626,0.71338606911949],"aabb_xy":[[0.1965376087948601,1.031481943279549],[0.3117985465694018,1.1514819411329702]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[0.4476655112081318,-0.6889957862896956,0.71338606911949],"aabb_xy":[[0.4126655128974363,-0.6967108012132412],[0.4826655095188272,-0.68128077136615]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_22","position":[0.4924282998084315,0.3038483397888827,0.71338606911949],"aabb_xy":[[0.4424552342759161,0.2538483399763498],[0.542401365340947,0.3538483396014156]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[0.2938834004313261,-1.0422353918307083,0.71338606911949],"aabb_xy":[[0.21388339716731297,-1.0557954241396215],[0.37388340369533923,-1.0286753595217948]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[0.1783074361315966,-2.1312252248911183,0.71338606911949],"aabb_xy":[[0.15330743619907872,-2.138107893112042],[0.2033074360641145,-2.124342556670195]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_25","position":[-0.09516852142596,0.6729519590356152,0.71338606911949],"aabb_xy":[[-0.15916421882105658,0.6089519607349064],[-0.03117282403086341,0.7369519573363238]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.691472306703136,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9919.png","name":"9919"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9919.png","name":"9919"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4083.png","name":"4083"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7984.png","name":"7984"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2009.png","name":"2009"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7447.png","name":"7447"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":812.7165369224913,"rotation_z_degrees":268.37928045710134,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010902361532521762,-0.014331198905827684,-0.01724815216072417]},{"name":"camera_2","offset_m":[-0.012040614170060512,-0.0012509095136365306,-0.006884694126426737]},{"name":"camera_3","offset_m":[-0.006730975951976515,-0.016044785631319707,0.017179487160090396]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017476482360475388,-0.001283535919825292,-0.0002939374654681074],"end_effector_yaw_offset_degrees":0.39873784405482526},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018267062694068406,-0.000563032822128113,-0.0010063248364423855],"end_effector_yaw_offset_degrees":0.8027756484383781},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004857586687296003,0.0010313776396301466,0.0008146027566358336],"end_effector_yaw_offset_degrees":0.13622875714918736},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018125379986193841,0.001579569890399481,-0.0019837618534373235],"end_effector_yaw_offset_degrees":0.845226857212956}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003621926850592666,-0.0014846879545691726],"position_m":[0.13687807314940734,0.2332153120454308,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002385682586816579,-0.0013337615013819183],"position_m":[0.2514856825868166,-0.38473376150138194,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034913585687722094,0.0016923918783755335],"position_m":[0.21010864143122782,-0.052007608121624464,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004665661322977786,0.001550408233362728],"position_m":[0.3489343386770222,0.11875040823336272,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e90a0c6c2ce06a300797d8db5cc4cf4bc24eb538b16c8b5bd0ad08f878c0cd6","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0013.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9919/tex_ceiling_textures_7447/tex_floor_textures_2009/tex_table_textures_4083/tex_wall_textures_7984","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8723952546666565202,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8723952546666565202,"visual_seed":8723952546666565202,"scene_id":"lab_003","finished_at":"2026-09-05T02:10:16"}
+{"episode_id":"ep_000014","started_at":"2026-09-05T02:10:20","dimensions":{"distractor":{"count":32,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.6660594715017019,0.6145144737094221,0.71338606911949],"aabb_xy":[[0.629025362073642,0.5801372663757126],[0.7030935809297615,0.6488916810431314]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.12555338241732106,-2.4722957924266935,0.71338606911949],"aabb_xy":[[0.09177782322662809,-2.486334287639858],[0.15932894160801403,-2.458257297213528]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[-0.4982912373456938,-0.08239922671417554,0.71338606911949],"aabb_xy":[[-0.5207903730719208,-0.10489922749243852],[-0.47579210161946683,-0.05989922593591257]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[0.459168780469164,-1.796353698221628,0.71338606911949],"aabb_xy":[[0.39416877946866347,-1.8471400633763029],[0.5241687814696645,-1.745567333066953]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.4125609805970045,-1.9660767792328189,0.71338606911949],"aabb_xy":[[0.36246351661593085,-2.0300767797426307],[0.4626584445780781,-1.9020767787230068]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[0.05450755943598007,-2.087016200525737,0.71338606911949],"aabb_xy":[[-0.005492441071872848,-2.143862934211658],[0.11450755994383299,-2.030169466839815]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[-0.6420823381583662,1.2161533519414096,0.71338606911949],"aabb_xy":[[-0.6833311491882809,1.1611533524291917],[-0.6008335271284514,1.2711533514536266]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[0.5108172310476391,1.5157007125692963,0.71338606911949],"aabb_xy":[[0.502602685931955,1.5070241222716547],[0.519031776163323,1.5243773028669374]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[-0.590894738109457,-1.6613193387662846,0.71338606911949],"aabb_xy":[[-0.6141765803075881,-1.7463193400635126],[-0.5676128959113255,-1.5763193374690565]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[0.22379330527335362,-1.8782809211197784,0.71338606911949],"aabb_xy":[[0.17862198742518465,-1.9422809182643173],[0.2689646231215226,-1.8142809239752404]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[0.025090199944970415,0.9184062774294959,0.71338606911949],"aabb_xy":[[0.017465931854792168,0.9107730538929523],[0.03271446803514866,0.9260395009660397]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[-0.22019967942072866,-1.9290825884482827,0.71338606911949],"aabb_xy":[[-0.3101996817547477,-2.0065649430333954],[-0.1301996770867096,-1.8516002338631699]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_12","position":[0.5703548461948162,-2.166335251717106,0.71338606911949],"aabb_xy":[[0.5063548497992431,-2.2302985401358395],[0.6343548425903892,-2.1023719632983724]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.5878255147162674,-1.4771353490230124,0.71338606911949],"aabb_xy":[[0.58056426714586,-1.4899223592865218],[0.5950867622866749,-1.4643483387595029]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[0.19577826744479154,0.6570057314560533,0.71338606911949],"aabb_xy":[[0.17867618948642336,0.6398989259247836],[0.21288034540315967,0.6741125369873231]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.36687376986781683,0.5226945396071985,0.71338606911949],"aabb_xy":[[-0.416858005575994,0.472694540793703],[-0.31688953415963955,0.5726945384206942]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[0.5749340819152604,-0.4123741967764505,0.71338606911949],"aabb_xy":[[0.53743408349186,-0.425538410744281],[0.6124340803386606,-0.39920998280861975]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[-0.2734131421338809,-0.9519868385393573,0.71338606911949],"aabb_xy":[[-0.2797252416702194,-0.957753777792576],[-0.2671010425975425,-0.9462198992861384]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.1496307815288933,-1.752650620920209,0.71338606911949],"aabb_xy":[[0.06963078287200733,-1.767155479844472],[0.22963078018577934,-1.7381457619959462]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.315517194136848,-0.5817214854000707,0.71338606911949],"aabb_xy":[[0.3020706675028046,-0.595191337053162],[0.32896372077089125,-0.5682516337469795]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.4175945550247278,-1.7514925202374627,0.71338606911949],"aabb_xy":[[-0.4815945570744598,-1.7915870033267707],[-0.3535945529749958,-1.7113980371481547]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.5475809451667035,1.0422589743548785,0.71338606911949],"aabb_xy":[[0.5357088621552024,0.9572589746612281],[0.5594530281782046,1.1272589740485288]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[-0.33035019454106157,-0.41873763014538135,0.71338606911949],"aabb_xy":[[-0.3553501937066947,-0.4256898758507379],[-0.30535019537542846,-0.41178538444002477]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[0.4556779694552242,-2.3735649337287565,0.71338606911949],"aabb_xy":[[0.4386678721651735,-2.3896994222270305],[0.4726880667452748,-2.3574304452304826]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.32856952877861995,1.4857732312101875,0.71338606911949],"aabb_xy":[[-0.3521546522425148,1.4207732289647559],[-0.3049844053147251,1.5507732334556195]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.5640876759827651,-0.4446008382292277,0.71338606911949],"aabb_xy":[[-0.5990876751127208,-0.45034605930489174],[-0.5290876768528094,-0.4388556171535635]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[-0.10430242555297364,0.2759791684427024,0.71338606911949],"aabb_xy":[[-0.17430242736171908,0.25462539967851505],[-0.03430242374422819,0.2973329372068898]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_27","position":[-0.05732745926960403,-0.3206324212096079,0.71338606911949],"aabb_xy":[[-0.09232745924609986,-0.3300970372572245],[-0.0223274592931082,-0.3111678051619913]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_28","position":[-0.5951087256169305,-2.05972785324922,0.71338606911949],"aabb_xy":[[-0.6038226946668648,-2.0822278539084076],[-0.5863947565669958,-2.037227852590031]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_29","position":[-0.5800654125446818,-2.2134294243324923,0.71338606911949],"aabb_xy":[[-0.6050654120964204,-2.2235719081976266],[-0.5550654129929434,-2.203286940467357]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_30","position":[0.2238129532921702,-0.7597703890022371,0.71338606911949],"aabb_xy":[[0.21439547872230746,-0.7691865661399561],[0.23323042786203296,-0.750354211864518]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_31","position":[-0.5988256931275913,1.4224625212262603,0.71338606911949],"aabb_xy":[[-0.641010107288422,1.3584625209490493],[-0.5566412789667605,1.4864625215034717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6899945938580394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7981.png","name":"7981"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7981.png","name":"7981"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5470.png","name":"5470"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8438.png","name":"8438"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2788.png","name":"2788"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6684.png","name":"6684"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":806.3447666506823,"rotation_z_degrees":317.0187945858371,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0008480880212769389,0.017808447523247336,0.015128798774234304]},{"name":"camera_2","offset_m":[0.009742761366271058,0.017832420422874532,0.01656879156684132]},{"name":"camera_3","offset_m":[-0.01551767653591178,-0.0007549663719797241,-0.01057752310858802]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000397531320071506,0.00012569436464598353,-4.05581036149209e-06],"end_effector_yaw_offset_degrees":-0.25803227206830526},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007533282639264486,0.00019254133016612324,-0.0019201581547516988],"end_effector_yaw_offset_degrees":0.7044252532637592},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018892492964295592,-0.0009837193374741978,0.0016940396408266067],"end_effector_yaw_offset_degrees":0.27096139994204793},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015538420188718311,0.001404614147872968,0.0003070304324215493],"end_effector_yaw_offset_degrees":0.9910095402604673}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004062164866720221,-0.0013424472753198412],"position_m":[0.14456216486672024,0.23335755272468015,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011707202194357535,-0.003966273980767581],"position_m":[0.24792927978056423,-0.3873662739807676,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020546853383307507,-0.00498110159784306],"position_m":[0.21154531466166926,-0.05868110159784306,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015941038927851023,0.0014270712777080356],"position_m":[0.3551941038927851,0.11862707127770804,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"511a6dbb355fba72ad8e292ba67c17454da2ed4f79d18577517ada33cb05f5f1","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0014.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7981/tex_ceiling_textures_6684/tex_floor_textures_2788/tex_table_textures_5470/tex_wall_textures_8438","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8067904165992210116,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8067904165992210116,"visual_seed":8067904165992210116,"scene_id":"lab_003","finished_at":"2026-09-05T02:14:11"}
+{"episode_id":"ep_000015","started_at":"2026-09-05T02:14:15","dimensions":{"distractor":{"count":26,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[-0.18635206442625252,0.3854894646762639,0.71338606911949],"aabb_xy":[[-0.2088168343976576,0.3629894637974034],[-0.16388729445484737,0.4079894655551244]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[0.49260192527179725,-2.369416268598848,0.71338606911949],"aabb_xy":[[0.4126019231090347,-2.4493714522249914],[0.5726019274345597,-2.289461084972704]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_2","position":[0.6637300464167883,0.6722457240911832,0.71338606911949],"aabb_xy":[[0.6460972108232608,0.6546227780755601],[0.6813628820103159,0.6898686701068061]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.46289734783659586,-1.0451137245577993,0.71338606911949],"aabb_xy":[[0.453141358327422,-1.0548762586170337],[0.47265333734576975,-1.0353511904985648]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[0.6533044932545025,-1.692954238671925,0.71338606911949],"aabb_xy":[[0.6287582776317516,-1.723203135220962],[0.6778507088772531,-1.662705342122888]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[-0.5178603499167905,-1.6719559938188238,0.71338606911949],"aabb_xy":[[-0.5222909792716307,-1.677404365553506],[-0.5134297205619504,-1.666507622084141]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.539017236447515,-2.2327714161087497,0.71338606911949],"aabb_xy":[[0.528449756789416,-2.2433164462217583],[0.549584716105614,-2.222226385995741]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.24786764844625098,-1.2226797733190329,0.71338606911949],"aabb_xy":[[0.22335402434924512,-1.2469443666210696],[0.27238127254325684,-1.1984151800169967]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[-0.3269276394715701,1.2372765054766273,0.71338606911949],"aabb_xy":[[-0.3644276402635655,1.2309086645184368],[-0.2894276386795746,1.2436443464348172]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[0.3329900071596441,-0.5126864014568708,0.71338606911949],"aabb_xy":[[0.3104900076359367,-0.5351823489074915],[0.3554900066833515,-0.49019045400625]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[0.5417943599053283,1.0422157724992385,0.71338606911949],"aabb_xy":[[0.48179435939747534,0.9853690388133173],[0.6017943604131811,1.0990625061851598]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[0.4084025675714751,1.2259463236214625,0.71338606911949],"aabb_xy":[[0.35438697128957497,1.1619463207292053],[0.462418163853375,1.2899463265137197]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_12","position":[0.3515168888257014,1.4368201540977545,0.71338606911949],"aabb_xy":[[0.34281892653498613,1.4246951797902798],[0.3602148511164167,1.4489451284052293]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.48566489703341276,0.6157562987228618,0.71338606911949],"aabb_xy":[[0.39566489843894287,0.5995057124094407],[0.5756648956278827,0.6320068850362828]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[0.14599586322702007,-1.775047874402101,0.71338606911949],"aabb_xy":[[0.0759958610955905,-1.7978098400277964],[0.21599586535844958,-1.752285908776405]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.157758865772336,1.7478952050190242,0.71338606911949],"aabb_xy":[[0.07775886250832287,1.734335172710111],[0.23775886903634913,1.7614552373279377]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.35943588522618564,-1.7100975082848096,0.71338606911949],"aabb_xy":[[0.2794358872454006,-1.7176990492466613],[0.4394358832069707,-1.7024959673229574]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.14012249880878358,-1.313326161616158,0.71338606911949],"aabb_xy":[[-0.2251224972262068,-1.3982004570784432],[-0.05512250039136035,-1.2284518661538733]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[0.6023174506135813,1.4520458860113075,0.71338606911949],"aabb_xy":[[0.5610129075498452,1.3880458864431906],[0.6436219936773172,1.5160458855794248]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.5413289976021183,0.4974709491802356,0.71338606911949],"aabb_xy":[[0.4713289959998388,0.484038155978578],[0.6113289992043978,0.5109037423818932]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.3626168670960525,0.7658089592387114,0.71338606911949],"aabb_xy":[[-0.3680748127330725,0.6858089559310522],[-0.3571589214590324,0.8458089625463704]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.5959516310069064,0.8782890313322413,0.71338606911949],"aabb_xy":[[-0.6334516315042646,0.8743203477841228],[-0.5584516305095482,0.8822577148803596]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[0.41200897885806764,-0.7939958535376099,0.71338606911949],"aabb_xy":[[0.39509824642172575,-0.8074680591302243],[0.4289197112944093,-0.7805236479449953]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[0.6787677058954726,-0.5946074067264719,0.71338606911949],"aabb_xy":[[0.6441766230414273,-0.6596074070115029],[0.7133587887495177,-0.5296074064414408]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_24","position":[-0.6021207836547543,-0.24644688052645636,0.71338606911949],"aabb_xy":[[-0.6821207847278746,-0.2562249268638408],[-0.522120782581634,-0.23666883418907195]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[0.572319371903149,-0.3353617579954542,0.71338606911949],"aabb_xy":[[0.5223200967347128,-0.38536175927140137],[0.6223186470715851,-0.28536175671950703]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6862627037630398,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7389.png","name":"7389"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7389.png","name":"7389"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7875.png","name":"7875"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9763.png","name":"9763"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7352.png","name":"7352"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1179.png","name":"1179"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":703.9934066203723,"rotation_z_degrees":152.080926320326,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004246719538843237,-0.015135690763669789,-0.014497974631703587]},{"name":"camera_2","offset_m":[0.0041304556640191295,-0.015054329086111103,-0.019389143093791136]},{"name":"camera_3","offset_m":[-0.0013829485705497031,0.008576590922403749,-0.0012069474928958351]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019480447788874948,0.001314587844409714,-0.0012182888411859868],"end_effector_yaw_offset_degrees":-0.8613301191057925},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00042454310264113636,-0.0002625007424049599,-0.0014371049649776436],"end_effector_yaw_offset_degrees":-0.5780034242426084},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009994274812772709,-0.001397902768794891,0.000774280864564911],"end_effector_yaw_offset_degrees":0.0941609319625365},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009320830522042012,-0.0007889168714571341,-0.0013742288605421162],"end_effector_yaw_offset_degrees":-0.4064762382411482}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003044923284383593,-0.0022939968284357583],"position_m":[0.1374550767156164,0.23240600317156423,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006287072802543189,0.003534970414142886],"position_m":[0.24847129271974566,-0.3798650295858571,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012506384174862705,0.00031528266628944035],"position_m":[0.21485063841748628,-0.05338471733371056,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008882992727937775,0.0036285854300009317],"position_m":[0.35271170072720626,0.12082858543000093,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b60c920fc7886b1e80ade01faa183c3fe73e30d97274463ba3778ee87522d504","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7389/tex_ceiling_textures_1179/tex_floor_textures_7352/tex_table_textures_7875/tex_wall_textures_9763","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6340200423598931331,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6340200423598931331,"visual_seed":6340200423598931331,"scene_id":"lab_003","finished_at":"2026-09-05T02:18:36"}
+{"episode_id":"ep_000016","started_at":"2026-09-05T02:18:42","dimensions":{"distractor":{"count":22,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.10219803684213058,1.218758324321398,0.71338606911949],"aabb_xy":[[0.08932613334119043,1.1387583239075616],[0.1150699403430707,1.298758324735234]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[-0.051158617189904665,1.1891361287130269,0.71338606911949],"aabb_xy":[[-0.08615861708592354,1.1807618932010868],[-0.016158617293885794,1.197510364224967]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.29853479844384634,0.7456465070570517,0.71338606911949],"aabb_xy":[[0.2435425478083354,0.690646505313739],[0.3535270490793573,0.8006465088003646]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.1407350244666783,-0.8996278987166211,0.71338606911949],"aabb_xy":[[0.13202105541674375,-0.9221278993758091],[0.14944899351661273,-0.8771278980574326]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[0.5406453148688211,1.125717976094628,0.71338606911949],"aabb_xy":[[0.48064531502225427,1.0688993539015892],[0.6006453147153878,1.1825365982876666]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[-0.5351725786520034,0.21185725739918349,0.71338606911949],"aabb_xy":[[-0.571086083076993,0.17594374918242883],[-0.4992590742270137,0.24777076561593808]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.3994750428293339,1.6975863058816256,0.71338606911949],"aabb_xy":[[0.33947504257793265,1.6433049808451607],[0.459475043080735,1.75186763091809]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[0.3830299808366897,-1.9445010845037052,0.71338606911949],"aabb_xy":[[0.30302998387365054,-2.0215767261474786],[0.4630299777997289,-1.867425442859932]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.4321593691888733,1.4552744458487088,0.71338606911949],"aabb_xy":[[-0.49615936848304154,1.3912883054798548],[-0.3681593698947051,1.5192605862175632]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[0.6315627908513202,0.3824559374345533,0.71338606911949],"aabb_xy":[[0.6224029119074436,0.3759247193910163],[0.6407226697951968,0.3889871554780903]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.6202324301457889,-0.5096794563439349,0.71338606911949],"aabb_xy":[[0.5701349661647153,-0.5736794568537468],[0.6703298941268625,-0.44567945583412316]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[-0.6001777495876551,-1.3632991387556068,0.71338606911949],"aabb_xy":[[-0.6115394842409412,-1.3746676051618947],[-0.5888160149343689,-1.3519306723493185]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[0.033077331943367816,0.8509110091163228,0.71338606911949],"aabb_xy":[[-0.04692266948675938,0.7713938541037133],[0.11307733337349501,0.9304281641289323]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[-0.42796710927595216,-1.497877813760649,0.71338606911949],"aabb_xy":[[-0.4558121460565593,-1.528662312498961],[-0.40012207249534504,-1.4670933150223375]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.4213158670857275,0.4467208955011648,0.71338606911949],"aabb_xy":[[-0.47131586844661477,0.39674299092574916],[-0.3713158657248403,0.4966988000765804]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[-0.02243025032127033,-1.2240158278115116,0.71338606911949],"aabb_xy":[[-0.11243024973964122,-1.2573913246557011],[0.06756974909710056,-1.1906403309673217]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.340095239834681,0.21974303246826743,0.71338606911949],"aabb_xy":[[-0.3700627967445067,0.18974303217038166],[-0.3101276829248554,0.24974303276615314]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[0.1329794626077484,1.4679934577105072,0.71338606911949],"aabb_xy":[[0.04297946027372937,1.3905111031253947],[0.22297946494176749,1.54547581229562]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.24520505911440532,1.2561678586892793,0.71338606911949],"aabb_xy":[[-0.3092050610267477,1.2002567094312688],[-0.181205057202063,1.3120790079472897]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.5758599476976083,-1.7962148178131834,0.71338606911949],"aabb_xy":[[0.510859946591665,-1.8211801908813117],[0.6408599488035516,-1.771249444745055]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.21047813726231557,-2.5071072813958932,0.71338606911949],"aabb_xy":[[0.1945936439969904,-2.521460221694717],[0.2263626305276407,-2.4927543410970694]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[0.22047337335711337,1.190395871205459,0.71338606911949],"aabb_xy":[[0.19547337342459548,1.1835132029845357],[0.24547337328963126,1.1972785394263823]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859930995601775,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9374.png","name":"9374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9374.png","name":"9374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4236.png","name":"4236"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6602.png","name":"6602"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9185.png","name":"9185"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/233.png","name":"233"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":586.9014796341372,"rotation_z_degrees":43.97053193653586,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010548805326349896,0.0019910288164405494,-0.0006451075030905265]},{"name":"camera_2","offset_m":[0.0010321277283511683,-0.005229009439135859,-0.019217031158033176]},{"name":"camera_3","offset_m":[-0.013015769550880133,-0.007749844921905362,0.010251798544704607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001577625732886352,0.0009835458610461005,0.0018232081547076514],"end_effector_yaw_offset_degrees":-0.3681796386496161},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001804931767288053,-0.0006492548905779434,-0.001511742765769947],"end_effector_yaw_offset_degrees":-0.9314329065195277},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008450509107772346,0.0013411265059739379,-0.001238062022928494],"end_effector_yaw_offset_degrees":0.8827757408699055},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018726457760950186,-0.0011069867826570886,0.0007347382122015107],"end_effector_yaw_offset_degrees":-0.09959182282382195}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034594100515898153,-0.0011173494875930013],"position_m":[0.1370405899484102,0.23358265051240698,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004984012609790639,-0.0024585723657605785],"position_m":[0.24411598739020934,-0.3858585723657606,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020287590131487033,0.001183635427545804],"position_m":[0.21157124098685132,-0.05251636457245419,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006232385629578608,-0.0023020682096447677],"position_m":[0.3542232385629579,0.11489793179035523,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a61d5569b7bb07710c73f108cc3cdabfb1a4686f26f468d5731d13b1700efe5f","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9374/tex_ceiling_textures_233/tex_floor_textures_9185/tex_table_textures_4236/tex_wall_textures_6602","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4728741899765316676,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4728741899765316676,"visual_seed":4728741899765316676,"scene_id":"lab_003","finished_at":"2026-09-05T02:22:27"}
+{"episode_id":"ep_000017","started_at":"2026-09-05T02:22:31","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.5922836345411505,1.1862002187366945,0.71338606911949],"aabb_xy":[[-0.6031241127676653,1.1690139374460455],[-0.5814431563146355,1.203386500027343]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[0.28679879379174766,-1.1132927355214122,0.71338606911949],"aabb_xy":[[0.24929879260695484,-1.1177109582174722],[0.3242987949765404,-1.1088745128253512]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[-0.05842289509079901,1.3756740699438912,0.71338606911949],"aabb_xy":[[-0.09491871571807775,1.3391901275171334],[-0.02192707446352027,1.4121580123706485]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.5553820595858303,1.658543000861973,0.71338606911949],"aabb_xy":[[0.47538206218223683,1.57855042966379],[0.6353820569894236,1.7385355720601556]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[0.13421380700126662,0.9764561002526633,0.71338606911949],"aabb_xy":[[0.13025332323153224,0.9687882356671426],[0.138174290771001,0.9841239648381838]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_5","position":[-0.3685170352342735,0.6892257878543573,0.71338606911949],"aabb_xy":[[-0.3867228588955211,0.6782003872723658],[-0.35031121157302575,0.700251188436349]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.19949031382589233,1.1043023001689845,0.71338606911949],"aabb_xy":[[0.13949031331803938,1.047455566483063],[0.2594903143337452,1.1611490338549055]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[0.039959499343927396,-1.2691267179878005,0.71338606911949],"aabb_xy":[[-0.00531911553722187,-1.3331267173359842],[0.08523811422507666,-1.2051267186396168]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.5946728354982238,0.16841444040623443,0.71338606911949],"aabb_xy":[[0.5795006662165905,0.15324558347803108],[0.6098450047798571,0.1835832973344378]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[0.45195408718371044,1.0033933100240136,0.71338606911949],"aabb_xy":[[0.38795408577571977,0.951604358500089],[0.5159540885917011,1.0551822615479383]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.24701688749869943,-1.6983684910599517,0.71338606911949],"aabb_xy":[[0.24288103116599924,-1.735868490504309],[0.2511527438313996,-1.660868491615595]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[-0.20465736516535465,-0.6992400795198477,0.71338606911949],"aabb_xy":[[-0.24215736527094758,-0.7060622413728287],[-0.16715736505976167,-0.6924179176668664]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[0.4014053573667833,-0.8766617163088304,0.71338606911949],"aabb_xy":[[0.3795156097778425,-0.9666617135980796],[0.4232951049557241,-0.7866617190195814]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[0.49340238228634736,-2.430654925046246,0.71338606911949],"aabb_xy":[[0.45894003488820545,-2.4651488074440677],[0.5278647296844889,-2.3961610426484223]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[0.5428054348753597,1.3474007367371779,0.71338606911949],"aabb_xy":[[0.4528054381397494,1.2942172734198831],[0.6328054316109698,1.4005842000544722]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.6741494127375669,-1.0253376828692613,0.71338606911949],"aabb_xy":[[-0.6821756833681929,-1.034089177846614],[-0.6661231421069409,-1.0165861878919087]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[0.5165636050009779,-2.2020945359049775,0.71338606911949],"aabb_xy":[[0.4615636067992331,-2.2426165025314146],[0.5715636032027227,-2.1615725692785395]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[0.3811282403102827,1.8032025693278535,0.71338606911949],"aabb_xy":[[0.36602593884926454,1.7881010476967913],[0.39623054177130074,1.8183040909589152]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[-0.1234379153252706,-1.1658742015094428,0.71338606911949],"aabb_xy":[[-0.1434963269385109,-1.1859392884186004],[-0.10337950371203032,-1.1458091146002851]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[-0.21101959398814663,-2.0350146947881713,0.71338606911949],"aabb_xy":[[-0.23601959392066454,-2.0418973630090944],[-0.18601959405562876,-2.0281320265672482]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[-0.11870376269211302,-1.5196031981270417,0.71338606911949],"aabb_xy":[[-0.1686968748013049,-1.5696031988012376],[-0.06871065058292114,-1.469603197452846]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[-0.3648576826592323,-0.7359273321434638,0.71338606911949],"aabb_xy":[[-0.3685609439883711,-0.7396293504521817],[-0.3611544213300934,-0.732225313834746]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.18702852681494453,-2.3703250578011765,0.71338606911949],"aabb_xy":[[-0.2069195666952848,-2.382980869085874],[-0.16713748693460428,-2.35766924651648]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.5116243155336697,-1.0671451497470648,0.71338606911949],"aabb_xy":[[0.5036303269559662,-1.0751452298421549],[0.519618304111373,-1.0591450696519742]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_24","position":[-0.21546934931470774,-2.482044634596173,0.71338606911949],"aabb_xy":[[-0.2854693457246694,-2.5024825702478544],[-0.14546935290474589,-2.461606698944491]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[0.48653337597613944,-0.4145381894906972,0.71338606911949],"aabb_xy":[[0.4830926997360824,-0.4183996224650618],[0.4899740522161967,-0.41067675651633284]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_26","position":[0.2585524571012443,-1.2328234437212662,0.71338606911949],"aabb_xy":[[0.2085524584553231,-1.2827429873807286],[0.3085524557471655,-1.1829039000618038]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_27","position":[0.026315402865906834,0.8860977822206721,0.71338606911949],"aabb_xy":[[0.014443319854405723,0.8010977825270219],[0.038187485877407945,0.9710977819143226]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_28","position":[-0.37840272342269,-2.4967231972249517,0.71338606911949],"aabb_xy":[[-0.4283869591308672,-2.5467231960384473],[-0.32841848771451276,-2.446723198411456]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884858241604777,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3899.png","name":"3899"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3899.png","name":"3899"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9808.png","name":"9808"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5779.png","name":"5779"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4135.png","name":"4135"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9042.png","name":"9042"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":672.9637099324218,"rotation_z_degrees":154.97056171373222,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006180680485596245,-0.005846402365303911,0.004188871843503979]},{"name":"camera_2","offset_m":[0.012665536858805563,-0.011195759057151875,0.015559528434904688]},{"name":"camera_3","offset_m":[0.008846705418936614,0.0012491674227141786,-0.00048088057569285747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007766724721267305,0.0016116918978588495,-0.0007935004870097532],"end_effector_yaw_offset_degrees":0.5202297377035887},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00040126669848497207,0.001465789979401624,0.0009427077683175087],"end_effector_yaw_offset_degrees":-0.3580237617109949},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[8.227933344351866e-05,0.0001361308804308575,0.0001665671794433706],"end_effector_yaw_offset_degrees":0.1084799276923265},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001176464915895824,-0.0013662506074964722,-0.0009155440978150277],"end_effector_yaw_offset_degrees":-0.23663891850447594}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003200511584003688,-0.0031191097483012488],"position_m":[0.1437005115840037,0.23158089025169876,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00226344143424606,0.003874796389570491],"position_m":[0.25136344143424605,-0.3795252036104295,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003115284210076662,-0.003227551177279622],"position_m":[0.21048471578992334,-0.05692755117727962,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019847468228282104,-0.0009940243463327468],"position_m":[0.3516152531771718,0.11620597565366725,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a5b6a55a805fa42ac8c6c99fc728c8680314c491e1e5544d062d1503498fc63a","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0017.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3899/tex_ceiling_textures_9042/tex_floor_textures_4135/tex_table_textures_9808/tex_wall_textures_5779","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1281071443607442919,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1281071443607442919,"visual_seed":1281071443607442919,"scene_id":"lab_003","finished_at":"2026-09-05T02:26:28"}
+{"episode_id":"ep_000018","started_at":"2026-09-05T02:26:32","dimensions":{"distractor":{"count":26,"items":[{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_0","position":[0.09478818535035516,1.5921058562656234,0.71338606911949],"aabb_xy":[[0.07228904962412817,1.5696058554873606],[0.11728732107658212,1.6146058570438866]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[0.23082593388458195,-2.170937724315017,0.71338606911949],"aabb_xy":[[0.20560509702474225,-2.1961614751679037],[0.25604677074442156,-2.1457139734621298]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[-0.5533425353413195,-1.7233125714329685,0.71338606911949],"aabb_xy":[[-0.5833100922511452,-1.753312571730854],[-0.5233749784314938,-1.6933125711350825]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[-0.43180239956195626,-0.07972509571201414,0.71338606911949],"aabb_xy":[[-0.5018024029535181,-0.115040869415445],[-0.3618023961703942,-0.04440932200858328]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.4002868248192693,-0.5816400188873834,0.71338606911949],"aabb_xy":[[-0.45791729370654005,-0.6416400178140939],[-0.3426563559319984,-0.5216400199606727]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[-0.13467961653500327,0.8885975600246656,0.71338606911949],"aabb_xy":[[-0.17217961688323102,0.8768061644435821],[-0.09717961618677551,0.9003889556057492]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_6","position":[-0.1840869808776333,-1.862901306927283,0.71338606911949],"aabb_xy":[[-0.24908697903355237,-1.889197551477195],[-0.11908698272171425,-1.8366050623773706]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[0.12967383125607834,-2.332209185441874,0.71338606911949],"aabb_xy":[[0.1051276156333276,-2.3624580819909107],[0.15422004687882904,-2.3019602888928365]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[-0.3552294947368532,0.7149464285957361,0.71338606911949],"aabb_xy":[[-0.4192294954403226,0.6689280461228152],[-0.2912294940333839,0.7609648110686573]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.17396756058597806,1.7076752447623202,0.71338606911949],"aabb_xy":[[0.15407652070563782,1.695019433477624],[0.19385860046631834,1.7203310560470177]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[-0.5952707873025939,-2.1282463999897674,0.71338606911949],"aabb_xy":[[-0.6852707838034654,-2.174158042408225],[-0.5052707908017219,-2.0823347575713087]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.548766173923313,-1.5234683552354216,0.71338606911949],"aabb_xy":[[0.5262697524894488,-1.5459683550421688],[0.571262595357177,-1.500968355428674]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.20051975148257123,-2.508608929170057,0.71338606911949],"aabb_xy":[[-0.2705197541191575,-2.528713794165922],[-0.13051974884598483,-2.488504064174191]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.44203739022757405,-1.441094852842664,0.71338606911949],"aabb_xy":[[-0.5220373934915872,-1.4546548851515775],[-0.3620373869635609,-1.4275348205337508]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.611254406740801,-0.7521628314928837,0.71338606911949],"aabb_xy":[[0.5887544064972856,-0.7643674661526555],[0.6337544069843164,-0.7399581968331116]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.28614866863072225,-1.6745286913766597,0.71338606911949],"aabb_xy":[[-0.336148669581255,-1.706077838380181],[-0.23614866768018938,-1.642979544373138]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[-0.5229050490802651,-1.027356708330808,0.71338606911949],"aabb_xy":[[-0.5380772183618985,-1.0425255652590113],[-0.5077328797986318,-1.0121878514026046]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.023403426816505535,1.1618844758221294,0.71338606911949],"aabb_xy":[[-0.0732202062813403,1.1118844773378258],[0.026413352648329225,1.2118844743064325]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.027977002035700083,-2.5225933832286147,0.71338606911949],"aabb_xy":[[-0.05047700254774067,-2.545085241594013],[-0.005477001523659479,-2.5001015248632164]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[-0.39637690772124956,1.453293177329162,0.71338606911949],"aabb_xy":[[-0.4513769073429954,1.3983094845416895],[-0.3413769080995037,1.508276870116635]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.24800259178523865,-1.042738699726335,0.71338606911949],"aabb_xy":[[0.18400258944243705,-1.0876795509704673],[0.31200259412804016,-0.9977978484822024]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[-0.29210504373017615,0.6036887774415676,0.71338606911949],"aabb_xy":[[-0.35710504483611943,0.5787234043734393],[-0.22710504262423287,0.6286541505096959]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[-0.06881423251339436,-1.3299115601032219,0.71338606911949],"aabb_xy":[[-0.10381423164335002,-1.335656781178886],[-0.0338142333834387,-1.3241663390275578]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[0.20478037737022148,-2.5690916525391456,0.71338606911949],"aabb_xy":[[0.20066442725814881,-2.5732072075719907],[0.20889632748229414,-2.5649760975062996]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[-0.018108280910302588,-1.6723664911777996,0.71338606911949],"aabb_xy":[[-0.026822249960237073,-1.6948664918369876],[-0.009394311860368097,-1.6498664905186111]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_25","position":[-0.22750227325711014,0.9527862360268053,0.71338606911949],"aabb_xy":[[-0.26250227323360603,0.9433216199791888],[-0.19250227328061437,0.9622508520744221]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6835864711576716,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5891.png","name":"5891"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5891.png","name":"5891"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1231.png","name":"1231"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/947.png","name":"947"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4199.png","name":"4199"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2914.png","name":"2914"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":546.6391694650406,"rotation_z_degrees":92.59693626985094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012427577613241706,0.010994897548687512,-0.017166894619291627]},{"name":"camera_2","offset_m":[0.006551524590342937,0.0008225227031458809,-0.010515901357081803]},{"name":"camera_3","offset_m":[-0.015456423736436548,0.0026965707907220804,0.0029964451094376884]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006268110982588317,-0.0011434975871930392,0.0008727656689389595],"end_effector_yaw_offset_degrees":-0.9414122573971142},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016861994695234394,-0.0006802010337592695,0.00014373173061889375],"end_effector_yaw_offset_degrees":0.365041893757573},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00022693117299067873,-0.00037542565417598094,0.0008348039158621854],"end_effector_yaw_offset_degrees":-0.44829904411598975},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013249136439863179,-0.0002045429462079623,0.0007838054600601148],"end_effector_yaw_offset_degrees":-0.5034551626015402}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0041927648822509865,-0.0013693963436324807],"position_m":[0.13630723511774903,0.2333306036563675,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031988680079398715,0.004503322004830563],"position_m":[0.24590113199206012,-0.37889667799516946,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004389991734822059,0.0023246444461990402],"position_m":[0.21798999173482206,-0.05137535555380096,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004453716920152809,0.002473524977859275],"position_m":[0.3580537169201528,0.11967352497785927,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"97794886b7f76dae1b75caecbec4aec4beacf38550201749eecb30e21cc37c61","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5891/tex_ceiling_textures_2914/tex_floor_textures_4199/tex_table_textures_1231/tex_wall_textures_947","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2348731994720019043,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2348731994720019043,"visual_seed":2348731994720019043,"scene_id":"lab_003","finished_at":"2026-09-05T02:30:25"}
+{"episode_id":"ep_000019","started_at":"2026-09-05T02:30:29","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.5680881800549802,0.2503469312585844,0.71338606911949],"aabb_xy":[[-0.6230813913921169,0.19534693091979083],[-0.5130949687178434,0.305346931597378]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.33434530807271506,0.4603479523751357,0.71338606911949],"aabb_xy":[[-0.38434530902324787,0.42879880537161424],[-0.28434530712218226,0.49189709937865705]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.5692050150065386,-0.402414972717164,0.71338606911949],"aabb_xy":[[0.4842050165891154,-0.48728926817944895],[0.6542050134239619,-0.317540677254879]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[0.3519514416219025,-1.5120570864281124,0.71338606911949],"aabb_xy":[[0.26195144220353156,-1.5454325832723024],[0.44195144104027334,-1.478681589583923]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.15382370435047177,1.2803113119861513,0.71338606911949],"aabb_xy":[[0.09382370348965895,1.2288848819796645],[0.21382370521128455,1.3317377419926373]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.29409683557871064,-1.3474943864020072,0.71338606911949],"aabb_xy":[[-0.31167513776765743,-1.365068875976112],[-0.27651853338976373,-1.3299198968279025]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[-0.05430397897940986,1.0002049983084254,0.71338606911949],"aabb_xy":[[-0.0918039791512818,0.9675042629255179],[-0.016803978807537916,1.0329057336913323]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.010481673306045658,-0.9298409834015955,0.71338606911949],"aabb_xy":[[-0.07448167652468352,-0.976564095300604],[0.0535183299125922,-0.8831178715025872]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[-0.5669951081316142,-1.4981250862320457,0.71338606911949],"aabb_xy":[[-0.604029217559674,-1.532502293565755],[-0.5299609987035545,-1.4637478788983362]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.29645027104975874,-0.7436381125392286,0.71338606911949],"aabb_xy":[[0.28038834359124104,-0.8286381143518204],[0.31251219850827633,-0.6586381107266368]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[0.49831660151349677,-1.0388714436342672,0.71338606911949],"aabb_xy":[[0.4343166023437269,-1.0856381307532295],[0.5623166006832667,-0.9921047565153046]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.6465634756474499,0.9474870171942866,0.71338606911949],"aabb_xy":[[0.6385694870697465,0.9394869370991962],[0.6545574642251533,0.9554870972893769]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[-0.36775434907738624,1.5740927745990212,0.71338606911949],"aabb_xy":[[-0.4577543527543043,1.5126603680219162],[-0.277754345400468,1.6355251811761249]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[0.551354451818524,-2.261344385028705,0.71338606911949],"aabb_xy":[[0.5467193366662907,-2.2652117201058535],[0.5559895669707574,-2.257477049951556]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_14","position":[-0.073779513110798,-2.056576431047771,0.71338606911949],"aabb_xy":[[-0.09289182046877688,-2.075711209925013],[-0.05466720575281915,-2.037441652170529]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[0.4779203898723885,1.0881321345520716,0.71338606911949],"aabb_xy":[[0.4687605109285119,1.0816009165085345],[0.4870802688162651,1.0946633525956087]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[0.4153539098456922,0.5372238528404991,0.71338606911949],"aabb_xy":[[0.4028865517359566,0.5247585282071756],[0.4278212679554279,0.5496891774738226]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[0.4942847889884463,0.2532775605111066,0.71338606911949],"aabb_xy":[[0.4567847886962715,0.24923608511050302],[0.5317847892806211,0.25731903591171024]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.644971544821938,-0.337090118523101,0.71338606911949],"aabb_xy":[[-0.6674715443456454,-0.3595860659737217],[-0.6224715452982306,-0.31459417107248017]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[-0.2925850238884498,-0.3641101609601609,0.71338606911949],"aabb_xy":[[-0.29701565324329005,-0.36955853269484357],[-0.2881543945336097,-0.35866178922547837]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.11347437273039696,1.784310519120575,0.71338606911949],"aabb_xy":[[-0.1984743714224716,1.7523246557256964],[-0.028474374038322328,1.816296382515454]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.18123830044477895,-1.0433857905725794,0.71338606911949],"aabb_xy":[[-0.18927463514606377,-1.0514239098769962],[-0.17320196574349409,-1.0353476712681626]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[-0.5914054379908014,-2.448151959665452,0.71338606911949],"aabb_xy":[[-0.6412222174556361,-2.4981519581497555],[-0.5415886585259666,-2.398151961181149]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[0.33995372228192067,1.706431640712331,0.71338606911949],"aabb_xy":[[0.28495372408017583,1.6659096740858934],[0.3949537204836655,1.7469536073387686]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6837056553469906,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8662.png","name":"8662"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8662.png","name":"8662"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/954.png","name":"954"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2381.png","name":"2381"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4566.png","name":"4566"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4124.png","name":"4124"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":570.22785032499,"rotation_z_degrees":348.17502807305544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003724284050236646,0.011540893870503232,-0.015191663397803645]},{"name":"camera_2","offset_m":[0.007657207507841452,0.0176734464817048,0.007190759353479549]},{"name":"camera_3","offset_m":[-0.01407012079418513,-0.01760740844538594,-0.010598379295928733]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00011493501031970823,-0.00034964883726845957,-0.0004540773746926599],"end_effector_yaw_offset_degrees":0.5507880863125103},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016707098216448596,-0.0018934484197350408,-0.0005281126757543753],"end_effector_yaw_offset_degrees":0.147283611112627},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018075354017196986,0.001830278198940537,0.0008019835911732319],"end_effector_yaw_offset_degrees":-0.8324202327704993},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004337951066954444,0.0001722956657591655,0.0006994913024589728],"end_effector_yaw_offset_degrees":0.10451156241961024}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000627378159728971,-0.003721669156327523],"position_m":[0.13987262184027105,0.23097833084367247,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031565446770320405,0.004351867168874636],"position_m":[0.24594345532296794,-0.3790481328311254,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033630765934579794,0.004185018098437204],"position_m":[0.21696307659345798,-0.049514981901562796,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004977102134692599,-0.0011633333503235153],"position_m":[0.3585771021346926,0.11603666664967649,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8bc4a80ff532d8e8ae5f61af9dc3ccaaab16954d52ef22d9f10b2c5fa7c897d5","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8662/tex_ceiling_textures_4124/tex_floor_textures_4566/tex_table_textures_954/tex_wall_textures_2381","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8008944924786395191,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8008944924786395191,"visual_seed":8008944924786395191,"scene_id":"lab_003","finished_at":"2026-09-05T02:35:07"}
+{"episode_id":"ep_000020","started_at":"2026-09-05T02:35:11","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.6083530013014988,-1.5069190522947213,0.71338606911949],"aabb_xy":[[0.5433530031455799,-1.5332152968446333],[0.673352999457418,-1.480622807744809]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[-0.679904363354125,-0.7162330382319488,0.71338606911949],"aabb_xy":[[-0.6854860349882537,-0.7287330380497243],[-0.6743226917199963,-0.7037330384141733]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[-0.2644678866782433,1.4119899253753254,0.71338606911949],"aabb_xy":[[-0.3194678862999891,1.357006232587853],[-0.20946788705649744,1.4669736181627984]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[-0.5694903071101409,-1.3673283487576986,0.71338606911949],"aabb_xy":[[-0.659490303845751,-1.4205118120749929],[-0.4794903103745306,-1.3141448854404039]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_4","position":[-0.5023614126829162,0.7671637668640194,0.71338606911949],"aabb_xy":[[-0.5094017226164533,0.687163767464348],[-0.49532110274937935,0.8471637662636909]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.2904894926084894,0.7204959133485986,0.71338606911949],"aabb_xy":[[-0.30565236558542647,0.7053304560534799],[-0.2753266196315523,0.7356613706437174]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.6629135036911743,1.1705683982804533,0.71338606911949],"aabb_xy":[[-0.6874597193139249,1.1403195017314163],[-0.6383672880684235,1.2008172948294904]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.40217742284765956,-0.6986194211338959,0.71338606911949],"aabb_xy":[[0.3421774222516434,-0.7534318936791193],[0.46217742344367574,-0.6438069485886724]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[-0.17962263448409888,0.774443946758363,0.71338606911949],"aabb_xy":[[-0.19550712774942403,0.7600910064595389],[-0.16373814121877373,0.788796887057187]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.5254415058244173,1.6114033878895335,0.71338606911949],"aabb_xy":[[0.48794150600738373,1.6067651765783915],[0.5629415056414508,1.6160415992006751]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.377782883635092,-0.035921047108033566,0.71338606911949],"aabb_xy":[[-0.4077504405449177,-0.06592104740591931],[-0.3478153267252664,-0.005921046810147823]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.0890988413685897,-1.0757552066294802,0.71338606911949],"aabb_xy":[[-0.1318655482480099,-1.1397552100512824],[-0.046332134489169494,-1.0117552032076775]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[-0.33935681789716715,0.963882923870381,0.71338606911949],"aabb_xy":[[-0.4293568176203412,0.940809571335201],[-0.24935681817399288,0.9869562764055607]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[0.3234166688517648,-0.5029453014711005,0.71338606911949],"aabb_xy":[[0.2859166686798928,-0.5356460368540076],[0.36091666902363667,-0.4702445660881932]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[-0.44133515855189753,-2.168726201161194,0.71338606911949],"aabb_xy":[[-0.45888185346801647,-2.206226202725445],[-0.4237884636357786,-2.131226199596942]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.10582242025169186,-1.7269378166614184,0.71338606911949],"aabb_xy":[[0.09497081400281626,-1.7377971073890692],[0.11667402650056746,-1.7160785259337672]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.05763608071421367,0.782378850333779,0.71338606911949],"aabb_xy":[[-0.12263607859586148,0.7312551866272381],[0.007363917167434128,0.8335025140403199]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.16175869667845122,-1.3157136274641845,0.71338606911949],"aabb_xy":[[0.07675869826102802,-1.4005879229264693],[0.24675869509587448,-1.2308393320018993]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.34091134074241913,1.7260398824685024,0.71338606911949],"aabb_xy":[[0.3034113395576263,1.7216216597724416],[0.3784113419272119,1.7304581051645627]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[-0.6282826159940627,-1.15214220387754,0.71338606911949],"aabb_xy":[[-0.6375762342312131,-1.1896422023656739],[-0.618988997756912,-1.114642205389406]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[-0.030531384522720306,-2.1812550771348547,0.71338606911949],"aabb_xy":[[-0.10053138612499979,-2.1946878703365122],[0.039468617079559176,-2.167822283933197]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[0.6294294183519251,-0.702318505357294,0.71338606911949],"aabb_xy":[[0.5919294184081587,-0.7106115953921306],[0.6669294182956915,-0.6940254153224574]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[0.24344915966521052,-0.8753539672473261,0.71338606911949],"aabb_xy":[[0.16344916100832454,-0.889858826171589],[0.32344915832209653,-0.8608491083230634]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.22530373602280035,-0.7076615335074719,0.71338606911949],"aabb_xy":[[-0.28030373519938984,-0.7626512082824294],[-0.17030373684621086,-0.6526718587325141]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[-0.45640088295903847,-2.0736120578277157,0.71338606911949],"aabb_xy":[[-0.46451453763241557,-2.081717874281745],[-0.44828722828566137,-2.0655062413736864]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[0.558408258455537,0.4645271411980185,0.71338606911949],"aabb_xy":[[0.5432360891739036,0.44935828426981517],[0.5735804277371703,0.4796959981262219]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.686185198378148,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7725.png","name":"7725"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7725.png","name":"7725"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6156.png","name":"6156"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3763.png","name":"3763"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3407.png","name":"3407"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1747.png","name":"1747"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":541.6971456537859,"rotation_z_degrees":287.52417593363873,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01077484093111714,0.008391128957992173,-0.014138667679511517]},{"name":"camera_2","offset_m":[0.017000319424563138,0.016023209526190806,0.01551603562076476]},{"name":"camera_3","offset_m":[-0.001782632544181116,-0.006600809130466434,-0.011482016164938283]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001866536875167312,-0.0014465101321122918,-0.001885698241338562],"end_effector_yaw_offset_degrees":-0.24473723595412955},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011490348387005146,0.0008870301982305115,-0.0014283321571746319],"end_effector_yaw_offset_degrees":-0.14814304833206582},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014226161678694321,0.001117933440646203,0.0005419692144736834],"end_effector_yaw_offset_degrees":-0.47344705491941963},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008004750107898934,-0.001707858043242585,0.0014046126996887288],"end_effector_yaw_offset_degrees":-0.8639381216643158}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002688283061414798,0.0047569556236862565],"position_m":[0.14076882830614149,0.23945695562368624,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006348682802302438,0.0036657336128043836],"position_m":[0.24846513171976975,-0.37973426638719565,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00040606811231438857,-0.0038587724528152158],"position_m":[0.2140060681123144,-0.05755877245281521,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021652326338795483,-0.0004969706331882781],"position_m":[0.3514347673661205,0.11670302936681172,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f783ca687055aa08bef052b2efb4b1d9407a3c2fd5457b0656ee8141c49cfc81","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0020.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7725/tex_ceiling_textures_1747/tex_floor_textures_3407/tex_table_textures_6156/tex_wall_textures_3763","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":666945322348791976,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":666945322348791976,"visual_seed":666945322348791976,"scene_id":"lab_003","finished_at":"2026-09-05T02:39:10"}
+{"episode_id":"ep_000021","started_at":"2026-09-05T02:39:13","dimensions":{"distractor":{"count":32,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[-0.28216609126703357,1.1208861355535302,0.71338606911949],"aabb_xy":[[-0.2973382605486669,1.1057172786253269],[-0.26699392198540023,1.1360549924817336]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.368998874356977,0.6993404821721012,0.71338606911949],"aabb_xy":[[0.3049988770713284,0.6578337632192572],[0.4329988716426257,0.7408472011249452]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[0.6041719768254261,0.22150726715906544,0.71338606911949],"aabb_xy":[[0.5673214288884385,0.1840072663360317],[0.6410225247624137,0.25900726798209917]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.4419086983717182,-2.152610944651971,0.71338606911949],"aabb_xy":[[0.4075924211971002,-2.2026109446251483],[0.4762249755463361,-2.102610944678793]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_4","position":[-0.05413605230288432,0.9900726617007551,0.71338606911949],"aabb_xy":[[-0.0951539956892552,0.9400726610697977],[-0.013118108916513438,1.0400726623317125]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[0.21957026646984457,0.9011143483832225,0.71338606911949],"aabb_xy":[[0.20492686091581155,0.8864556287264382],[0.23421367202387752,0.9157730680400067]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.09610260777534263,-0.17678194677560377,0.71338606911949],"aabb_xy":[[-0.09954328401539982,-0.18064337974996825],[-0.09266193153528546,-0.1729205138012393]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[-0.6844199112927041,-1.3480748094015058,0.71338606911949],"aabb_xy":[[-0.6893759314775854,-1.3705748096036277],[-0.679463891107823,-1.3255748091993844]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.021473699737752372,-1.7681175346198814,0.71338606911949],"aabb_xy":[[-0.013526298532367531,-1.7751916623148691],[0.056473698007872275,-1.7610434069248928]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[-0.5216672416745416,-1.4813756897845813,0.71338606911949],"aabb_xy":[[-0.571667242693677,-1.5178419055224097],[-0.47166724065540644,-1.4449094740467536]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.4645665585357195,-2.410967361272627,0.71338606911949],"aabb_xy":[[-0.4945341154455452,-2.4409673615705128],[-0.4345990016258939,-2.380967360974741]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[0.1591843498340373,1.042082423136661,0.71338606911949],"aabb_xy":[[0.10918434817254251,0.9920839808809582],[0.20918435149553202,1.0920808653923635]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.29562915160117664,1.1989437719494744,0.71338606911949],"aabb_xy":[[0.27812915246680947,1.1890641449118864],[0.3131291507355438,1.208823398987062]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[0.5958914147489556,-0.781987320687652,0.71338606911949],"aabb_xy":[[0.515891417345362,-0.8619798918858348],[0.6758914121525489,-0.7019947494894692]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[-0.6360285469554601,-2.229917651336973,0.71338606911949],"aabb_xy":[[-0.6479612813172881,-2.242299804144833],[-0.624095812593632,-2.2175354985291142]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[-0.04130750784155135,0.5114124596657175,0.71338606911949],"aabb_xy":[[-0.0788075083389096,0.507443776117599],[-0.003807507344193106,0.5153811432138359]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[0.2584102858883617,-0.5459929498711977,0.71338606911949],"aabb_xy":[[0.24097957080935514,-0.5632650645350483],[0.27584100096736813,-0.5287208352073467]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.5187141037641319,0.37797098543719887,0.71338606911949],"aabb_xy":[[0.45371410372982923,0.3312703087568715],[0.5837141037984347,0.4246716621175261]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[-0.1683161883280938,0.371176665395307,0.71338606911949],"aabb_xy":[[-0.20331618830458967,0.3617120493476904],[-0.133316188351598,0.38064128144292364]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[-0.3151525864040162,0.40756564227624326,0.71338606911949],"aabb_xy":[[-0.3791525856981844,0.34357950190738906],[-0.25115258710984795,0.47155178264509745]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[0.3710074397838423,-0.7131585815329646,0.71338606911949],"aabb_xy":[[0.3070074377341103,-0.7532530646222726],[0.4350074418335743,-0.6730640984436567]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[0.4573733812647298,0.0868869268250867,0.71338606911949],"aabb_xy":[[0.4335371636241248,-0.003113073983399787],[0.48120959890533493,0.17688692763357317]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[-0.3803478649388651,-0.27119013323559615,0.71338606911949],"aabb_xy":[[-0.40063216766226384,-0.291472758378305],[-0.3600635622154663,-0.2509075080928873]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_23","position":[0.206134693480175,1.7687222828038442,0.71338606911949],"aabb_xy":[[0.1411346923742317,1.743756909735716],[0.2711346945861183,1.7936876558719725]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[-0.085257809829824,1.188154704719988,0.71338606911949],"aabb_xy":[[-0.09083948146395275,1.1756547049022126],[-0.07967613819569523,1.2006547045377636]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[-0.6044047736506968,1.2830883909628872,0.71338606911949],"aabb_xy":[[-0.612448133576652,1.1980883898675205],[-0.5963614137247416,1.3680883920582534]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_26","position":[-0.43199938313744063,-0.4697151729733253,0.71338606911949],"aabb_xy":[[-0.4373318977920536,-0.4750395012185609],[-0.42666686848282764,-0.4643908447280897]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_27","position":[-0.640681051018764,-0.8347522053572392,0.71338606911949],"aabb_xy":[[-0.64870732164939,-0.8435037003345918],[-0.632654780388138,-0.8260007103798865]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_28","position":[0.4648033588137539,-2.4757182934699715,0.71338606911949],"aabb_xy":[[0.3948033561771675,-2.4958231584658366],[0.5348033614503402,-2.4556134284741056]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_29","position":[-0.2022619036316674,-2.2526175167302376,0.71338606911949],"aabb_xy":[[-0.21025539342694946,-2.2606156486707136],[-0.1942684138363854,-2.2446193847897624]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_30","position":[0.42969620548896104,-1.9653744895890979,0.71338606911949],"aabb_xy":[[0.3921962051407333,-1.9771658851701814],[0.4671962058371888,-1.9535830940080143]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_31","position":[-0.19401064874297946,1.5322393638109886,0.71338606911949],"aabb_xy":[[-0.21855686436573019,1.5019904672619513],[-0.16946443312022874,1.5624882603600254]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933835940552604,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4015.png","name":"4015"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4015.png","name":"4015"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2330.png","name":"2330"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3773.png","name":"3773"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5948.png","name":"5948"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/285.png","name":"285"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":695.6650137809593,"rotation_z_degrees":212.85801106062496,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01506160873256266,-0.0031590082789474533,-0.012753798099875473]},{"name":"camera_2","offset_m":[-0.0018705603693763041,0.016376829233557297,-0.0054418370190564246]},{"name":"camera_3","offset_m":[0.007227052985163896,-0.016153257334477644,-0.0008790208311034511]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00047881413182722984,0.00010666704336086867,-0.0009425676188372955],"end_effector_yaw_offset_degrees":0.976180357048348},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013373956414670881,-0.00016573994057945767,-0.0018952467169851507],"end_effector_yaw_offset_degrees":0.024936617005971273},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.952228408745859e-05,6.582143279162261e-05,-0.0018899701083189267],"end_effector_yaw_offset_degrees":-0.691130357072387},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019203981028010873,-0.0007163953824267932,0.00027244333468427143],"end_effector_yaw_offset_degrees":-0.4447359323941307}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029547517634181735,0.002846320734061477],"position_m":[0.14345475176341818,0.23754632073406146,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030060270656259514,-0.0038385089467469825],"position_m":[0.25210602706562596,-0.387238508946747,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001993434401385167,0.0010556626232846363],"position_m":[0.21559343440138518,-0.05264433737671536,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002849964281688451,0.0032038777409049935],"position_m":[0.35644996428168846,0.120403877740905,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"71abbac6712920d0d61aa7c43f06f336167ef11d6b426130ff92360ccd3f332a","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0021.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4015/tex_ceiling_textures_285/tex_floor_textures_5948/tex_table_textures_2330/tex_wall_textures_3773","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5146403246040332349,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5146403246040332349,"visual_seed":5146403246040332349,"scene_id":"lab_003","finished_at":"2026-09-05T02:43:16"}
+{"episode_id":"ep_000022","started_at":"2026-09-05T02:43:19","dimensions":{"distractor":{"count":20,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.005707015366877566,-0.7590251594990791,0.71338606911949],"aabb_xy":[[-0.0842929883100406,-0.8204575660761831],[0.09570701904379572,-0.6975927529219745]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.6514642521263243,1.3816960714620912,0.71338606911949],"aabb_xy":[[0.6325798683578141,1.3628101466817384],[0.6703486358948345,1.400581996242444]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.6654667430573709,-0.012525352120656308,0.71338606911949],"aabb_xy":[[-0.6904667426091093,-0.02266783598579103],[-0.6404667435056324,-0.0023828682555215863]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[-0.5740922373858178,0.7880680921674341,0.71338606911949],"aabb_xy":[[-0.6540922344000657,0.7679335404940228],[-0.49409224037156974,0.8082026438408454]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.6295258582749423,-0.3759876778733058,0.71338606911949],"aabb_xy":[[-0.6935258574447124,-0.4227543649922682],[-0.5655258591051725,-0.32922099075434325]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[-0.050888769184006866,0.89505147098023,0.71338606911949],"aabb_xy":[[-0.13088877244802,0.8814914386713166],[0.029111234080006272,0.9086115032891433]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[-0.2850868116172,-1.3789820588815627,0.71338606911949],"aabb_xy":[[-0.3075868118607154,-1.3911866935413344],[-0.2625868113736846,-1.3667774242217905]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.508909638566939,-2.3565004065624975,0.71338606911949],"aabb_xy":[[-0.588909638840546,-2.4294499543882138],[-0.4289096382933321,-2.2835508587367803]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[0.4190262236599607,-1.375524852898556,0.71338606911949],"aabb_xy":[[0.3640330123228239,-1.4305248532373496],[0.4740194349970975,-1.3205248525597624]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[-0.5951457435711854,-1.2681975259107698,0.71338606911949],"aabb_xy":[[-0.6154300462945841,-1.2884801510534785],[-0.5748614408477866,-1.2479149007680608]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.18940579542829616,1.6381277204449574,0.71338606911949],"aabb_xy":[[0.12540579337856417,1.5980332373556492],[0.25340579747802816,1.678222203534265]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.1361368051290487,-1.2443117104039696,0.71338606911949],"aabb_xy":[[-0.16113680506156658,-1.2511943786248931],[-0.1111368051965308,-1.2374290421830465]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[-0.32051545024544364,0.9953563061462027,0.71338606911949],"aabb_xy":[[-0.35906114307064474,0.9568105350900141],[-0.28196975742024266,1.0339020772023915]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[0.3453388299921849,-0.4800669464149854,0.71338606911949],"aabb_xy":[[0.3334060956303568,-0.4924490992228448],[0.3572715643540129,-0.46768479360712606]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[-0.6041249127037832,-1.9511544120073676,0.71338606911949],"aabb_xy":[[-0.6463093268646141,-2.015154412284579],[-0.5619404985429526,-1.8871544117301566]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.20958211407034333,-1.6616751778435086,0.71338606911949],"aabb_xy":[[0.1195821143471691,-1.6847485303786884],[0.2995821137935174,-1.6386018253083288]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.19273530553172558,-0.7053661933229396,0.71338606911949],"aabb_xy":[[0.1602736046497981,-0.7354990254378421],[0.225197006413653,-0.6752333612080369]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[0.6656735426506684,-2.1688605787907944,0.71338606911949],"aabb_xy":[[0.6105483370210776,-2.228860580232081],[0.7207987482802591,-2.108860577349507]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.44918698195832985,-0.5671254152154162,0.71338606911949],"aabb_xy":[[0.4365842828212534,-0.5797208114402816],[0.4617896810954063,-0.5545300189905507]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[0.13751238829166412,1.5076704413141617,0.71338606911949],"aabb_xy":[[0.05251238959958948,1.4756845779192829],[0.22251238698373876,1.5396563047090406]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6914286288000163,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1989.png","name":"1989"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1989.png","name":"1989"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/459.png","name":"459"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2409.png","name":"2409"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7176.png","name":"7176"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8905.png","name":"8905"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":640.4134827226694,"rotation_z_degrees":258.29058534038234,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004906123163807192,-0.01759172671110996,-0.01671286405718317]},{"name":"camera_2","offset_m":[0.01874341883985672,0.018642971954458323,0.01439720995819201]},{"name":"camera_3","offset_m":[0.007526402334103479,0.01612565402314006,-0.0009494144171112717]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00019186532662870048,0.0014481275579926018,-0.0010766231236994544],"end_effector_yaw_offset_degrees":0.5674242284859148},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012219810164146166,-0.0008483993669563153,-0.00012299613137353315],"end_effector_yaw_offset_degrees":0.2749338622732942},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009727503323992337,-0.001184859237281709,-0.0012850553992112257],"end_effector_yaw_offset_degrees":0.7054672532484978},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00024306132720117776,-0.0010117755231680036,0.0009253145199643788],"end_effector_yaw_offset_degrees":0.18039822837839337}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00032318058120208056,0.00435616701288133],"position_m":[0.1408231805812021,0.23905616701288132,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011927557810421001,-0.003031116715661267],"position_m":[0.2502927557810421,-0.38643111671566127,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004976640507095516,-0.0017588463801667298],"position_m":[0.2086233594929045,-0.05545884638016673,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034271834048119386,-0.002730583312020085],"position_m":[0.357027183404812,0.11446941668797991,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f72419c6ec2bd1a75ba04d7bb0559a6071f724b31b9876ced6f2f5505747665f","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1989/tex_ceiling_textures_8905/tex_floor_textures_7176/tex_table_textures_459/tex_wall_textures_2409","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4042849327352217031,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4042849327352217031,"visual_seed":4042849327352217031,"scene_id":"lab_003","finished_at":"2026-09-05T02:47:21"}
+{"episode_id":"ep_000023","started_at":"2026-09-05T02:47:25","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.4867245925810595,0.06905373253441516,0.71338606911949],"aabb_xy":[[0.4439578857016393,0.005053729112612704],[0.5294912994604797,0.1330537359562176]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[-0.29966449429948033,-1.1710078703153635,0.71338606911949],"aabb_xy":[[-0.34966449566036756,-1.220985774890779],[-0.24966449293859314,-1.1210299657399478]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[0.6419581799817935,-1.2787798293114931,0.71338606911949],"aabb_xy":[[0.5919581786979533,-1.328758683702115],[0.6919581812656332,-1.2288009749208708]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[0.3011128371198326,1.1442008579584302,0.71338606911949],"aabb_xy":[[0.25129605765499785,1.0942008594741268],[0.35092961658466737,1.1942008564427335]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.5499101761521406,-2.3639815782203035,0.71338606911949],"aabb_xy":[[0.5418738414508556,-2.37201969752472],[0.5579465108534253,-2.355943458915886]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[0.04518757938013185,1.5197835024247284,0.71338606911949],"aabb_xy":[[0.03602770043625525,1.5132522843811915],[0.054347458324008446,1.5263147204682657]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.1489694226606707,-2.0015789953207292,0.71338606911949],"aabb_xy":[[0.11217478953576443,-2.0384848704173115],[0.18576405578557698,-1.964673120224147]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[-0.28897303324624923,-2.02309688600738,0.71338606911949],"aabb_xy":[[-0.3389730342653845,-2.059563101745208],[-0.23897303222711397,-1.9866306702695522]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[0.008942792872005612,-2.446371165023019,0.71338606911949],"aabb_xy":[[-0.01605720706051228,-2.4532538332439424],[0.0339427928045235,-2.4394884968020953]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.5578396849312568,0.7604526977510404,0.71338606911949],"aabb_xy":[[-0.5612803611713141,0.756591264776676],[-0.5543990086911997,0.764314130725405]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[-0.15808748915374493,-1.5045679745456306,0.71338606911949],"aabb_xy":[[-0.18923440799732802,-1.5745679732324378],[-0.1269405703101618,-1.4345679758588235]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.10735786174885831,-1.6627578835828984,0.71338606911949],"aabb_xy":[[0.09180209233859304,-1.678308316827306],[0.12291363115912358,-1.6472074503384917]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[0.06116347468925831,-0.9545272329039425,0.71338606911949],"aabb_xy":[[-0.008836526913021163,-0.9679600261056002],[0.1311634762915378,-0.941094439702285]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.5136668035317669,-0.19163846893900782,0.71338606911949],"aabb_xy":[[-0.5471069787277864,-0.22508209476993787],[-0.4802266283357472,-0.15819484310807772]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[-0.5807638096651622,0.5295593229519917,0.71338606911949],"aabb_xy":[[-0.5895450368123984,0.5207795756634617],[-0.5719825825179259,0.538339070240522]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[-0.48298362757865376,-2.1555548835782736,0.71338606911949],"aabb_xy":[[-0.5058993404637037,-2.1784591807146976],[-0.46006791469360386,-2.1326505864418506]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[-0.13283645142297706,-1.6646071841122154,0.71338606911949],"aabb_xy":[[-0.15289486303621735,-1.6846722710213726],[-0.11277803980973677,-1.6445420972030578]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.048198572932435235,1.1765834492640739,0.71338606911949],"aabb_xy":[[-0.06569850636641861,1.1590834493438391],[-0.030698639498451863,1.1940834491843082]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[-0.5919436160064657,-1.3535751633841322,0.71338606911949],"aabb_xy":[[-0.6559436192961738,-1.3969100823880496],[-0.5279436127167576,-1.3102402443802144]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[-0.39646902851033045,0.8332428306277198,0.71338606911949],"aabb_xy":[[-0.4329648491376092,0.7967588882009623],[-0.3599732078830517,0.8697267730544774]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[0.2697845958046041,0.7256084644408558,0.71338606911949],"aabb_xy":[[0.25901162188323634,0.6906084662218168],[0.2805575697259719,0.7606084626598948]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[0.30955673217993884,0.55526395434859,0.71338606911949],"aabb_xy":[[0.30134218706425475,0.5465873640509485],[0.3177712772956227,0.5639405446462312]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.16596621067979878,1.327495968713623,0.71338606911949],"aabb_xy":[[-0.2259662105263656,1.2706773465205843],[-0.10596621083323202,1.3843145909066616]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.6320387820697155,-2.5188750795926103,0.71338606911949],"aabb_xy":[[0.6240125114390895,-2.5276265745699633],[0.6400650527003415,-2.510123584615258]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_24","position":[0.5261661951901269,-1.358801344815425,0.71338606911949],"aabb_xy":[[0.5160131796359774,-1.3948708863881651],[0.5363192107442761,-1.3227318032426845]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[-0.3046159772817442,1.683342980091576,0.71338606911949],"aabb_xy":[[-0.38461598054575735,1.6697829477826627],[-0.2246159740177311,1.6969030124004894]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[0.43681394916136496,0.9166203983033343,0.71338606911949],"aabb_xy":[[0.37281394748336755,0.86810300682402],[0.5008139508393623,0.9651377897826484]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[-0.37257367151629067,-0.8702504339488235,0.71338606911949],"aabb_xy":[[-0.38298523019677433,-0.875596167284722],[-0.3621621128358069,-0.864904700612925]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[-0.2912178818675984,-1.726446017796385,0.71338606911949],"aabb_xy":[[-0.30246293743821623,-1.7376878155204802],[-0.27997282629698056,-1.7152042200722897]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_29","position":[0.12466215248698997,1.178680000426183,0.71338606911949],"aabb_xy":[[0.09007106963294474,1.113680000141152],[0.15925323534103517,1.243680000711214]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_30","position":[-0.28159524288852317,-0.5062618853228487,0.71338606911949],"aabb_xy":[[-0.371595242306894,-0.5396373821670384],[-0.19159524347015222,-0.47288638847865894]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_31","position":[-0.4078635179990853,0.6796901177973269,0.71338606911949],"aabb_xy":[[-0.41270711276031535,0.6748384653183429],[-0.4030199232378554,0.6845417702763111]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_32","position":[0.21403107553905876,1.6741514582559742,0.71338606911949],"aabb_xy":[[0.12903107712163553,1.5892771627936895],[0.299031073956482,1.7590257537182594]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6896502220278983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2969.png","name":"2969"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2969.png","name":"2969"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9007.png","name":"9007"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8010.png","name":"8010"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/985.png","name":"985"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9916.png","name":"9916"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":532.4182446712224,"rotation_z_degrees":340.1752592462199,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018434864562164987,0.005425089634396887,-0.015160034818978305]},{"name":"camera_2","offset_m":[-0.018128348486018308,0.017046879876206334,-0.004538119481407921]},{"name":"camera_3","offset_m":[-0.005931173025518786,-0.019951223500264795,-0.012213871828622103]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015416361534255022,-0.001405502449043613,0.0019015780340235584],"end_effector_yaw_offset_degrees":0.12791870193276766},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015310567864983567,-0.0019420837591796296,-0.0013103244485689989],"end_effector_yaw_offset_degrees":-0.3608869876028118},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016812269057041398,0.0019631121663961724,-0.0004832856110590037],"end_effector_yaw_offset_degrees":-0.9125655805005268},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011011466175202414,0.0010423617958973158,-0.0004243681693057754],"end_effector_yaw_offset_degrees":0.5090541804542479}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005722802708208385,0.0015606044850945654],"position_m":[0.14107228027082086,0.23626060448509456,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008949389419920187,-0.0002852265519313309],"position_m":[0.249994938941992,-0.3836852265519313,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003333806517787691,0.004615131666733563],"position_m":[0.21026619348221232,-0.04908486833326643,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000953005099973976,-0.004315125693385431],"position_m":[0.354553005099974,0.11288487430661456,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f5db525d4ff8335edd5ca98225c73c5d29c2617630f7df6b2c65946d4e461408","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2969/tex_ceiling_textures_9916/tex_floor_textures_985/tex_table_textures_9007/tex_wall_textures_8010","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4592117008546171146,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4592117008546171146,"visual_seed":4592117008546171146,"scene_id":"lab_003","finished_at":"2026-09-05T02:51:18"}
+{"episode_id":"ep_000024","started_at":"2026-09-05T02:51:21","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_0","position":[0.09367262506950247,-1.1085342153907627,0.71338606911949],"aabb_xy":[[0.08924199571466229,-1.1139825871254452],[0.09810325442434265,-1.1030858436560802]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.28495078350416075,-2.4899408519257302,0.71338606911949],"aabb_xy":[[-0.3489507867227986,-2.5366639638247386],[-0.2209507802855229,-2.443217740026722]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_2","position":[-0.3717171951922832,-1.464763296601973,0.71338606911949],"aabb_xy":[[-0.4167097819107336,-1.5097632958764216],[-0.3267246084738328,-1.419763297327524]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[0.04318929805480709,1.4273898193134111,0.71338606911949],"aabb_xy":[[0.00818929670332536,1.40703008335659],[0.07818929940628883,1.4477495552702317]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.20462633269809016,0.7117430088475016,0.71338606911949],"aabb_xy":[[-0.26462633294949134,0.657461683811037],[-0.144626332446689,0.7660243338839663]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.5595276964906499,0.6225662743954832,0.71338606911949],"aabb_xy":[[-0.5676553846839631,0.6136526659847755],[-0.5514000082973367,0.6314798828061908]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[0.5940557239362736,-1.8737030752639914,0.71338606911949],"aabb_xy":[[0.5794123183822405,-1.8883617949207756],[0.6086991294903065,-1.8590443556072072]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[0.4107872922037745,-1.907463604572381,0.71338606911949],"aabb_xy":[[0.3307872889397613,-1.9210236368812943],[0.49078729546778754,-1.8939035722634676]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[-0.24548061062105497,0.49577582480279414,0.71338606911949],"aabb_xy":[[-0.30045433265738786,0.440775825238561],[-0.19050688858472212,0.5507758243670273]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[0.5699658190239019,0.8638378257902541,0.71338606911949],"aabb_xy":[[0.5059658198541318,0.8170711386712917],[0.6339658181936717,0.9106045129092166]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[-0.41042438723244734,-0.7847248314892872,0.71338606911949],"aabb_xy":[[-0.42126486545896225,-0.8019111127799361],[-0.39958390900593244,-0.7675385501986385]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[0.17104025708908455,-0.8696231833914438,0.71338606911949],"aabb_xy":[[0.1630039223877997,-0.8776613026958606],[0.1790765917903694,-0.8615850640870271]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.4466527261819466,-0.8576488799617761,0.71338606911949],"aabb_xy":[[0.3816527283002989,-0.908772543668317],[0.5116527240635944,-0.8065252162552352]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.5286842081807641,-0.06707067325628602,0.71338606911949],"aabb_xy":[[-0.5380312157630593,-0.08137429547393006],[-0.5193372005984689,-0.052767051038642]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.635136545237821,-0.3244277341056572,0.71338606911949],"aabb_xy":[[0.6172674374833657,-0.3382606420828681],[0.6530056529922766,-0.31059482612844624]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[0.405991717954407,-1.8063151683293739,0.71338606911949],"aabb_xy":[[0.3877858942931593,-1.8173405689113655],[0.42419754161565465,-1.7952897677473822]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[-0.3654275227978764,-2.016263949950361,0.71338606911949],"aabb_xy":[[-0.45511459910599183,-2.1062639502048115],[-0.2757404464897609,-1.9262639496959104]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[-0.27310860434611245,0.9097889092989613,0.71338606911949],"aabb_xy":[[-0.29021068230448066,0.8926821037676915],[-0.25600652638774435,0.926895714830231]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[0.5733148938668826,1.5769937316401186,0.71338606911949],"aabb_xy":[[0.5093148936064118,1.5319849322871903],[0.6373148941273534,1.6220025309930464]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.2815984750360649,-0.6949854066012096,0.71338606911949],"aabb_xy":[[-0.31909847514165784,-0.7018075684541906],[-0.24409847493047196,-0.6881632447482283]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[-0.24192773628739844,0.2808462535877405,0.71338606911949],"aabb_xy":[[-0.28905711528923406,0.21684625254333856],[-0.19479835728556272,0.34484625463214247]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[0.28977063594402575,-2.1353994185851057,0.71338606911949],"aabb_xy":[[0.28174436531339975,-2.1441509135624583],[0.29779690657465174,-2.126647923607753]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[0.6524460163320207,-1.3152684876075582,0.71338606911949],"aabb_xy":[[0.5924460146890989,-1.3672686368995026],[0.7124460179749426,-1.2632683383156142]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[0.2426109461168412,-2.2676457581481886,0.71338606911949],"aabb_xy":[[0.18261094627027438,-2.324464380341227],[0.302610945963408,-2.2108271359551495]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_24","position":[0.6107950064294219,-0.8780013353770928,0.71338606911949],"aabb_xy":[[0.6048284674886861,-0.8839624800364568],[0.6167615453701576,-0.8720401907177288]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_25","position":[0.2975240810783627,-2.507297166140899,0.71338606911949],"aabb_xy":[[0.2335240787355611,-2.552238017385031],[0.3615240834211642,-2.462356314896766]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_26","position":[-0.3015533342328043,-0.44854369471683464,0.71338606911949],"aabb_xy":[[-0.3565533338545501,-0.5035273875043074],[-0.24655333461105844,-0.3935600019293619]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_27","position":[-0.4125514346696637,-0.706512470121889,0.71338606911949],"aabb_xy":[[-0.4463269938603567,-0.720550965335054],[-0.37877587547897074,-0.692473974908724]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_28","position":[0.4654304283963777,-2.3538173090714882,0.71338606911949],"aabb_xy":[[0.44184530493248286,-2.4188173113169205],[0.48901555186027257,-2.288817306826057]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_29","position":[-0.4176794270787341,0.5285706615251207,0.71338606911949],"aabb_xy":[[-0.42263544726361546,0.506070661322999],[-0.412723406893853,0.5510706617272423]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_30","position":[0.4355292242602016,-1.5915385244196094,0.71338606911949],"aabb_xy":[[0.3857124447953668,-1.6415385229039126],[0.48534600372503633,-1.5415385259353058]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_31","position":[0.1834627657315192,1.723424389034205,0.71338606911949],"aabb_xy":[[0.1459627655596472,1.6907236536512973],[0.2209627659033911,1.7561251244171117]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_32","position":[0.4998457225630446,0.6466229157639622,0.71338606911949],"aabb_xy":[[0.4358457206507024,0.5907117665059518],[0.5638457244753871,0.7025340650219727]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847984234053159,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3367.png","name":"3367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3367.png","name":"3367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6750.png","name":"6750"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3500.png","name":"3500"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3007.png","name":"3007"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4627.png","name":"4627"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":721.0956935297626,"rotation_z_degrees":282.7362544974894,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012654013146411413,-0.005681151748693023,0.003509075292797502]},{"name":"camera_2","offset_m":[-0.013367003072332491,-0.001930550428073833,0.009477985243304121]},{"name":"camera_3","offset_m":[-0.006106164623806008,0.010191838293604556,-0.014914482631428335]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004943340332148982,0.00015938805316219546,-0.0006222101030543294],"end_effector_yaw_offset_degrees":-0.3767175049036131},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0001919225497892395,-0.001551631409171856,-0.0008391895272578699],"end_effector_yaw_offset_degrees":-0.8123710038188985},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006212590232059978,-0.0015961510426107965,-0.001826830736519102],"end_effector_yaw_offset_degrees":-0.6174766543123336},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001000695485900562,0.0011023729007289449,0.001483449936237312],"end_effector_yaw_offset_degrees":-0.12066613658146941}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028412683274065963,0.0017076016771826845],"position_m":[0.1376587316725934,0.23640760167718267,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029718773937960075,0.002660286133087425],"position_m":[0.24612812260620398,-0.3807397138669126,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0002876186074713136,0.0022164171785048047],"position_m":[0.2133123813925287,-0.05148358282149519,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013550356105986481,-0.0005382169550264028],"position_m":[0.35495503561059866,0.1166617830449736,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b94e579ba203181e6dd909fc1e715dad3821f1648781857da6862656129d9d1c","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0024.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3367/tex_ceiling_textures_4627/tex_floor_textures_3007/tex_table_textures_6750/tex_wall_textures_3500","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7899121335337340307,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7899121335337340307,"visual_seed":7899121335337340307,"scene_id":"lab_003","finished_at":"2026-09-05T02:55:14"}
+{"episode_id":"ep_000025","started_at":"2026-09-05T02:55:18","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[0.672934583131716,0.8499489854434503,0.71338606911949],"aabb_xy":[[0.6666224835953776,0.8441820461902316],[0.6792466826680543,0.8557159246966692]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.04410665311729878,-1.2568302611892914,0.71338606911949],"aabb_xy":[[-0.05567563386423535,-1.2818302613062234],[-0.0325376723703622,-1.23183026107236]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[0.1982024744073585,-2.340255435101415,0.71338606911949],"aabb_xy":[[0.19424199063762412,-2.347923299686935],[0.20216295817709287,-2.332587570515894]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_3","position":[-0.06989736241622513,1.5288387369611,0.71338606911949],"aabb_xy":[[-0.13389736570593322,1.4855038179571824],[-0.005897359126517009,1.5721736559650177]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.23807699159498552,0.7509969968850418,0.71338606911949],"aabb_xy":[[-0.2880500571275011,0.7009969970725091],[-0.18810392606247014,0.800996996697575]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[-0.5220797786824515,-2.0291061367789753,0.71338606911949],"aabb_xy":[[-0.5860797750780246,-2.093069425197709],[-0.4580797822868784,-1.9651428483602418]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[0.26171876857690113,0.9259353242039858,0.71338606911949],"aabb_xy":[[0.21671876711067234,0.8809354673425053],[0.30671877004313003,0.9709351810654666]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.32043078706475775,-2.0186811356753647,0.71338606911949],"aabb_xy":[[-0.33305757435195404,-2.028227209376937],[-0.30780399977756134,-2.0091350619737915]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[-0.07378168427595577,-0.20595199700038114,0.71338606911949],"aabb_xy":[[-0.09384009588919606,-0.2260170839095387],[-0.05372327266271548,-0.18588691009122363]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[0.42109654687235,-1.511226262402831,0.71338606911949],"aabb_xy":[[0.3978147046742187,-1.596226263700059],[0.4443783890704814,-1.426226261105603]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[0.4573488834097921,-0.5861912159981015,0.71338606911949],"aabb_xy":[[0.3673488866741818,-0.6393746793153959],[0.5473488801454023,-0.5330077526808069]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_11","position":[-0.5524386764278941,-1.82612158678759,0.71338606911949],"aabb_xy":[[-0.602431788537086,-1.8761215874617856],[-0.5024455643187022,-1.7761215861133943]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[-0.3552915768593122,-1.015867804136726,0.71338606911949],"aabb_xy":[[-0.3666533115125982,-1.027236270543014],[-0.3439298422060259,-1.0044993377304379]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[0.04484390196885735,0.8688409909304395,0.71338606911949],"aabb_xy":[[0.029671732687224006,0.8536721340022363],[0.06001607125049069,0.884009847858643]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.39674093583954173,-1.121965836028394,0.71338606911949],"aabb_xy":[[0.3467409344786545,-1.1719437406038093],[0.44674093720042896,-1.071987931452978]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[-0.5950334055769675,-1.0884464471895101,0.71338606911949],"aabb_xy":[[-0.6449161024546638,-1.1384464464357849],[-0.5451507086992714,-1.0384464479432354]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[-0.251407751309551,-1.6185670744718483,0.71338606911949],"aabb_xy":[[-0.33140774832379893,-1.6387016261452596],[-0.17140775429530297,-1.598432522798437]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.6118710917929202,0.43186803546703745,0.71338606911949],"aabb_xy":[[-0.623116147363538,0.4206262377429421],[-0.6006260362223024,0.4431098331911327]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[0.5735477859640965,1.7162766447202453,0.71338606911949],"aabb_xy":[[0.5313633718032658,1.6522766444430343],[0.6157322001249272,1.7802766449974567]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.6199350981017614,-2.179239142702749,0.71338606911949],"aabb_xy":[[-0.6247786928629914,-2.1840907951817337],[-0.6150915033405314,-2.1743874902237654]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[-0.03830569221268976,0.39626810018001546,0.71338606911949],"aabb_xy":[[-0.07515624014967737,0.35876809935698173],[-0.001455144275702154,0.4337681010030492]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6870338502179671,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4355.png","name":"4355"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4355.png","name":"4355"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5556.png","name":"5556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9530.png","name":"9530"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2027.png","name":"2027"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/59.png","name":"59"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":770.7430175688198,"rotation_z_degrees":219.64675203744218,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01505138084296807,0.012412357165876558,0.016270159000018564]},{"name":"camera_2","offset_m":[0.010384622820302853,0.00980654166447138,0.013527606147385522]},{"name":"camera_3","offset_m":[0.015096343543813558,0.006624772562715847,0.010742540262352378]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015384048424497117,0.0012310121786665044,0.001435378151136965],"end_effector_yaw_offset_degrees":0.8008366775687616},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00031173432422795105,-0.0019840300864834726,-0.0009687717360292644],"end_effector_yaw_offset_degrees":-0.326245147967559},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016121935105170037,0.0007837015186808989,-0.0010890372699227822],"end_effector_yaw_offset_degrees":0.5331115264075481},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009594680381798861,-0.00034887772243768025,-0.0006230360702183582],"end_effector_yaw_offset_degrees":0.022805486043279588}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003634492577787752,-0.001102041782838784],"position_m":[0.13686550742221226,0.2335979582171612,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013158477407502066,0.0011155585388780889],"position_m":[0.24778415225924977,-0.38228444146112195,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000840326508895266,-0.00261116531500449],"position_m":[0.21444032650889527,-0.05631116531500449,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00345619685175188,0.0013916516135481557],"position_m":[0.3570561968517519,0.11859165161354815,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1660b885038ac4727c40ea1d4b3619f2635a20a25efd11385accafc19b2aa7a3","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0025.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4355/tex_ceiling_textures_59/tex_floor_textures_2027/tex_table_textures_5556/tex_wall_textures_9530","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2938757637129367487,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2938757637129367487,"visual_seed":2938757637129367487,"scene_id":"lab_003","finished_at":"2026-09-05T02:59:10"}
+{"episode_id":"ep_000026","started_at":"2026-09-05T02:59:14","dimensions":{"distractor":{"count":24,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.22643458432832753,-0.9585916448258782,0.71338606911949],"aabb_xy":[[0.18893458353633208,-0.9649594857840683],[0.263934585120323,-0.9522238038676881]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.032590292399138465,-2.3231849478711997,0.71338606911949],"aabb_xy":[[-0.032409705756780594,-2.3494811924211123],[0.09759029055505752,-2.296888703321288]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.6564124191104377,-2.2163836300043163,0.71338606911949],"aabb_xy":[[0.6114124176442088,-2.2613834868657974],[0.7014124205766665,-2.171383773142836]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.4252850871622986,-2.3054577766956434,0.71338606911949],"aabb_xy":[[0.40278508691878323,-2.317662411355416],[0.447785087405814,-2.293253142035872]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[0.11328260656853939,-1.084373159665684,0.71338606911949],"aabb_xy":[[0.048282605611412184,-1.1363213715993898],[0.1782826075256666,-1.0324249477319787]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.4877697863404524,-0.8334378992006715,0.71338606911949],"aabb_xy":[[0.40404756084037,-0.9234379027353674],[0.5714920118405349,-0.7434378956659755]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.1869527085626682,-1.4464378255990038,0.71338606911949],"aabb_xy":[[-0.22445270837970177,-1.4510760369101454],[-0.14945270874563465,-1.4417996142878617]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[-0.1374146858085461,0.7777817173277315,0.71338606911949],"aabb_xy":[[-0.17491468615677383,0.7659903217466478],[-0.09991468546031831,0.7895731129088149]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.19340538103293448,0.6203616195560131,0.71338606911949],"aabb_xy":[[-0.2584053795900073,0.5906090861421305],[-0.1284053824758616,0.6501141529698957]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_9","position":[-0.0872094475623112,0.9636758544103743,0.71338606911949],"aabb_xy":[[-0.10911812970166222,0.9417751875902834],[-0.06530076542296014,0.9855765212304649]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[0.7002399934224752,1.6345241804983686,0.71338606911949],"aabb_xy":[[0.6906083572020455,1.6248868677186594],[0.7098716296429047,1.6441614932780773]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.5337915586498065,1.1569228143549788,0.71338606911949],"aabb_xy":[[-0.613791559722927,1.1471447680175944],[-0.4537915575766863,1.1667008606923632]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.30502521055283305,-1.7330405920100813,0.71338606911949],"aabb_xy":[[0.21502520687591475,-1.7944729985871852],[0.39502521422975106,-1.6716081854329765]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[0.6280908629434248,0.25349076758273226,0.71338606911949],"aabb_xy":[[0.5981233060335992,0.22349076728484651],[0.6580584198532505,0.283490767880618]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.45992192099025947,-0.9771034599039685,0.71338606911949],"aabb_xy":[[-0.46696223092379663,-1.0571034593036401],[-0.45288161105672264,-0.8971034605042973]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.15869157960271874,-1.6589358878265625,0.71338606911949],"aabb_xy":[[-0.20866487360597916,-1.70893588838111],[-0.10871828559945826,-1.6089358872720154]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.6066093549335143,-1.6499671909041853,0.71338606911949],"aabb_xy":[[0.5571289337195555,-1.7139671888170371],[0.6560897761474731,-1.5859671929913335]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[-0.43608355784081165,-1.6400256577642702,0.71338606911949],"aabb_xy":[[-0.45299429027715343,-1.6534978633568846],[-0.4191728254044699,-1.6265534521716554]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.5856678824826345,-0.6027374856761647,0.71338606911949],"aabb_xy":[[-0.6033007180761619,-0.6203604316917876],[-0.5680350468891068,-0.5851145396605416]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[-0.036680277491772495,-1.986186646571762,0.71338606911949],"aabb_xy":[[-0.05274220495029013,-2.0711866483843533],[-0.020618350033254847,-1.9011866447591699]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.4717793039799363,-0.5503391621820644,0.71338606911949],"aabb_xy":[[0.4374823929621956,-0.5846360483920057],[0.5060762149976767,-0.516042275972123]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.4797511766698388,-0.7251160339975877,0.71338606911949],"aabb_xy":[[-0.517251177167197,-0.7290847175457061],[-0.44225117617248055,-0.7211473504494693]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.20701932402061307,0.9502435774209124,0.71338606911949],"aabb_xy":[[-0.2521906418687821,0.8862435802763742],[-0.16184800617244413,1.014243574565451]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[0.4426511566597209,-1.4149458062069837,0.71338606911949],"aabb_xy":[[0.39265632373177933,-1.4649458051022273],[0.49264598958766254,-1.3649458073117402]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883284855573459,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7211.png","name":"7211"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7211.png","name":"7211"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3562.png","name":"3562"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5174.png","name":"5174"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1423.png","name":"1423"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4197.png","name":"4197"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":627.0791666387671,"rotation_z_degrees":82.64780640296419,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01595985478103665,-0.0037772801180961345,-0.015768415666924177]},{"name":"camera_2","offset_m":[0.0015768514717026914,0.010412891539235428,0.019468725858527606]},{"name":"camera_3","offset_m":[0.009647993505556004,-0.008843125875365808,-0.0007001981631914456]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005143605239962938,-0.0006324572952998229,-0.001751343527463746],"end_effector_yaw_offset_degrees":-0.3373646372718284},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016638957367297066,0.0015546216105362179,-0.0007146599929932428],"end_effector_yaw_offset_degrees":-0.4178867214983315},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017913270505073159,0.0010703204007857575,-0.00048447265088206407],"end_effector_yaw_offset_degrees":-0.43751158275826185},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010741087822058316,-0.001959043152486448,-0.0007006925074964064],"end_effector_yaw_offset_degrees":-0.6382636057000906}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001383300048884757,-0.0008053211899255426],"position_m":[0.13911669995111525,0.23389467881007445,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001081304360329066,-0.0008578866939176382],"position_m":[0.2480186956396709,-0.38425788669391764,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003427444290602864,-0.001960581075267366],"position_m":[0.2170274442906029,-0.05566058107526736,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019461274948982523,-0.001770131453267031],"position_m":[0.3555461274948983,0.11542986854673297,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7a4152e286e7d20e2919cfd7ba33cf54b36b7fdbda2b937c8ea9558029b7b1f7","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7211/tex_ceiling_textures_4197/tex_floor_textures_1423/tex_table_textures_3562/tex_wall_textures_5174","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8787293751822356386,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8787293751822356386,"visual_seed":8787293751822356386,"scene_id":"lab_003","finished_at":"2026-09-05T03:03:20"}
+{"episode_id":"ep_000027","started_at":"2026-09-05T03:03:24","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[-0.38047895657958,-0.4609112608552084,0.71338606911949],"aabb_xy":[[-0.40832399336018704,-0.49169575959352],[-0.3526339197989728,-0.43012676211689665]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.2547875514527046,1.114842121580161,0.71338606911949],"aabb_xy":[[-0.2630020965683885,1.1061655312825194],[-0.2465730063370206,1.123518711877802]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.21945191982343037,-1.8424124553251437,0.71338606911949],"aabb_xy":[[-0.3094519184179003,-1.8586630416385648],[-0.12945192122896043,-1.8261618690117227]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[-0.40922694033422685,0.31879954374121544,0.71338606911949],"aabb_xy":[[-0.47322694238395885,0.2787050606519075],[-0.34522693828449486,0.3588940268305234]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[0.6303011811350754,1.714329368326195,0.71338606911949],"aabb_xy":[[0.5960042701173348,1.6800324821162536],[0.664598092152816,1.7486262545361362]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[-0.3134125911765017,-0.24421396861111466,0.71338606911949],"aabb_xy":[[-0.3230442273969313,-0.2538512813908236],[-0.30378095495607205,-0.23457665583140572]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.22243479136211813,0.971846742516866,0.71338606911949],"aabb_xy":[[-0.24460731833876895,0.9496710753607427],[-0.20026226438546726,0.994022409672989]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.47897336939921736,0.7503018074017267,0.71338606911949],"aabb_xy":[[-0.4936167749532503,0.7356430877449424],[-0.4643299638451843,0.7649605270585108]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[0.04698810284530053,-1.2358964805660484,0.71338606911949],"aabb_xy":[[-0.03301189513548451,-1.2434980215279003],[0.12698810082608555,-1.2282949396041964]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_9","position":[-0.6358195274181496,-1.3551543604172223,0.71338606911949],"aabb_xy":[[-0.6608195266901118,-1.3714997240133846],[-0.6108195281461872,-1.33880899682106]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.36168783006655414,-2.4018371892836052,0.71338606911949],"aabb_xy":[[-0.4256878271786598,-2.450869559078016],[-0.2976878329544484,-2.3528048194891946]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.563192190089383,-2.350120618571535,0.71338606911949],"aabb_xy":[[-0.57023250002292,-2.4301206179712067],[-0.556151880155846,-2.270120619171864]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[0.04525769565398263,-1.6642272393318747,0.71338606911949],"aabb_xy":[[-0.0047423053651526334,-1.7006934550697026],[0.09525769667311793,-1.6277610235940467]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.45479306954416776,1.73423138494929,0.71338606911949],"aabb_xy":[[-0.5447930660450394,1.6883197425308316],[-0.36479307304329595,1.780143027367748]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[0.6812431822898224,-1.2500295697172763,0.71338606911949],"aabb_xy":[[0.6611847706765821,-1.270094656626434],[0.7013015939030627,-1.2299644828081187]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[0.21918129681077536,-1.0345836073224413,0.71338606911949],"aabb_xy":[[0.2100214178668988,-1.0411148253659783],[0.228341175754652,-1.0280523892789042]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[0.597437760434548,-2.3506055203105096,0.71338606911949],"aabb_xy":[[0.589734569760471,-2.3583148910092477],[0.605140951108625,-2.3428961496117715]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[-0.40843212622379405,0.04351457086350363,0.71338606911949],"aabb_xy":[[-0.4203042092352952,-0.04148542883014673],[-0.396560043212293,0.12851457055715398]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.5346434902057433,-0.839666634987257,0.71338606911949],"aabb_xy":[[-0.584643491867238,-0.8896650772429596],[-0.4846434885442485,-0.7896681927315542]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.47636105517810723,1.7334286805262802,0.71338606911949],"aabb_xy":[[0.46479207443117077,1.708428680409349],[0.4879300359250439,1.7584286806432123]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.5363067482841724,-1.9819985186745412,0.71338606911949],"aabb_xy":[[0.4563067478139565,-1.99030922628889],[0.6163067487543884,-1.973687811060193]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[0.4502445126457144,0.2930324868136571,0.71338606911949],"aabb_xy":[[0.39525130130857766,0.23803248647486352],[0.5052377239828512,0.3480324871524507]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.12182863673882582,0.38594100460666914,0.71338606911949],"aabb_xy":[[-0.1468286362905643,0.3757985207415344],[-0.09682863718708735,0.39608348847180386]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6843617582653333,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8392.png","name":"8392"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8392.png","name":"8392"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1506.png","name":"1506"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3459.png","name":"3459"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4807.png","name":"4807"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3233.png","name":"3233"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":834.9044122407277,"rotation_z_degrees":99.79900811967954,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006548508486870167,-0.01369901690794573,-0.0070986408444411835]},{"name":"camera_2","offset_m":[0.011834158160996953,-0.007326569699820382,0.01636968338710693]},{"name":"camera_3","offset_m":[0.014245433320672383,-0.00570982616336106,-0.010706347087346644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014459338274640634,-0.00041489516654106455,0.0010161749543633985],"end_effector_yaw_offset_degrees":0.4084240038708187},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019594708860650872,0.001708114014807507,-9.628306603901926e-05],"end_effector_yaw_offset_degrees":0.28804312748546335},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.917958650984533e-05,-0.001923801770153442,0.0015110214576806356],"end_effector_yaw_offset_degrees":0.2169165855131916},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003120633945687787,-0.0012532847484091826,0.0013668260771533473],"end_effector_yaw_offset_degrees":-0.8926563240838998}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0045689922163244375,0.0040620533595448855],"position_m":[0.14506899221632444,0.23876205335954487,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003644501424463574,0.0024405342309714983],"position_m":[0.24545549857553642,-0.3809594657690285,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002047418515601536,0.0025575653283101407],"position_m":[0.21380474185156018,-0.05114243467168986,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002585120921360308,-0.001823529221711656],"position_m":[0.35618512092136034,0.11537647077828835,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"276028a7c0ce9b78b680b43063d6a12527fd4664b24119c9f99c33346ebe4cd2","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8392/tex_ceiling_textures_3233/tex_floor_textures_4807/tex_table_textures_1506/tex_wall_textures_3459","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8472891572681098342,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8472891572681098342,"visual_seed":8472891572681098342,"scene_id":"lab_003","finished_at":"2026-09-05T03:07:18"}
+{"episode_id":"ep_000028","started_at":"2026-09-05T03:07:23","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[0.4832765945441482,1.5055356585449515,0.71338606911949],"aabb_xy":[[0.47312357898999874,1.4694661169722112],[0.4934296100982975,1.5416052001176916]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.4443061069942065,-1.5962044920098029,0.71338606911949],"aabb_xy":[[0.3943286901289529,-1.6462044934990514],[0.49428352385946006,-1.5462044905205543]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[-0.5565527154362445,-0.9379110171382825,0.71338606911949],"aabb_xy":[[-0.5790174854076495,-0.960411018017143],[-0.5340879454648393,-0.915411016259422]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[0.5027627309318481,1.240631454396889,0.71338606911949],"aabb_xy":[[0.4794808887337167,1.155631453099661],[0.5260445731299793,1.3256314556941171]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.324822783555539,-1.7893062925830217,0.71338606911949],"aabb_xy":[[-0.38882278382951724,-1.8393723927803096],[-0.2608227832815608,-1.7392401923857337]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.6366795953081978,0.21971362488985724,0.71338606911949],"aabb_xy":[[0.6294358292619525,0.13971362668625487],[0.6439233613544432,0.2997136230934596]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[0.4416949444393856,-2.490600820735027,0.71338606911949],"aabb_xy":[[0.43443369686897815,-2.503387830998537],[0.448956192009793,-2.477813810471518]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[-0.4137977832423864,1.112828885131396,0.71338606911949],"aabb_xy":[[-0.44826013064052816,1.078335002733573],[-0.37933543584424456,1.1473227675292184]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[-0.44317606602574877,-2.008137418481222,0.71338606911949],"aabb_xy":[[-0.5231760646130681,-2.087453020419383],[-0.3631760674384293,-1.9288218165430615]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[-0.47766215209463536,1.6449196104868427,0.71338606911949],"aabb_xy":[[-0.4975531919749757,1.6322637992021463],[-0.45777111221429523,1.65757542177154]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.6741475284054261,-0.6605905600056676,0.71338606911949],"aabb_xy":[[-0.6917258305943729,-0.6781650495797725],[-0.6565692262164792,-0.6430160704315627]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[0.09071872134665038,-1.9372359047321959,0.71338606911949],"aabb_xy":[[0.0057187226545757225,-1.9692217681270745],[0.17571872003872502,-1.9052500413373168]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[-0.13121223371505153,-2.238114071337304,0.71338606911949],"aabb_xy":[[-0.19521223300921978,-2.302100211706158],[-0.06721223442088334,-2.17412793096845]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.5774071206229601,-0.465476411190787,0.71338606911949],"aabb_xy":[[0.4974071184601976,-0.5454315948169306],[0.6574071227857226,-0.38552122756464335]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.09602064158857393,-0.718655309554042,0.71338606911949],"aabb_xy":[[0.03202063829886582,-0.7619902285579596],[0.16002064487828205,-0.6753203905501244]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.31870813859457864,-2.5006883717069046,0.71338606911949],"aabb_xy":[[-0.32474515159524336,-2.5067150727758527],[-0.3126711255939139,-2.4946616706379565]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[-0.4308326738679385,-2.3914308615622275,0.71338606911949],"aabb_xy":[[-0.4908326743757914,-2.4482775952481486],[-0.3708326733600856,-2.3345841278763064]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[0.19121898157069916,-1.2630813067734294,0.71338606911949],"aabb_xy":[[0.18417753061995154,-1.2701080585112239],[0.19826043252144673,-1.256054555035635]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[-0.2138128291443126,-2.0173915518398347,0.71338606911949],"aabb_xy":[[-0.27881282730023166,-2.0436877963897464],[-0.14881283098839354,-1.991095307289922]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.14778388666273223,1.4530244368101335,0.71338606911949],"aabb_xy":[[-0.22777771024129045,1.3730244342172921],[-0.06779006308417401,1.5330244394029753]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[0.6320389096799153,1.3616909090604747,0.71338606911949],"aabb_xy":[[0.6267013340139108,1.336690908131335],[0.63737648534592,1.3866909099896145]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[0.3881925875024306,0.6853800111292236,0.71338606911949],"aabb_xy":[[0.3777810288219468,0.6800342777933251],[0.39860414618291423,0.6907257444651221]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.33519430904576003,1.4150908938756008,0.71338606911949],"aabb_xy":[[-0.3719889421706663,1.3781850187790186],[-0.29839967592085376,1.451996768972183]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.195146753445543,-1.7448352956704518,0.71338606911949],"aabb_xy":[[0.10545967713742754,-1.8348352959249026],[0.28483382975365845,-1.6548352954160015]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_24","position":[-0.1085696915581138,-1.0776686801220805,0.71338606911949],"aabb_xy":[[-0.14606969235010925,-1.0840365210802705],[-0.07106969076611834,-1.07130083916389]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[0.3871601244824565,-0.5775984509958931,0.71338606911949],"aabb_xy":[[0.3646609887562295,-0.6000984517741561],[0.40965926020868343,-0.5550984502176302]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883659427071266,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9640.png","name":"9640"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9640.png","name":"9640"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2244.png","name":"2244"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6929.png","name":"6929"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6046.png","name":"6046"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":715.6317611964115,"rotation_z_degrees":175.92842489914796,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0033145790752328076,-0.003754804648096091,-0.012122050376438596]},{"name":"camera_2","offset_m":[0.012556819771274017,-0.01746467689040134,-0.01171972621424587]},{"name":"camera_3","offset_m":[-0.0034745002522208294,0.01086469981108562,0.014350178137543617]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016596029377259499,-0.0009136688757017365,0.001869965184064043],"end_effector_yaw_offset_degrees":-0.9428148891674735},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014543742727392756,-0.0018282063110555496,0.0018435812321426193],"end_effector_yaw_offset_degrees":0.880293396320964},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008585550047073701,0.00012129267976708057,0.0005028766439153089],"end_effector_yaw_offset_degrees":-0.19049338754493106},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00014349525374968706,-0.00011640656443836182,-0.0002550492718104804],"end_effector_yaw_offset_degrees":0.9328192155143658}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000223372118729517,-0.0003699193123329527],"position_m":[0.14072337211872954,0.23433008068766703,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030868340679021033,-0.003888354470049124],"position_m":[0.24601316593209788,-0.38728835447004917,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037093072715533625,0.0029770530863807423],"position_m":[0.21730930727155337,-0.050722946913619255,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0049597888922154705,0.0005610166334471109],"position_m":[0.3585597888922155,0.11776101663344711,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"437e83b39b00a7b8066c3a4f3c5a2b6b71d9961a71a43e7d5b7457d9624e36b1","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9640/tex_ceiling_textures_6046/tex_floor_textures_3034/tex_table_textures_2244/tex_wall_textures_6929","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5139856187596240295,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5139856187596240295,"visual_seed":5139856187596240295,"scene_id":"lab_003","finished_at":"2026-09-05T03:11:14"}
+{"episode_id":"ep_000029","started_at":"2026-09-05T03:11:19","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.5520114679962111,-0.4770839537794571,0.71338606911949],"aabb_xy":[[-0.5607926951434474,-0.4858637010679874],[-0.5432302408489749,-0.4683042064909271]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[0.5306772615911022,-0.3532635554008361,0.71338606911949],"aabb_xy":[[0.4666772624213322,-0.4000302425197986],[0.594677260760872,-0.3064968682818736]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.017743494585331976,-2.334315990978692,0.71338606911949],"aabb_xy":[[-0.0463928269457482,-2.3629615502557675],[0.010905837775084248,-2.305670431701616]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_3","position":[0.06030174352184392,-1.9653883556557188,0.71338606911949],"aabb_xy":[[0.03646552588123885,-2.055388356464206],[0.08413796116244898,-1.8753883548472328]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.1655355148993174,1.7041851541697723,0.71338606911949],"aabb_xy":[[-0.23053551600526068,1.679219781101644],[-0.10053551379337411,1.7291505272379006]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[0.3096090787474113,1.1901195883707487,0.71338606911949],"aabb_xy":[[0.2991975200669275,1.18477385503485],[0.32002063742789494,1.1954653217066469]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.47104478158054985,0.5411936395627284,0.71338606911949],"aabb_xy":[[0.39104477831653667,0.527633607253815],[0.551044784844563,0.5547536718716417]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.21879000256061554,-1.5784634722499775,0.71338606911949],"aabb_xy":[[0.20702181576595804,-1.6634634721551993],[0.23055818935527309,-1.493463472344756]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[-0.6426051545826776,-2.245731017069356,0.71338606911949],"aabb_xy":[[-0.6769214317572955,-2.295731017042533],[-0.6082888774080596,-2.1957310170961777]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_9","position":[0.01281520795308655,0.6917642688715664,0.71338606911949],"aabb_xy":[[0.008679351620386357,0.6542642694272094],[0.016951064285786743,0.7292642683159234]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.48679423894857476,-0.7579227696495061,0.71338606911949],"aabb_xy":[[-0.5507942362342235,-0.7994294886023502],[-0.4227942416629262,-0.7164160506966623]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[-0.03874871374798228,-1.549014086234409,0.71338606911949],"aabb_xy":[[-0.04603103012464592,-1.6390140898439174],[-0.03146639737131861,-1.4590140826248994]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.356930810294018,-0.43875304084424593,0.71338606911949],"aabb_xy":[[-0.3743615253730244,-0.45602515550809664],[-0.3395000952150114,-0.421480926180395]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.33270296380022546,1.2690551369332028,0.71338606911949],"aabb_xy":[[-0.38218338501418425,1.205055139020351],[-0.28322254258626667,1.3330551348460546]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[-0.1884074875647983,0.6717551589086987,0.71338606911949],"aabb_xy":[[-0.22590748767039123,0.6649329970557175],[-0.15090748745920532,0.6785773207616798]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[0.47765361338376633,-1.605208756820861,0.71338606911949],"aabb_xy":[[0.45944778972251865,-1.6162341574028525],[0.495859437045014,-1.5941833562388692]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[0.21994785749096812,1.6506482932631932,0.71338606911949],"aabb_xy":[[0.21078797854709153,1.644117075219656],[0.22910773643484472,1.6571795113067302]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.5025921908294997,1.6952007587239613,0.71338606911949],"aabb_xy":[[0.47013048994757217,1.6650679266090584],[0.535053891711427,1.7253335908388636]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[-0.1528340029695363,-2.3555185014460482,0.71338606911949],"aabb_xy":[[-0.18783400432101804,-2.3758782374028686],[-0.11783400161805459,-2.335158765489227]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.41147225874654736,1.394063904344721,0.71338606911949],"aabb_xy":[[0.3314722617835082,1.3169882627009475],[0.4914722557095865,1.4711395459884944]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[-0.1012288378351105,-2.1110014922008555,0.71338606911949],"aabb_xy":[[-0.13569131584819827,-2.117665169383778],[-0.06676635982202271,-2.1043378150179324]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[-0.31382737090884316,-2.1382218857155517,0.71338606911949],"aabb_xy":[[-0.36382737126940917,-2.1882018729251542],[-0.26382737054827704,-2.0882418985059483]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.15739456303538446,0.6471310650093445,0.71338606911949],"aabb_xy":[[0.1188488702101834,0.6085852939531557],[0.19594025586058547,0.685676836065533]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[-0.34171927061155494,0.7778074980783662,0.71338606911949],"aabb_xy":[[-0.40571927295435645,0.7328666468342337],[-0.2777192682687533,0.8227483493224987]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6935243856792187,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6855.png","name":"6855"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6855.png","name":"6855"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3692.png","name":"3692"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3264.png","name":"3264"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5005.png","name":"5005"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4865.png","name":"4865"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":578.022265456824,"rotation_z_degrees":188.94123870528765,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032868816439010733,0.011026459041084239,-0.015075829795625082]},{"name":"camera_2","offset_m":[0.0041289027163357375,-0.003986682909015885,0.0007385793996369482]},{"name":"camera_3","offset_m":[0.014011361322869783,0.0022567229034029523,0.012328574543788596]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00171524243879358,0.0004923090015941699,0.0013563806438454244],"end_effector_yaw_offset_degrees":-0.33099394483994016},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008190655200886309,-0.000545947808559776,-0.0017067764792955003],"end_effector_yaw_offset_degrees":0.38117726403357466},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014039263618199067,-0.0012106389182836527,0.0011135728258613326],"end_effector_yaw_offset_degrees":0.27272349336463675},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00012009601091041719,-0.0018413878041860876,0.0004104954288150996],"end_effector_yaw_offset_degrees":-0.24687431088650946}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[9.023196866216228e-05,-0.00017385892754869566],"position_m":[0.1405902319686622,0.2345261410724513,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004922279397140871,-0.001230930866778215],"position_m":[0.25402227939714084,-0.38463093086677824,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001989532309660801,-0.00014891000904480346],"position_m":[0.21558953230966083,-0.0538489100090448,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012442469564000556,-0.0035417913108580002],"position_m":[0.3548442469564001,0.113658208689142,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d61e1920ce74265d66734f3a92e6684340c0d3918216abd8cdfc1cfe4cb7e52","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0029.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6855/tex_ceiling_textures_4865/tex_floor_textures_5005/tex_table_textures_3692/tex_wall_textures_3264","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6759337515706777803,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6759337515706777803,"visual_seed":6759337515706777803,"scene_id":"lab_003","finished_at":"2026-09-05T03:15:18"}
+{"episode_id":"ep_000030","started_at":"2026-09-05T03:15:22","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.48974367392250095,1.8174810323669104,0.71338606911949],"aabb_xy":[[0.46474367437076247,1.8073385485017752],[0.5147436734742394,1.8276235162320447]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.6337246968097099,1.7099812842303952,0.71338606911949],"aabb_xy":[[-0.6465966003106499,1.6299812838165593],[-0.6208527933087696,1.7899812846442316]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[0.20759722126575075,-1.571568486216926,0.71338606911949],"aabb_xy":[[0.15260174344509134,-1.6265684876508326],[0.26259269908641014,-1.5165684847830188]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[0.023817181301318713,-1.6772794921876377,0.71338606911949],"aabb_xy":[[0.013664165747169332,-1.7133490337603776],[0.03397019685546809,-1.641209950614897]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.37373004790326947,-1.9006159435418857,0.71338606911949],"aabb_xy":[[0.3097300446135613,-1.9439508625458033],[0.43773005119297753,-1.857281024537968]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.656781793562304,-2.3217820603651287,0.71338606911949],"aabb_xy":[[-0.6608599514693537,-2.3258630406133918],[-0.6527036356552541,-2.3177010801168656]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.2078646859905089,1.0865004847884179,0.71338606911949],"aabb_xy":[[0.19007117905559245,1.06870073919262],[0.22565819292542533,1.1043002303842153]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.20645520996198036,1.223269278102772,0.71338606911949],"aabb_xy":[[-0.2714552081178994,1.1969730335528599],[-0.1414552118060613,1.2495655226526843]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[-0.07677497602619932,-0.3290537709646637,0.71338606911949],"aabb_xy":[[-0.1407749762866701,-0.3740625703175917],[-0.0127749757657285,-0.2840449716117357]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[0.333095078760955,-1.7726222863094143,0.71338606911949],"aabb_xy":[[0.3130366671477147,-1.7926873732185717],[0.3531534903741953,-1.7525571994002564]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[-0.013557923594400001,-1.248124179450972,0.71338606911949],"aabb_xy":[[-0.0775579200217219,-1.2952938032730685],[0.0504420728329219,-1.2009545556288757]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.562444241851106,-0.43047820520122526,0.71338606911949],"aabb_xy":[[0.5508752611041694,-0.4554782053181569],[0.5740132225980425,-0.4054782050842935]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[-0.4172212900964843,-1.6786868799991987,0.71338606911949],"aabb_xy":[[-0.4557669829216853,-1.7172326510553875],[-0.37867559727128325,-1.64014110894301]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[-0.4896112132775359,-2.4896509594507803,0.71338606911949],"aabb_xy":[[-0.5395845072807962,-2.539650960005327],[-0.4396379192742753,-2.4396509588962325]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.671023369031705,-1.0054429308255417,0.71338606911949],"aabb_xy":[[-0.6948595866723101,-1.0954429316340284],[-0.6471871513911,-0.9154429300170555]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_15","position":[0.490071291885525,-1.7630670647952869,0.71338606911949],"aabb_xy":[[0.48043965566509533,-1.7727043775749955],[0.49970292810595457,-1.7534297520155777]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[0.34380183639584794,-1.0169599886053269,0.71338606911949],"aabb_xy":[[0.34036116015579077,-1.0208214215796914],[0.3472425126359051,-1.0130985556309624]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.3889390342011894,0.8470928128960837,0.71338606911949],"aabb_xy":[[-0.44893903445259054,0.7928114878596191],[-0.3289390339497882,0.9013741379325484]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[0.6220392863547621,0.2908765510841924,0.71338606911949],"aabb_xy":[[0.5792725794753419,0.22687654766238996],[0.6648059932341823,0.35487655450599487]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[0.5585853303549231,-2.113143470815094,0.71338606911949],"aabb_xy":[[0.47858533008131615,-2.1860930186408103],[0.6385853306285301,-2.040193922989377]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[0.22440627771376764,-1.1980815207420112,0.71338606911949],"aabb_xy":[[0.2092434047368306,-1.21324697803713],[0.23956915069070475,-1.1829160634468925]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[0.6054277991600725,-1.4209124834839042,0.71338606911949],"aabb_xy":[[0.5825120862750227,-1.4438167806203277],[0.6283435120451225,-1.3980081863474807]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[-0.6102651271654638,0.5118614071461196,0.71338606911949],"aabb_xy":[[-0.6175474435421273,0.42186140353661045],[-0.6029828107888,0.6018614107556284]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[0.3881085679793601,-2.283939555112782,0.71338606911949],"aabb_xy":[[0.33310856880277057,-2.3389292298877393],[0.44310856715594954,-2.228949880337824]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_24","position":[0.45019699034270677,1.524813373798136,0.71338606911949],"aabb_xy":[[0.4422030017650033,1.5168132937030454],[0.4581909789204101,1.532813453893226]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[-0.26820558332085676,1.4777999285241372,0.71338606911949],"aabb_xy":[[-0.29148742551898804,1.392799927226909],[-0.24492374112272539,1.562799929821365]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[-0.054819084628314085,-0.9806987175088699,0.71338606911949],"aabb_xy":[[-0.11881908191396273,-1.022205436461714],[0.009180912657334554,-0.939191998556026]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[0.23308356015991938,1.4363856946342692,0.71338606911949],"aabb_xy":[[0.20808356088795707,1.420040331038107],[0.2580835594318816,1.4527310582304316]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_28","position":[-0.0863108100786546,0.7607166265607392,0.71338606911949],"aabb_xy":[[-0.1238108115942863,0.7494898535445942],[-0.048810808563022876,0.7719433995768843]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_29","position":[-0.5222769101492485,-2.163543266289222,0.71338606911949],"aabb_xy":[[-0.5501219469298556,-2.1943277650275337],[-0.49443187336864136,-2.1327587675509103]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873828103705131,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2278.png","name":"2278"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2278.png","name":"2278"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2682.png","name":"2682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6631.png","name":"6631"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4792.png","name":"4792"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2277.png","name":"2277"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":523.5542066116967,"rotation_z_degrees":106.78044411873476,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011618784768763839,-0.018353988152144673,0.0074497193092380315]},{"name":"camera_2","offset_m":[-0.0007312568482885362,0.0021821548697772523,-0.0009091052700689467]},{"name":"camera_3","offset_m":[-0.012464360689007425,-0.007953273925160072,-0.01808836753060986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004688241616899124,0.0019090140093453176,-0.000126067135298694],"end_effector_yaw_offset_degrees":-0.40483172407095624},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014641728118249511,-0.0016841505559722033,0.00046719175200847594],"end_effector_yaw_offset_degrees":0.3185471851908104},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012657124271776823,-0.0014307745071582896,-0.0019395619597854798],"end_effector_yaw_offset_degrees":-0.25250786364489053},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00028911422746191913,-4.245958192840597e-05,-0.00033773404891552995],"end_effector_yaw_offset_degrees":-0.10363626356865963}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004085070764734417,-0.0043675637869209525],"position_m":[0.14458507076473442,0.23033243621307903,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029509173813325107,-0.0019375716757339756],"position_m":[0.24614908261866747,-0.385337571675734,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002282450842421426,-0.0023207153524918388],"position_m":[0.21588245084242144,-0.05602071535249184,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013067346894843831,-0.0015041888318200183],"position_m":[0.3549067346894844,0.11569581116817998,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6975c39dc541ad42ad40f1f299a37689c7423f53be462cfe86e3a7737cf3a23a","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2278/tex_ceiling_textures_2277/tex_floor_textures_4792/tex_table_textures_2682/tex_wall_textures_6631","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6354616830567785935,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6354616830567785935,"visual_seed":6354616830567785935,"scene_id":"lab_003","finished_at":"2026-09-05T03:19:20"}
+{"episode_id":"ep_000031","started_at":"2026-09-05T03:19:24","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.30557701728734277,1.665274418412793,0.71338606911949],"aabb_xy":[[-0.37557701888962225,1.6518416252111356],[-0.23557701568506328,1.6787072116144508]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.41724878353904726,0.6111684125909345,0.71338606911949],"aabb_xy":[[0.40214648207802905,0.5960668909598724],[0.43235108500006525,0.6262699342219961]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[0.555175112294082,0.3224790645182378,0.71338606911949],"aabb_xy":[[0.5464771500033667,0.3103540902107631],[0.5638730745847973,0.33460403882571255]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.24397480649963688,-1.1062862746868063,0.71338606911949],"aabb_xy":[[0.1739748038630505,-1.1263911396826716],[0.3139748091362232,-1.0861814096909406]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[0.37375453616698007,-1.604010141455954,0.71338606911949],"aabb_xy":[[0.3237545367267844,-1.6539780659402703],[0.42375453560717563,-1.5540422169716377]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.03752078951763316,-2.3511233852574556,0.71338606911949],"aabb_xy":[[0.01972728258271672,-2.3689231308532532],[0.055314296452549594,-2.333323639661658]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[0.3640709929221171,-1.8760441848781064,0.71338606911949],"aabb_xy":[[0.30907099330037124,-1.931027877665579],[0.41907099254386293,-1.8210604920906335]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.6262029801075277,-1.2975602241918045,0.71338606911949],"aabb_xy":[[0.5762081471795861,-1.347560223087048],[0.6761978130354693,-1.247560225296561]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.07700464614680502,1.7381358262813236,0.71338606911949],"aabb_xy":[[-0.1321298517763958,1.6781358248400366],[-0.021879440517214254,1.798135827722611]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[0.24228924363255688,1.0464967252971857,0.71338606911949],"aabb_xy":[[0.1922892440562222,0.9965161463450798],[0.2922892432088916,1.0964773042492917]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.24466971760649459,-0.8542166209884212,0.71338606911949],"aabb_xy":[[0.16466971901917515,-0.933532222926582],[0.324669716193814,-0.7749010190502602]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[0.5944294614468693,1.657293733329532,0.71338606911949],"aabb_xy":[[0.5846734719376953,1.6475311992702972],[0.604185450956043,1.667056267388766]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[0.6099077258337084,1.0389956535201392,0.71338606911949],"aabb_xy":[[0.574907727523013,1.0312806385965936],[0.6449077241444039,1.0467106684436849]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[-0.037805466466460436,-1.2730295269062275,0.71338606911949],"aabb_xy":[[-0.0737189708914501,-1.3089430351229818],[-0.0018919620414707475,-1.2371160186894727]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.6814139645748387,-0.22349971115201184,0.71338606911949],"aabb_xy":[[0.6637383339862404,-0.2411799274314146],[0.699089595163437,-0.2058194948726091]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.15741077493685307,-0.909120894279333,0.71338606911949],"aabb_xy":[[-0.22741077832841503,-0.9444366679827637],[-0.08741077154529107,-0.873805120575902]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[-0.349950284529038,-0.552580306293649,0.71338606911949],"aabb_xy":[[-0.36906259188701684,-0.5717150851708911],[-0.3308379771710591,-0.533445527416407]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[0.6157285464354825,-0.7677089689736574,0.71338606911949],"aabb_xy":[[0.6084462300588186,-0.8577089725831663],[0.6230108628121459,-0.6777089653641483]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.5503170868189129,0.6961402461047244,0.71338606911949],"aabb_xy":[[-0.6143170887312553,0.6402290968467139],[-0.48631708490657066,0.7520513953627348]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[0.6727225870802089,1.6011608740129861,0.71338606911949],"aabb_xy":[[0.6477225879145758,1.5942086283076295],[0.697722586245842,1.6081131197183427]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6892790660077721,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8703.png","name":"8703"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8703.png","name":"8703"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5833.png","name":"5833"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8636.png","name":"8636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2985.png","name":"2985"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3016.png","name":"3016"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":833.5726609469084,"rotation_z_degrees":20.43517558947626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004843487668925221,0.00710884295842833,-0.016694109096181586]},{"name":"camera_2","offset_m":[-0.00626376430342618,-0.01156962501475297,-0.008209948955165563]},{"name":"camera_3","offset_m":[-0.004921377643020005,0.009124940818994638,0.018974171163289043]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006413835415260446,-0.0012913117525516688,-0.00023829289061669538],"end_effector_yaw_offset_degrees":0.009135861447042037},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004960180428094172,0.0009740091648956957,-0.0017038804123440964],"end_effector_yaw_offset_degrees":0.5719421199628913},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007315815647884437,-0.00028401845416963054,8.979076020562216e-05],"end_effector_yaw_offset_degrees":-0.7014892448073766},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005783305057034558,-0.0003338665843858539,0.0006882221089375249],"end_effector_yaw_offset_degrees":0.2968443294731167}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001526487700248034,-0.0041098869351993556],"position_m":[0.14202648770024806,0.23059011306480065,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020209484939084687,0.002072341164522616],"position_m":[0.2511209484939085,-0.3813276588354774,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004321719256399686,0.0030472396501467153],"position_m":[0.20927828074360033,-0.05065276034985328,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014239307682456883,-0.002159337278893555],"position_m":[0.3521760692317543,0.11504066272110644,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c1e1d697694ae45505975a83accbcf39b9bcf121f2e952f68b069b83728cc5de","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8703/tex_ceiling_textures_3016/tex_floor_textures_2985/tex_table_textures_5833/tex_wall_textures_8636","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4024419164028104882,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4024419164028104882,"visual_seed":4024419164028104882,"scene_id":"lab_003","finished_at":"2026-09-05T03:23:17"}
+{"episode_id":"ep_000032","started_at":"2026-09-05T03:23:21","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[-0.511989855850683,-1.8667193036194123,0.71338606911949],"aabb_xy":[[-0.5216214920711126,-1.8763566163991208],[-0.5023582196302534,-1.857081990839703]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.614117802831853,-0.25018120184596127,0.71338606911949],"aabb_xy":[[0.5891178036662199,-0.25713344755131784],[0.6391178019974861,-0.2432289561406047]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_2","position":[-0.5342569508377011,-1.4466311725481795,0.71338606911949],"aabb_xy":[[-0.545029924759069,-1.4816311707672185],[-0.5234839769163334,-1.4116311743291405]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[-0.43996698822298547,-2.3039267222621294,0.71338606911949],"aabb_xy":[[-0.45283889172392566,-2.383926722675965],[-0.4270950847220454,-2.2239267218482928]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.5386301285241881,1.1618921840661778,0.71338606911949],"aabb_xy":[[-0.5926457248060881,1.0978921811739204],[-0.4846145322422881,1.2258921869584347]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.3497652556993318,-1.8253913943127347,0.71338606911949],"aabb_xy":[[0.2857652540213344,-1.8739087857920487],[0.4137652573773291,-1.7768740028334202]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[-0.5279509654844335,1.6751666747955967,0.71338606911949],"aabb_xy":[[-0.5579426282183039,1.6451666754587961],[-0.4979593027505632,1.7051666741323972]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.4232205546392312,-2.13712093824539,0.71338606911949],"aabb_xy":[[-0.43755497976539465,-2.149181153799929],[-0.40888612951306774,-2.1250607226908516]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[0.376825974033667,-0.8864657993141496,0.71338606911949],"aabb_xy":[[0.29682597663007354,-0.9664583705123323],[0.4568259714372604,-0.8064732281159667]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.07459875675381766,1.6315021638805356,0.71338606911949],"aabb_xy":[[-0.12459803192225384,1.5815021626045886],[-0.024599481585381514,1.681502165156483]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.0008682993862093591,-0.8369108022346126,0.71338606911949],"aabb_xy":[[-0.060868299637610535,-0.8911921272710772],[0.059131700865191816,-0.7826294771981479]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[0.4620460783574929,-1.44360659003354,0.71338606911949],"aabb_xy":[[0.4122292988926581,-1.4936065885178431],[0.5118628578223277,-1.3936065915492364]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[0.33469592121939695,0.9242552724812723,0.71338606911949],"aabb_xy":[[0.3096959212868791,0.9173726042603491],[0.3596959211519149,0.9311379407021957]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.4452268586963124,0.6200187728505226,0.71338606911949],"aabb_xy":[[0.4293423654309873,0.6056658325516986],[0.4611113519616376,0.6343717131493467]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[-0.5729602756804264,0.9983339955344599,0.71338606911949],"aabb_xy":[[-0.6034445258074566,0.9483339957529641],[-0.5424760255533962,1.0483339953159558]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[0.6953388568543319,-1.853141706103837,0.71338606911949],"aabb_xy":[[0.6834061224925039,-1.8655238589116965],[0.70727159121616,-1.8407595532959777]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.5355229727578134,0.8587730773623896,0.71338606911949],"aabb_xy":[[-0.5427842203282206,0.8459860670988801],[-0.5282617251874059,0.8715600876258991]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.06736784687308095,-1.418465874877977,0.71338606911949],"aabb_xy":[[-0.08986784639678834,-1.4409618223285976],[-0.04486784734937354,-1.395969927427356]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[-0.03126923997115949,0.9370623032450065,0.71338606911949],"aabb_xy":[[-0.04682500938142476,0.9215118700005994],[-0.01571347056089423,0.9526127364894138]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[0.5332089158277635,-1.9038361573817775,0.71338606911949],"aabb_xy":[[0.4967130952004848,-1.9403200998085348],[0.5697047364550423,-1.8673522149550197]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.16569007099675026,1.5144578096535155,0.71338606911949],"aabb_xy":[[-0.17368356079203232,1.5064596777130401],[-0.15769658120146826,1.5224559415939913]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[-0.10317505837126162,-2.2070538271068267,0.71338606911949],"aabb_xy":[[-0.1671750547668347,-2.27101711552556],[-0.03917506197568853,-2.1430905386880927]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[0.5056025013431802,0.9317464512864979,0.71338606911949],"aabb_xy":[[0.45951741008844876,0.8677464540339428],[0.5516875925979117,0.995746448539053]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.5505441661428936,-0.25292499095332266,0.71338606911949],"aabb_xy":[[-0.6405441628785037,-0.30610845427061717],[-0.46054416940728327,-0.19974152763602815]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.3071169673739451,-1.6126791405191487,0.71338606911949],"aabb_xy":[[0.2892478596194896,-1.6265120484963596],[0.3249860751284006,-1.5988462325419375]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[0.6178077189395061,-0.05965106828637534,0.71338606911949],"aabb_xy":[[0.5528077203824333,-0.08940360170025796],[0.682807717496579,-0.029898534872492714]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_26","position":[0.3109818578815018,-1.2358585700317948,0.71338606911949],"aabb_xy":[[0.29109081800116154,-1.2485143813164918],[0.33087289776184203,-1.2232027587470982]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_27","position":[-0.6432070799744326,-0.4785595343240514,0.71338606911949],"aabb_xy":[[-0.6512333506050586,-0.48731102930140413],[-0.6351808093438066,-0.4698080393466989]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[-0.08798671014292392,0.4038118397383754,0.71338606911949],"aabb_xy":[[-0.10619253380417161,0.39278643915638384],[-0.06978088648167625,0.4148372403203671]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_29","position":[-0.6845725859632477,-2.413179105572103,0.71338606911949],"aabb_xy":[[-0.6894161807244776,-2.418030758051087],[-0.6797289912020177,-2.408327453093119]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_30","position":[0.05528092664265061,-1.2428314833353555,0.71338606911949],"aabb_xy":[[0.017780928067029803,-1.2555677789989133],[0.09278092521827142,-1.2300951876717974]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_31","position":[-0.29115675580334766,-1.145709612414116,0.71338606911949],"aabb_xy":[[-0.3551567572113383,-1.1974985639380407],[-0.227156754395357,-1.0939206608901912]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_32","position":[0.5914962647185675,-1.0138483235859799,0.71338606911949],"aabb_xy":[[0.5274962628062253,-1.0697594728439903],[0.65549626663091,-0.9579371743279694]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_33","position":[-0.0032773000679855446,-0.9921850455266286,0.71338606911949],"aabb_xy":[[-0.07327730270457189,-1.0122899105224938],[0.0667227025686008,-0.9720801805307628]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855176260257344,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5019.png","name":"5019"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5019.png","name":"5019"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9653.png","name":"9653"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6327.png","name":"6327"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7521.png","name":"7521"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1953.png","name":"1953"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":573.489969178838,"rotation_z_degrees":205.02863411204052,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005664822123648508,-0.017590936008142665,-0.011922314354335214]},{"name":"camera_2","offset_m":[-0.013035597456356287,0.013664209985227164,0.00019563958501074216]},{"name":"camera_3","offset_m":[0.0054170188945808564,-0.0079998342529794,0.006839484265018701]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000958446218061968,0.0013771907173618075,-0.0018911824478760858],"end_effector_yaw_offset_degrees":0.43837139319517626},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00018830496114283137,0.0006978307715332097,-0.0008329526121665239],"end_effector_yaw_offset_degrees":-0.2502917214392666},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-8.822052294728115e-05,-0.0014101689899488994,-0.0018839907741992467],"end_effector_yaw_offset_degrees":0.3685059490260598},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005437616226141512,-0.00025709294924819567,-0.0018003872327482817],"end_effector_yaw_offset_degrees":-0.12772205321470387}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004958692984130216,0.001071061225688009],"position_m":[0.14545869298413022,0.235771061225688,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023126892211712846,0.0023522139897181804],"position_m":[0.2467873107788287,-0.38104778601028183,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002581254023370793,-0.004898791067263169],"position_m":[0.2161812540233708,-0.058598791067263165,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002082323387878351,0.002420605710956053],"position_m":[0.3515176766121217,0.11962060571095605,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2faab2add908c12086ea074c074c68d5f36e83759588279a7fdc454a6de56c0c","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5019/tex_ceiling_textures_1953/tex_floor_textures_7521/tex_table_textures_9653/tex_wall_textures_6327","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":212824849554610469,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":212824849554610469,"visual_seed":212824849554610469,"scene_id":"lab_003","finished_at":"2026-09-05T03:27:15"}
+{"episode_id":"ep_000033","started_at":"2026-09-05T03:27:19","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_0","position":[0.1179430570933927,-1.4146862176368424,0.71338606911949],"aabb_xy":[[0.08416749790269971,-1.4287247128500071],[0.15171861628408567,-1.4006477224236773]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[0.5750009816268027,-1.4120612119456422,0.71338606911949],"aabb_xy":[[0.5250276876235421,-1.4620612125001895],[0.624974275630063,-1.3620612113910948]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.12667683647907357,-0.2654010817497432,0.71338606911949],"aabb_xy":[[-0.14917683629297596,-0.2698756981202239],[-0.10417683666517119,-0.2609264653792625]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[0.6655440866619893,-0.32378840345217075,0.71338606911949],"aabb_xy":[[0.6486333542256475,-0.3372606090447852],[0.6824548190983311,-0.31031619785955616]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[-0.5581845019297463,0.44112722894176803,0.71338606911949],"aabb_xy":[[-0.6080671988074425,0.3911272296954933],[-0.5083018050520501,0.4911272281880428]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[0.47889447122896844,1.2811808890415048,0.71338606911949],"aabb_xy":[[0.4692628350085388,1.2715435762617957],[0.48852610744939806,1.2908182018212135]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_6","position":[-0.37498565226352104,-0.8930290679251729,0.71338606911949],"aabb_xy":[[-0.40744735314544844,-0.9231619000400753],[-0.3425239513815935,-0.8628962358102701]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[-0.6006023024795221,-1.7384454399218834,0.71338606911949],"aabb_xy":[[-0.6646023041575194,-1.7869628314011974],[-0.5366023008015247,-1.689928048442569]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.18435929749554558,-1.7637324712106683,0.71338606911949],"aabb_xy":[[0.10435930053250642,-1.8408081128544418],[0.26435929445858475,-1.6866568295668949]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.09635847111674745,-0.9843312401372879,0.71338606911949],"aabb_xy":[[-0.18635847053511834,-1.0177067369814776],[-0.006358471698376542,-0.9509557432930983]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[0.26389713391319547,-0.9228636126204599,0.71338606911949],"aabb_xy":[[0.2355674239646553,-0.927324354814177],[0.29222684386173575,-0.9184028704267428]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.17611890923917706,-2.5154901712924294,0.71338606911949],"aabb_xy":[[-0.18253272288236194,-2.5218999915400975],[-0.16970509559599206,-2.5090803510447612]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[0.47435534410514446,-1.0876786801139848,0.71338606911949],"aabb_xy":[[0.4193553459033997,-1.1282006467404224],[0.5293553423068893,-1.0471567134875472]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[0.009547272324418432,1.6429935552027533,0.71338606911949],"aabb_xy":[[0.0008493100337031419,1.6308685808952788],[0.01824523461513372,1.6551185295102282]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[0.5731101796775089,1.3987229514460338,0.71338606911949],"aabb_xy":[[0.5611774453156808,1.3863407986381742],[0.585042914039337,1.411105104253893]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[0.16450561154250254,-2.4512166560281736,0.71338606911949],"aabb_xy":[[0.1519029124054261,-2.4638120522530396],[0.17710831067957902,-2.4386212598033086]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.052045570177130074,-1.1643728374105888,0.71338606911949],"aabb_xy":[[-0.08954557052535783,-1.1761642329916724],[-0.014545569828902316,-1.1525814418295053]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.6005009842790076,-0.7423256120257564,0.71338606911949],"aabb_xy":[[-0.6084944740742897,-0.750323743966232],[-0.5925074944837256,-0.7343274800852807]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[0.2622128977386655,-1.0396082587236752,0.71338606911949],"aabb_xy":[[0.19721289678153833,-1.0915564706573808],[0.32721289869579273,-0.9876600467899698]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.2883745305746138,-2.323505584634325,0.71338606911949],"aabb_xy":[[0.2705054228201583,-2.3373384926115364],[0.3062436383290693,-2.3096726766571143]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.6936270992239053,1.1025652543207536,0.71338606911949],"aabb_xy":[[0.67112709898039,1.0903606196609819],[0.7161270994674208,1.1147698889805258]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[-0.6641784996555348,-0.9341039535670501,0.71338606911949],"aabb_xy":[[-0.671802767745713,-0.941737177103594],[-0.6565542315653565,-0.9264707300305065]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[-0.3690705209724969,1.2590233486030118,0.71338606911949],"aabb_xy":[[-0.38795490474100713,1.240137423822659],[-0.3501861372039867,1.2779092733833646]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[-0.10933201333093878,-1.278512265717037,0.71338606911949],"aabb_xy":[[-0.17433201121258657,-1.329635929423578],[-0.04433201544929099,-1.2273886020104963]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[0.2985020915289872,-2.510895272350669,0.71338606911949],"aabb_xy":[[0.29454160775925287,-2.5185631369361894],[0.30246257529872156,-2.503227407765148]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[0.17661731742089515,0.9335736253051583,0.71338606911949],"aabb_xy":[[0.09661732026131983,0.9220260243473413],[0.25661731458047043,0.9451212262629753]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[-0.14940563634558202,-0.8597398633332192,0.71338606911949],"aabb_xy":[[-0.21340563661956025,-0.9098059635305072],[-0.08540563607160379,-0.8096737631359313]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[-0.1849398763485256,-2.180156608692701,0.71338606911949],"aabb_xy":[[-0.19218364239477093,-2.2601566068963033],[-0.17769611030228027,-2.1001566104890985]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_28","position":[0.19035436724181343,1.6147756902269657,0.71338606911949],"aabb_xy":[[0.10035436490779437,1.5372933356418528],[0.2803543695758325,1.692258044812078]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_29","position":[-0.6587534724789809,-0.012377937504923775,0.71338606911949],"aabb_xy":[[-0.6667898071802657,-0.020416056809340555],[-0.650717137777696,-0.004339818200506995]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_30","position":[-0.6396362749163255,-0.8280685320659065,0.71338606911949],"aabb_xy":[[-0.6490537494861882,-0.8374847092036255],[-0.6302188003464627,-0.8186523549281874]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[-0.08754285932648065,-0.7059367072730824,0.71338606911949],"aabb_xy":[[-0.157542861963067,-0.7260415722689478],[-0.017542856689894304,-0.6858318422772168]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909678389468955,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5520.png","name":"5520"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5520.png","name":"5520"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9782.png","name":"9782"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1960.png","name":"1960"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3394.png","name":"3394"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9509.png","name":"9509"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":601.2013829080247,"rotation_z_degrees":167.6189800970036,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0063641598864980515,-0.016576509412138066,-0.019094893243910966]},{"name":"camera_2","offset_m":[0.009326725377225419,0.011260305721949786,-0.011632687936051576]},{"name":"camera_3","offset_m":[0.019431165706047682,-0.013827342300354727,0.000626170786679054]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003374938485229263,-0.000491068405521459,-0.0014900701954412452],"end_effector_yaw_offset_degrees":-0.6049049346911302},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001264049988677372,0.0015225031990108214,-0.001971047565410041],"end_effector_yaw_offset_degrees":-0.8673459397940604},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018583729906362847,-0.00028807114688114504,0.00023720275930303597],"end_effector_yaw_offset_degrees":-0.8490548196751513},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001280805580776436,-0.0017979297712057561,-4.9124386631325045e-05],"end_effector_yaw_offset_degrees":-0.9882386210039529}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004320191951569618,-0.0037254495186591265],"position_m":[0.13617980804843038,0.23097455048134086,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00319425218534609,0.0007867193189382681],"position_m":[0.25229425218534607,-0.38261328068106176,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007490562385977628,0.0033144769892397624],"position_m":[0.21434905623859776,-0.050385523010760234,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028501895150227887,0.0012895282314106093],"position_m":[0.3507498104849772,0.11848952823141061,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"243772d5158266c9638915a1a3aaa2d689ace7669ec6379744b1f56340382330","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0033.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5520/tex_ceiling_textures_9509/tex_floor_textures_3394/tex_table_textures_9782/tex_wall_textures_1960","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3512970157279858982,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3512970157279858982,"visual_seed":3512970157279858982,"scene_id":"lab_003","finished_at":"2026-09-05T03:31:13"}
+{"episode_id":"ep_000034","started_at":"2026-09-05T03:31:19","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.4132237171793127,-2.2206325428163303,0.71338606911949],"aabb_xy":[[0.36312625319823916,-2.284632543326142],[0.4633211811603864,-2.1566325423065185]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[0.5985825051833524,-1.1575585567407967,0.71338606911949],"aabb_xy":[[0.5881709465028687,-1.1629042900766948],[0.6089940638638361,-1.152212823404898]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[0.41046657266480535,1.6172254580252168,0.71338606911949],"aabb_xy":[[0.3504665710218835,1.5652253087332726],[0.4704665743077272,1.669225607317161]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[0.523449736568605,-0.24694078591548596,0.71338606911949],"aabb_xy":[[0.43344973983299484,-0.30012424923278047],[0.6134497333042153,-0.19375732259819145]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.685152564828776,0.3361287872787755,0.71338606911949],"aabb_xy":[[0.6743120866022609,0.3189425059881266],[0.6959930430552907,0.35331506856942424]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.6409918252099172,-0.9319918131084677,0.71338606911949],"aabb_xy":[[0.5609980016313589,-1.0119918157013092],[0.7209856487884754,-0.8519918105156261]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[-0.6549010195279288,0.0864895292724932,0.71338606911949],"aabb_xy":[[-0.670785512793254,0.07213658897366915],[-0.6390165262626037,0.10084246957131726]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[0.485074246905125,-1.2709441965322719,0.71338606911949],"aabb_xy":[[0.43509129671764557,-1.320944196174832],[0.5350571970926041,-1.2209441968897112]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.34224497996944114,1.2863822369159434,0.71338606911949],"aabb_xy":[[0.27224497816069565,1.265028468151756],[0.4122449817781865,1.3077360056801308]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.43649169605375066,-1.5071255752912063,0.71338606911949],"aabb_xy":[[-0.46697594618078087,-1.557125575072702],[-0.40600744592672056,-1.4571255755097101]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[-0.41238103426839645,1.500547265063092,0.71338606911949],"aabb_xy":[[-0.46750623989798723,1.4405472636218049],[-0.3572558286388057,1.5605472665043791]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.34305685098829525,-2.3971283041290072,0.71338606911949],"aabb_xy":[[-0.39303565949861113,-2.447128304134726],[-0.29307804247797936,-2.3471283041232884]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.7060749950418146,1.1325863723022542,0.71338606911949],"aabb_xy":[[0.6951692189542519,1.052586375903425],[0.7169807711293773,1.2125863687010834]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.4910629638637545,-1.1407887833814125,0.71338606911949],"aabb_xy":[[-0.4975646003717591,-1.1505566054077223],[-0.48456132735574986,-1.1310209613551028]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.008909863798852835,-0.7849361430193094,0.71338606911949],"aabb_xy":[[-0.046409862222253184,-0.7981003569871399],[0.028590134624547514,-0.7717719290514786]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.010589485841016932,-2.4830835812970657,0.71338606911949],"aabb_xy":[[-0.0905894861146239,-2.556033129122782],[0.06941051443259004,-2.4101340334713486]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[0.4957086086811131,-0.761409621972817,0.71338606911949],"aabb_xy":[[0.430708610525194,-0.7877058665227292],[0.5607086068370322,-0.7351133774229048]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.4395513541036242,-2.4812627145442225,0.71338606911949],"aabb_xy":[[0.40455135491080585,-2.4922297605418846],[0.4745513532964424,-2.4702956685465596]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[0.013034591956948782,-2.1213317442050434,0.71338606911949],"aabb_xy":[[0.007697016290944212,-2.1463317451341837],[0.01837216762295335,-2.096331743275904]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[-0.38264469972290616,-0.32187898144206795,0.71338606911949],"aabb_xy":[[-0.39400643437619226,-0.33324744784835597],[-0.37128296506961994,-0.3105105150357798]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.5855082612990501,-0.057018934993993575,0.71338606911949],"aabb_xy":[[0.5512113502813095,-0.09131582120393494],[0.6198051723167907,-0.0227220487840522]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[0.6798063303401984,-2.387066563753075,0.71338606911949],"aabb_xy":[[0.6647040288791801,-2.402168085384136],[0.6949086318012163,-2.371965042122012]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[-0.5367999803607457,0.3696132353393575,0.71338606911949],"aabb_xy":[[-0.5597156932457956,0.346708938202934],[-0.5138842674756958,0.3925175324757811]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[-0.10064982304537351,-1.5152003785469579,0.71338606911949],"aabb_xy":[[-0.1606498228919403,-1.5720190007399963],[-0.04064982319880672,-1.458381756353919]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_24","position":[-0.5593587065786575,-2.3817085434268668,0.71338606911949],"aabb_xy":[[-0.5918204074605847,-2.4118413755417683],[-0.5268970056967298,-2.3515757113119626]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_25","position":[-0.1599621163482442,0.683735060961304,0.71338606911949],"aabb_xy":[[-0.21397771263014417,0.6197350580690468],[-0.10594652006634417,0.7477350638535611]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[-0.27953323999129953,1.0933974620999773,0.71338606911949],"aabb_xy":[[-0.2874565202300479,1.070897461861974],[-0.27160995975255126,1.1158974623379807]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_27","position":[-0.17226401837750638,0.25379444907898874,0.71338606911949],"aabb_xy":[[-0.22226401702342755,0.20387490541952635],[-0.12226401973158516,0.3037139927384511]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[-0.07543536331825873,1.3372249190889343,0.71338606911949],"aabb_xy":[[-0.11293536381561697,1.3332562355408157],[-0.03793536282090049,1.3411936026370528]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_29","position":[0.282636058185069,0.6656506461231246,0.71338606911949],"aabb_xy":[[0.2226360576772161,0.6088039124372032],[0.3426360586929219,0.7224973798090458]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_30","position":[-0.5823129646045934,-2.2451192212017297,0.71338606911949],"aabb_xy":[[-0.6463129678943014,-2.288454140205647],[-0.5183129613148851,-2.2017843021978116]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_31","position":[-0.5533558539142599,-1.100473938627716,0.71338606911949],"aabb_xy":[[-0.5627733284841226,-1.1098901157654348],[-0.5439383793443971,-1.0910577614899968]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_32","position":[-0.48597773953493395,0.8964592609536353,0.71338606911949],"aabb_xy":[[-0.5509777380920068,0.8667067275397526],[-0.4209777409778611,0.9262117943675179]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885788309707336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6596.png","name":"6596"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6596.png","name":"6596"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9254.png","name":"9254"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/205.png","name":"205"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8524.png","name":"8524"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5018.png","name":"5018"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":732.3274262351553,"rotation_z_degrees":157.55845220104072,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00440177594134895,-0.011984250391990435,0.01071173232924177]},{"name":"camera_2","offset_m":[-0.001852517042724395,-0.003336781631354948,0.003821121689143215]},{"name":"camera_3","offset_m":[-0.009418918803769515,0.016692219068294042,-0.0067738276683658016]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006810586974707795,-0.0005742338650429404,0.0015892015092946379],"end_effector_yaw_offset_degrees":0.19541838566570902},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010680352704815674,0.0008105943890955977,0.00011177642224248843],"end_effector_yaw_offset_degrees":-0.2509185511492653},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014090096279781102,0.0018684062666265927,-9.130816736513088e-05],"end_effector_yaw_offset_degrees":0.9967853822912514},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005690754747960324,1.268434966605848e-05,-0.00013874405425624175],"end_effector_yaw_offset_degrees":-0.8883093273504492}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004021747628894002,-0.0028834431994788747],"position_m":[0.136478252371106,0.23181655680052113,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005867607091228,-0.0005710076636724192],"position_m":[0.24851323929087718,-0.3839710076636724,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005738283903100397,-0.004595955809341483],"position_m":[0.21417382839031004,-0.05829595580934148,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011394991834515768,-0.0029921427078533637],"position_m":[0.35246050081654845,0.11420785729214664,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"79b2d6e9dc537721dd9b7704e813a3f708be405dd8d746cf8c829d2ef950db0d","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6596/tex_ceiling_textures_5018/tex_floor_textures_8524/tex_table_textures_9254/tex_wall_textures_205","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4912228098516767077,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4912228098516767077,"visual_seed":4912228098516767077,"scene_id":"lab_003","finished_at":"2026-09-05T03:35:18"}
+{"episode_id":"ep_000035","started_at":"2026-09-05T03:35:22","dimensions":{"distractor":{"count":33,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[0.5093781953289971,-0.1607579316750125,0.71338606911949],"aabb_xy":[[0.4843781953964793,-0.16764059989593583],[0.5343781952615151,-0.1538752634540892]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.26784585181007353,-1.5253195626053366,0.71338606911949],"aabb_xy":[[-0.32943661103406635,-1.5893195607143835],[-0.2062550925860807,-1.4613195644962897]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.48075072636793714,0.9145148113170358,0.71338606911949],"aabb_xy":[[-0.48991060531181374,0.9079835932734986],[-0.47159084742406054,0.9210460293605728]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.3730704520198865,1.4991469609008292,0.71338606911949],"aabb_xy":[[-0.42807045022163126,1.4586249942743914],[-0.3180704538181416,1.5396689275272666]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.49483405222531496,-1.6132644315049303,0.71338606911949],"aabb_xy":[[0.48679771752403006,-1.6213025508093466],[0.5028703869265998,-1.605226312200513]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.6022634183663238,1.1286391776394478,0.71338606911949],"aabb_xy":[[0.5797634181228084,1.1164345429796758],[0.6247634186098392,1.1408438122992197]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.47379052823827605,0.7982650735986043,0.71338606911949],"aabb_xy":[[-0.4830841464754267,0.7607650751104703],[-0.46449691000112553,0.8357650720867381]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_7","position":[0.6346370136883985,-1.3129630130755652,0.71338606911949],"aabb_xy":[[0.5696370127312712,-1.3649112250092705],[0.6996370146455256,-1.2610148011418594]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[-0.5309306616002311,-0.448048721062428,0.71338606911949],"aabb_xy":[[-0.6109244851787893,-0.5280487236552696],[-0.45093683802167284,-0.3680487184695865]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[-0.20456666640711169,1.0734743647620903,0.71338606911949],"aabb_xy":[[-0.2945666629079834,1.0275627223436319],[-0.11456666990623994,1.1193860071805484]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[0.6148517164879781,0.91095886997936,0.71338606911949],"aabb_xy":[[0.544851713096416,0.8756430962759292],[0.68485171987954,0.9462746436827909]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[0.5403704348687617,1.3071326950689137,0.71338606911949],"aabb_xy":[[0.4603704379057225,1.2300570534251405],[0.6203704318318009,1.3842083367126874]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[0.24104526694749273,0.5032784983869263,0.71338606911949],"aabb_xy":[[0.23363281140610426,0.4974272879652982],[0.2484577224888812,0.5091297088085541]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[-0.4932076022715412,-0.15044496935814244,0.71338606911949],"aabb_xy":[[-0.548200813608678,-0.20544496969693607],[-0.4382143909344045,-0.09544496901934885]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[0.6528292554526218,-1.774705494831109,0.71338606911949],"aabb_xy":[[0.6353292552075723,-1.7922052826706756],[0.6703292556976711,-1.7572057069915419]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[0.03186989682188457,0.8894695181930521,0.71338606911949],"aabb_xy":[[-0.001609270439156367,0.8559904048219452],[0.06534906408292551,0.9229486315641592]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.5750273237197991,0.15811102172744107,0.71338606911949],"aabb_xy":[[0.5670010530891731,0.14935952675008846],[0.5830535943504251,0.16686251670479368]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[0.027461912028199476,-1.8734076997803888,0.71338606911949],"aabb_xy":[[-0.03653809119043838,-1.9201308116793971],[0.09146191524683733,-1.8266845878813804]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.3641349676340466,1.5989443084821313,0.71338606911949],"aabb_xy":[[0.32663496644925377,1.5945260857860704],[0.40163496881883937,1.6033625311781914]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[-0.5784076606753211,-1.9908007671668058,0.71338606911949],"aabb_xy":[[-0.6088919108023513,-2.0408007669483017],[-0.547923410548291,-1.9408007673853098]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_20","position":[0.6668045453114357,0.0822063094482286,0.71338606911949],"aabb_xy":[[0.6318045461186174,0.07123926345056596],[0.7018045445042539,0.09317335544589121]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[0.09516725532192649,1.4146641049104134,0.71338606911949],"aabb_xy":[[0.05766725689852614,1.4014998909425824],[0.13266725374532684,1.427828318878244]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[-0.2150112080619957,1.5427503436208672,0.71338606911949],"aabb_xy":[[-0.23751120787589808,1.5382757272503864],[-0.1925112082480933,1.547224959991348]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[0.22983347094973616,-2.3767870289158513,0.71338606911949],"aabb_xy":[[0.1930388378248299,-2.413692904012433],[0.26662810407464244,-2.3398811538192685]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.14030402411021436,0.6542957524447335,0.71338606911949],"aabb_xy":[[-0.165524860970054,0.6290720015918466],[-0.11508318725037468,0.6795195032976201]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_25","position":[-0.6510047066398137,1.7500527097941592,0.71338606911949],"aabb_xy":[[-0.6582659542102213,1.7372656995306495],[-0.6437434590694063,1.7628397200576684]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_26","position":[0.05754510461812157,-1.1364806091264987,0.71338606911949],"aabb_xy":[[0.029215394669581347,-1.1409413513202158],[0.0858748145666618,-1.1320198669327817]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_27","position":[0.3877540013155394,0.8459757041404594,0.71338606911949],"aabb_xy":[[0.3327540016937936,0.7909920113529868],[0.4427540009372853,0.9009593969279323]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[-0.28215935761975314,1.6911400519143363,0.71338606911949],"aabb_xy":[[-0.3046730494432103,1.6211400513133287],[-0.2596456657962959,1.7611400525153438]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_29","position":[0.49995486073469464,-2.341074769917149,0.71338606911949],"aabb_xy":[[0.44482965510510375,-2.401074771358436],[0.5550800663642852,-2.281074768475862]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[-0.6147839459691082,-1.7121304203275551,0.71338606911949],"aabb_xy":[[-0.6186978191645307,-1.720879435734112],[-0.6108700727736858,-1.7033814049209983]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_31","position":[-0.13960737503226006,1.4046366130998251,0.71338606911949],"aabb_xy":[[-0.22960737475543422,1.3815632605646453],[-0.04960737530908587,1.427709965635005]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_32","position":[-0.4787164140264296,0.23712198534471263,0.71338606911949],"aabb_xy":[[-0.5023015374903246,0.17212198309928087],[-0.4551312905625348,0.3021219875901444]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6847432937468689,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1170.png","name":"1170"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1170.png","name":"1170"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4115.png","name":"4115"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5660.png","name":"5660"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2161.png","name":"2161"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3810.png","name":"3810"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":814.4096527123751,"rotation_z_degrees":15.395934111926746,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006270312984635332,-0.01333392170186749,-0.002050171383559722]},{"name":"camera_2","offset_m":[-0.005229274702704241,-0.011365433682564468,0.016511687782194907]},{"name":"camera_3","offset_m":[0.000258863932740324,0.008690182834436205,-0.012674340150198953]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001260258726646818,0.00019276861444081882,0.0002865534176141227],"end_effector_yaw_offset_degrees":-0.01701752385045796},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010208586875212972,-0.000418276812796142,-0.0013117794645380054],"end_effector_yaw_offset_degrees":0.1955887044214044},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014553348157329495,-0.0012889600828175137,0.0004698077873240172],"end_effector_yaw_offset_degrees":-0.020341035285991405},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017889132598410042,0.0005551841306983482,0.0009048202429131841],"end_effector_yaw_offset_degrees":0.5270311699423011}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004747450820650594,0.0009208734651683856],"position_m":[0.1452474508206506,0.23562087346516838,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004877075926309642,-7.412506281075353e-05],"position_m":[0.24422292407369034,-0.38347412506281076,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004025593529010898,0.002875904457820987],"position_m":[0.2176255935290109,-0.05082409554217901,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034154865007616463,0.0046806227037264865],"position_m":[0.3501845134992384,0.12188062270372649,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3baa36d2b0f1602b292feca971fec99cbb5ac2b94f48b41c3a9e01873bbc586f","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1170/tex_ceiling_textures_3810/tex_floor_textures_2161/tex_table_textures_4115/tex_wall_textures_5660","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6220507936636055277,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6220507936636055277,"visual_seed":6220507936636055277,"scene_id":"lab_003","finished_at":"2026-09-05T03:39:18"}
+{"episode_id":"ep_000036","started_at":"2026-09-05T03:39:23","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[-0.1579759833798312,-1.8125441075219244,0.71338606911949],"aabb_xy":[[-0.17044334148956689,-1.8250094321552481],[-0.1455086252700956,-1.8000787828886011]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.4112680636542514,1.39364150636853,0.71338606911949],"aabb_xy":[[0.40041645740537585,1.3827822156408789],[0.42211966990312705,1.404500797096181]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[0.23989446266530545,-2.142828813639973,0.71338606911949],"aabb_xy":[[0.23348064902212048,-2.149238633887641],[0.24630827630849036,-2.136418993392304]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.05361319856548452,1.5053056950685622,0.71338606911949],"aabb_xy":[[0.046571747614736925,1.498278943330768],[0.06065464951623212,1.5123324468063568]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[-0.11674010069773222,-2.057672387135118,0.71338606911949],"aabb_xy":[[-0.12207261535234523,-2.0629967153803537],[-0.11140758604311926,-2.052348058889882]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.5590961879036367,0.4756551002573066,0.71338606911949],"aabb_xy":[[0.5090961869531038,0.4441059532537852],[0.6090961888541694,0.507204247260828]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[0.5273060963066605,-1.3689072891462235,0.71338606911949],"aabb_xy":[[0.46330609396385886,-1.4138481403903558],[0.5913060986494619,-1.3239664379020908]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.27731910357405454,-1.4474469441414186,0.71338606911949],"aabb_xy":[[-0.3323145813947139,-1.5024469455753253],[-0.22232362575339515,-1.3924469427075115]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.10236360625879337,-1.1941934487795725,0.71338606911949],"aabb_xy":[[-0.1236416144022656,-1.2591934511056453],[-0.08108559811532111,-1.1291934464534992]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.331730377739848,1.554471189001727,0.71338606911949],"aabb_xy":[[-0.42173037715821887,1.5210956921575376],[-0.2417303783214771,1.587846685845917]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[-0.2582336889462021,-2.0382206248093144,0.71338606911949],"aabb_xy":[[-0.2663473436195792,-2.0463264412633433],[-0.250120034272825,-2.0301148083552847]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.14743982553849755,-1.2767893860974102,0.71338606911949],"aabb_xy":[[0.14039951560496058,-1.3567893854970818],[0.15448013547203457,-1.196789386697739]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.7005319613707071,-1.791901748119637,0.71338606911949],"aabb_xy":[[0.6956883666094772,-1.7967534005986212],[0.7053755561319371,-1.787050095640653]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[0.24328451856538602,1.1939277279865355,0.71338606911949],"aabb_xy":[[0.22818221710436787,1.1788262063554733],[0.258386820026404,1.2090292496175972]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[0.4420934149316815,-1.2230911574729806,0.71338606911949],"aabb_xy":[[0.4344691468415034,-1.2307243810095245],[0.4497176830218599,-1.215457933936437]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.12277532866983287,0.6884007308884033,0.71338606911949],"aabb_xy":[[0.10689083540450775,0.6740477905895791],[0.13865982193515805,0.7027536711872272]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[-0.05479361877717359,-0.850085151331448,0.71338606911949],"aabb_xy":[[-0.1088092150590736,-0.9140851542237051],[-0.0007780224952735892,-0.7860851484391908]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.43922842798496076,0.7215482450135999,0.71338606911949],"aabb_xy":[[-0.4429316893140996,0.7178462267048819],[-0.4355251666558218,0.7252502633223176]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[-0.20883182933517203,0.9831576507618127,0.71338606911949],"aabb_xy":[[-0.2432941767333138,0.9486637683639899],[-0.1743694819370302,1.0176515331596352]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.06976049475097612,-2.396707569267412,0.71338606911949],"aabb_xy":[[0.03598493556028315,-2.410746064480577],[0.10353605394166909,-2.382669074054247]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.26587042376011294,-2.3505136629547336,0.71338606911949],"aabb_xy":[[0.20087042372581015,-2.3972143396350605],[0.3308704237944156,-2.303812986274406]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[0.5072133684797637,-1.173855038484455,0.71338606911949],"aabb_xy":[[0.5037726922397067,-1.1777164714588197],[0.510654044719821,-1.1699936055100908]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[0.13267590967220533,-1.45266750188706,0.71338606911949],"aabb_xy":[[0.04267591317133359,-1.498579144305518],[0.2226759061730771,-1.4067558594686016]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[-0.5920383118368348,-2.5477709655543954,0.71338606911949],"aabb_xy":[[-0.6620383134391143,-2.561203758756053],[-0.5220383102345554,-2.534338172352738]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.48088319313408956,1.2607632715070531,0.71338606911949],"aabb_xy":[[-0.5308831925742852,1.2107953470227368],[-0.430883193693894,1.3107311959913694]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[0.5496744282538768,-0.09739141143848462,0.71338606911949],"aabb_xy":[[0.48967442765786073,-0.1522038839837081],[0.6096744288498931,-0.042578938893261156]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[-0.5573631466846211,-0.16727689209731267,0.71338606911949],"aabb_xy":[[-0.5809482701485159,-0.23227689434274446],[-0.5337780232207262,-0.10227688985188088]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_27","position":[0.38877701400276443,1.604517486973021,0.71338606911949],"aabb_xy":[[0.3808537337640161,1.5820174867350179],[0.39670029424151276,1.6270174872110246]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[0.16874872537950825,0.6035163673912809,0.71338606911949],"aabb_xy":[[0.13374872402802648,0.58315663143446],[0.20374872673098995,0.6238761033481016]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_29","position":[-0.41250681674438816,0.909285050633108,0.71338606911949],"aabb_xy":[[-0.4219242913142509,0.899868873495389],[-0.4030893421745254,0.9187012277708271]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6926417418180983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/553.png","name":"553"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/553.png","name":"553"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4990.png","name":"4990"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5138.png","name":"5138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4350.png","name":"4350"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3691.png","name":"3691"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":540.0148649818921,"rotation_z_degrees":337.2044186618081,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00821279978922422,-0.014230204592324784,0.017509430423330637]},{"name":"camera_2","offset_m":[-0.0035510059022945094,-0.008312996197104381,-0.019214175664992998]},{"name":"camera_3","offset_m":[-0.013223146765944627,0.008893617337243635,-0.010631611003692885]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008799485308407622,-0.0004169704632660683,0.0012951969536333435],"end_effector_yaw_offset_degrees":-0.9503278738361369},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008211811004312391,0.0008616664143477905,-0.0012747486155724607],"end_effector_yaw_offset_degrees":-0.10969988577857492},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002503192392310249,-0.0013483719330489193,-0.0017866168503276624],"end_effector_yaw_offset_degrees":0.7907708415232211},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014324415555878622,0.0005585348919936472,-0.00012267687974299953],"end_effector_yaw_offset_degrees":0.9553260626369073}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008453206573471872,-0.001325766550622387],"position_m":[0.13965467934265283,0.2333742334493776,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033737307897341922,-0.001960021673579121],"position_m":[0.2524737307897342,-0.38536002167357913,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00042144769126673236,0.0012990917416806748],"position_m":[0.21317855230873328,-0.05240090825831932,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011293351923913307,0.0021850038348523327],"position_m":[0.35472933519239136,0.11938500383485233,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c6183aec6eae3be74f631894792da5c353f40f597ae9b1b5bb3318404afe025c","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0036.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_553/tex_ceiling_textures_3691/tex_floor_textures_4350/tex_table_textures_4990/tex_wall_textures_5138","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2759223229992623707,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2759223229992623707,"visual_seed":2759223229992623707,"scene_id":"lab_003","finished_at":"2026-09-05T03:43:21"}
+{"episode_id":"ep_000037","started_at":"2026-09-05T03:43:24","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.23222140780454736,1.632614941083013,0.71338606911949],"aabb_xy":[[0.15222140733433143,1.6243042334686653],[0.3122214082747633,1.6409256486973618]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[0.4486182214111518,1.5773770267280365,0.71338606911949],"aabb_xy":[[0.3686182192483894,1.4974218431018929],[0.5286182235739143,1.65733221035418]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[0.47435123988415095,1.2186590871762877,0.71338606911949],"aabb_xy":[[0.4243738230188973,1.168659085687039],[0.5243286567494044,1.268659088665536]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[-0.4271736052029693,-0.39657014189225226,0.71338606911949],"aabb_xy":[[-0.46467360549514414,-0.4006116172928558],[-0.3896736049107945,-0.3925286664916486]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.3983728162445363,0.19744831600281998,0.71338606911949],"aabb_xy":[[-0.4599635754685292,0.13344831789377312],[-0.33678205702054353,0.26144831411186686]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_5","position":[-0.19071075715265573,1.6671235611719282,0.71338606911949],"aabb_xy":[[-0.21198876529612798,1.6021235588458551],[-0.16943274900918348,1.7321235634980012]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.12404252601606036,-0.0782011218295402,0.71338606911949],"aabb_xy":[[-0.12867764116829372,-0.08206845690668883],[-0.11940741086382695,-0.07433378675239154]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[-0.5850040205361957,-2.4543516708832995,0.71338606911949],"aabb_xy":[[-0.6128490573168028,-2.485136169621611],[-0.5571589837555886,-2.423567172144988]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[0.1687719705938424,0.9084738724192203,0.71338606911949],"aabb_xy":[[0.10477196730413428,0.8651389534153026],[0.2327719738835505,0.9518087914231378]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.044410631624171804,-1.306180210479001,0.71338606911949],"aabb_xy":[[-0.049992303258300556,-1.3186802102967765],[-0.03882895999004304,-1.2936802106612255]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[-0.4512154283009222,-0.03909325694920884,0.71338606911949],"aabb_xy":[[-0.4565479429555352,-0.04441758519444444],[-0.4458829136463092,-0.033768928703973244]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[0.4063605102012029,-1.781510971102996,0.71338606911949],"aabb_xy":[[0.36417609604037215,-1.8455109713802074],[0.44854492436203364,-1.717510970825785]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.5994086397510308,-1.246053537808496,0.71338606911949],"aabb_xy":[[0.5893269326724572,-1.3260535357006105],[0.6094903468296041,-1.1660535399163812]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[0.4827700118083573,-1.137275823440093,0.71338606911949],"aabb_xy":[[0.4746423236150441,-1.1461894318508008],[0.49089770000167054,-1.1283622150293857]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[0.460266612856326,0.8391156538040843,0.71338606911949],"aabb_xy":[[0.41509529500815706,0.7751156566595461],[0.5054379307044949,0.9031156509486229]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[0.6319761911520994,1.2089751287365291,0.71338606911949],"aabb_xy":[[0.5679761907745657,1.1592298618857169],[0.695976191529633,1.2587203955873414]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[-0.03652197912446464,-1.6141694095911294,0.71338606911949],"aabb_xy":[[-0.09652197897103143,-1.670988031784168],[0.02347802072210215,-1.5573507873980907]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[0.2966878197551681,0.645309907463564,0.71338606911949],"aabb_xy":[[0.2598372718181805,0.6078099066405301],[0.3335383676921557,0.6828099082865976]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.029889703327144135,-0.27057064105193307,0.71338606911949],"aabb_xy":[[-0.04738970357219352,-0.28807042889149986],[-0.012389703082094751,-0.25307085321236616]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.47425714218347115,1.069959555423019,0.71338606911949],"aabb_xy":[[0.40425713879190917,1.0346437817195882],[0.5442571455750331,1.1052753291264499]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.6405434162892631,-1.8604123476824306,0.71338606911949],"aabb_xy":[[0.5855511656537523,-1.9154123494257438],[0.6955356669247742,-1.8054123459391183]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.35632675375683304,0.4458458597240176,0.71338606911949],"aabb_xy":[[-0.3714290552178511,0.43074433809295565],[-0.3412244522958149,0.4609473813550793]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.5529458392137578,-0.9594445603304265,0.71338606911949],"aabb_xy":[[0.5225477281146141,-0.989851462332096],[0.5833439503129013,-0.929037658328757]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_23","position":[-0.34812276993852204,-1.219977790075599,0.71338606911949],"aabb_xy":[[-0.40812277044637496,-1.2768245237615201],[-0.2881227694306691,-1.1631310563896775]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[0.30768356330558566,1.0959785119668384,0.71338606911949],"aabb_xy":[[0.3036054053985359,1.091897531718575],[0.3117617212126354,1.1000594922151017]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[-0.5131912518537896,-2.15009897943281,0.71338606911949],"aabb_xy":[[-0.5931912551116325,-2.230095487224794],[-0.4331912485959466,-2.070102471640826]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_26","position":[0.636185782296913,-2.0050163874900804,0.71338606911949],"aabb_xy":[[0.6279712371812289,-2.0136929777877213],[0.6444003274125969,-1.9963397971924388]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_27","position":[-0.12400877477207661,0.5601966287726783,0.71338606911949],"aabb_xy":[[-0.1608034078969829,0.523290753676096],[-0.08721414164717034,0.5971025038692606]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_28","position":[0.6297491945284106,-1.4963125842752785,0.71338606911949],"aabb_xy":[[0.5657491972260642,-1.540679011243135],[0.693749191830757,-1.4519461573074215]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_29","position":[-0.1631638181781485,-0.8914840096627041,0.71338606911949],"aabb_xy":[[-0.2059305250575687,-0.9554840130845065],[-0.12039711129872832,-0.8274840062409016]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_30","position":[-0.4372231750405602,-1.394299146835275,0.71338606911949],"aabb_xy":[[-0.44592113733127553,-1.4064241211427497],[-0.42852521274984495,-1.3821741725278003]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[-0.6112357506848407,1.3948267608438703,0.71338606911949],"aabb_xy":[[-0.6337321721187048,1.3723267610371228],[-0.5887393292509766,1.4173267606506177]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_32","position":[0.46418580619920524,-0.686721032923898,0.71338606911949],"aabb_xy":[[0.4092120841628724,-0.7417210324881311],[0.5191595282355381,-0.6317210333596648]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_33","position":[-0.1390862725606936,-0.6016851970305523,0.71338606911949],"aabb_xy":[[-0.20908626897065535,-0.622123132682234],[-0.06908627615073178,-0.5812472613788705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6920428780295672,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3293.png","name":"3293"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3293.png","name":"3293"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6343.png","name":"6343"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1959.png","name":"1959"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8439.png","name":"8439"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7232.png","name":"7232"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":607.7909601321925,"rotation_z_degrees":293.57904427396414,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008876646320394754,-0.0074971649232938205,9.387814516951393e-05]},{"name":"camera_2","offset_m":[-0.0014784981233836314,0.01468400336755549,0.0025495877041077156]},{"name":"camera_3","offset_m":[0.006098717324481206,-0.007694598919957647,-0.012414809351499082]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008945454613535405,0.0007654588244892613,-0.0008795009336907418],"end_effector_yaw_offset_degrees":0.32615784037545503},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002198998921917653,-0.000277329680206301,0.0018506344117351055],"end_effector_yaw_offset_degrees":0.7278039814911688},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009429603613825997,-0.0009075641782821759,0.0002639653811570999],"end_effector_yaw_offset_degrees":0.6322465708639771},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011878896553633052,-0.0008125626741813678,-0.0013307301058061369],"end_effector_yaw_offset_degrees":0.4592607487609186}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004513129459660999,-0.0017334658947242322],"position_m":[0.135986870540339,0.23296653410527576,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002428926001561261,-0.0022938597353206612],"position_m":[0.25152892600156124,-0.38569385973532067,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035943186167280696,-0.0032541014320133033],"position_m":[0.21000568138327194,-0.0569541014320133,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010476040720619698,-0.0016880987371385272],"position_m":[0.354647604072062,0.11551190126286147,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a56bb23ebc81eb679cd985d2473a1787f8886df3309452747c005ba9a871d9b2","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3293/tex_ceiling_textures_7232/tex_floor_textures_8439/tex_table_textures_6343/tex_wall_textures_1959","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1159764500787081162,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1159764500787081162,"visual_seed":1159764500787081162,"scene_id":"lab_003","finished_at":"2026-09-05T03:47:16"}
+{"episode_id":"ep_000038","started_at":"2026-09-05T03:47:20","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[0.5734835198963415,-2.560559194329394,0.71338606911949],"aabb_xy":[[0.5034835180875961,-2.5819129630935813],[0.6434835217050869,-2.5392054255652066]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.4883503786277285,0.700559159988055,0.71338606911949],"aabb_xy":[[-0.5523503789017068,0.650493059790767],[-0.4243503783537503,0.7506252601853429]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.5846136355316058,-1.1591230154724137,0.71338606911949],"aabb_xy":[[-0.6496136355659086,-1.2058236921527408],[-0.5196136354973031,-1.1124223387920862]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.281530745227769,-2.124191984398464,0.71338606911949],"aabb_xy":[[-0.28956707992905384,-2.132230103702881],[-0.27349441052648416,-2.116153865094047]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.5639984066825063,-0.3670916754043332,0.71338606911949],"aabb_xy":[[0.5139984057319734,-0.3986408224078546],[0.613998407633039,-0.3355425284008118]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.3746805074021653,-0.5484734514316303,0.71338606911949],"aabb_xy":[[0.3371805074583989,-0.5567665414664669],[0.4121805073459317,-0.5401803613967937]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[0.3569317145277524,-0.8961541966439432,0.71338606911949],"aabb_xy":[[0.3451635277330949,-0.9811541965491649],[0.36869990132240993,-0.8111541967387218]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[0.05479430424401044,-0.7124813784327735,0.71338606911949],"aabb_xy":[[0.042326946134274804,-0.724946703066097],[0.0672616623537461,-0.70001605379945]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[-0.4711638038891117,-1.54869292154504,0.71338606911949],"aabb_xy":[[-0.48461033052315505,-1.562162773198131],[-0.4577172772550684,-1.5352230698919487]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[0.48519727889812203,-2.0295753815978523,0.71338606911949],"aabb_xy":[[0.4251972780373091,-2.0810018116043385],[0.5451972797589346,-1.9781489515913657]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[0.5626119222164183,-1.6507092974554782,0.71338606911949],"aabb_xy":[[0.5450336200274715,-1.668283787029583],[0.5801902244053652,-1.6331348078813734]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.15723582240231404,-1.3723348573175453,0.71338606911949],"aabb_xy":[[0.07351359690223158,-1.462334860852241],[0.2409580479023965,-1.2823348537828492]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[0.3894587208633371,1.784621875650211,0.71338606911949],"aabb_xy":[[0.3254587188136051,1.7445273925609033],[0.4534587229130691,1.8247163587395192]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[-0.6078758237068088,-1.4603446239498001,0.71338606911949],"aabb_xy":[[-0.624977901665177,-1.4774514294810699],[-0.5907737457484407,-1.4432378184185304]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.1799485641331593,-1.726671778317768,0.71338606911949],"aabb_xy":[[-0.1872308805098229,-1.8166717819272766],[-0.17266624775649558,-1.6366717747082586]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[0.49433120802992847,0.46534892797314953,0.71338606911949],"aabb_xy":[[0.4811002624952472,0.4521215089511501],[0.5075621535646098,0.47857634699514895]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[-0.5555117075976174,1.6487794352108192,0.71338606911949],"aabb_xy":[[-0.6055117089585046,1.5988015306354035],[-0.5055117062367301,1.6987573397862348]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_17","position":[0.5157131851801657,1.2164932417457903,0.71338606911949],"aabb_xy":[[0.5117993119847433,1.2077442263392335],[0.5196270583755882,1.2252422571523471]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.458112986717609,-2.304849203402939,0.71338606911949],"aabb_xy":[[0.39811298507468723,-2.356849352694883],[0.5181129883605309,-2.2528490541109947]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[0.012230464936165641,1.1810471341638986,0.71338606911949],"aabb_xy":[[-0.0029417043454676994,1.165878277235695],[0.027402634217798982,1.1962159910921017]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.5483732047112069,1.2616381317449785,0.71338606911949],"aabb_xy":[[-0.5833732030219022,1.2539231168214329],[-0.5133732064005113,1.2693531466685242]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[0.37684030435044025,-1.3620972859286222,0.71338606911949],"aabb_xy":[[0.3727621464433905,-1.3661782661768853],[0.38091846225749,-1.3580163056803587]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[0.4872171399801737,1.5901942992069018,0.71338606911949],"aabb_xy":[[0.43721714133425255,1.5402747555474394],[0.5372171386260949,1.6401138428663642]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_23","position":[0.5083623430587627,0.2492330157261713,0.71338606911949],"aabb_xy":[[0.41867526675064726,0.1592330154717208],[0.5980494193668782,0.3392330159806219]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.4984090107433517,-0.7198779006314677,0.71338606911949],"aabb_xy":[[-0.5056702583137591,-0.7326649108949773],[-0.4911477631729443,-0.7070908903679584]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_25","position":[0.4311707138435392,0.9760814356701752,0.71338606911949],"aabb_xy":[[0.39367071355136446,0.9720399602695716],[0.4686707141357141,0.9801229110707789]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_26","position":[-0.6608302158389653,0.23697298029602631,0.71338606911949],"aabb_xy":[[-0.6782609309179717,0.21970086563217547],[-0.6433995007599587,0.25424509495987707]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[-0.6878905741888252,-2.2774006064205135,0.71338606911949],"aabb_xy":[[-0.6933485198258451,-2.357400609728172],[-0.682432628551805,-2.197400603112854]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_28","position":[-0.04635287045321601,-1.5166200345686365,0.71338606911949],"aabb_xy":[[-0.08135287034923488,-1.5249942700805763],[-0.011352870557197142,-1.5082457990566962]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_29","position":[0.5021029742032403,-1.3972554112098452,0.71338606911949],"aabb_xy":[[0.4656071535759616,-1.4337393536366028],[0.5385987948305191,-1.3607714687830876]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859285600581219,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6649.png","name":"6649"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6649.png","name":"6649"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2487.png","name":"2487"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1627.png","name":"1627"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7696.png","name":"7696"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7019.png","name":"7019"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":567.0256508556463,"rotation_z_degrees":173.27237801039968,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017672422921238648,4.24582866455428e-05,0.007841035562155225]},{"name":"camera_2","offset_m":[0.0035826037193041303,0.004288139795545806,-0.018078396008898632]},{"name":"camera_3","offset_m":[-0.0033753387692627597,-0.01979611298269533,0.0029814564686786657]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015945441017172221,-0.0006464025502714139,0.001377124951668004],"end_effector_yaw_offset_degrees":-0.19042649843344206},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003492222026137677,-0.0012747801958176274,0.00046794261531417835],"end_effector_yaw_offset_degrees":-0.69031869943485},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007591435522118525,0.0019356526479297632,0.001214121307505743],"end_effector_yaw_offset_degrees":-0.6163718578598536},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014809323088954903,0.0001657572837021207,-6.626053385706864e-05],"end_effector_yaw_offset_degrees":-0.12531631224132922}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026871553352482494,0.0011863420508509501],"position_m":[0.14318715533524826,0.23588634205085093,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004356771588089142,-0.0014199576902750276],"position_m":[0.24474322841191085,-0.38481995769027505,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010668880896255884,-0.004476904849946842],"position_m":[0.2146668880896256,-0.05817690484994684,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002524844359578035,-0.0017654067105435899],"position_m":[0.3561248443595781,0.1154345932894564,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e08dbbbadcaf5e8d2f90f0bbf4c38ee38f3a9b49ae990ec4c3bcf5a568a5bf7d","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6649/tex_ceiling_textures_7019/tex_floor_textures_7696/tex_table_textures_2487/tex_wall_textures_1627","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2405892588175376934,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2405892588175376934,"visual_seed":2405892588175376934,"scene_id":"lab_003","finished_at":"2026-09-05T03:51:18"}
+{"episode_id":"ep_000039","started_at":"2026-09-05T03:51:22","dimensions":{"distractor":{"count":30,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.4924272833150696,-0.4907060952472375,0.71338606911949],"aabb_xy":[[0.4024272809810505,-0.5681884498323502],[0.5824272856490886,-0.4132237406621249]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.2430857875628223,-0.9976911029588817,0.71338606911949],"aabb_xy":[[-0.26009588485287294,-1.0138255914571555],[-0.22607569027277166,-0.9815566144606077]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[0.5112611115115704,0.20115257356835325,0.71338606911949],"aabb_xy":[[0.4612823030012545,0.15115257356263445],[0.5612399200218863,0.25115257357407206]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[0.3148530679906738,0.9825672261047997,0.71338606911949],"aabb_xy":[[0.22516599168255835,0.8925672258503491],[0.40454014429878926,1.0725672263592503]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[0.4896207397027732,-2.2121029162790298,0.71338606911949],"aabb_xy":[[0.4256207364841353,-2.2588260281780386],[0.5536207429214111,-2.165379804380022]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.3021925929714919,1.0540777755508808,0.71338606911949],"aabb_xy":[[-0.3482776842262234,0.9900777782983256],[-0.25610750171676044,1.1180777728034357]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[0.6229989497207198,-2.5153445788119932,0.71338606911949],"aabb_xy":[[0.5579989496864171,-2.56204525549232],[0.6879989497550225,-2.4686439021316655]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.048251291983500755,-0.7385613331333016,0.71338606911949],"aabb_xy":[[-0.06492842797659626,-0.7552612571072319],[-0.03157415599040525,-0.7218614091593714]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[-0.13293502238970478,0.8383727432457051,0.71338606911949],"aabb_xy":[[-0.17511943655053555,0.7743727429684939],[-0.09075060822887407,0.9023727435229163]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.6305278770212205,-0.5228103341243173,0.71338606911949],"aabb_xy":[[-0.6680278773694481,-0.5346017297054009],[-0.5930278766729926,-0.5110189385432338]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.39533539441031484,1.4330419427993095,0.71338606911949],"aabb_xy":[[0.37746628665585935,1.4192090348220983],[0.41320450216477034,1.4468748507765203]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.3904809108179081,0.33575287666301445,0.71338606911949],"aabb_xy":[[-0.4154809099835412,0.3288006309576579],[-0.365480911652275,0.34270512236837103]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.4146443112703313,-1.0852314894285215,0.71338606911949],"aabb_xy":[[0.4065166230770181,-1.0941450978392293],[0.4227719994636445,-1.0763178810178138]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[-0.47951117983015434,1.2620338454172666,0.71338606911949],"aabb_xy":[[-0.5435068772252509,1.198033847116558],[-0.41551548243505776,1.3260338437179753]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[0.6552945807682755,-2.0022149443089563,0.71338606911949],"aabb_xy":[[0.5952945801722594,-2.05702741685418],[0.7152945813642918,-1.9474024717637328]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_15","position":[-0.015784553737891116,-0.6595349747044001,0.71338606911949],"aabb_xy":[[-0.02219836738107605,-0.6659447949520683],[-0.00937074009470617,-0.6531251544567316]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.37624597432671436,-2.0222041561682906,0.71338606911949],"aabb_xy":[[0.346254311592844,-2.0522041555050907],[0.40623763706058463,-1.9922041568314897]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.0887770181339359,-1.2391833851690273,0.71338606911949],"aabb_xy":[[-0.10192826410522526,-1.2641833849257138],[-0.07562577216264653,-1.2141833854123407]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[0.5984442740002949,-0.6993059155073904,0.71338606911949],"aabb_xy":[[0.5344442732968255,-0.7453242979803114],[0.6624442747037642,-0.6532875330344694]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[-0.479968731127168,-1.4507482723675613,0.71338606911949],"aabb_xy":[[-0.4862808306635064,-1.4565152116207802],[-0.47365663159082955,-1.4449813331143424]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[0.24142337969175143,0.7921012008933865,0.71338606911949],"aabb_xy":[[0.20798320449573177,0.7586575750624563],[0.2748635548877709,0.8255448267243165]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[-0.2243791541386972,-0.1215892489021857,0.71338606911949],"aabb_xy":[[-0.26187915408246365,-0.12988233893702228],[-0.1868791541949308,-0.1132961588673491]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[0.22325994009771066,1.5852340883992961,0.71338606911949],"aabb_xy":[[0.21955667876857177,1.5815320700905784],[0.2269632014268495,1.5889361067080139]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.34381520110386066,-0.9676831199344393,0.71338606911949],"aabb_xy":[[0.293717737122787,-1.0316831204442511],[0.3939126650849342,-0.9036831194246276]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[-0.3876849118144896,1.7565044190120669,0.71338606911949],"aabb_xy":[[-0.45168491510419767,1.7131695000081493],[-0.32368490852478143,1.7998393380159845]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_25","position":[0.10660083842055346,-0.921734641932014,0.71338606911949],"aabb_xy":[[0.056607726311361586,-0.9717346426062099],[0.15659395052974537,-0.8717346412578186]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[0.5272818125248828,1.5918939736982316,0.71338606911949],"aabb_xy":[[0.4422818138328082,1.5599081103033527],[0.6122818112169575,1.6238798370931105]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_27","position":[0.6463349128272833,0.5247478709178623,0.71338606911949],"aabb_xy":[[0.5813349101894898,0.4732682722184154],[0.7113349154650768,0.5762274696173093]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[0.6798631801820847,-0.8564130305412654,0.71338606911949],"aabb_xy":[[0.6413174873568838,-0.894958801597454],[0.7184088730072858,-0.8178672594850768]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_29","position":[0.33955411453064754,-2.1203881185320625,0.71338606911949],"aabb_xy":[[0.30455411463462867,-2.128762354044002],[0.3745541144266664,-2.112013883020122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909088738090157,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3968.png","name":"3968"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3968.png","name":"3968"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/324.png","name":"324"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6457.png","name":"6457"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8606.png","name":"8606"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6696.png","name":"6696"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":841.5714895536817,"rotation_z_degrees":246.8370431974447,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012385006476492788,-0.016687731479799718,0.019244941053075757]},{"name":"camera_2","offset_m":[-0.01103807456552413,-0.01121840437986673,-0.005479178710071144]},{"name":"camera_3","offset_m":[0.013398410061754771,-0.008835822425170177,0.0029464924443729154]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007787259587493365,0.0003841986444676165,9.517279101301998e-05],"end_effector_yaw_offset_degrees":0.7175313414564013},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011894352702013031,-0.00025962645893004457,5.383888329757924e-05],"end_effector_yaw_offset_degrees":-0.7534254642903635},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000728471890570075,-0.0005126291296689014,0.0019777499453935326],"end_effector_yaw_offset_degrees":-0.16655729128784658},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009384087321845551,0.0003048243980373912,0.0017796112856745625],"end_effector_yaw_offset_degrees":-0.31228751610785643}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005091961609234559,-0.0014786489572499871],"position_m":[0.13999080383907656,0.23322135104275,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001148126131848057,-0.0021667518472909164],"position_m":[0.25024812613184805,-0.38556675184729094,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031230569751024384,-0.0036784648070301287],"position_m":[0.21047694302489758,-0.05737846480703013,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002462994584483578,0.0020077059560957193],"position_m":[0.35113700541551646,0.11920770595609571,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f679e87d59b5a8672ee74997d08fa58259b82a291a0d8847d19e4d6a18cc9214","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3968/tex_ceiling_textures_6696/tex_floor_textures_8606/tex_table_textures_324/tex_wall_textures_6457","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4165476315459061635,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4165476315459061635,"visual_seed":4165476315459061635,"scene_id":"lab_003","finished_at":"2026-09-05T03:55:13"}
+{"episode_id":"ep_000040","started_at":"2026-09-05T03:55:19","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[0.5586502337267447,-1.4015869145795101,0.71338606911949],"aabb_xy":[[0.5506562451490412,-1.4095869946746002],[0.566644222304448,-1.3935868344844196]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.17263387729781976,1.4555945936991104,0.71338606911949],"aabb_xy":[[-0.19050298505227525,1.4417616857218991],[-0.15476476954336427,1.4694275016763212]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.3679953476371188,-0.78621187774942,0.71338606911949],"aabb_xy":[[-0.39299534690908106,-0.8025572413455824],[-0.3429953483651565,-0.7698665141532577]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.10971582605497499,-0.791340624955597,0.71338606911949],"aabb_xy":[[0.019715823720955913,-0.8688229795407095],[0.19971582838899404,-0.7138582703704842]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[-0.21756741991384332,-0.42349603476865516,0.71338606911949],"aabb_xy":[[-0.2675674209329787,-0.4599622505064832],[-0.1675674188947081,-0.38702981903082734]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.3384873658210808,1.6686886117253246,0.71338606911949],"aabb_xy":[[-0.3445819937091991,1.660119217173656],[-0.3323927379329625,1.6772580062769935]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[-0.5960925578152261,-2.1736596920849167,0.71338606911949],"aabb_xy":[[-0.6510880356358855,-2.2286596935188236],[-0.5410970799945667,-2.11865969065101]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[0.2101311673467554,-1.8024869206909881,0.71338606911949],"aabb_xy":[[0.14513116919083635,-1.8287831652409001],[0.27513116550267447,-1.7761906761410757]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[-0.00924171264095841,-2.2328050289428436,0.71338606911949],"aabb_xy":[[-0.03174171315299901,-2.2552968873082415],[0.013258287871082188,-2.210313170577445]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[-0.22683072717695008,-2.5131997877925816,0.71338606911949],"aabb_xy":[[-0.2884214864009429,-2.5771997859016293],[-0.16523996795295726,-2.4491997896835356]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[-0.615961524157763,-1.6572921086384182,0.71338606911949],"aabb_xy":[[-0.6381340511344138,-1.679467775794541],[-0.5937889971811121,-1.635116441482295]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_11","position":[-0.2820267325987436,-1.0591338365093057,0.71338606911949],"aabb_xy":[[-0.31634300977336155,-1.1091338364824834],[-0.24771045542412568,-1.009133836536128]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.6530931441378669,0.07688321383777019,0.71338606911949],"aabb_xy":[[-0.6905931456534985,0.06565644082162514],[-0.6155931426222351,0.08810998685391525]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[0.3345902793426456,1.3299552260163732,0.71338606911949],"aabb_xy":[[0.28678411172887697,1.2649552233093142],[0.3823964469564142,1.3949552287234321]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[0.3792273077943291,1.594764285283357,0.71338606911949],"aabb_xy":[[0.34359815189436943,1.559131618526504],[0.4148564636942889,1.63039695204021]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.3782906879792416,1.1148292230901746,0.71338606911949],"aabb_xy":[[0.3432906896685462,1.107114208166629],[0.4132906862899371,1.1225442380137203]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.621063710109087,0.5494785227463468,0.71338606911949],"aabb_xy":[[-0.6710637096854218,0.49949794379424084],[-0.5710637105327524,0.5994591016984527]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[0.23772711753490494,1.2061067134018555,0.71338606911949],"aabb_xy":[[0.2027271176388861,1.1977324778899154],[0.2727271174309238,1.2144809489137955]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[0.5037750732552291,-2.352216207547726,0.71338606911949],"aabb_xy":[[0.49461519431135237,-2.3587474255912633],[0.5129349521991056,-2.3456849895041896]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.07177484322421246,-0.8344319908913032,0.71338606911949],"aabb_xy":[[-0.1170534581053617,-0.8984319902394868],[-0.026496228343063186,-0.7704319915431195]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.043470302684401996,1.7633416758735119,0.71338606911949],"aabb_xy":[[0.00597030251253005,1.7306409404906045],[0.08097030285627393,1.7960424112564188]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.4861015642567502,-0.4731115036172877,0.71338606911949],"aabb_xy":[[-0.5106477798795009,-0.5033604001663247],[-0.46155534863399955,-0.4428626070682506]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[-0.026470765639285965,-2.400872353199449,0.71338606911949],"aabb_xy":[[-0.09047076203485904,-2.464835641618182],[0.03752923075628711,-2.336909064780715]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[-0.48992390357879956,0.22565201379567146,0.71338606911949],"aabb_xy":[[-0.5249239049302812,0.20529227783885062],[-0.4549239022273178,0.2460117497524923]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[0.46690409317793446,-1.7541679615050048,0.71338606911949],"aabb_xy":[[0.3869040899200915,-1.8341644692969887],[0.5469040964357774,-1.6741714537130208]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_25","position":[-0.4336062392659462,-1.626378704236473,0.71338606911949],"aabb_xy":[[-0.439572778206682,-1.6323398488958374],[-0.4276397003252104,-1.620417559577109]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[0.4071806450726001,0.23906820300802334,0.71338606911949],"aabb_xy":[[0.3846806448290847,0.22686356834825142],[0.4296806453161155,0.2512728376677953]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6844819799995097,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7996.png","name":"7996"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7996.png","name":"7996"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3199.png","name":"3199"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3633.png","name":"3633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3323.png","name":"3323"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6812.png","name":"6812"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":580.5175487679178,"rotation_z_degrees":67.91366169215274,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004454475752534361,-0.017877091447176047,-0.007879095308491197]},{"name":"camera_2","offset_m":[-0.007491353529289074,-0.011670293890747693,-0.01840054139448563]},{"name":"camera_3","offset_m":[0.016982054154155758,0.011596919871987865,0.012733124904738446]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.87522393519273e-05,0.0019250533321150537,1.3680911351156289e-05],"end_effector_yaw_offset_degrees":0.7965193810653888},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-4.035334568958668e-05,-0.0013689928219882803,0.0006287723001732913],"end_effector_yaw_offset_degrees":0.33588138606541684},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010897474720012756,0.0003928522342381345,-0.0012993037459441018],"end_effector_yaw_offset_degrees":0.2234933116870368},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014021305183859445,0.0004982513558118781,-0.00015988363541366503],"end_effector_yaw_offset_degrees":-0.35218848266117164}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002999997374322665,0.0030360212472264657],"position_m":[0.13750000262567735,0.23773602124722645,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025386756686082415,0.0038791034409598807],"position_m":[0.24656132433139175,-0.37952089655904014,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003080719904755349,-0.001808805655477478],"position_m":[0.21051928009524468,-0.05550880565547747,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012634415628229364,0.0003465069022152876],"position_m":[0.35486344156282296,0.11754650690221528,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5ec0d22fde741abc268bc3b46582223d673116f4734893e3305c215ad6b0c2d9","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7996/tex_ceiling_textures_6812/tex_floor_textures_3323/tex_table_textures_3199/tex_wall_textures_3633","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1819898994577639122,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1819898994577639122,"visual_seed":1819898994577639122,"scene_id":"lab_003","finished_at":"2026-09-05T03:59:17"}
+{"episode_id":"ep_000041","started_at":"2026-09-05T03:59:21","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[-0.43812317229065234,0.7347256017578592,0.71338606911949],"aabb_xy":[[-0.4422590286233526,0.6972256023135023],[-0.4339873159579522,0.7722256012022163]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[-0.556659396740202,-2.5251223896084354,0.71338606911949],"aabb_xy":[[-0.5670709554206856,-2.5304681229443333],[-0.5462478380597182,-2.5197766562725366]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.3159735544526261,-1.2460670352086116,0.71338606911949],"aabb_xy":[[0.2984735551745393,-1.2634051352749576],[0.333473553730713,-1.2287289351422657]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_3","position":[-0.4180881250872181,-0.38522258201673365,0.71338606911949],"aabb_xy":[[-0.43069082422429456,-0.39781797824159915],[-0.40548542595014164,-0.37262718579186815]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_4","position":[-0.16959354940679783,-0.17540156323335987,0.71338606911949],"aabb_xy":[[-0.1777072040801749,-0.18350737968738895],[-0.1614798947334207,-0.1672957467793308]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[0.6088517835509251,-1.7793899635445363,0.71338606911949],"aabb_xy":[[0.5713517851275246,-1.792554177512367],[0.6463517819743253,-1.7662257495767055]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[0.16553538162258175,1.0433596317210738,0.71338606911949],"aabb_xy":[[0.15462960553501903,0.9633596353222447],[0.17644115771014446,1.123359628119903]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[-0.27341912021197035,-1.143231783265285,0.71338606911949],"aabb_xy":[[-0.3144370635983412,-1.1932317838962425],[-0.23240117682559946,-1.0932317826343279]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[0.5575067187958467,0.10251134467830836,0.71338606911949],"aabb_xy":[[0.49350671688350434,0.046600195420297946],[0.621506720708189,0.15842249393631883]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[0.46505417818593564,-0.1070920464567231,0.71338606911949],"aabb_xy":[[0.41505490301749953,-0.1570920477326703],[0.5150534533543718,-0.05709204518077596]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[-0.03299683553622135,1.5785772905147675,0.71338606911949],"aabb_xy":[[-0.11299683696634855,1.4990601355021578],[0.04700316589390585,1.6580944455273767]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[0.23860740507725464,-0.8869890653984613,0.71338606911949],"aabb_xy":[[0.22926039749495938,-0.9012926876161054],[0.24795441265954984,-0.8726854431808173]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[-0.4399876763190746,1.3444961657407402,0.71338606911949],"aabb_xy":[[-0.45748767545344177,1.3346165387031519],[-0.4224876771847074,1.3543757927783275]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.34173205159019027,-2.130816273496851,0.71338606911949],"aabb_xy":[[0.30795649239949724,-2.144854768710016],[0.3755076107808832,-2.1167777782836863]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.45460927702135123,1.4613294273496114,0.71338606911949],"aabb_xy":[[0.4509060156922123,1.4576274090408934],[0.4583125383504901,1.4650314456583289]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.439277555622469,-1.1834843474759833,0.71338606911949],"aabb_xy":[[-0.4853626468772005,-1.2474843447285384],[-0.3931924643677375,-1.1194843502234282]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[0.576742575454738,-0.10554089273792755,0.71338606911949],"aabb_xy":[[0.5554645673112656,-0.1705408950640006],[0.5980205835982101,-0.04054089041185448]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.35393276004834784,0.8409034159702702,0.71338606911949],"aabb_xy":[[-0.37304506740632665,0.8217686370930283],[-0.3348204526903689,0.8600381948475123]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.03557585233433869,0.7402009564313556,0.71338606911949],"aabb_xy":[[-0.060089476431344546,0.7159363631293192],[-0.011062228237332827,0.7644655497333921]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[-0.3664881357806488,0.5184010667802399,0.71338606911949],"aabb_xy":[[-0.40398813627800706,0.5144323832321215],[-0.3289881352832906,0.5223697503283583]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[-0.4958009730355676,-1.7356300678738514,0.71338606911949],"aabb_xy":[[-0.5507932236710786,-1.7906300696171646],[-0.44080872240005675,-1.6806300661305391]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[-0.006944581024613261,-2.212598288654227,0.71338606911949],"aabb_xy":[[-0.04444458113020621,-2.219420450507208],[0.03055541908097969,-2.205776126801246]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[0.2736474536425696,0.6810740510074478,0.71338606911949],"aabb_xy":[[0.20864745508549676,0.6513215175935652],[0.33864745219964243,0.7108265844213304]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[-0.13703145742136214,0.5445990521110158,0.71338606911949],"aabb_xy":[[-0.17203145573205758,0.5368840371874702],[-0.10203145911066669,0.5523140670345615]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[0.39614906576787856,0.812012525827774,0.71338606911949],"aabb_xy":[[0.33214906354747153,0.7676394417024857],[0.4601490679882856,0.8563856099530622]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_25","position":[-0.10642884977552791,0.9209958335119084,0.71338606911949],"aabb_xy":[[-0.16642885063634066,0.869569403505422],[-0.04642884891471508,0.9724222635183948]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_26","position":[0.17690477566529272,-1.0507383297184938,0.71338606911949],"aabb_xy":[[0.1129047763711245,-1.114724470087348],[0.24090477495946094,-0.9867521893496396]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[0.5481854313648089,-0.4683390698754599,0.71338606911949],"aabb_xy":[[0.45818542903078985,-0.5458214244605726],[0.638185433698828,-0.39085671529034727]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_28","position":[0.198012616863667,-1.4818438838151107,0.71338606911949],"aabb_xy":[[0.15020644924989834,-1.5468438865221694],[0.24581878447743563,-1.4168438811080517]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_29","position":[-0.4558020525330985,1.250107538179714,0.71338606911949],"aabb_xy":[[-0.5258020559246606,1.214791764476283],[-0.38580204914153654,1.2854233118831446]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_30","position":[0.4645284430212906,-1.2409904781990482,0.71338606911949],"aabb_xy":[[0.4416127301362408,-1.263894775335472],[0.4874441559063406,-1.218086181062625]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_31","position":[0.5441451423540355,-1.422459878796726,0.71338606911949],"aabb_xy":[[0.5322124079922075,-1.4348420316045853],[0.5560778767158636,-1.4100777259888666]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_32","position":[0.6107495588024077,1.2409432838392411,0.71338606911949],"aabb_xy":[[0.568565144641577,1.17694328356203],[0.6529339729632385,1.3049432841164523]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867255886734209,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/198.png","name":"198"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/198.png","name":"198"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3766.png","name":"3766"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6868.png","name":"6868"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3344.png","name":"3344"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3296.png","name":"3296"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":734.2656096563747,"rotation_z_degrees":178.29239322492234,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008814861950315517,-0.006971985687555153,-0.010218495766868339]},{"name":"camera_2","offset_m":[0.0017045440725937458,-0.018615093170399714,-0.01939293205689881]},{"name":"camera_3","offset_m":[-0.018926791233709054,-0.015236989593407926,0.01963665913671742]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001670390641486464,-0.00023738048672988397,-0.001733361166400179],"end_effector_yaw_offset_degrees":0.8058924546247583},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011575957727208482,-0.0003447256386218168,-8.203313332986973e-05],"end_effector_yaw_offset_degrees":0.81992712350177},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000804929949582978,-0.001388777338512674,0.0019167890539219697],"end_effector_yaw_offset_degrees":-0.6346661569486933},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00040433781567832333,0.0002769011556215174,-0.0017460726566687033],"end_effector_yaw_offset_degrees":0.8251302777753378}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006525839275616117,-0.003208844233970799],"position_m":[0.1398474160724384,0.2314911557660292,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003465082120272872,-0.0015247088030244781],"position_m":[0.2456349178797271,-0.3849247088030245,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002787836924292182,-0.0024232016122596135],"position_m":[0.2163878369242922,-0.05612320161225961,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004048501908796724,0.00019668804237990296],"position_m":[0.35764850190879677,0.1173966880423799,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"50388cf024a2fa7f5c960541812b85714faa6c637c89ae082e22bfccbcff99b9","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_198/tex_ceiling_textures_3296/tex_floor_textures_3344/tex_table_textures_3766/tex_wall_textures_6868","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2822351950016838434,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2822351950016838434,"visual_seed":2822351950016838434,"scene_id":"lab_003","finished_at":"2026-09-05T04:03:17"}
+{"episode_id":"ep_000042","started_at":"2026-09-05T04:03:21","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.3625792427389255,0.7026718536001955,0.71338606911949],"aabb_xy":[[-0.368891342275264,0.6969049143469767],[-0.3562671432025871,0.7084387928534143]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[-0.6529842276852069,-0.5104531535888976,0.71338606911949],"aabb_xy":[[-0.6833823387843504,-0.540860055590567],[-0.6225861165860632,-0.4800462515872281]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.2156812778577235,-1.8965071973932217,0.71338606911949],"aabb_xy":[[-0.22531291407815313,-1.9061445101729306],[-0.2060496416372939,-1.8868698846135128]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.4745946999564077,0.5393610464075351,0.71338606911949],"aabb_xy":[[-0.48583975552702546,0.5281192486834398],[-0.4633496443857898,0.5506028441316304]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[0.6891607291430655,-1.01420412223366,0.71338606911949],"aabb_xy":[[0.6765339418558691,-1.0237501959352329],[0.7017875164302618,-1.004658048532087]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.41362416805549784,1.4433672325444964,0.71338606911949],"aabb_xy":[[-0.4936241666428172,1.3640516306063353],[-0.33362416946817836,1.522682834482657]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.2353813253912097,1.056124650598437,0.71338606911949],"aabb_xy":[[-0.24279378093259815,1.050273440176809],[-0.2279688698498212,1.061975861020065]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.3972309399430616,0.8296612780422867,0.71338606911949],"aabb_xy":[[0.35010156094122585,0.7656612769978847],[0.4443603189448972,0.8936612790866886]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[-0.19714089683824226,1.1582128368719444,0.71338606911949],"aabb_xy":[[-0.21963731827210636,1.135712837065197],[-0.17464447540437816,1.1807128366786919]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[-0.12432149001405668,-2.5425606196013746,0.71338606911949],"aabb_xy":[[-0.19432148642401847,-2.5629985552530554],[-0.05432149360409489,-2.522122683949692]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.10511143985252447,0.5862625559577102,0.71338606911949],"aabb_xy":[[-0.15511143942885922,0.5362819770056043],[-0.05511144027618978,0.6362431349098162]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.5291773333585368,0.19858453343941118,0.71338606911949],"aabb_xy":[[-0.5641773347100184,0.17822479748259032],[-0.494177332007055,0.218944269396232]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[-0.11659568231552453,-1.8153458369156406,0.71338606911949],"aabb_xy":[[-0.12470933698890163,-1.8234516533696694],[-0.10848202764214743,-1.8072400204616113]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[0.49493682305747067,-2.2045267751556956,0.71338606911949],"aabb_xy":[[0.4716549808593393,-2.2895267764529237],[0.518218665255602,-2.1195267738584675]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[-0.3121749741988393,-1.0173731226724314,0.71338606911949],"aabb_xy":[[-0.33668859829584513,-1.0416377159744679],[-0.2876613501018334,-0.993108529370395]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[-0.38553599746304135,0.8311639313128141,0.71338606911949],"aabb_xy":[[-0.42203181809032003,0.7946799888860566],[-0.34904017683576255,0.8676478737395718]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.6727320168495374,-2.320137620131425,0.71338606911949],"aabb_xy":[[0.6683013874946974,-2.325585991866108],[0.6771626462043777,-2.314689248396743]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[0.5106163815256237,-1.5349953712753024,0.71338606911949],"aabb_xy":[[0.48811638171172134,-1.5394699876457834],[0.5331163813395261,-1.5305207549048219]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[-0.18171201834706374,-2.245119969366788,0.71338606911949],"aabb_xy":[[-0.2617120153101029,-2.3221956110105615],[-0.10171202138402455,-2.1680443277230146]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.20011342510827623,1.5177122288543727,0.71338606911949],"aabb_xy":[[0.19478091045366325,1.5123879006091374],[0.20544593976288922,1.5230365570996085]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688201941217397,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4336.png","name":"4336"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4336.png","name":"4336"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2671.png","name":"2671"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5074.png","name":"5074"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6484.png","name":"6484"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9321.png","name":"9321"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":618.8493755401654,"rotation_z_degrees":204.3181435994122,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019345374643761674,-0.01146483639515632,-0.007385697655022904]},{"name":"camera_2","offset_m":[-0.01960469578522434,0.015562058126779067,0.005535188686804929]},{"name":"camera_3","offset_m":[-0.005815622004648042,-0.01523489734308349,0.015390706379583018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009828417417402074,0.0013147507650259696,-0.0002010700192083075],"end_effector_yaw_offset_degrees":0.9279645243344206},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000533740420376406,0.0016748926889407038,-0.0019468145505131213],"end_effector_yaw_offset_degrees":-0.31455432578421316},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001777471168265949,0.0008370413016809048,-0.0005147797208152536],"end_effector_yaw_offset_degrees":-0.10028873054972087},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00022362470115738949,-0.0005211914866570049,-0.001690839845655931],"end_effector_yaw_offset_degrees":0.4333510667940239}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036600345609068673,0.00307971485785537],"position_m":[0.13683996543909316,0.23777971485785537,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004671032589040605,0.0016814722311711819],"position_m":[0.24956710325890405,-0.38171852776882886,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008230551294439638,0.0030461435849933665],"position_m":[0.21442305512944398,-0.05065385641500663,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028351065863121317,0.0009032603770259308],"position_m":[0.3507648934136879,0.11810326037702593,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5a4a835fb02dee55103b1c35a880087002e61928d633ff0316fde760c07e7851","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4336/tex_ceiling_textures_9321/tex_floor_textures_6484/tex_table_textures_2671/tex_wall_textures_5074","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1225177183715589627,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1225177183715589627,"visual_seed":1225177183715589627,"scene_id":"lab_003","finished_at":"2026-09-05T04:07:32"}
+{"episode_id":"ep_000043","started_at":"2026-09-05T04:07:36","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.27542542166696565,-0.5138079423927389,0.71338606911949],"aabb_xy":[[-0.2819270581749703,-0.5235757644190486],[-0.2689237851589611,-0.5040401203664291]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[-0.5589656488946758,-2.286602882910821,0.71338606911949],"aabb_xy":[[-0.5660070998454234,-2.2936296346486156],[-0.5519241979439282,-2.2795761311730267]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.04918859210024962,1.153335056498595,0.71338606911949],"aabb_xy":[[-0.05528321998836793,1.1447656619469262],[-0.04309396421213129,1.1619044510502636]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.14376641617753738,-0.9427694127044852,0.71338606911949],"aabb_xy":[[0.0637664140147749,-1.0227245963306288],[0.22376641834029987,-0.8628142290783416]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[0.07124324354778222,-1.1906213973320767,0.71338606911949],"aabb_xy":[[0.03624324365176335,-1.1989956328440168],[0.1062432434438011,-1.1822471618201367]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.06447602446783085,-1.4236415428278857,0.71338606911949],"aabb_xy":[[-0.07260371266114407,-1.4325551512385934],[-0.05634833627451763,-1.414727934417178]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[-0.2582966911362837,-2.041668757218931,0.71338606911949],"aabb_xy":[[-0.313292168956943,-2.096668758652838],[-0.20330121331562423,-1.9866687557850242]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[-0.23074165552681664,1.358103633407464,0.71338606911949],"aabb_xy":[[-0.3007416571290961,1.3446708402058065],[-0.16074165392453715,1.3715364266091217]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[-0.01110202770709623,0.434740329646234,0.71338606911949],"aabb_xy":[[-0.018384344083759878,0.3447403260367249],[-0.0038197113304325714,0.5247403332557428]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[-0.4594990462034012,-1.2766627538484419,0.71338606911949],"aabb_xy":[[-0.4769990464484506,-1.2941625416880085],[-0.4419990459583518,-1.2591629660088748]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.5554813697197071,-1.0902765410434432,0.71338606911949],"aabb_xy":[[-0.5635076403503332,-1.099028036020796],[-0.5474550990890812,-1.0815250460660908]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.19455404925176845,-0.05871472159615854,0.71338606911949],"aabb_xy":[[-0.20159435918530547,-0.13871472099582996],[-0.18751373931823148,0.021285277803512862]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[0.5345656014468627,-2.1715135109157004,0.71338606911949],"aabb_xy":[[0.49706560162982916,-2.1761517222268423],[0.5720656012638963,-2.1668752996045586]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[-0.056773239696482514,0.9160317760992065,0.71338606911949],"aabb_xy":[[-0.12077323609205559,0.8520684876804728],[0.007226756699090571,0.9799950645179399]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.6880023802181673,-2.543890753626044,0.71338606911949],"aabb_xy":[[-0.6926374953704004,-2.5477580887031928],[-0.6833672650659337,-2.5400234185488952]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.23235326428971026,-1.4299140485851853,0.71338606911949],"aabb_xy":[[0.16835326401573203,-1.4799801487824733],[0.2963532645636885,-1.3798479483878974]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.1852127777572109,0.8534264894827284,0.71338606911949],"aabb_xy":[[0.18031348545064735,0.8257495701801595],[0.19011207006377434,0.881103408785297]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.24260614900295768,0.4799365755785958,0.71338606911949],"aabb_xy":[[-0.30760614996008484,0.42798836364489024],[-0.17760614804583041,0.5318847875123014]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.5459713737417626,-1.732918235746094,0.71338606911949],"aabb_xy":[[-0.5568118519682775,-1.7501045170367422],[-0.5351308955152477,-1.7157319544554448]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.24654697187927382,-0.2951251580431191,0.71338606911949],"aabb_xy":[[-0.30154697105586326,-0.3501148328180767],[-0.1915469727026843,-0.24013548326816142]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.4470583183724395,0.568062392081194,0.71338606911949],"aabb_xy":[[0.43459096026270394,0.5555970674478705],[0.45952567648217524,0.5805277167145175]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_21","position":[0.10062273660631726,-2.4652528001997616,0.71338606911949],"aabb_xy":[[0.09321028106492879,-2.4711040106213895],[0.10803519214770574,-2.4594015897781336]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[-0.33258277348125925,0.6539660788627684,0.71338606911949],"aabb_xy":[[-0.39658277677096737,0.6106311598588507],[-0.26858277019155113,0.697300997866686]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[-0.29818710512690133,-2.26370351362205,0.71338606911949],"aabb_xy":[[-0.3194651132703735,-2.328703515948123],[-0.276909096983429,-2.1987035112959767]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_24","position":[0.3714783736302518,-1.1045200727150666,0.71338606911949],"aabb_xy":[[0.30647837574860404,-1.1556437364216074],[0.43647837151189967,-1.0533964090085257]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[-0.3029893592104532,-2.547561323020783,0.71338606911949],"aabb_xy":[[-0.3254893592206015,-2.5616575426603863],[-0.28048935920030493,-2.5334651033811797]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_26","position":[0.6891280291401707,0.1986077827084043,0.71338606911949],"aabb_xy":[[0.6772559461286696,0.11360778301475394],[0.7010001121516718,0.28360778240205464]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[0.511076411087996,0.9176570543761087,0.71338606911949],"aabb_xy":[[0.4560831997508592,0.8626570540373152],[0.5660696224251327,0.9726570547149024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692075348518645,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8826.png","name":"8826"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8826.png","name":"8826"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7050.png","name":"7050"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/93.png","name":"93"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6030.png","name":"6030"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6477.png","name":"6477"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":705.1697574013831,"rotation_z_degrees":301.14148089303603,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015290963981967689,0.014849807163948476,0.006800496458256474]},{"name":"camera_2","offset_m":[-0.008196561294413955,-0.0021378991966019105,0.01308891807766652]},{"name":"camera_3","offset_m":[0.017892907986292447,0.015471711095104746,-0.015416584673109131]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011998986919807943,0.0012729696665298535,-2.9651557236092668e-05],"end_effector_yaw_offset_degrees":0.6194223063091442},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018072464842541747,-0.0006240700746757456,0.000868762671721725],"end_effector_yaw_offset_degrees":0.10178262716146924},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000654876083898926,-0.0013021191860549067,0.0007203974360628115],"end_effector_yaw_offset_degrees":0.15051682956882328},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019629539663127485,-0.0007586927534096665,-0.001265672767367823],"end_effector_yaw_offset_degrees":0.03146264490516981}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017604230821684445,-0.0007614913139168478],"position_m":[0.14226042308216846,0.23393850868608315,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001126057653646255,-0.004285706363598789],"position_m":[0.25022605765364625,-0.3876857063635988,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033594485736593996,0.0038932463770108986],"position_m":[0.21695944857365942,-0.0498067536229891,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033241998527070893,0.004622932111084295],"position_m":[0.3502758001472929,0.12182293211108429,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ef41e0af5c80035fd5de86e8d00e92b35468f0947ea39b7910e7dae6e429daf4","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0043.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8826/tex_ceiling_textures_6477/tex_floor_textures_6030/tex_table_textures_7050/tex_wall_textures_93","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3308756652631533537,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3308756652631533537,"visual_seed":3308756652631533537,"scene_id":"lab_003","finished_at":"2026-09-05T04:11:34"}
+{"episode_id":"ep_000044","started_at":"2026-09-05T04:11:38","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_0","position":[-0.1096771427018085,-0.4154657120916654,0.71338606911949],"aabb_xy":[[-0.1439740537195491,-0.44976259830160675],[-0.07538023168406785,-0.381168825881724]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.15951131143162178,-1.7856425885225882,0.71338606911949],"aabb_xy":[[-0.22951131356305127,-1.8084045541482836],[-0.08951130930019219,-1.7628806228968923]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[-0.3618148845419022,-0.14069911323362705,0.71338606911949],"aabb_xy":[[-0.3793148836762693,-0.15057874027121487],[-0.34431488540753497,-0.13081948619603923]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.020702773788487283,-1.8969052780302493,0.71338606911949],"aabb_xy":[[-0.0432929236066093,-1.960905276330958],[0.08469847118358387,-1.8329052797295406]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_4","position":[0.6029111157936422,-2.2813840700339965,0.71338606911949],"aabb_xy":[[0.5816331076501698,-2.346384072360069],[0.6241891239371143,-2.216384067707923]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[0.6342469098670134,1.3525321740728549,0.71338606911949],"aabb_xy":[[0.6261192216737002,1.343618565662147],[0.6423745980603266,1.3614457824835626]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.22402122604221752,0.7590256646269062,0.71338606911949],"aabb_xy":[[0.15902122816056977,0.7079020009203654],[0.28902122392386537,0.8101493283334472]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.0007635179683027626,-0.8126871573048939,0.71338606911949],"aabb_xy":[[-0.0048416758753525024,-0.8167681375531572],[0.003314639938746977,-0.8086061770566306]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[-0.5822780550269534,-2.427735635378826,0.71338606911949],"aabb_xy":[[-0.6157572222879943,-2.461214748749933],[-0.5487988877659125,-2.394256522007719]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[0.5828152106772151,-1.5083840541480822,0.71338606911949],"aabb_xy":[[0.5544855007286749,-1.5128447963417992],[0.6111449206257553,-1.5039233119543651]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[0.525281807399816,1.2900951994277223,0.71338606911949],"aabb_xy":[[0.4752869744718743,1.2400952005324788],[0.5752766403277575,1.3400951983229659]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[-0.3306018732635696,-0.4590686235668122,0.71338606911949],"aabb_xy":[[-0.38559412389908065,-0.5140686253101251],[-0.2756096226280587,-0.40406862182349956]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[-0.5884589667559486,0.9413379140110192,0.71338606911949],"aabb_xy":[[-0.6259589651793488,0.9281737000431886],[-0.5509589683325481,0.9545021279788498]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[0.06691148200440789,1.4951571097044378,0.71338606911949],"aabb_xy":[[0.03694392509458222,1.4651571094065523],[0.09687903891423355,1.5251571100023238]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[-0.5310262142065141,-0.0103680797178205,0.71338606911949],"aabb_xy":[[-0.5809995082097745,-0.06036808027236784],[-0.48105292020325363,0.03963192083672684]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[-0.49441513560961736,-1.767236084881218,0.71338606911949],"aabb_xy":[[-0.5120907661982157,-1.7849163011606208],[-0.476739505021019,-1.7495558686018153]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[0.26758920283481447,-0.5652077943830074,0.71338606911949],"aabb_xy":[[0.222596616116364,-0.6102077936574561],[0.3125817895532648,-0.5202077951085586]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.2150044930335564,-2.528508676915748,0.71338606911949],"aabb_xy":[[0.1350044958739811,-2.540056277873565],[0.2950044901931317,-2.516961075957931]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[-0.056242334001103234,-1.598326902029371,0.71338606911949],"aabb_xy":[[-0.06947327953578453,-1.6115543210513703],[-0.04301138846642193,-1.5850994830073715]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.47742730964789926,1.5824638926491885,0.71338606911949],"aabb_xy":[[-0.5574273118106616,1.502508709023045],[-0.3974273074851367,1.6624190762753321]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[0.052901324228992075,-1.329490723892934,0.71338606911949],"aabb_xy":[[0.04693478528825628,-1.335451868552298],[0.058867863169727856,-1.3235295792335702]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[0.4693889594948415,-0.7101549510461844,0.71338606911949],"aabb_xy":[[0.4053889623827358,-0.759187320840595],[0.5333889566069472,-0.6611225812517738]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[-0.08188869312825087,-2.169312090251,0.71338606911949],"aabb_xy":[[-0.1458886934022291,-2.219378190448288],[-0.017888692854272623,-2.119245990053712]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.21179013099442556,-1.579443361553848,0.71338606911949],"aabb_xy":[[0.1892901314707181,-1.6019393090044682],[0.2342901305181329,-1.5569474141032267]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_24","position":[-0.0417022282941214,1.1511376736203318,0.71338606911949],"aabb_xy":[[-0.09670222649586624,1.110615706993894],[0.013297769907623427,1.1916596402467692]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[-0.16252630392582035,-0.9319360120262759,0.71338606911949],"aabb_xy":[[-0.17920343991891588,-0.948635936000206],[-0.14584916793272487,-0.9152360880523455]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[0.642022050840668,-1.779973628072725,0.71338606911949],"aabb_xy":[[0.5620220521837819,-1.7944784869969876],[0.7220220494975539,-1.7654687691484618]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6946299983168785,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8498.png","name":"8498"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8498.png","name":"8498"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7064.png","name":"7064"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7990.png","name":"7990"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3840.png","name":"3840"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4524.png","name":"4524"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":687.1639325633569,"rotation_z_degrees":112.48604168849137,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012066867476322577,0.012266267511195677,0.0009135712492135094]},{"name":"camera_2","offset_m":[0.018585618584227154,-0.01091154465413776,0.008681103413499206]},{"name":"camera_3","offset_m":[-0.012583499116232463,-0.015009965202335836,-0.005649659368261251]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013164605999417458,1.39945479191903e-05,-0.0003101763895567084],"end_effector_yaw_offset_degrees":0.39946563290189907},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002689743559797656,0.0009017852625641263,0.0016898825696050313],"end_effector_yaw_offset_degrees":-0.9220205045767327},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007868396560896187,0.00017122648599773296,-0.0015230595601621046],"end_effector_yaw_offset_degrees":0.04945141582904311},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000553856388151062,-0.0005789623553487915,-0.0005274879513011736],"end_effector_yaw_offset_degrees":-0.3873919247503226}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002665341887967363,-0.0034227558810316218],"position_m":[0.13783465811203266,0.23127724411896838,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004751003753811523,-0.003476377396220048],"position_m":[0.25385100375381153,-0.38687637739622005,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038187906871559175,0.0015076474569259988],"position_m":[0.2097812093128441,-0.052192352543074,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023243607762505336,0.0029221076518028367],"position_m":[0.3512756392237495,0.12012210765180284,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"044a03f277ba59b9e7eb43ffaaf477fde1071107ccbac6019a3625cf98a5d418","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8498/tex_ceiling_textures_4524/tex_floor_textures_3840/tex_table_textures_7064/tex_wall_textures_7990","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4077000310135070609,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4077000310135070609,"visual_seed":4077000310135070609,"scene_id":"lab_003","finished_at":"2026-09-05T04:15:35"}
+{"episode_id":"ep_000045","started_at":"2026-09-05T04:15:40","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.4821497775187107,-0.34715403690323354,0.71338606911949],"aabb_xy":[[0.4181497752983036,-0.3915271210285218],[0.5461497797391177,-0.3027809527779452]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.6785841466258153,-1.9736415695954777,0.71338606911949],"aabb_xy":[[0.6560850108995884,-1.9961415703737404],[0.7010832823520423,-1.9511415688172145]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.07759425141401688,-1.5565300899009389,0.71338606911949],"aabb_xy":[[-0.16759425113719104,-1.5796034424361183],[0.012405748309157303,-1.5334567373657586]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.17783977470058043,0.6187067727518536,0.71338606911949],"aabb_xy":[[-0.22783977414077602,0.5687388482675372],[-0.12783977526038479,0.6686746972361698]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_4","position":[0.1608583435227765,0.891242329455427,0.71338606911949],"aabb_xy":[[0.1574176672827193,0.8873808964810627],[0.16429901976283365,0.8951037624297916]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.1227936656726144,-1.0493172836656661,0.71338606911949],"aabb_xy":[[-0.14042650126614198,-1.0669402296812889],[-0.10516083007908683,-1.031694337650043]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[-0.09225592772580427,1.7677573751222622,0.71338606911949],"aabb_xy":[[-0.09988019581598252,1.7601241515857189],[-0.08463165963562602,1.7753905986588063]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[0.47139532656887284,0.40734365817132767,0.71338606911949],"aabb_xy":[[0.411395326722306,0.35052503597828893],[0.5313953264154396,0.4641622803643663]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.35413572283518213,0.9528724473796917,0.71338606911949],"aabb_xy":[[-0.3991283095536325,0.907872448105243],[-0.30914313611673166,0.9978724466541405]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.36115039487032413,0.07532299773116513,0.71338606911949],"aabb_xy":[[-0.36506426806574666,0.06657398232460837],[-0.3572365216749016,0.08407201313772189]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[0.28733925740693445,1.444005878197236,0.71338606911949],"aabb_xy":[[0.20733925633381411,1.4342278318598516],[0.3673392584800548,1.4537839245346205]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.4995310266341779,0.19615051773648728,0.71338606911949],"aabb_xy":[[0.4756948089935729,0.10615051692800082],[0.523367244274783,0.28615051854497375]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.3935965057306882,-2.34148803893246,0.71338606911949],"aabb_xy":[[-0.4575965080734898,-2.386428890176592],[-0.32959650338788665,-2.296547187688327]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[0.17163524337280678,-1.238472766579646,0.71338606911949],"aabb_xy":[[0.1491352433626585,-1.2525689862192493],[0.19413524338295507,-1.2243765469400427]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[-0.069556681154609,-2.347958363787444,0.71338606911949],"aabb_xy":[[-0.10810237397981004,-2.386504134843632],[-0.03101098832940797,-2.3094125927312548]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_15","position":[-0.35716280527943495,-1.5129115878849086,0.71338606911949],"aabb_xy":[[-0.4032478965341664,-1.5769115851374638],[-0.3110777140247034,-1.4489115906323535]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.3981477470853671,0.67719580484271,0.71338606911949],"aabb_xy":[[-0.47814775034321005,0.5971992970507259],[-0.31814774382752414,0.7571923126346939]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.6471986918872609,-2.3187254786887372,0.71338606911949],"aabb_xy":[[-0.654239001820798,-2.398725478088409],[-0.640158381953724,-2.2387254792890663]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.18676746921701426,-1.0609104609579565,0.71338606911949],"aabb_xy":[[0.1317752185815033,-1.1159104627012695],[0.2417597198525252,-1.005910459214644]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[-0.26251333454353637,-1.9751063834756737,0.71338606911949],"aabb_xy":[[-0.3125133358273762,-2.0250852378662954],[-0.21251333325969632,-1.9251275290850516]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[-0.6066602253026611,1.5595073370359889,0.71338606911949],"aabb_xy":[[-0.6706602267106516,1.5077183855120642],[-0.5426602238946703,1.6112962885599136]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.5499000095591342,1.7398022529647519,0.71338606911949],"aabb_xy":[[-0.5554816811932629,1.7273022531469766],[-0.5443183379250053,1.7523022527825276]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[0.009902665447312886,0.8532929675492693,0.71338606911949],"aabb_xy":[[-0.00017904163126059199,0.7732929696571544],[0.019984372525886362,0.9332929654413837]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_23","position":[-0.02152562809147962,-1.4306385132334838,0.71338606911949],"aabb_xy":[[-0.02965331628479284,-1.4395521216441916],[-0.0133979398981664,-1.421724904822776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6842651791840381,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7329.png","name":"7329"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7329.png","name":"7329"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8493.png","name":"8493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4208.png","name":"4208"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8160.png","name":"8160"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":736.6913617326786,"rotation_z_degrees":23.402788973074948,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012167844113425775,0.01408330926499542,-0.0182289180626347]},{"name":"camera_2","offset_m":[-0.008560931633773472,-0.01998183340073021,-0.01406321290919189]},{"name":"camera_3","offset_m":[-0.017590283590005862,0.01214812623394122,0.0025822530729038007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009181931766918737,-0.0018309752297047711,0.0008064235308183534],"end_effector_yaw_offset_degrees":-0.5169557808714114},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018314808699846816,0.0004528036115485192,-0.00018673820639292541],"end_effector_yaw_offset_degrees":-0.20436061230572466},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00047212282067864673,0.00046938210049025974,-0.0007443420373372121],"end_effector_yaw_offset_degrees":-0.5995572437124956},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015543025563409733,-0.0001258623986163383,0.000498344908238444],"end_effector_yaw_offset_degrees":0.22182688939043604}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026493311946843333,0.002895149321066039],"position_m":[0.13785066880531568,0.23759514932106604,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037531804021668047,0.0024518479778274423],"position_m":[0.2453468195978332,-0.3809481520221726,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005413974271996245,-0.003505040210777752],"position_m":[0.21414139742719965,-0.05720504021077775,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003963461217567834,0.0005061475238607328],"position_m":[0.34963653878243217,0.11770614752386073,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"151b337df0769c9e36a998e434c70274e9466c37f8e696f8004063895f59608b","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7329/tex_ceiling_textures_226/tex_floor_textures_8160/tex_table_textures_8493/tex_wall_textures_4208","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8029013924519466664,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8029013924519466664,"visual_seed":8029013924519466664,"scene_id":"lab_003","finished_at":"2026-09-05T04:19:35"}
+{"episode_id":"ep_000046","started_at":"2026-09-05T04:19:40","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[-0.6443168439168642,0.08308368971545788,0.71338606911949],"aabb_xy":[[-0.69429565242718,0.03308368970973906],[-0.5943380354065483,0.13308368972117668]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[-0.5218503511541881,-1.6374803958894448,0.71338606911949],"aabb_xy":[[-0.5393503514135248,-1.651571938078218],[-0.5043503508948516,-1.6233888537006727]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_2","position":[0.12695350861725385,-1.124531053212726,0.71338606911949],"aabb_xy":[[0.09236242576320859,-1.1895310534977568],[0.16154459147129901,-1.0595310529276947]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[0.6343167814721389,1.2771172986189008,0.71338606911949],"aabb_xy":[[0.5703167841697924,1.2327508716510438],[0.6983167787744852,1.3214837255867573]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[-0.2340853722735181,-0.7637487251277584,0.71338606911949],"aabb_xy":[[-0.31780759777360057,-0.8537487286624542],[-0.15036314677343562,-0.6737487215930623]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.5151240095535725,-0.6637217546131164,0.71338606911949],"aabb_xy":[[-0.53118593701209,-0.7487217564257082],[-0.4990620820950548,-0.5787217528005245]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[-0.32719438181132626,-2.4751476397055163,0.71338606911949],"aabb_xy":[[-0.39119437820689934,-2.53911092812425],[-0.2631943854157532,-2.4111843512867828]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[0.27718233308394047,1.7488116787113772,0.71338606911949],"aabb_xy":[[0.19718233442705452,1.7343068197871143],[0.35718233174082653,1.7633165376356401]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.547707526346563,1.6717588977732052,0.71338606911949],"aabb_xy":[[0.45770752692819205,1.6383834009290152],[0.6377075257649338,1.7051343946173947]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.6429377602723858,0.6095909205262147,0.71338606911949],"aabb_xy":[[0.5889221639904858,0.5455909176339575],[0.6969533565542858,0.6735909234184718]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.5693964410185954,-1.597093817454314,0.71338606911949],"aabb_xy":[[0.5281476299886807,-1.6520938169665313],[0.6106452520485102,-1.5420938179420964]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.06304479144913411,1.168322029553583,0.71338606911949],"aabb_xy":[[-0.06913941933725243,1.1597526350019143],[-0.05695016356101579,1.1768914241052517]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_12","position":[-0.6519781454931346,-1.0358559933662261,0.71338606911949],"aabb_xy":[[-0.6599716352884168,-1.043854125306702],[-0.6439846556978528,-1.0278578614257508]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[-0.23380339383962107,1.5509564823425968,0.71338606911949],"aabb_xy":[[-0.29143386272689187,1.490956483415886],[-0.17617292495235018,1.610956481269307]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[-0.2106472695656914,-0.4881264292063796,0.71338606911949],"aabb_xy":[[-0.2656427473863508,-0.5431264306402865],[-0.15565179174503202,-0.4331264277724726]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[0.37069430296830674,-1.2038032809657226,0.71338606911949],"aabb_xy":[[0.29069430249809086,-1.2121139885800711],[0.4506943034385228,-1.1954925733513742]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[0.6204795882071732,0.08057942531592044,0.71338606911949],"aabb_xy":[[0.5705021713419195,0.030579423826671875],[0.6704570050724267,0.13057942680516893]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[0.35436656149211165,-1.0379400228142028,0.71338606911949],"aabb_xy":[[0.32437489875824127,-1.0679400221510031],[0.3843582242259819,-1.007940023477402]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[0.07587965246778339,-1.5734506205302268,0.71338606911949],"aabb_xy":[[0.011879651764314051,-1.619469003003148],[0.13987965317125275,-1.527432238057306]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.32747272493648194,-1.7583837903847472,0.71338606911949],"aabb_xy":[[-0.40746654851504016,-1.8383837929775888],[-0.24747890135792372,-1.6783837877919057]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.19037388047594928,1.144756488911899,0.71338606911949],"aabb_xy":[[0.14037388183002808,1.0948369452524367],[0.24037387912187047,1.1946760325713615]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[-0.483251466217418,-1.972437864786391,0.71338606911949],"aabb_xy":[[-0.5095402905378585,-1.9987092984410417],[-0.45696264189697733,-1.9461664311317393]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.07851184738131234,0.9754640778513388,0.71338606911949],"aabb_xy":[[-0.1285118490428071,0.925465635595636],[-0.028511845719817585,1.0254625201070413]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[0.3158426630066331,-1.440531725188585,0.71338606911949],"aabb_xy":[[0.2659599661289369,-1.4905317244348597],[0.3657253598843293,-1.3905317259423102]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[-0.3797807317468508,0.08310911631750795,0.71338606911949],"aabb_xy":[[-0.43978073338977264,0.03110896702556376],[-0.31978073010392893,0.13510926560945213]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[-0.4695194989106234,-2.348906770982314,0.71338606911949],"aabb_xy":[[-0.4920331907340805,-2.4189067715833215],[-0.44700580708716614,-2.2789067703813064]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.3170083156917676,0.41001379905043756,0.71338606911949],"aabb_xy":[[0.31104177675103173,0.4040526543910736],[0.3229748546325033,0.41597494370980165]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_27","position":[0.5705732919980744,-0.13093694325974603,0.71338606911949],"aabb_xy":[[0.5633120444276669,-0.1437239535232555],[0.5778345395684819,-0.11814993299623655]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[0.11639677976464013,0.8436312514639743,0.71338606911949],"aabb_xy":[[0.09929470180627199,0.8265244459327046],[0.1334988577230083,0.8607380569952441]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_29","position":[-0.36762139540034156,-1.49061428798475,0.71338606911949],"aabb_xy":[[-0.45730847170845706,-1.5806142882392007],[-0.27793431909222616,-1.4006142877302996]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_30","position":[-0.0704536018556493,-0.9133761303864625,0.71338606911949],"aabb_xy":[[-0.0954536010212824,-0.9203283760918191],[-0.04545360269001618,-0.9064238846811059]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933056560732695,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8887.png","name":"8887"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8887.png","name":"8887"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7137.png","name":"7137"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9194.png","name":"9194"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5916.png","name":"5916"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9905.png","name":"9905"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":779.8661216974974,"rotation_z_degrees":294.5853472941573,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01755485225289837,0.015704652824511108,-0.0020094307064124524]},{"name":"camera_2","offset_m":[-0.004730631100094862,0.013517685621501196,0.019742385999986654]},{"name":"camera_3","offset_m":[0.015941288043759678,0.019127922040252796,-0.01968935041754608]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012584864882012247,9.721556675791826e-05,-0.0008282174285033227],"end_effector_yaw_offset_degrees":0.6777794892212157},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007254559050245773,-0.00045672354538126123,0.0016855360291184738],"end_effector_yaw_offset_degrees":0.9895433802536515},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016512390889593782,0.0014619778911619278,-0.0018012393688851284],"end_effector_yaw_offset_degrees":-0.36736553201163824},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011780564393608414,4.2010798899301625e-05,0.0016808135273787095],"end_effector_yaw_offset_degrees":-0.781269726149981}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003774457156295873,-0.0029563749896077164],"position_m":[0.1442744571562959,0.23174362501039228,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003938631195083627,-0.0023096426629449687],"position_m":[0.25303863119508363,-0.385709642662945,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004695856007205683,-0.003421796456408047],"position_m":[0.20890414399279433,-0.057121796456408046,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001864115738778812,0.0004631979538954377],"position_m":[0.3517358842612212,0.11766319795389543,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d2671f0fd82a13948fc6561cfb81078fe74c0d6078a9d91fcf9095dc09b12cc6","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8887/tex_ceiling_textures_9905/tex_floor_textures_5916/tex_table_textures_7137/tex_wall_textures_9194","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3267406624468596223,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3267406624468596223,"visual_seed":3267406624468596223,"scene_id":"lab_003","finished_at":"2026-09-05T04:23:58"}
+{"episode_id":"ep_000047","started_at":"2026-09-05T04:24:02","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_0","position":[-0.3780634986010896,-1.1583532773372391,0.71338606911949],"aabb_xy":[[-0.4580573221796479,-1.238353279930081],[-0.29806967502253146,-1.0783532747443978]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[0.041106742252258965,1.605991535534502,0.71338606911949],"aabb_xy":[[0.017270524611653907,1.515991534726016],[0.06494295989286404,1.695991536342989]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[-0.02796272310345793,-1.6975578986150484,0.71338606911949],"aabb_xy":[[-0.04802113471669822,-1.717622985524206],[-0.007904311490217641,-1.6774928117058912]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[0.11348882999676513,-1.5254583921860492,0.71338606911949],"aabb_xy":[[0.06740373874203366,-1.5894583894386043],[0.1595739212514966,-1.461458394933494]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.21711377082075678,-0.9302258337579103,0.71338606911949],"aabb_xy":[[0.17961376963596395,-0.9346440564539708],[0.2546137720055495,-0.9258076110618497]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.5042004286181115,1.0488287976362098,0.71338606911949],"aabb_xy":[[-0.593887504926227,0.9588287973817593],[-0.4145133523099961,1.1388287978906604]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[0.30050440819029456,-2.1059250893828243,0.71338606911949],"aabb_xy":[[0.2365044049005864,-2.149260008386742],[0.3645044114800026,-2.0625901703789067]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[-0.4848942295532993,0.6624624812412541,0.71338606911949],"aabb_xy":[[-0.5193567075663871,0.6557988040583312],[-0.45043175154021153,0.6691261584241769]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[-0.48137361062459044,0.7724295606000093,0.71338606911949],"aabb_xy":[[-0.4983837079146412,0.7562950721017354],[-0.4643635133345399,0.7885640490982833]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.2042270617110034,0.704816900807272,0.71338606911949],"aabb_xy":[[-0.238523972728744,0.6705200145973305],[-0.16993015069326275,0.7391137870172131]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.46989232852866847,-1.7397452661478852,0.71338606911949],"aabb_xy":[[0.40589233210134656,-1.7869148899699816],[0.5338923249559904,-1.6925756423257887]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[-0.6080242879977307,-0.5586852860851659,0.71338606911949],"aabb_xy":[[-0.620651075284927,-0.5682313597867387],[-0.5953975007105343,-0.5491392123835929]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[-0.46537677473335926,-1.892128268651855,0.71338606911949],"aabb_xy":[[-0.5253767763762811,-1.9441284179437992],[-0.40537677309043746,-1.8401281193599108]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.5976781040542696,-0.4423518168693441,0.71338606911949],"aabb_xy":[[0.588384485817119,-0.47985181535747795],[0.6069717222914202,-0.40485181838121015]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.4097386010079137,-0.7958626283991845,0.71338606911949],"aabb_xy":[[-0.42723860125296304,-0.8133624162387514],[-0.39223860076286426,-0.7783628405596177]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.04170014654418919,-2.345185072042636,0.71338606911949],"aabb_xy":[[-0.059493653479105624,-2.3629848176384334],[-0.02390663960927275,-2.327385326446838]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[-0.0805869543922264,0.4678840058778784,0.71338606911949],"aabb_xy":[[-0.12277136855305715,0.4038840056006671],[-0.038402540231395665,0.5318840061550896]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.24501256407198513,0.9469687732788556,0.71338606911949],"aabb_xy":[[0.18101256336851582,0.9009503908059349],[0.3090125647754545,0.9929871557517769]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.2997947493554099,-0.25144275108939373,0.71338606911949],"aabb_xy":[[-0.3085087184053443,-0.27394275174858185],[-0.2910807803054753,-0.22894275043020543]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[-0.16485722496550537,-0.30123583732838277,0.71338606911949],"aabb_xy":[[-0.21467400443034013,-0.35123583581268614],[-0.11504044550067061,-0.2512358388440794]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.2061196543165273,1.63281578253055,0.71338606911949],"aabb_xy":[[-0.2861196529734133,1.6183109236062874],[-0.12611965565964128,1.6473206414548132]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[-0.2892274498614751,1.320077093621701,0.71338606911949],"aabb_xy":[[-0.324227448131595,1.3130029659267126],[-0.2542274515913552,1.327151221316689]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890295533700445,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4541.png","name":"4541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4541.png","name":"4541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2935.png","name":"2935"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/375.png","name":"375"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/106.png","name":"106"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5129.png","name":"5129"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":772.9955059371885,"rotation_z_degrees":35.39699024742041,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009772150930831001,-0.006853702074457546,0.010487908421111435]},{"name":"camera_2","offset_m":[-0.011759068591923598,-0.004164089681159892,-0.003118658542710588]},{"name":"camera_3","offset_m":[0.016806596662847933,-0.015154383361126306,-0.017826802359677922]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017137405130011377,-0.0019645092649364683,0.0002827821923375518],"end_effector_yaw_offset_degrees":0.9353326004676847},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001822115606784382,-0.0007767397598978608,-0.0010168421513629996],"end_effector_yaw_offset_degrees":-0.13206663619604053},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008874133724974045,-0.0007746631364497919,0.0007015731541968788],"end_effector_yaw_offset_degrees":0.48878730628792266},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014858113561053662,0.0011778155538735204,-0.0010626244013275067],"end_effector_yaw_offset_degrees":0.5643739866920274}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007109336985952905,0.001159923438928334],"position_m":[0.1412109336985953,0.23585992343892834,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00038435827735595635,6.779332475339e-05],"position_m":[0.24948435827735593,-0.38333220667524665,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00013094420145281192,0.001994692123396526],"position_m":[0.21373094420145283,-0.05170530787660347,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011568537886135202,7.376897808613649e-05],"position_m":[0.35475685378861355,0.11727376897808614,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"642d1fe8d9ab1ff66e6d2909fbec081f0f264acbc25a8045b17f24c0973f0262","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4541/tex_ceiling_textures_5129/tex_floor_textures_106/tex_table_textures_2935/tex_wall_textures_375","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4163593740829741474,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4163593740829741474,"visual_seed":4163593740829741474,"scene_id":"lab_003","finished_at":"2026-09-05T04:28:14"}
+{"episode_id":"ep_000048","started_at":"2026-09-05T04:28:19","dimensions":{"distractor":{"count":24,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[-0.48454671464922705,0.08793096213246487,0.71338606911949],"aabb_xy":[[-0.5070467141729343,0.06543501468184407],[-0.4620467151255196,0.11042690958308563]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.3307617333162853,1.5753014093904736,0.71338606911949],"aabb_xy":[[-0.3380440496929488,1.4853014057809641],[-0.3234794169396215,1.6653014129999821]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[-0.4474208400915421,-1.7756575643275085,0.71338606911949],"aabb_xy":[[-0.4534578530922069,-1.7816842653964569],[-0.4413838270908774,-1.7696308632585607]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[0.3473732993319776,1.682117998164085,0.71338606911949],"aabb_xy":[[0.2673733023689384,1.6050423565203114],[0.42737329629501675,1.7591936398078583]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.6593647553253335,-2.0658547785127057,0.71338606911949],"aabb_xy":[[0.6218647548279752,-2.0698234620608242],[0.6968647558226917,-2.061886094964587]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.6584351069684089,0.09523943518711908,0.71338606911949],"aabb_xy":[[0.6131564920872596,0.03123943583893539],[0.7037137218495582,0.15923943453530276]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.4737533764275059,0.8854514601340604,0.71338606911949],"aabb_xy":[[0.44031320123148626,0.8520078343031301],[0.5071935516235254,0.9188950859649903]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[-0.257278480925504,-1.9446445692694345,0.71338606911949],"aabb_xy":[[-0.26212207568673396,-1.9494962217484184],[-0.252434886164274,-1.9397929167904502]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[-0.034465899252090315,-0.7787673528947316,0.71338606911949],"aabb_xy":[[-0.04791242588613364,-0.7922372045478229],[-0.021019372618046976,-0.7652975012416404]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.5887515811998366,-2.527941945949168,0.71338606911949],"aabb_xy":[[-0.6262515813717086,-2.5606426813320744],[-0.5512515810279647,-2.49524121056626]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.08101778540212778,-2.0427707815950944,0.71338606911949],"aabb_xy":[[0.0709360783235543,-2.1227707794872086],[0.09109949248070125,-1.9627707837029793]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_11","position":[-0.41074054603909627,-2.2269426249641264,0.71338606911949],"aabb_xy":[[-0.4482405461446892,-2.233764786817107],[-0.3732405459335033,-2.220120463111145]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[0.19682016877323893,0.9878099411602022,0.71338606911949],"aabb_xy":[[0.16182016879674313,0.9783453251125855],[0.2318201687497348,0.9972745572078188]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[0.42097150822096174,-1.061905238230883,0.71338606911949],"aabb_xy":[[0.3659760304003023,-1.1169052396647898],[0.4759669860416211,-1.006905236796976]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.3007536071507943,0.37478617261010294,0.71338606911949],"aabb_xy":[[-0.390753603651666,0.32887453019164464],[-0.2107536106499225,0.42069781502856113]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.5198488551447753,-0.6574472803758833,0.71338606911949],"aabb_xy":[[-0.5698481303132115,-0.7074472816518305],[-0.46984957997633914,-0.6074472790999361]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[0.37132573699529003,0.9860001817086221,0.71338606911949],"aabb_xy":[[0.2913257359221697,0.9762221353712379],[0.45132573806841036,0.9957782280460068]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_17","position":[-0.16539533025194297,-1.6958201180988342,0.71338606911949],"aabb_xy":[[-0.21487575146590177,-1.759820116011686],[-0.11591490903798418,-1.6318201201859823]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.46849694200924563,0.4431315441403134,0.71338606911949],"aabb_xy":[[-0.49233315964985075,0.353131543331827],[-0.4446607243686406,0.5331315449488]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[0.028443166776702666,-1.0430036789574852,0.71338606911949],"aabb_xy":[[-0.006556834574779068,-1.0633634149143059],[0.06344316812818439,-1.0226439430006642]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[-0.6378588557047038,-0.4893462507293771,0.71338606911949],"aabb_xy":[[-0.6415621170338426,-0.4930482690380949],[-0.6341555943755648,-0.4856442324206592]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[-0.20064859259828166,0.9489991648653722,0.71338606911949],"aabb_xy":[[-0.22253834018722246,0.858999167576123],[-0.17875884500934086,1.0389991621546213]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[0.020730361406665176,0.9427447532014046,0.71338606911949],"aabb_xy":[[-0.05926964185117778,0.8627482454094205],[0.10073036466450813,1.0227412609933886]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_23","position":[0.1848232507760844,-1.4753490089116665,0.71338606911949],"aabb_xy":[[0.1673232516417172,-1.4852286359492544],[0.20232324991045156,-1.4654693818740787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877337962484157,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2790.png","name":"2790"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2790.png","name":"2790"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1041.png","name":"1041"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2331.png","name":"2331"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3642.png","name":"3642"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9527.png","name":"9527"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":597.2068321031757,"rotation_z_degrees":306.66458192024214,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015421341118269382,-0.015042676819507276,0.002774233735240935]},{"name":"camera_2","offset_m":[0.0013824148404835354,0.0029831764048638375,-0.01603080871108261]},{"name":"camera_3","offset_m":[0.00040677814943368765,0.003733388494372717,0.00044911580545423796]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001310133527776267,-0.001707629239228984,0.0003180746581070114],"end_effector_yaw_offset_degrees":-0.3507424667122685},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000672174592624979,-0.0015748465684705983,0.0018556424255091663],"end_effector_yaw_offset_degrees":-0.0741417373401363},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00027267589753419714,-0.0009313046038147549,4.564845498348201e-05],"end_effector_yaw_offset_degrees":0.30903861270552246},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014327349285824797,0.0018454922575763142,-0.000149246794304585],"end_effector_yaw_offset_degrees":0.0746228579884447}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004407879647073181,0.0010407642128781947],"position_m":[0.1449078796470732,0.23574076421287818,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000409072418760645,0.0012121224679061005],"position_m":[0.24869092758123934,-0.38218787753209393,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002206968666190654,0.004815641914339897],"position_m":[0.21139303133380935,-0.0488843580856601,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028312445834369543,0.0016828121866337671],"position_m":[0.356431244583437,0.11888281218663377,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ca1dcedd05b35462eb29cf3b7ca8cc55bd5c99dc9d71dd6bf560585715411c77","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2790/tex_ceiling_textures_9527/tex_floor_textures_3642/tex_table_textures_1041/tex_wall_textures_2331","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":960971890187196746,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":960971890187196746,"visual_seed":960971890187196746,"scene_id":"lab_003","finished_at":"2026-09-05T04:32:32"}
+{"episode_id":"ep_000049","started_at":"2026-09-05T04:32:36","dimensions":{"distractor":{"count":24,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[0.5615984518708517,1.0820763319475954,0.71338606911949],"aabb_xy":[[0.4715984532763817,1.0658257456341742],[0.6515984504653216,1.0983269182610162]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[-0.3712404075604424,0.18906308231405866,0.71338606911949],"aabb_xy":[[-0.45124040972320484,0.10910789868791501],[-0.29124040539767987,0.2690182659402023]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.25625452051819003,0.4774480481445451,0.71338606911949],"aabb_xy":[[-0.2741236282726455,0.4636151401673342],[-0.23838541276373454,0.49128095612175604]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.1544818676243549,0.6149116034525512,0.71338606911949],"aabb_xy":[[0.08448186549292533,0.5921496378268555],[0.2244818697557844,0.6376735690782468]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.01194668220869799,-1.9208516306917347,0.71338606911949],"aabb_xy":[[-0.07694668331464127,-1.9458170037598632],[0.053053318897245294,-1.8958862576236066]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.11754565230999969,1.667288724391001,0.71338606911949],"aabb_xy":[[0.037551828731441486,1.5872887217981597],[0.1975394758885579,1.7472887269838429]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[-0.022695643289672107,0.7334232558251661,0.71338606911949],"aabb_xy":[[-0.07269564457351206,0.683444401434544],[0.027304357994167857,0.7834021102157882]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[0.34355281464289456,-2.44592828040699,0.71338606911949],"aabb_xy":[[0.30855281551293884,-2.451673501482654],[0.37855281377285016,-2.440183059331326]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_8","position":[-0.03707161200140907,0.5356987134346576,0.71338606911949],"aabb_xy":[[-0.04240412665602206,0.530374385189422],[-0.03173909734679609,0.5410230416798931]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[0.0008824503301363418,-1.4502675722172083,0.71338606911949],"aabb_xy":[[-0.01345197479602711,-1.462327787771747],[0.015216875456299794,-1.4382073566626694]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_10","position":[0.6778655182926421,-1.0000512075790062,0.71338606911949],"aabb_xy":[[0.6403655198692417,-1.0132154215468365],[0.7153655167160424,-0.9868869936111754]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[-0.21832481271934862,-1.3176542982384458,0.71338606911949],"aabb_xy":[[-0.2298937934662852,-1.3426542983553775],[-0.20675583197241204,-1.2926542981215141]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[0.5647883185799398,0.09403536921464317,0.71338606911949],"aabb_xy":[[0.5147883169184451,0.04403692695894044],[0.6147883202414346,0.14403381147034583]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[-0.024607603287398527,-0.9771200138221057,0.71338606911949],"aabb_xy":[[-0.07442438275223329,-1.027120012306409],[0.025209176177436236,-0.9271200153378023]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[0.2471231548230104,-0.9191860544843431,0.71338606911949],"aabb_xy":[[0.16712315156516744,-0.9991825622763271],[0.32712315808085335,-0.8391895466923591]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[0.3355132903995408,1.7780986053352463,0.71338606911949],"aabb_xy":[[0.30105094300139895,1.7436047229374232],[0.36997563779768255,1.8125924877330686]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[-0.026762542870189754,-0.19107726433101746,0.71338606911949],"aabb_xy":[[-0.032857170758308074,-0.1996466588826862],[-0.020667914982071437,-0.18250786977934877]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.6550723128673259,1.7417929655668574,0.71338606911949],"aabb_xy":[[-0.689663395721371,1.676792965281826],[-0.6204812300132806,1.8067929658518882]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[-0.6657626728617577,0.27909333014949,0.71338606911949],"aabb_xy":[[-0.6706619651683212,0.2514164108469212],[-0.6608633805551942,0.3067702494520587]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[0.0021015258724196295,-1.8079332659755003,0.71338606911949],"aabb_xy":[[-0.015691981062496807,-1.825733011571298],[0.019895032807336066,-1.7901335203797026]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[-0.5619403463195385,-0.47121808355281525,0.71338606911949],"aabb_xy":[[-0.5855254697834333,-0.536218085798247],[-0.5383552228556436,-0.40621808130738346]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[0.5211820564837228,0.8370241562961587,0.71338606911949],"aabb_xy":[[0.47987751341998686,0.7730241567280415],[0.5624865995474588,0.9010241558642756]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[-0.34698073305722915,-2.098543862917886,0.71338606911949],"aabb_xy":[[-0.3819807322500474,-2.109510908915548],[-0.3119807338644109,-2.087576816920223]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_23","position":[-0.1081879930759172,1.009196918072775,0.71338606911949],"aabb_xy":[[-0.17318799311021993,0.9624962413924476],[-0.04318799304161447,1.0558975947531022]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6837291060262993,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7678.png","name":"7678"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7678.png","name":"7678"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4783.png","name":"4783"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/211.png","name":"211"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9864.png","name":"9864"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9530.png","name":"9530"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":583.7872114650777,"rotation_z_degrees":230.64626306207143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009918460681476358,0.01633635306879581,-0.0036961059905444883]},{"name":"camera_2","offset_m":[0.00529033658183356,0.004319115611773578,0.002312443927160391]},{"name":"camera_3","offset_m":[0.01682865496011762,0.013528933038266713,0.007959339702123161]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[2.8109861750741632e-05,0.0017061160218688823,-0.0008998854138789385],"end_effector_yaw_offset_degrees":-0.48831290564906094},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001226636257726363,-0.0015231377228718604,-0.0009448428936483318],"end_effector_yaw_offset_degrees":-0.8878749734102369},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010169079542601215,0.0009750105399476136,0.0009010136388898429],"end_effector_yaw_offset_degrees":-0.8845342496553297},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005571107820741786,-0.00028646485897041796,0.0018690651057470674],"end_effector_yaw_offset_degrees":-0.7052048213470754}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008248355564352714,-0.004864718851659308],"position_m":[0.1413248355564353,0.22983528114834068,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00419756019593689,0.002751687638860908],"position_m":[0.2449024398040631,-0.3806483123611391,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004950252774177808,-0.004613916459729275],"position_m":[0.21855025277417783,-0.058313916459729276,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006994657928762506,-0.004333869697639761],"position_m":[0.3542994657928763,0.11286613030236024,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aeaee40673acccb4f32310ecc41327e79ac2b777e400b1e7595dcd089a8005bf","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7678/tex_ceiling_textures_9530/tex_floor_textures_9864/tex_table_textures_4783/tex_wall_textures_211","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3536185817693278056,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3536185817693278056,"visual_seed":3536185817693278056,"scene_id":"lab_003","finished_at":"2026-09-05T04:36:30"}
+{"episode_id":"ep_000050","started_at":"2026-09-05T04:36:33","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[-0.28634242811603966,1.2908457775162847,0.71338606911949],"aabb_xy":[[-0.3238424287806183,1.2751587195160623],[-0.24884242745146093,1.3065328355165067]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_1","position":[0.04029427189997037,-1.5629313157772404,0.71338606911949],"aabb_xy":[[-0.014679450136362515,-1.617931315341474],[0.09526799393630325,-1.5079313162130077]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.27244814682818885,-1.3517373149504064,0.71338606911949],"aabb_xy":[[-0.3524481479013092,-1.3615153612877906],[-0.19244814575506852,-1.3419592686130217]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.6091783859857454,0.23188000568421563,0.71338606911949],"aabb_xy":[[-0.621645744095481,0.21941468105089215],[-0.5967110278760097,0.24434533031753916]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.3977764941984546,-0.9955656076762476,0.71338606911949],"aabb_xy":[[-0.40374303313919035,-1.0015267523356117],[-0.3918099552577188,-0.9896044630168835]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[0.19653436052090623,-2.1756579483056306,0.71338606911949],"aabb_xy":[[0.13253436026043539,-2.2206667476585578],[0.260534360781377,-2.1306491489527017]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.3243230883810923,-2.2046176366796795,0.71338606911949],"aabb_xy":[[-0.341823088640429,-2.218709178868452],[-0.30682308812175574,-2.190526094490907]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.4666587488310494,-0.8965622917592904,0.71338606911949],"aabb_xy":[[0.4026587524354763,-0.9605255801780238],[0.5306587452266225,-0.8325990033405567]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[-0.11749693520033777,0.48630409048057466,0.71338606911949],"aabb_xy":[[-0.16249693666656662,0.44130423361909416],[-0.07249693373410893,0.5313039473420555]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[0.541742019768775,-0.27214748748559936,0.71338606911949],"aabb_xy":[[0.47774201785643267,-0.32805863674360985],[0.6057420216811173,-0.21623633822758898]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[-0.4948016997086171,0.4638005304463788,0.71338606911949],"aabb_xy":[[-0.544801700992457,0.41382167605575665],[-0.44480169842477707,0.5137793848370008]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_11","position":[-0.5547113966032782,-0.9136719794961323,0.71338606911949],"aabb_xy":[[-0.5797113958752405,-0.9300173430922946],[-0.5297113973313159,-0.8973266158999699]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.027778954307322246,-1.0561203776514672,0.71338606911949],"aabb_xy":[[-0.037221043574325555,-1.1072440413580082],[0.09277895218897003,-1.0049967139449265]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.026792925842978987,1.5004077742561015,0.71338606911949],"aabb_xy":[[-0.09179292587728172,1.4537070975757742],[0.03820707419132374,1.5471084509364288]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.5246675578430819,-2.4875853374048487,0.71338606911949],"aabb_xy":[[-0.5596675577391007,-2.4959595729167887],[-0.489667557947063,-2.4792111018929086]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.29177572827779197,-0.493512377007145,0.71338606911949],"aabb_xy":[[-0.30262733452666757,-0.504371667734796],[-0.28092412202891637,-0.48265308627949394]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[0.6290136548394822,1.2566342590254527,0.71338606911949],"aabb_xy":[[0.5590136527080525,1.2338722933997568],[0.6990136569709116,1.279396224651148]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.42014197301033174,-0.39481623033092594,0.71338606911949],"aabb_xy":[[0.4023484660754153,-0.4126159759267236],[0.4379354799452482,-0.3770164847351283]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[-0.5050257894806554,-1.8407032913877344,0.71338606911949],"aabb_xy":[[-0.5193602146068188,-1.8527635069422732],[-0.4906913643544919,-1.8286430758331955]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.11095429014919889,-0.3804271830517365,0.71338606911949],"aabb_xy":[[-0.16083698702689508,-0.4304271822980113],[-0.06107159327150269,-0.33042718380546177]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[0.054527460000278416,1.3756520936097827,0.71338606911949],"aabb_xy":[[0.03261877786092737,1.353751426789692],[0.07643614213962946,1.3975527604298734]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[0.6564019507968908,-1.9599632371031181,0.71338606911949],"aabb_xy":[[0.6345122032079499,-2.0499632343923673],[0.6782916983858315,-1.8699632398138692]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.5166667972690215,-0.6726477808206333,0.71338606911949],"aabb_xy":[[0.5078855701217853,-0.6814275281091634],[0.5254480244162578,-0.6638680335321031]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[-0.14977192095033998,0.3137005014869012,0.71338606911949],"aabb_xy":[[-0.1997561566585172,0.2637005026734056],[-0.09978768524216275,0.3637005003003968]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.1617342675454081,-1.9051577029886368,0.71338606911949],"aabb_xy":[[-0.18624789164241395,-1.929422296290673],[-0.13722064344840224,-1.8808931096866002]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[0.2743480675737764,-1.39872509068694,0.71338606911949],"aabb_xy":[[0.18434806785060218,-1.4217984432221196],[0.3643480672969505,-1.37565173815176]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[0.33057431929729475,0.5821703113321135,0.71338606911949],"aabb_xy":[[0.2665743201275248,0.535403624213151],[0.3945743184670647,0.628936998451076]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[0.6542784795090952,-1.4631668275328205,0.71338606911949],"aabb_xy":[[0.6043054139765799,-1.5131668273453538],[0.7042515450416108,-1.4131668277202878]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6820094568658513,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8603.png","name":"8603"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8603.png","name":"8603"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5039.png","name":"5039"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5696.png","name":"5696"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4763.png","name":"4763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7631.png","name":"7631"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":732.0378131732726,"rotation_z_degrees":238.84193939753712,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01366727358857171,-0.0120024114767401,0.0006390553725567107]},{"name":"camera_2","offset_m":[-0.012635984922853711,0.019980799864522277,-0.002110271491998196]},{"name":"camera_3","offset_m":[-0.018515464004882413,0.005504555929325253,0.0029807559116767877]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014028343304918322,-0.0017727060181268097,-0.0016812381297718723],"end_effector_yaw_offset_degrees":-0.7321078690940699},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00018358200667085317,-0.0014948964231987533,0.0013490534111128393],"end_effector_yaw_offset_degrees":0.6391326059462359},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015859437186138954,-0.0006639561373339481,-0.00023666376100223412],"end_effector_yaw_offset_degrees":0.1481599151402324},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014880937267428796,-0.0013962413293131196,-0.0004276401028231894],"end_effector_yaw_offset_degrees":0.47755030447965874}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011232411528834937,0.0010336994769169798],"position_m":[0.1416232411528835,0.23573369947691697,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00494652357378231,0.0047249556083885985],"position_m":[0.24415347642621768,-0.3786750443916114,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001955171093364314,-0.003897161906263942],"position_m":[0.2116448289066357,-0.05759716190626394,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015769389079839848,0.004447614505956605],"position_m":[0.355176938907984,0.1216476145059566,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3aed00d14250d58648caef69f9c8a0f39f46a325eb9df1b0986b6788a64c484d","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0050.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8603/tex_ceiling_textures_7631/tex_floor_textures_4763/tex_table_textures_5039/tex_wall_textures_5696","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6126941815242190962,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6126941815242190962,"visual_seed":6126941815242190962,"scene_id":"lab_003","finished_at":"2026-09-05T04:40:42"}
+{"episode_id":"ep_000051","started_at":"2026-09-05T04:40:47","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_0","position":[-0.4134048504278807,-1.384285041592,0.71338606911949],"aabb_xy":[[-0.419499478315999,-1.3928544361436688],[-0.40731022253976235,-1.3757156470403313]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.29485810359830744,-2.334869823000364,0.71338606911949],"aabb_xy":[[0.27975580213728923,-2.349971344631425],[0.30996040505932543,-2.3197683013693013]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.04480947707487393,1.5228776363992762,0.71338606911949],"aabb_xy":[[-0.13480947566934387,1.5066270500858552],[0.04519052151959601,1.5391282227126972]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[0.640061527669884,0.5147587412621735,0.71338606911949],"aabb_xy":[[0.5900665167104321,0.46475874222658187],[0.6900565386293361,0.5647587402977653]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.5454389186332178,-0.8011713607303537,0.71338606911949],"aabb_xy":[[0.5372243735175336,-0.8098479510279947],[0.5536534637489016,-0.792494770432712]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.6154781935104294,-2.264914561271218,0.71338606911949],"aabb_xy":[[0.5786835603855232,-2.3018204363678],[0.6522728266353357,-2.2280086861746353]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[-0.6194660421906337,-0.2904371208808785,0.71338606911949],"aabb_xy":[[-0.6275094021165889,-0.37543712197624485],[-0.6114226822646786,-0.205437119785512]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[0.49145033413513106,1.3801416528335086,0.71338606911949],"aabb_xy":[[0.45645033278364927,1.3597819168766878],[0.5264503354866127,1.4005013887903295]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[-0.08407154581462983,0.3094570134886312,0.71338606911949],"aabb_xy":[[-0.1390647571517666,0.2544570131498376],[-0.02907833447749309,0.3644570138274248]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.1709154837211445,1.3025814127710444,0.71338606911949],"aabb_xy":[[0.16533381208701575,1.2900814129532692],[0.17649715535527327,1.3150814125888202]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[0.40113244181648167,-1.4681795350924425,0.71338606911949],"aabb_xy":[[0.3915008055960521,-1.4778168478721514],[0.41076407803691134,-1.4585422223127336]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.1358156528634944,-1.232415458482703,0.71338606911949],"aabb_xy":[[-0.17284976229155408,-1.2667926658164121],[-0.09878154343543466,-1.1980382511489933]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_12","position":[-0.4306566751243819,-0.21687245016356327,0.71338606911949],"aabb_xy":[[-0.495656673280301,-0.24316869471347546],[-0.3656566769684629,-0.19057620561365107]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[-0.22862357496682179,-0.16707756500932724,0.71338606911949],"aabb_xy":[[-0.2661235757588172,-0.17344540596751734],[-0.19112357417482628,-0.16070972405113715]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[0.2443429570736878,-1.163436278159579,0.71338606911949],"aabb_xy":[[0.194342955412193,-1.2134347204152816],[0.2943429587351825,-1.1134378359038761]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[0.28920776370833334,-2.180351559472441,0.71338606911949],"aabb_xy":[[0.27633586020739315,-2.2603515598862773],[0.30207966720927343,-2.100351559058605]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[0.5856510439728901,-2.502083606560203,0.71338606911949],"aabb_xy":[[0.54288433709347,-2.5660836099820052],[0.6284177508523103,-2.4380836031384003]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.6207069869143405,0.07611919275476176,0.71338606911949],"aabb_xy":[[0.5757069854481117,0.03111933589328108],[0.6657069883805694,0.12111904961624244]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[0.580717786957156,-1.572078671418128,0.71338606911949],"aabb_xy":[[0.5267021906752559,-1.636078674310385],[0.6347333832390559,-1.5080786685258707]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_19","position":[-0.30226446437311244,0.1708557860924267,0.71338606911949],"aabb_xy":[[-0.36626446080043434,0.12368616227033027],[-0.23826446794579054,0.21802540991452315]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[0.10982682642160468,-0.8571200887220438,0.71338606911949],"aabb_xy":[[0.0685222833578687,-0.9211200882901609],[0.15113136948534067,-0.7931200891539267]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.09101730991266077,-1.5445214119425876,0.71338606911949],"aabb_xy":[[0.0796555752593746,-1.5558898783488755],[0.10237904456594692,-1.5331529455362993]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[-0.4520413548633577,-2.316331972260692,0.71338606911949],"aabb_xy":[[-0.5020413535092789,-2.366251515920154],[-0.40204135621743653,-2.266412428601229]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_23","position":[-0.3890683611167275,-1.5686824427354504,0.71338606911949],"aabb_xy":[[-0.4065683602510946,-1.5785620697730383],[-0.37156836198236026,-1.5588028156978626]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[-0.23670440153872835,-1.4078811303802157,0.71338606911949],"aabb_xy":[[-0.2441168570801168,-1.4137323408018438],[-0.22929194599733985,-1.402029919958588]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[-0.27697429305926835,-1.6988346375024528,0.71338606911949],"aabb_xy":[[-0.2804149692993255,-1.7026960704768175],[-0.2735336168192112,-1.6949732045280885]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_26","position":[0.27252834259381287,-1.3018211290103514,0.71338606911949],"aabb_xy":[[0.2526373027134727,-1.3144769402950485],[0.29241938247415317,-1.2891653177256548]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_27","position":[-0.1103314681169364,-2.1518790101633103,0.71338606911949],"aabb_xy":[[-0.12776218319594287,-2.169151124827161],[-0.09290075303792987,-2.134606895499459]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_28","position":[-0.5809331181986883,-1.1905568263512287,0.71338606911949],"aabb_xy":[[-0.6034295396325524,-1.2130568261579764],[-0.5584366967648242,-1.1680568265444815]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_29","position":[-0.33714731888090305,0.6384908657232722,0.71338606911949],"aabb_xy":[[-0.3527030882911683,0.6229404324788651],[-0.3215915494706378,0.6540412989676795]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_30","position":[0.43218506932459455,-1.6119475646937076,0.71338606911949],"aabb_xy":[[0.3871924826061441,-1.6569475639681561],[0.4771776560430449,-1.5669475654192586]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_31","position":[-0.15276924704451678,1.2900391044479194,0.71338606911949],"aabb_xy":[[-0.18723172505760452,1.2833754272649964],[-0.11830676903142898,1.2967027816308418]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_32","position":[-0.45909567571552734,0.17226379542834236,0.71338606911949],"aabb_xy":[[-0.4630095489109498,0.1635147800217856],[-0.45518180252010476,0.18101281083489912]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_33","position":[-0.3306633664728286,1.7348131265904754,0.71338606911949],"aabb_xy":[[-0.39566336747332914,1.6840267614358004],[-0.2656633654723281,1.7855994917451503]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_34","position":[0.390866658036243,0.8440890510081185,0.71338606911949],"aabb_xy":[[0.36089910112641727,0.8140890507102327],[0.4208342149460686,0.8740890513060042]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905375403986933,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7047.png","name":"7047"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7047.png","name":"7047"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6953.png","name":"6953"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7440.png","name":"7440"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5817.png","name":"5817"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1918.png","name":"1918"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":591.6589937906572,"rotation_z_degrees":93.65507999637809,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000587095138054803,-0.01346881737735994,-0.009589803572680076]},{"name":"camera_2","offset_m":[-0.00047827966522283674,0.014510359654407622,-0.01644835262115697]},{"name":"camera_3","offset_m":[-0.004793099194251145,0.014855898981663295,-0.018968102116320995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000135221061709315,0.0018618553446288176,0.0012653327013441807],"end_effector_yaw_offset_degrees":-0.2605669667754864},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014879890057305598,0.0019620578975686155,-0.0007165067305861638],"end_effector_yaw_offset_degrees":-0.23010079341967993},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001727195442378362,-0.0005344645399347342,0.000844071376964052],"end_effector_yaw_offset_degrees":0.12232049773277254},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019411794379901072,-0.0013611951787064784,-0.001654050096128665],"end_effector_yaw_offset_degrees":0.1140779632018758}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025237421163273968,-0.003059096184958314],"position_m":[0.13797625788367263,0.23164090381504168,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029224494113974696,0.0011551009299383156],"position_m":[0.25202244941139745,-0.3822448990700617,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0001338587515479616,0.004523272305852811],"position_m":[0.21373385875154796,-0.04917672769414719,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029360258452446513,0.003702638725982951],"position_m":[0.3565360258452447,0.12090263872598295,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"99c8f6cb8abd35169352c0ac6298f09a54d62b450afeda3a4353a4a7a75d853c","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7047/tex_ceiling_textures_1918/tex_floor_textures_5817/tex_table_textures_6953/tex_wall_textures_7440","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3895752506212403039,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3895752506212403039,"visual_seed":3895752506212403039,"scene_id":"lab_003","finished_at":"2026-09-05T04:44:47"}
+{"episode_id":"ep_000052","started_at":"2026-09-05T04:44:50","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.23288437146605723,-0.8903458648901141,0.71338606911949],"aabb_xy":[[-0.2503843706004244,-0.9002254919277018],[-0.21538437233169008,-0.8804662378525262]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.5468992920075639,-1.6943548349530981,0.71338606911949],"aabb_xy":[[-0.5584682727545006,-1.7193548350700298],[-0.5353303112606275,-1.6693548348361664]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_2","position":[0.46141407778253485,-1.0415065294242865,0.71338606911949],"aabb_xy":[[0.45729812767046213,-1.0456220844571318],[0.46553002789460746,-1.0373909743914407]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.542577360747639,0.39156507871402857,0.71338606911949],"aabb_xy":[[-0.548035306384659,0.31156507540636946],[-0.5371194151106189,0.4715650820216877]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[-0.09647430229605003,1.4888597930138974,0.71338606911949],"aabb_xy":[[-0.10131789705728002,1.4840081405349133],[-0.09163070753482007,1.4937114454928815]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.1332407118750566,-1.9731259087143207,0.71338606911949],"aabb_xy":[[-0.21324071234527256,-1.981436616328669],[-0.05324071140484064,-1.9648152010999724]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.251264663885054,-2.434673012268684,0.71338606911949],"aabb_xy":[[-0.29734975513978545,-2.498673009521239],[-0.20517957263032252,-2.370673015016129]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[-0.5948353543644659,0.5567283177248665,0.71338606911949],"aabb_xy":[[-0.6321666308897085,0.5220752629300143],[-0.5575040778392233,0.5913813725197188]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[-0.19449369571899122,-1.5950259667811097,0.71338606911949],"aabb_xy":[[-0.2844936951373621,-1.6284014636252993],[-0.1044936963006203,-1.5616504699369198]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.33352984320841905,-1.1375238941147814,0.71338606911949],"aabb_xy":[[0.24352984670754732,-1.1834355365332396],[0.4235298397092908,-1.0916122516963231]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[-0.53247214859213,-2.01565399061466,0.71338606911949],"aabb_xy":[[-0.612472147249016,-2.030158849538923],[-0.452472149935244,-2.001149131690397]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[-0.6220528404688214,0.7145544661907235,0.71338606911949],"aabb_xy":[[-0.6672241583169904,0.6505544690461852],[-0.5768815226206525,0.7785544633352621]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[0.632187773841884,-1.4806569530045266,0.71338606911949],"aabb_xy":[[0.6234065466946478,-1.489436700293057],[0.6409690009891204,-1.4718772057159966]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[-0.5237869419876076,1.0064043594281236,0.71338606911949],"aabb_xy":[[-0.5587869433390892,0.9860446234713026],[-0.48878694063612577,1.0267640953849442]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.3125550347974331,0.8338583473082863,0.71338606911949],"aabb_xy":[[-0.3166331927044828,0.829777367060023],[-0.30847687689038333,0.8379393275565497]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.29905258776941807,-0.30146512355529786,0.71338606911949],"aabb_xy":[[-0.30395188007598156,-0.3291420428578666],[-0.29415329546285457,-0.27378820425272904]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.522358719851389,1.1913130935311034,0.71338606911949],"aabb_xy":[[0.51179124019329,1.1807680634180948],[0.532926199509488,1.201858123644112]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.3248000378111595,-1.9951893584984126,0.71338606911949],"aabb_xy":[[0.24480003673803924,-2.004967404835797],[0.4048000388842799,-1.9854113121610282]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_18","position":[-0.46275083824564817,0.6706320275227626,0.71338606911949],"aabb_xy":[[-0.4872970538683989,0.6403831309737256],[-0.43820462262289744,0.7008809240717997]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.42597153049056913,-1.1770561994493498,0.71338606911949],"aabb_xy":[[-0.48997152907714153,-1.2240631628488583],[-0.3619715319039966,-1.1300492360498409]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[0.5384393635530489,0.5809767723213519,0.71338606911949],"aabb_xy":[[0.5307361728789719,0.5732674016226139],[0.5461425542271259,0.5886861430200899]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[-0.3671590773298709,1.5042676590346615,0.71338606911949],"aabb_xy":[[-0.4041931867579306,1.4698904517009521],[-0.3301249679018111,1.538644866368371]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6932827721551811,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1943.png","name":"1943"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1943.png","name":"1943"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5827.png","name":"5827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7658.png","name":"7658"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6027.png","name":"6027"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1334.png","name":"1334"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":779.6110200067128,"rotation_z_degrees":187.93296481529273,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007893524155217095,-0.003251596303343051,-0.0012889194711174536]},{"name":"camera_2","offset_m":[-0.014916779604612294,0.001450861582029294,0.01684550288791067]},{"name":"camera_3","offset_m":[-0.005449935335150223,-0.018537116382483673,0.007416492149944921]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015113864147247016,-0.0012017083254847846,-0.00046781389859961386],"end_effector_yaw_offset_degrees":-0.5129341389604465},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001471829121338997,-0.001199833581257618,0.0007369633089499188],"end_effector_yaw_offset_degrees":0.7242142301294565},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001289023148141387,-0.0018065857261582209,-0.0003087760471803568],"end_effector_yaw_offset_degrees":-0.6414437056786297},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00028014675746613105,-0.00041760325250439663,-0.001969071476522876],"end_effector_yaw_offset_degrees":0.06303545238719166}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004438234296613532,0.0034384726164442747],"position_m":[0.1360617657033865,0.23813847261644427,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0039983805160335355,-0.0021792432142761042],"position_m":[0.2530983805160335,-0.3855792432142761,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007040134494040937,-0.004188395967009415],"position_m":[0.2143040134494041,-0.05788839596700941,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0049960670707893525,0.0035766792350289825],"position_m":[0.3585960670707894,0.12077667923502898,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"666c38ae1d118f2b4a4cbc6b64c704ba34811f1a14153ad8bbf2ec5683919afc","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1943/tex_ceiling_textures_1334/tex_floor_textures_6027/tex_table_textures_5827/tex_wall_textures_7658","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6457199025046860102,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6457199025046860102,"visual_seed":6457199025046860102,"scene_id":"lab_003","finished_at":"2026-09-05T04:48:46"}
+{"episode_id":"ep_000053","started_at":"2026-09-05T04:48:49","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[0.39273629930237464,-1.3097755218710445,0.71338606911949],"aabb_xy":[[0.31273630214279935,-1.3213231228288616],[0.4727362964619499,-1.2982279209132275]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[0.3362167151231721,1.6478541291934277,0.71338606911949],"aabb_xy":[[0.2987167153061385,1.6432159178822856],[0.37371671494020564,1.6524923405045693]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[0.13590348514955675,0.9728873631017678,0.71338606911949],"aabb_xy":[[0.12275223917826739,0.9478873633450813],[0.1490547311208461,0.9978873628584544]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[-0.27297501389115697,-2.0047563129520274,0.71338606911949],"aabb_xy":[[-0.33697501247772943,-2.051763276351536],[-0.2089750153045845,-1.9577493495525187]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[-0.024943552521186296,-0.9454758464559758,0.71338606911949],"aabb_xy":[[-0.08494355416410815,-0.99747599574792],[0.035056449121735556,-0.8934756971640316]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.4556850621987776,-0.6201010148017518,0.71338606911949],"aabb_xy":[[0.44560335512020405,-0.7001010126938664],[0.465766769277351,-0.5401010169096371]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[0.07688525911622668,-1.9406738805850847,0.71338606911949],"aabb_xy":[[0.03938525845164797,-1.9563609385853065],[0.11438525978080537,-1.924986822584862]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.49973616217960704,0.31600049105015193,0.71338606911949],"aabb_xy":[[0.4497519264714298,0.26600049223665634],[0.5497203978877843,0.3660004898636475]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.39415793388613934,-1.42799651378702,0.71338606911949],"aabb_xy":[[-0.4441529448455914,-1.477996512822612],[-0.3441629229266873,-1.3779965147514286]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.4540520842235827,0.6656325590321974,0.71338606911949],"aabb_xy":[[0.3964216153363117,0.6056325601054867],[0.5116825531108534,0.7256325579589079]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[-0.2273147015108598,-0.371080773361363,0.71338606911949],"aabb_xy":[[-0.28731470135742654,-0.42789939555440165],[-0.167314701664293,-0.3142621511683243]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[-0.4733405047442814,-0.043484780173513204,0.71338606911949],"aabb_xy":[[-0.48268751232657664,-0.057788402391157234],[-0.4639934971619862,-0.029181157955869175]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[0.06036955576742997,-2.11858805288034,0.71338606911949],"aabb_xy":[[0.04776685663035352,-2.1311834491052055],[0.07297225490450643,-2.1059926566554745]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[0.5388688527439485,0.026847665139940968,0.71338606911949],"aabb_xy":[[0.530874864166245,0.01884758504485062],[0.5468628413216517,0.03484774523503131]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.27354527503695425,0.5972093139408874,0.71338606911949],"aabb_xy":[[-0.28439688128582985,0.5863500232132364],[-0.26269366878807865,0.6080686046685384]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[-0.13862670688740486,-1.4283351272721465,0.71338606911949],"aabb_xy":[[-0.1742558627873646,-1.4639677940289992],[-0.10299755098744512,-1.3927024605152933]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.5745115207412433,0.38512808861876247,0.71338606911949],"aabb_xy":[[-0.6295069985619027,0.33012808718485553],[-0.519516042920584,0.4401280900526694]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[-0.5442837996242533,-0.7946548515776426,0.71338606911949],"aabb_xy":[[-0.5942837999848193,-0.8446348387872455],[-0.4942837992636872,-0.7446748643680396]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.5619195171596878,-2.378674300789431,0.71338606911949],"aabb_xy":[[-0.6519195165780587,-2.4120497976336206],[-0.4719195177413169,-2.345298803945241]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[0.4228173381338338,1.062539866808522,0.71338606911949],"aabb_xy":[[0.39781733896820065,1.0555876211031654],[0.4478173372994669,1.0694921125138785]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[-0.23781077586048588,-2.515125599033122,0.71338606911949],"aabb_xy":[[-0.30781077799191536,-2.5378875646588175],[-0.1678107737290563,-2.4923636334074257]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902170126192025,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7697.png","name":"7697"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7697.png","name":"7697"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6770.png","name":"6770"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1720.png","name":"1720"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4682.png","name":"4682"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7171.png","name":"7171"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":785.933874806654,"rotation_z_degrees":295.97201852469317,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009754781843236651,-0.015539475388106752,0.008504764212873332]},{"name":"camera_2","offset_m":[-0.001970984350875074,-0.006624291152670216,-0.0030405608668754094]},{"name":"camera_3","offset_m":[-0.006143321506259035,-0.013292286813701133,-0.004226829450663008]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00029655160320083774,-0.0013716439524182578,-0.0007672922854965144],"end_effector_yaw_offset_degrees":-0.2959612824971405},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012080804447455792,0.0007980939114137979,-0.0012340805470039276],"end_effector_yaw_offset_degrees":-0.42196336872757056},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001868436027192284,0.0005427542218146507,-0.0009757214045874201],"end_effector_yaw_offset_degrees":-0.08185585181221211},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006076963056124575,0.00179892895350973,0.0003826652765353089],"end_effector_yaw_offset_degrees":-0.680722093335715}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004398018909953779,0.002583099124170771],"position_m":[0.13610198109004623,0.23728309912417075,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035698638277033056,0.0027117302303773273],"position_m":[0.2526698638277033,-0.38068826976962267,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035409818348512085,0.004564289698923086],"position_m":[0.21714098183485123,-0.04913571030107691,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023650561046944887,0.004143458525286497],"position_m":[0.3512349438953055,0.1213434585252865,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2d492f72c80082a4fb386c8a89253e8251ba867a917d9da552af035a8ef318eb","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0053.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7697/tex_ceiling_textures_7171/tex_floor_textures_4682/tex_table_textures_6770/tex_wall_textures_1720","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4738448751984741454,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4738448751984741454,"visual_seed":4738448751984741454,"scene_id":"lab_003","finished_at":"2026-09-05T04:53:04"}
+{"episode_id":"ep_000054","started_at":"2026-09-05T04:53:10","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[-0.5160807847811453,-1.7776784523228701,0.71338606911949],"aabb_xy":[[-0.5316365541914105,-1.7932288855672778],[-0.50052501537088,-1.7621280190784634]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[-0.32746677972080535,-1.9126642488768875,0.71338606911949],"aabb_xy":[[-0.4074667829786483,-1.9926607566688717],[-0.2474667764629624,-1.8326677410849037]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[-0.3825884295643407,-2.263691424707353,0.71338606911949],"aabb_xy":[[-0.4044781771532815,-2.3536914219966016],[-0.3606986819753999,-2.1736914274181034]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[0.42049222695570254,-0.2311652919195275,0.71338606911949],"aabb_xy":[[0.4116901716467297,-0.23897661807445658],[0.42929428226467514,-0.22335396576459843]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.4982628986715556,-0.8982725978542656,0.71338606911949],"aabb_xy":[[0.4903396184328073,-0.9207725980922691],[0.5061861789103039,-0.8757725976162624]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.03893011924361611,0.908543319599485,0.71338606911949],"aabb_xy":[[0.00393011926712028,0.8990787035518685],[0.07393011922011195,0.9180079356471017]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[-0.30030475838601606,0.810852967263616,0.71338606911949],"aabb_xy":[[-0.3424891725468468,0.7468529669864049],[-0.2581203442251853,0.8748529675408273]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.2058412475489469,0.523014915080859,0.71338606911949],"aabb_xy":[[-0.2608412457506917,0.4824929484544214],[-0.15084124934720203,0.5635368817072965]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[-0.6073546220216246,-0.7847990034956458,0.71338606911949],"aabb_xy":[[-0.6249013169377435,-0.8222990050598971],[-0.5898079271055057,-0.7472990019313945]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.42478396921849937,-0.7441337819666518,0.71338606911949],"aabb_xy":[[-0.5047839694921062,-0.8170833297923685],[-0.3447839689448923,-0.6711842341409351]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[-0.412603198803004,0.9838729516108558,0.71338606911949],"aabb_xy":[[-0.4626032004644988,0.9338745093551529],[-0.3626031971415093,1.0338713938665582]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.17016753826565023,-0.9532232590554306,0.71338606911949],"aabb_xy":[[-0.20065178839268039,-1.0032232588369265],[-0.13968328813862008,-0.9032232592739347]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[0.4126985385412614,-1.4177975323358845,0.71338606911949],"aabb_xy":[[0.40673199960052553,-1.4237586769952484],[0.4186650774819971,-1.41183638767652]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[-0.430501620178749,-1.289884240673613,0.71338606911949],"aabb_xy":[[-0.520501618773219,-1.3061348269870343],[-0.34050162158427905,-1.2736336543601923]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.009745885429226275,1.6461683542456789,0.71338606911949],"aabb_xy":[[-0.006316042029291368,1.561168352433087],[0.025807812887743916,1.7311683560582707]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[0.18653908752187665,1.6759164377438638,0.71338606911949],"aabb_xy":[[0.11653908488529027,1.655811572747998],[0.256539090158463,1.696021302739729]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[-0.04224798568717092,-1.0559045928930215,0.71338606911949],"aabb_xy":[[-0.0520039751963448,-1.0656671269522557],[-0.03249199617799702,-1.0461420588337869]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.5727798888060713,1.0305910354920766,0.71338606911949],"aabb_xy":[[0.5444501788575311,1.0261302932983598],[0.6011095987546116,1.035051777685794]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_18","position":[0.08605965857050857,-2.1835637673955435,0.71338606911949],"aabb_xy":[[0.03596219458943495,-2.247563767905355],[0.1361571225515822,-2.1195637668857312]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[0.26814955883484126,0.7087278159723218,0.71338606911949],"aabb_xy":[[0.23314955893882242,0.7003535804603819],[0.30314955873086014,0.7171020514842618]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.4793232972172399,-0.16788366784089392,0.71338606911949],"aabb_xy":[[-0.5433232988952372,-0.21640105932020812],[-0.4153232955392425,-0.11936627636157968]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[0.6072249483033059,-1.244833764747397,0.71338606911949],"aabb_xy":[[0.5432249491335358,-1.2916004518663597],[0.6712249474730757,-1.1980670776284348]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.25681606891926917,-0.3118226554062158,0.71338606911949],"aabb_xy":[[-0.3019873867674382,-0.3758226525507543],[-0.21164475107110026,-0.24782265826167743]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_23","position":[-0.1473160141382407,-1.2403690321757155,0.71338606911949],"aabb_xy":[[-0.16018791763918083,-1.3203690325895516],[-0.13444411063730055,-1.1603690317618793]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6867299652179816,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6237.png","name":"6237"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6237.png","name":"6237"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3887.png","name":"3887"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3064.png","name":"3064"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6057.png","name":"6057"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9140.png","name":"9140"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":781.6533835459641,"rotation_z_degrees":129.7917132146461,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007669963860755535,0.017055525075999802,-0.010919142489025417]},{"name":"camera_2","offset_m":[-0.0093884446196367,-0.01685223828319891,-0.006177906419519048]},{"name":"camera_3","offset_m":[-0.008270912021604545,0.018818044292719428,0.015087140790087963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018108771460198553,0.0018155358110468344,-0.0007124680915748677],"end_effector_yaw_offset_degrees":0.5266117334808242},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002246697432542427,-0.0014090418226074043,0.001875330029839731],"end_effector_yaw_offset_degrees":-0.6047668075207355},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008185925355991192,-0.0010846065774450801,-0.0012702115215414516],"end_effector_yaw_offset_degrees":0.7291376045799967},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.683820090107738e-05,-0.0010219279896439377,0.0016231402332956843],"end_effector_yaw_offset_degrees":-0.6486217648345307}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004212046363366471,0.003731693394272712],"position_m":[0.14092120463633667,0.2384316933942727,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008038130501327491,0.004850818884595661],"position_m":[0.24990381305013273,-0.37854918111540437,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005362891201430306,2.9657014750716047e-05],"position_m":[0.21413628912014304,-0.05367034298524928,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002260244676664418,0.003865252875984622],"position_m":[0.35586024467666444,0.12106525287598462,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62796acc3c293a88001f58ac002b6b71c47896ec4dcdc7f80094678d76ba9530","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0054.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6237/tex_ceiling_textures_9140/tex_floor_textures_6057/tex_table_textures_3887/tex_wall_textures_3064","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5213768197219616624,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5213768197219616624,"visual_seed":5213768197219616624,"scene_id":"lab_003","finished_at":"2026-09-05T04:57:04"}
+{"episode_id":"ep_000055","started_at":"2026-09-05T04:57:08","dimensions":{"distractor":{"count":24,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[0.6966662103428782,-2.00277709924521,0.71338606911949],"aabb_xy":[[0.6733843681447469,-2.0877771005424375],[0.7199480525410096,-1.9177770979479816]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[0.14390550859928264,-2.1699125311733627,0.71338606911949],"aabb_xy":[[0.11350739750013904,-2.2003194331750318],[0.1743036196984262,-2.1395056291716927]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[-0.1364391768884824,-2.4599379034139925,0.71338606911949],"aabb_xy":[[-0.14727965511499727,-2.4771241847046412],[-0.12559869866196746,-2.442751622123344]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[0.4768452246937549,-1.1881986049091287,0.71338606911949],"aabb_xy":[[0.4696014586475096,-1.2681986031127308],[0.4840889907400002,-1.108198606705526]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[0.4825430930940129,-0.6301205610149563,0.71338606911949],"aabb_xy":[[0.46265205321367275,-0.6427763722996532],[0.5024341329743532,-0.6174647497302596]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[0.42145750889421985,-0.9507901506344525,0.71338606911949],"aabb_xy":[[0.4126554535852472,-0.9586014767893816],[0.4302595642031926,-0.9429788244795234]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.47165832192269475,-0.583843435179042,0.71338606911949],"aabb_xy":[[-0.4825640980102575,-0.6638434315778712],[-0.4607525458351321,-0.5038434387802129]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[0.3476343752160769,-1.193487141100227,0.71338606911949],"aabb_xy":[[0.3300015396225493,-1.21111008711585],[0.36526721080960445,-1.175864195084604]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.2358294854901778,-1.6453123639047202,0.71338606911949],"aabb_xy":[[-0.32582948782419685,-1.722794718489833],[-0.14582948315615876,-1.5678300093196076]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[0.5365369498586692,-1.4298956423407196,0.71338606911949],"aabb_xy":[[0.4865636558554087,-1.4798956428952668],[0.5865102438619296,-1.379895641786172]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.3103073728578861,-1.3088346768212176,0.71338606911949],"aabb_xy":[[-0.36030737243422084,-1.3588152557733237],[-0.2603073732815514,-1.2588540978691118]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.620911094333674,-1.1820067563340257,0.71338606911949],"aabb_xy":[[0.6034110940743375,-1.1960982985227984],[0.6384110945930107,-1.1679152141452531]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[-0.5557593660187392,-1.15569738940032,0.71338606911949],"aabb_xy":[[-0.5653910022391687,-1.1653347021800289],[-0.5461277297983095,-1.146060076620611]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.07226201572209179,-1.8852012254023058,0.71338606911949],"aabb_xy":[[-0.15226201288166707,-1.8967488263601227],[0.007737981437483499,-1.8736536244444886]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.25256206566577155,-1.620767779913804,0.71338606911949],"aabb_xy":[[0.24171045941689595,-1.631627070641455],[0.26341367191464715,-1.609908489186153]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[-0.05384234370391339,1.8119652584072976,0.71338606911949],"aabb_xy":[[-0.0913423452195451,1.8007384853911523],[-0.016342342188281678,1.8231920314234424]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[0.29407615409106136,0.6295144600696694,0.71338606911949],"aabb_xy":[[0.27379185136766254,0.6092318349269605],[0.31436045681446007,0.6497970852123782]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[-0.6239212685004267,-2.3013363226873618,0.71338606911949],"aabb_xy":[[-0.683921269096443,-2.3561487952325852],[-0.5639212679044107,-2.2465238501421383]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.2928649577537672,-0.7451014797196531,0.71338606911949],"aabb_xy":[[0.28271194219961776,-0.7811710212923932],[0.3030179733079165,-0.7090319381469127]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.4479975036651608,-1.8756287668411167,0.71338606911949],"aabb_xy":[[-0.5119975040426944,-1.9253740336919287],[-0.38399750328762716,-1.8258834999903042]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_20","position":[0.35650845173116386,-1.6804958374509162,0.71338606911949],"aabb_xy":[[0.3113371338829949,-1.7444958345954549],[0.4016797695793329,-1.616495840306378]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[-0.18208993751867286,-1.460455038169951,0.71338606911949],"aabb_xy":[[-0.24708993567459192,-1.4867512827198635],[-0.1170899393627538,-1.434158793620039]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.4060994714537982,-2.103837626840218,0.71338606911949],"aabb_xy":[[-0.44359947211837686,-2.1195246848404397],[-0.36859947078921945,-2.0881505688399953]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.686484232802276,0.11291883073285236,0.71338606911949],"aabb_xy":[[0.6784902442245726,0.10491875063776201],[0.6944782213799794,0.1209189108279427]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887564139708147,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6781.png","name":"6781"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6781.png","name":"6781"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5842.png","name":"5842"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/66.png","name":"66"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/61.png","name":"61"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9504.png","name":"9504"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":831.0880383159732,"rotation_z_degrees":272.9052438518417,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009039932982383127,-0.004031527683531707,0.00954353261902829]},{"name":"camera_2","offset_m":[0.013915354966927213,-0.01690319330723363,0.007867800220467056]},{"name":"camera_3","offset_m":[-0.012726298692105278,-0.0024470473367336626,0.01767466634748197]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00039470081296184845,0.00022220263389052157,-0.0019624625760125644],"end_effector_yaw_offset_degrees":-0.09077088734091476},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010807254803911377,-0.00030651667149854595,0.0008360166600515518],"end_effector_yaw_offset_degrees":-0.980913433018282},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010339196694940534,-0.001182589464022278,-0.0017882872500259155],"end_effector_yaw_offset_degrees":0.791394085434135},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00017500507893239447,0.0008603868624683804,0.0006643531386595273],"end_effector_yaw_offset_degrees":-0.6808151916636671}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003104279535325657,0.0007402068185118175],"position_m":[0.13739572046467435,0.2354402068185118,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023569435090042713,-0.003509214960908927],"position_m":[0.2467430564909957,-0.38690921496090896,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003422527792273946,0.004843259239922592],"position_m":[0.21017747220772606,-0.048856740760077406,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013150862401513311,0.0034906996041571227],"position_m":[0.35491508624015133,0.12069069960415713,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0c9927bbca8d8fa23b7e794daacebe238f5c30f9691410048e7ebf9b0bf9d604","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6781/tex_ceiling_textures_9504/tex_floor_textures_61/tex_table_textures_5842/tex_wall_textures_66","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":65689511842577241,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":65689511842577241,"visual_seed":65689511842577241,"scene_id":"lab_003","finished_at":"2026-09-05T05:01:18"}
+{"episode_id":"ep_000056","started_at":"2026-09-05T05:01:21","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.6423869182290451,0.9922507052032565,0.71338606911949],"aabb_xy":[[0.5873914404083856,0.9372507037693494],[0.6973823960497044,1.0472507066371632]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.2329220079536669,-1.7587960314456559,0.71338606911949],"aabb_xy":[[-0.2829168408816085,-1.8087960303408996],[-0.18292717502572528,-1.7087960325504126]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[0.41635599748747465,0.21601778929867033,0.71338606911949],"aabb_xy":[[0.381355998357519,0.2102725682230062],[0.4513559966174303,0.2217630103743344]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.14909465120835663,-1.0279207799100742,0.71338606911949],"aabb_xy":[[-0.2042198568379474,-1.0879207813513612],[-0.09396944557876587,-0.967920778468787]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.49563849764655665,-0.9673189239741784,0.71338606911949],"aabb_xy":[[-0.5457359616276303,-1.0313189244839904],[-0.44554103366548303,-0.9033189234643667]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[-0.4257258827430811,-2.0146202624272496,0.71338606911949],"aabb_xy":[[-0.4907258827773838,-2.061320939107577],[-0.36072588270877837,-1.9679195857469223]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[0.4765383854777876,-1.8934731320795237,0.71338606911949],"aabb_xy":[[0.42653838445865244,-1.9299393478173519],[0.526538386496923,-1.857006916341696]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[0.10711057512952471,0.9891610992210622,0.71338606911949],"aabb_xy":[[0.08461057531562233,0.9846864828505815],[0.1296105749434271,0.993635715591543]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[0.16493403551122543,-2.4989791688355645,0.71338606911949],"aabb_xy":[[0.15690776488059946,-2.507730663812917],[0.17296030614185146,-2.490227673858212]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[0.6231666521825348,-2.4597755360721267,0.71338606911949],"aabb_xy":[[0.5591666535959623,-2.506782499471635],[0.6871666507691072,-2.4127685726726176]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[0.5769866775127248,-0.15988318784186362,0.71338606911949],"aabb_xy":[[0.4969866803531495,-0.17143078879968066],[0.6569866746723001,-0.14833558688404658]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[-0.4141969492935887,0.23599660185840454,0.71338606911949],"aabb_xy":[[-0.4274278948282699,0.2227691828364051],[-0.40096600375890734,0.24922402088040393]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[-0.36544616632420274,1.1929103968222599,0.71338606911949],"aabb_xy":[[-0.36888684256425996,1.1890489638478954],[-0.3620054900841456,1.1967718297966243]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.3306562036652788,0.5970697134657312,0.71338606911949],"aabb_xy":[[-0.3756487903837292,0.5520697141912825],[-0.2856636169468284,0.64206971274018]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.25032478726843754,1.0205852736171548,0.71338606911949],"aabb_xy":[[-0.25736623821918514,1.0135585218793604],[-0.24328333631768995,1.0276120253549492]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.5437005357079246,1.2923283318994447,0.71338606911949],"aabb_xy":[[-0.5561678938176604,1.2798630072661212],[-0.5312331775981891,1.3047936565327682]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.36979428035007267,1.034180155963217,0.71338606911949],"aabb_xy":[[0.31979427868857785,0.9841817137075141],[0.4197942820115674,1.0841785982189194]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.5611030677619218,-0.8824801221107019,0.71338606911949],"aabb_xy":[[0.5386030682382142,-0.9049760695613225],[0.583603067285629,-0.8599841746600809]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.2915931138723319,-0.6798589369591492,0.71338606911949],"aabb_xy":[[0.2769497083182989,-0.6945176566159333],[0.3062365194263649,-0.6652002173023649]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.4040205998308253,-0.6600886553730134,0.71338606911949],"aabb_xy":[[-0.4940205992491961,-0.6934641522172031],[-0.31402060041245433,-0.6267131585288237]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[-0.3238072234425006,0.7563526278087278,0.71338606911949],"aabb_xy":[[-0.40380722670651376,0.7427925954998145],[-0.2438072201784875,0.7699126601176411]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.38646912977045145,-0.9215807152609357,0.71338606911949],"aabb_xy":[[0.3733178837991621,-0.9465807150176224],[0.39962037574174086,-0.8965807155042493]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[0.00798071813392942,-0.9519350360948573,0.71338606911949],"aabb_xy":[[-1.2771661352608061e-05,-0.9599331680353331],[0.015974207929211448,-0.9439369041543819]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[-0.05564120007019302,1.6145670406756083,0.71338606911949],"aabb_xy":[[-0.1356412022329555,1.5346118570494647],[0.024358802092569472,1.694522224301752]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6843429371446373,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6055.png","name":"6055"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6055.png","name":"6055"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7174.png","name":"7174"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4823.png","name":"4823"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6391.png","name":"6391"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6782.png","name":"6782"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":568.6782718571535,"rotation_z_degrees":200.70372815248393,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002578783714160947,-0.009481354940180226,0.016300336128085523]},{"name":"camera_2","offset_m":[0.018295949415082512,-0.0012943198113446568,-0.012667260233046648]},{"name":"camera_3","offset_m":[-0.007131209690865408,0.01801717437780499,0.012135311844645062]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002406319528455744,-0.0018681827621371975,0.0012108685347158553],"end_effector_yaw_offset_degrees":-0.4463110408333757},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00027358537229539613,-4.915093618991333e-06,0.0010381153820498857],"end_effector_yaw_offset_degrees":0.4095902963408866},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015889836297587143,-0.00042985683348878813,0.00016489022304647886],"end_effector_yaw_offset_degrees":0.6322288893602332},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005683214400618026,0.0007711789675278651,0.00013139668721341745],"end_effector_yaw_offset_degrees":0.5041152513781579}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002974002034334557,-0.004281415260451769],"position_m":[0.14347400203433458,0.2304185847395482,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0046556475197760665,0.000969585313036753],"position_m":[0.24444435248022392,-0.38243041468696326,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005035255111919936,-0.0034573733612746284],"position_m":[0.21309647448880803,-0.057157373361274626,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028435819863425133,0.0003468261656899927],"position_m":[0.3564435819863425,0.11754682616569,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c3932b2332f80a53884ea72ccf75f2c83fd160983d1ccf866a6f6eebeb2ed257","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0056.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6055/tex_ceiling_textures_6782/tex_floor_textures_6391/tex_table_textures_7174/tex_wall_textures_4823","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3229652177391965547,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3229652177391965547,"visual_seed":3229652177391965547,"scene_id":"lab_003","finished_at":"2026-09-05T05:04:33"}
+{"episode_id":"ep_000057","started_at":"2026-09-05T05:04:37","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[-0.007310590646152693,1.3328244885770504,0.71338606911949],"aabb_xy":[[-0.07131059092013092,1.2827583883797622],[0.05668940962782554,1.3828905887743381]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[0.21301150618773368,-1.5544602594311583,0.71338606911949],"aabb_xy":[[0.20811221388117018,-1.582137178733727],[0.21791079849429718,-1.5267833401285895]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[-0.3996513747203317,1.0034394876040182,0.71338606911949],"aabb_xy":[[-0.4283007070807479,0.9747939283269422],[-0.37100204235991546,1.0320850468810938]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[0.477630921090308,-2.096046638635701,0.71338606911949],"aabb_xy":[[0.43661297770393714,-2.1460466392666584],[0.5186488644766789,-2.0460466380047437]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[-0.34370950165478725,0.4856366994150987,0.71338606911949],"aabb_xy":[[-0.39870497947544664,0.43063669798119175],[-0.28871402383412786,0.5406367008490056]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.5046461713086907,1.2191307410844079,0.71338606911949],"aabb_xy":[[0.42464617272137123,1.139815139146247],[0.58464616989601,1.2984463430225688]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[-0.4949122835792671,0.7228361048908423,0.71338606911949],"aabb_xy":[[-0.5293747615923547,0.7161724277079194],[-0.46044980556617926,0.7294997820737651]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[0.5316593040548598,-0.5892280934231162,0.71338606911949],"aabb_xy":[[0.507113088432109,-0.6194769899721533],[0.5562055196776104,-0.5589791968740792]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[0.33531239877673014,1.3842876968849382,0.71338606911949],"aabb_xy":[[0.32244049527579,1.304287696471102],[0.3481843022776703,1.4642876972987744]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.23107736787175026,0.19984537196254015,0.71338606911949],"aabb_xy":[[-0.26670652377171,0.1642127052056872],[-0.19544821197179052,0.2354780387193931]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[-0.24410986827401882,1.794451002556571,0.71338606911949],"aabb_xy":[[-0.2592121697350368,1.7793494809255084],[-0.22900756681300063,1.8095525241876322]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[0.2316246745446927,-1.1480849590265696,0.71338606911949],"aabb_xy":[[0.16662467343874943,-1.173050332094698],[0.296624675650636,-1.1231195859584413]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.3409689249938024,-1.8589007006344547,0.71338606911949],"aabb_xy":[[0.3218566176358235,-1.878035479511697],[0.36008123235178124,-1.8397659217572129]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[-0.529769565261959,-0.9342088862715874,0.71338606911949],"aabb_xy":[[-0.5668036746900186,-0.9685860936052967],[-0.4927354558338991,-0.8998316789378779]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.10357924502503368,0.4356991681967801,0.71338606911949],"aabb_xy":[[-0.13789552219965162,0.38569916822360234],[-0.06926296785041575,0.4856991681699578]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[-0.3622303768058078,0.04305705912655622,0.71338606911949],"aabb_xy":[[-0.39973037709798254,0.039015583725952624],[-0.3247303765136329,0.04709853452715981]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[0.21089005921231485,-0.7256680277529366,0.71338606911949],"aabb_xy":[[0.16089005792847488,-0.7756468821435586],[0.2608900604961548,-0.6756891733623144]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_17","position":[-0.4404789421879833,-0.5280895542636568,0.71338606911949],"aabb_xy":[[-0.5044789444083904,-0.5724626383889451],[-0.37647893996757625,-0.4837164701383685]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[-0.6747535466146575,0.43918951517355254,0.71338606911949],"aabb_xy":[[-0.6914306826077529,0.42248959119962226],[-0.6580764106215619,0.4558894391474828]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.15846660957357184,-1.7218835503164875,0.71338606911949],"aabb_xy":[[-0.180980301397029,-1.7918835509174948],[-0.13595291775011462,-1.6518835497154798]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[-0.04103817770882756,0.27002755802440204,0.71338606911949],"aabb_xy":[[-0.05853817684319473,0.26014793098681416],[-0.023538178574460385,0.2799071850619898]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[0.11590888799429022,-1.7140029118855473,0.71338606911949],"aabb_xy":[[0.09889879070423957,-1.730137400383821],[0.13291898528434087,-1.6978684233872732]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_22","position":[-0.10148418964540318,-1.1725237184168325,0.71338606911949],"aabb_xy":[[-0.16548419286404104,-1.2192468303158408],[-0.03748418642676532,-1.125800606517824]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[-0.227051053424479,0.866595630817041,0.71338606911949],"aabb_xy":[[-0.23967784071167533,0.857049557115468],[-0.21442426613728263,0.8761417045186138]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[0.32171755498107224,1.0007304215034964,0.71338606911949],"aabb_xy":[[0.29671755504855435,0.9938477532825731],[0.34671755491359013,1.0076130897244198]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_25","position":[-0.5678602001810282,-1.5596348941298444,0.71338606911949],"aabb_xy":[[-0.5772072077633236,-1.5739385163474882],[-0.5585131925987331,-1.5453312719122]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[0.5994366473527402,-2.4023952389445125,0.71338606911949],"aabb_xy":[[0.5878676666058036,-2.427395239061444],[0.6110056280996767,-2.3773952388275807]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_27","position":[-0.05080738443997823,-1.8133146837722918,0.71338606911949],"aabb_xy":[[-0.06848301502857655,-1.8309949000516943],[-0.03313175385137989,-1.7956344674928888]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[0.42559834863754276,1.6538745568091664,0.71338606911949],"aabb_xy":[[0.3455983514779675,1.6423269558513494],[0.505598345797118,1.6654221577669834]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_29","position":[-0.07057887868347557,-0.7234332155663508,0.71338606911949],"aabb_xy":[[-0.07449275187889809,-0.7321822309729077],[-0.06666500548805304,-0.7146842001597941]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_30","position":[-0.049899327457600506,-0.9892659502432348,0.71338606911949],"aabb_xy":[[-0.11489932561351957,-1.0155621947931468],[0.015100670698318552,-0.9629697056933224]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6904367955583863,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7086.png","name":"7086"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7086.png","name":"7086"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7180.png","name":"7180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6434.png","name":"6434"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2807.png","name":"2807"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1653.png","name":"1653"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":686.1948839135725,"rotation_z_degrees":222.66380963879496,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014058707667670985,-0.014559966615025219,-0.00605430890682738]},{"name":"camera_2","offset_m":[-0.0003811951660982263,-0.0038975866149569063,0.009578122582709642]},{"name":"camera_3","offset_m":[-0.016545687937195255,0.014941273129390555,0.01079299849963912]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013716644280070255,0.0006498927933619703,0.0018488268514695056],"end_effector_yaw_offset_degrees":-0.3721828267959857},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001584063921824825,-0.00023249460077771466,-0.000729974714422028],"end_effector_yaw_offset_degrees":-0.9941856572384165},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[5.9739404151390365e-05,0.00032798251296327916,0.000521119653797115],"end_effector_yaw_offset_degrees":-0.7576800757913882},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008090974548722275,0.0007280980810249662,-0.0014061475110570556],"end_effector_yaw_offset_degrees":-0.7308770831558093}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023187221962924403,-0.0030214047742751714],"position_m":[0.14281872219629246,0.23167859522572481,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030284175544377538,0.001496675648581012],"position_m":[0.25212841755443777,-0.381903324351419,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004821835608031033,-0.0033120341216923556],"position_m":[0.21842183560803105,-0.057012034121692354,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019796320918360503,-0.0015407816530558795],"position_m":[0.3555796320918361,0.11565921834694412,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8dc59e2787c5393c6881d966bc51d4cd2e2d869b35d07610a3f822b9dcaaaddc","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7086/tex_ceiling_textures_1653/tex_floor_textures_2807/tex_table_textures_7180/tex_wall_textures_6434","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6124995209811495320,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6124995209811495320,"visual_seed":6124995209811495320,"scene_id":"lab_003","finished_at":"2026-09-05T05:08:25"}
+{"episode_id":"ep_000058","started_at":"2026-09-05T05:08:29","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.591184545752961,0.9478250514393003,0.71338606911949],"aabb_xy":[[0.5815529095325314,0.9381877386595914],[0.6008161819733906,0.9574623642190092]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[-0.2536987090132347,0.6767843669662095,0.71338606911949],"aabb_xy":[[-0.2886987072833546,0.6697102392712213],[-0.2186987107431148,0.6838584946611976]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.4396113078360134,0.19591720695584725,0.71338606911949],"aabb_xy":[[-0.47711130833337156,0.1919485234077288],[-0.4021113073386551,0.19988589050396563]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.12618788494682254,0.6824825708019007,0.71338606911949],"aabb_xy":[[0.046187881682809406,0.6689225384929873],[0.20618788821083567,0.696042603110814]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[0.42762296024236557,-1.2144069062536034,0.71338606911949],"aabb_xy":[[0.39763129750849524,-1.2444069055904037],[0.4576146229762359,-1.1844069069168026]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.07293492373149624,-0.783198520287721,0.71338606911949],"aabb_xy":[[-0.007065074855823194,-0.8625141222258818],[0.15293492231881564,-0.70388291834956]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[0.4934192040127321,-2.220192536463359,0.71338606911949],"aabb_xy":[[0.45065249713331196,-2.284192539885162],[0.5361859108921523,-2.156192533041557]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[-0.15832856109523152,-0.9810722615597303,0.71338606911949],"aabb_xy":[[-0.17543063905359968,-0.9981790670910001],[-0.14122648313686337,-0.9639654560284606]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[-0.30489481117299727,-1.1402163274370758,0.71338606911949],"aabb_xy":[[-0.3353790613000274,-1.1902163272185717],[-0.2744105610459671,-1.0902163276555799]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[0.13814452899050744,-1.2191059424037547,0.71338606911949],"aabb_xy":[[0.06814452559894545,-1.2544217161071853],[0.2081445323820694,-1.1837901687003236]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[0.6126722439241608,-0.4949357837185535,0.71338606911949],"aabb_xy":[[0.5874514070643209,-0.52015953457144],[0.6378930807840002,-0.46971203286566665]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[-0.5801555453320638,-1.5949256788470656,0.71338606911949],"aabb_xy":[[-0.6113024641756469,-1.6649256775338726],[-0.5490086264884807,-1.5249256801602582]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[-0.07673175667721044,1.3624621776920898,0.71338606911949],"aabb_xy":[[-0.08729923633530945,1.3519171475790814],[-0.06616427701911143,1.3730072078050986]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.18140800797234224,1.02857641965621,0.71338606911949],"aabb_xy":[[-0.23140301893179432,0.9785764206206184],[-0.13141299701289025,1.0785764186918019]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.49592529570401267,0.02817410997421277,0.71338606911949],"aabb_xy":[[-0.5599252979244197,-0.016198974151075518],[-0.43192529348360564,0.07254719409950106]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[-0.46152654134410176,-0.5317726540241323,0.71338606911949],"aabb_xy":[[-0.4790732362602207,-0.5692726555883836],[-0.4439798464279828,-0.49427265245988106]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[-0.3916390450926057,1.7325009148532868,0.71338606911949],"aabb_xy":[[-0.47163904210685365,1.7123663631798756],[-0.3116390480783577,1.752635466526698]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[0.6592556130369551,-2.276731321051745,0.71338606911949],"aabb_xy":[[0.5942556103991617,-2.328210919751192],[0.7242556156747487,-2.225251722352298]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[0.4060944054025488,-0.8401800632844205,0.71338606911949],"aabb_xy":[[0.3562117085248527,-0.8901800625306954],[0.45597710228024513,-0.7901800640381459]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.52322284964218,-1.4029717428065593,0.71338606911949],"aabb_xy":[[0.4857228493500052,-1.4070132182071626],[0.5607228499343548,-1.3989302674059556]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.48774913552072796,0.40271556168724754,0.71338606911949],"aabb_xy":[[0.4695433118594804,0.39169016110525584],[0.5059549591819757,0.4137409622692391]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.3089379391170934,-0.6595023694130691,0.71338606911949],"aabb_xy":[[-0.37293794052508406,-0.7112913209369937],[-0.24493793770910274,-0.6077134178891442]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.5443828610629942,-0.16499356148919064,0.71338606911949],"aabb_xy":[[-0.5800120169629539,-0.2006262282460436],[-0.5087537051630344,-0.1293608947323377]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[0.5337747173821841,-1.6318361033345705,0.71338606911949],"aabb_xy":[[0.45377471872529807,-1.6463409622588334],[0.6137747160390701,-1.6173312444103076]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[-0.505531319331501,1.3992248039084725,0.71338606911949],"aabb_xy":[[-0.5516164105862323,1.3352248066559171],[-0.45944622807676944,1.4632248011610274]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_25","position":[0.37036411856034146,-2.487663658939488,0.71338606911949],"aabb_xy":[[0.32039105302782606,-2.537663658752021],[0.42033718409285703,-2.4376636591269554]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[0.3043857922668888,1.3617817719570309,0.71338606911949],"aabb_xy":[[0.2542883282858151,1.2977817714472188],[0.35448325624796234,1.4257817724668425]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_27","position":[-0.38185163675125966,0.8089184191751779,0.71338606911949],"aabb_xy":[[-0.4193516365682932,0.8042802078640362],[-0.3443516369342261,0.8135566304863199]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_28","position":[0.6231354548566761,0.2985217670184488,0.71338606911949],"aabb_xy":[[0.6056354555785892,0.28118366695210284],[0.640635454134763,0.31585986708479474]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_29","position":[-0.17853903299437002,-2.388277443016653,0.71338606911949],"aabb_xy":[[-0.23853903463729187,-2.4402775923085973],[-0.11853903135144817,-2.336277293724709]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_30","position":[-0.0230553371883081,-1.623057154484296,0.71338606911949],"aabb_xy":[[-0.0605553357639289,-1.635793450147854],[0.014444661387312705,-1.610320858820738]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_31","position":[-0.33761137565814364,-0.5147573196680568,0.71338606911949],"aabb_xy":[[-0.37261137396883903,-0.5224723345916025],[-0.30261137734744814,-0.5070423047445112]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_32","position":[0.41902600341589613,1.1064496802157007,0.71338606911949],"aabb_xy":[[0.3550260031554253,1.0614408808627724],[0.48302600367636694,1.1514584795686285]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888286565069394,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/367.png","name":"367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/367.png","name":"367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6554.png","name":"6554"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6190.png","name":"6190"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/906.png","name":"906"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8679.png","name":"8679"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":565.9600497490873,"rotation_z_degrees":202.79211221562952,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014532828154554284,-0.0008215999904444167,0.0010507530698562959]},{"name":"camera_2","offset_m":[-0.01296201285739123,0.0025976764845778363,-0.009355952753622257]},{"name":"camera_3","offset_m":[-0.017723431233005155,-0.01121793543615944,-0.0006645549161661754]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014839742544921015,-0.00133173453769491,0.0010205029479170686],"end_effector_yaw_offset_degrees":-0.0893881635209639},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018738893485930374,3.221046799236314e-05,0.0011451158456321497],"end_effector_yaw_offset_degrees":0.7930087030476625},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00029480184325522967,-0.0019632115012704135,-0.0015893369470920335],"end_effector_yaw_offset_degrees":0.4681082467810802},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014622520388975766,0.0011165632819634865,0.001596032044778347],"end_effector_yaw_offset_degrees":0.04830292564335226}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001649984073026741,-0.0037165400514901723],"position_m":[0.14214998407302676,0.23098345994850983,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00125406045204878,0.0017324103297334569],"position_m":[0.2503540604520488,-0.38166758967026654,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00465407686280377,0.00497030973428112],"position_m":[0.20894592313719623,-0.04872969026571888,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022718782320383154,-0.004792202863181968],"position_m":[0.35587187823203836,0.11240779713681803,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"29ce31097f9822b23accfd67c201028ca607e5f7a7ab0b1b7298660b08bddf01","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_367/tex_ceiling_textures_8679/tex_floor_textures_906/tex_table_textures_6554/tex_wall_textures_6190","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3127363625951739015,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3127363625951739015,"visual_seed":3127363625951739015,"scene_id":"lab_003","finished_at":"2026-09-05T05:12:15"}
+{"episode_id":"ep_000059","started_at":"2026-09-05T05:12:19","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[0.17833409047430115,-2.0446273415132037,0.71338606911949],"aabb_xy":[[0.17129263952355359,-2.051654093250998],[0.18537554142504878,-2.0376005897754093]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.5686173971944251,0.05431106422285037,0.71338606911949],"aabb_xy":[[-0.6326173974684033,0.004244964025562403],[-0.5046173969204468,0.10437716442013834]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[0.6396493934793948,-0.8726494418698754,0.71338606911949],"aabb_xy":[[0.6277773104678936,-0.9576494415635256],[0.6515214764908959,-0.7876494421762249]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[-0.15742290105777268,0.9261421424564098,0.71338606911949],"aabb_xy":[[-0.24742290078094686,0.9030687899212299],[-0.06742290133459851,0.9492154949915895]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.474072241898862,-2.2671246233911995,0.71338606911949],"aabb_xy":[[-0.5340722421502632,-2.321405948427664],[-0.4140722416474608,-2.212843298354735]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.2036924144187593,0.794949457036608,0.71338606911949],"aabb_xy":[[-0.2111048699601478,0.7890982466149802],[-0.19627995887737085,0.8008006674582361]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.4504900335105393,0.9314834967906434,0.71338606911949],"aabb_xy":[[0.41299003301318105,0.9275148132425248],[0.48799003400789753,0.9354521803387617]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.4990990876376483,0.883616615144807,0.71338606911949],"aabb_xy":[[-0.5443777025187975,0.8196166157966234],[-0.45382047275649895,0.9476166144929907]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[-0.25939810561662546,-1.428600057842501,0.71338606911949],"aabb_xy":[[-0.3443981043087001,-1.46058592123738],[-0.17439810692455082,-1.3966141944476222]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.28105407369824414,-1.9835638553746056,0.71338606911949],"aabb_xy":[[-0.3153509847159848,-2.0178607415845464],[-0.24675716268050352,-1.949266969164664]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[0.2882251470506151,1.1036645322753658,0.71338606911949],"aabb_xy":[[0.257078228207032,1.0336645335885586],[0.31937206589419825,1.173664530962173]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[-0.33449929315970456,1.3627793691886305,0.71338606911949],"aabb_xy":[[-0.34053630616036923,1.3567526681196826],[-0.3284622801590398,1.3688060702575788]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[0.557659032454876,0.22586469041166346,0.71338606911949],"aabb_xy":[[0.5484991535109994,0.21933347236812645],[0.5668189113987526,0.23239590845520047]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[0.017254280540195843,1.3389367006773352,0.71338606911949],"aabb_xy":[[0.009971964163532182,1.2489366970678255],[0.024536596916859492,1.4289367042868435]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[-0.13821415828486205,-2.4241138753111504,0.71338606911949],"aabb_xy":[[-0.14547540585526947,-2.43690088557466],[-0.13095291071445464,-2.411326865047641]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.5499880719866874,0.024517293902849513,0.71338606911949],"aabb_xy":[[0.49998807062580025,-0.0254606106725661],[0.5999880733475746,0.07449519847826512]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.46604814991624377,1.6807908363669797,0.71338606911949],"aabb_xy":[[-0.5210436277369032,1.6257908349330725],[-0.4110526720955844,1.7357908378008864]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.32985998920484977,0.0919076504052887,0.71338606911949],"aabb_xy":[[-0.3667105371418374,0.05440764958225497],[-0.29300944126786216,0.12940765122832243]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.6983086889385026,-0.6536655326817544,0.71338606911949],"aabb_xy":[[0.6807619940223836,-0.6911655342460057],[0.7158553838546214,-0.6161655311175032]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.6037945127192379,-1.843862487781462,0.71338606911949],"aabb_xy":[[0.5662945124270632,-1.8479039631820653],[0.6412945130114128,-1.8398210123808583]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.4957147095883263,-1.737196428553744,0.71338606911949],"aabb_xy":[[0.4670653772279101,-1.7658419878308198],[0.5243640419487425,-1.7085508692766682]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.16210699004900642,-0.8851123134656482,0.71338606911949],"aabb_xy":[[-0.17014332475029123,-0.893150432770065],[-0.15407065534772155,-0.8770741941612314]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.14340220687621685,0.9031894456085929,0.71338606911949],"aabb_xy":[[0.0784022068419141,0.8564887689282655],[0.20840220691051956,0.9498901222889201]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_23","position":[0.14189098865728256,-1.88552024864667,0.71338606911949],"aabb_xy":[[0.05189098498036436,-1.946952655223774],[0.23189099233420069,-1.8240878420695652]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_24","position":[0.4967499173527785,-2.3526769396614173,0.71338606911949],"aabb_xy":[[0.4754719092093063,-2.4176769419874904],[0.5180279254962508,-2.2876769373353443]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[-0.2902662157117625,1.7551928354194328,0.71338606911949],"aabb_xy":[[-0.3702662167848828,1.7454147890820484],[-0.21026621463864215,1.7649708817568173]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_26","position":[0.5247685170953098,-1.2557297591716665,0.71338606911949],"aabb_xy":[[0.5121658179582333,-1.2683251553965318],[0.5373712162323863,-1.2431343629468008]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898887828344793,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6402.png","name":"6402"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6402.png","name":"6402"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9286.png","name":"9286"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8518.png","name":"8518"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3624.png","name":"3624"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6872.png","name":"6872"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":726.8909872041913,"rotation_z_degrees":222.1485037423197,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012039372739148704,-0.003317530532638887,-0.019367188830482475]},{"name":"camera_2","offset_m":[0.01659142322784778,-0.012967508130256346,0.0067906159846492925]},{"name":"camera_3","offset_m":[0.00010962631269830284,0.0014825997073465089,0.0010087992766540724]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009137336358512869,0.000627614080725042,-0.0015879588772632187],"end_effector_yaw_offset_degrees":0.9943902255513424},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008718305869891765,0.0012687166420415376,-0.0002874695102656232],"end_effector_yaw_offset_degrees":0.9665434965886821},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00044665472586594385,-0.0009089737251501858,0.0017411011497795378],"end_effector_yaw_offset_degrees":-0.1724332057525133},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008067409357423293,0.0010648873185252062,0.0017960997155076347],"end_effector_yaw_offset_degrees":0.9448712076145867}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001522616368382921,-0.003147504500573741],"position_m":[0.1389773836316171,0.23155249549942625,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015008308505537271,-0.004264148364295605],"position_m":[0.24759916914944627,-0.38766414836429564,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0040929448651913294,0.0034600328472205203],"position_m":[0.2095070551348087,-0.05023996715277948,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012343184202763713,0.0010237412791531328],"position_m":[0.35236568157972364,0.11822374127915314,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8c6d0600851d9a1bae04ad3813eb97116e4ae7de2871022360db7c5fcc6acda7","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0059.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6402/tex_ceiling_textures_6872/tex_floor_textures_3624/tex_table_textures_9286/tex_wall_textures_8518","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2335642659433798601,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2335642659433798601,"visual_seed":2335642659433798601,"scene_id":"lab_003","finished_at":"2026-09-05T05:16:07"}
+{"episode_id":"ep_000060","started_at":"2026-09-05T05:16:11","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.14673118009688013,-2.4672866724377465,0.71338606911949],"aabb_xy":[[-0.2067311799434469,-2.524105294630785],[-0.08673118025031332,-2.410468050244708]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[-0.08591667579769768,0.7949321999200865,0.71338606911949],"aabb_xy":[[-0.13589409266295124,0.7449321984308378],[-0.03593925893244409,0.8449322014093349]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.4400623709174507,-0.6133172074240516,0.71338606911949],"aabb_xy":[[0.39787795675662,-0.6773172077012629],[0.4822467850782815,-0.5493172071468405]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[0.6031810889716958,0.2226926355583636,0.71338606911949],"aabb_xy":[[0.5531810886111296,0.17271264834876063],[0.6531810893322617,0.2726726227679665]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.5384814995332011,-2.2623903877483538,0.71338606911949],"aabb_xy":[[-0.628481498951572,-2.2957658845925435],[-0.44848150011483023,-2.229014890904164]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[0.39590183823330105,1.7655619956720794,0.71338606911949],"aabb_xy":[[0.32590184182333914,1.7451240600203974],[0.46590183464326274,1.785999931323761]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.10717139830100386,-0.8780630948472552,0.71338606911949],"aabb_xy":[[-0.1711713997089945,-0.9298520463711799],[-0.043171396893013185,-0.8262741433233305]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[-0.07295736588127588,-0.3748415296492902,0.71338606911949],"aabb_xy":[[-0.10795736501123153,-0.3805867507249543],[-0.03795736675132021,-0.3690963085736261]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[0.3951348093348055,0.9669803100682661,0.71338606911949],"aabb_xy":[[0.32513480594324345,0.931664536364835],[0.4651348127263674,1.0022960837716965]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[0.08967060151987394,-1.9348329922647718,0.71338606911949],"aabb_xy":[[0.02567060440776825,-1.9838653620591822],[0.15367059863197963,-1.885800622470361]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[-0.25245639605617154,1.242922283622888,0.71338606911949],"aabb_xy":[[-0.2565345539632213,1.2388413033746246],[-0.2483782381491218,1.2470032638711512]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_11","position":[0.2844931884573133,-0.5494434880307564,0.71338606911949],"aabb_xy":[[0.2668175578687149,-0.567123704310159],[0.3021688190459116,-0.5317632717513535]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.21965607044876911,-2.445768301975475,0.71338606911949],"aabb_xy":[[0.17840725941885435,-2.500768301487692],[0.2609048814786838,-2.390768302463257]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[0.5840837282564411,-0.3743517982559381,0.71338606911949],"aabb_xy":[[0.5615837287327334,-0.39684774570655884],[0.6065837277801482,-0.3518558508053173]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[0.2564535485748104,-1.2417961848173722,0.71338606911949],"aabb_xy":[[0.20648025457154995,-1.2917961853719193],[0.30642684257807085,-1.1917961842628246]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[-0.06653972179711687,-1.1340792264682316,0.71338606911949],"aabb_xy":[[-0.09105334589412273,-1.158343819770268],[-0.04202609770011101,-1.109814633166195]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.31750470266843167,-1.2946140452187282,0.71338606911949],"aabb_xy":[[-0.34000470318047227,-1.3171059035841264],[-0.2950047021563911,-1.2721221868533297]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[-0.5018363740061588,0.6438655832536035,0.71338606911949],"aabb_xy":[[-0.5479214652608903,0.5798655860010484],[-0.45575128275142734,0.7078655805061587]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[0.1124594428852097,-2.090358937394454,0.71338606911949],"aabb_xy":[[0.04845944066480268,-2.134732021519742],[0.17645944510561673,-2.0459858532691655]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[-0.28361543679136314,-0.30041722485667854,0.71338606911949],"aabb_xy":[[-0.29418291644946215,-0.3109622549696871],[-0.27304795713326413,-0.28987219474367]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.4743716071891946,-1.5792430123313093,0.71338606911949],"aabb_xy":[[0.42656543957542586,-1.6442430150383682],[0.5221777748029632,-1.5142430096242503]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[-0.5212956922074173,-0.3024821290204085,0.71338606911949],"aabb_xy":[[-0.5445775344055486,-0.38748213031763645],[-0.49801385000928594,-0.21748212772318035]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_22","position":[-0.4397791903687079,1.502279601451209,0.71338606911949],"aabb_xy":[[-0.44986089744728125,1.422279603559094],[-0.4296974832901343,1.5822795993433234]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[0.3308884141815871,0.5287368276822684,0.71338606911949],"aabb_xy":[[0.28088841252009233,0.4787383854265656],[0.38088841584308186,0.578735269937971]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[0.6565752052641451,1.7080614843078288,0.71338606911949],"aabb_xy":[[0.5915752042636446,1.657275119153154],[0.7215752062646457,1.758847849462504]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[0.565361789620966,-0.9555693456718455,0.71338606911949],"aabb_xy":[[0.4803617912035427,-1.0404436411341305],[0.6503617880383892,-0.8706950502095606]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6912489137071648,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8971.png","name":"8971"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8971.png","name":"8971"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8548.png","name":"8548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7804.png","name":"7804"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3601.png","name":"3601"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2022.png","name":"2022"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":625.3703254457174,"rotation_z_degrees":276.0939645199504,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0069471867267674355,0.013742496292052316,0.012935392773801496]},{"name":"camera_2","offset_m":[-0.016047009069371586,-0.011742164214296276,0.001557716881566959]},{"name":"camera_3","offset_m":[0.017896203838914892,-0.01358828718309598,-0.006692748848172907]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016360979790240968,0.0007232775043959573,0.0018020334337338182],"end_effector_yaw_offset_degrees":0.7823234850647875},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011543623968651188,-0.00024293965567244143,7.900093940846039e-05],"end_effector_yaw_offset_degrees":0.5777332620595887},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013599321341450105,-0.0009281891174923982,-0.0006199702629005551],"end_effector_yaw_offset_degrees":0.8964014593592857},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00013834727939560044,7.884469993510402e-05,0.001161989004731768],"end_effector_yaw_offset_degrees":-0.5152171591879999}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036374789382259435,0.004588615941519208],"position_m":[0.14413747893822595,0.2392886159415192,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002357517818841257,-0.0009742264667314737],"position_m":[0.25145751781884124,-0.3843742264667315,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018080076716734984,-0.004755792643424793],"position_m":[0.2154080076716735,-0.05845579264342479,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021835154973441993,0.0034475477017718225],"position_m":[0.3557835154973442,0.12064754770177182,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c55724c1ab91526c1d44169e169046a2941350651acbee4225c2288b54a979d0","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8971/tex_ceiling_textures_2022/tex_floor_textures_3601/tex_table_textures_8548/tex_wall_textures_7804","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":9132913261133947857,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":9132913261133947857,"visual_seed":9132913261133947857,"scene_id":"lab_003","finished_at":"2026-09-05T05:20:05"}
+{"episode_id":"ep_000061","started_at":"2026-09-05T05:20:09","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.45018781615182357,-1.62603662387696,0.71338606911949],"aabb_xy":[[0.3951878165300778,-1.6810203166644326],[0.5051878157735694,-1.5710529310894872]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_1","position":[-0.12140005386165054,-1.2142897480161994,0.71338606911949],"aabb_xy":[[-0.15890005228505089,-1.22745396198403],[-0.08390005543825019,-1.2011255340483689]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[0.10409879777916953,-2.5296091266783827,0.71338606911949],"aabb_xy":[[0.06909879946847408,-2.5373241416019288],[0.13909879608986497,-2.5218941117548375]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.3451577813906927,-0.6617006771746792,0.71338606911949],"aabb_xy":[[-0.3676577816342081,-0.6739053118344511],[-0.3226577811471773,-0.6494960425149072]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[-0.22904951965006515,0.4748190732089803,0.71338606911949],"aabb_xy":[[-0.2633464306678058,0.4405221869990389],[-0.19475260863232452,0.5091159594189216]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[-0.6561870475705481,0.5642994119057834,0.71338606911949],"aabb_xy":[[-0.6642304074965033,0.47929941081041694],[-0.648143687644593,0.6492994130011498]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.5362803640299536,-0.93329836412014,0.71338606911949],"aabb_xy":[[0.46628036189852395,-0.9560603297458354],[0.606280366161383,-0.9105363984944441]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.6163176256977244,1.330175970440278,0.71338606911949],"aabb_xy":[[-0.6813176238536436,1.3038797258903656],[-0.5513176275418055,1.35647221499019]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[0.17293866739849273,1.0797291289881104,0.71338606911949],"aabb_xy":[[0.1597077218638114,1.066501709966111],[0.186169612933174,1.0929565480101098]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[0.31399919001891097,1.5917605876021113,0.71338606911949],"aabb_xy":[[0.27714864208192336,1.5542605867790775],[0.3508497379558986,1.629260588425145]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[-0.05466541812880177,-1.8456672011026516,0.71338606911949],"aabb_xy":[[-0.12466541453876355,-1.8661051367543329],[0.015334578281160026,-1.8252292654509694]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[-0.5389269349180946,-1.4016841906215312,0.71338606911949],"aabb_xy":[[-0.5564269351631439,-1.419183978461098],[-0.5214269346730451,-1.3841844027819643]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[0.3046623194102306,1.437857609006255,0.71338606911949],"aabb_xy":[[0.2546623183910953,1.4013913932684272],[0.35466232042936585,1.474323824744083]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.21871879110547376,-2.169746222458154,0.71338606911949],"aabb_xy":[[-0.26869759961578965,-2.2197462224638724],[-0.16873998259515788,-2.119746222452435]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[-0.3479528187503576,1.1660501898267346,0.71338606911949],"aabb_xy":[[-0.41295281730743044,1.136297656412852],[-0.28295282019328477,1.1958027232406172]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_15","position":[0.35270009333686025,1.785077316299145,0.71338606911949],"aabb_xy":[[0.34354021439298366,1.7785460982556078],[0.36185997228073685,1.791608534342682]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[-0.551020577809442,-1.6518240944020102,0.71338606911949],"aabb_xy":[[-0.5623823124627281,-1.663192560808298],[-0.5396588431561558,-1.6404556279957219]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[0.6472565007740094,-1.178378968668641,0.71338606911949],"aabb_xy":[[0.6097565004257817,-1.1901703642497246],[0.6847565011222372,-1.1665875730875575]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.2552321736609017,-1.2483553922532697,0.71338606911949],"aabb_xy":[[0.19123217654879598,-1.2973877620476804],[0.31923217077300736,-1.1993230224588591]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[-0.32345050624780797,-1.1522485668915547,0.71338606911949],"aabb_xy":[[-0.3470356297117029,-1.2172485691369865],[-0.29986538278391317,-1.087248564646123]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[-0.39038950576263326,0.29913865147461394,0.71338606911949],"aabb_xy":[[-0.4047239308887967,0.2870784359200751],[-0.3760550806364698,0.3111988670291528]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[0.39624253754413874,-1.1472614333014297,0.71338606911949],"aabb_xy":[[0.38802799242845465,-1.1559380235990706],[0.4044570826598226,-1.138584843003788]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[0.24608255601866647,-1.9183732678993408,0.71338606911949],"aabb_xy":[[0.1982763884048978,-1.9833732706063996],[0.2938887236324351,-1.8533732651922816]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[-0.06623909751085644,1.7774475099605724,0.71338606911949],"aabb_xy":[[-0.11623909846138925,1.745898362957051],[-0.01623909656032363,1.8089966569640938]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[-0.1423714740697365,1.1995395017873811,0.71338606911949],"aabb_xy":[[-0.15497417320681298,1.1869441055625158],[-0.12976877493266006,1.2121348980122468]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[-0.41566565743615635,-2.299182195643585,0.71338606911949],"aabb_xy":[[-0.5056656597701754,-2.3766645502286976],[-0.32566565510213735,-2.2216998410584723]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_26","position":[0.6591944224121693,-2.233740566668885,0.71338606911949],"aabb_xy":[[0.6341944232465361,-2.240692812374242],[0.6841944215778023,-2.2267883209635286]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_27","position":[-0.5174477600319428,-0.48883927532616633,0.71338606911949],"aabb_xy":[[-0.5290167407788794,-0.513839275443098],[-0.5058787792850062,-0.4638392752092347]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_28","position":[-0.5206880626071375,-1.983735500273435,0.71338606911949],"aabb_xy":[[-0.5592337554323386,-2.0222812713296237],[-0.4821423697819365,-1.9451897292172462]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6935764203383735,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4742.png","name":"4742"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4742.png","name":"4742"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2748.png","name":"2748"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3212.png","name":"3212"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3596.png","name":"3596"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6616.png","name":"6616"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":817.6231189088945,"rotation_z_degrees":327.4315252367904,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013800409651558796,-0.017015953103668786,-0.004096048815686936]},{"name":"camera_2","offset_m":[-0.012923067313497412,-0.003935770386616556,-0.008395807411394913]},{"name":"camera_3","offset_m":[-0.0003796563393383516,0.00969888380491482,0.0017627508505461617]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00047096165783951744,0.0018613279442471252,0.0016778609031071427],"end_effector_yaw_offset_degrees":0.6179134164879498},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010477650580635784,0.001866590040713012,0.0004243608855854031],"end_effector_yaw_offset_degrees":0.09870964663149273},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002589686727535443,0.001085961203251939,0.001146541432032465],"end_effector_yaw_offset_degrees":-0.5469503814325392},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003115770797286271,-0.0018512735570575542,0.0007736658774487462],"end_effector_yaw_offset_degrees":0.718198962891694}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034596356947294267,0.003946301012085491],"position_m":[0.14395963569472944,0.23864630101208548,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004329665144291047,-0.00221216711668637],"position_m":[0.25342966514429105,-0.3856121671166864,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001602935239558739,-0.001305979559940931],"position_m":[0.21520293523955875,-0.05500597955994093,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030254234106699583,0.001552478212339792],"position_m":[0.35662542341067,0.1187524782123398,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"509e8858cfc9274616575ae7c27362817db084947f9401eafff3088fc0eaee47","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0061.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4742/tex_ceiling_textures_6616/tex_floor_textures_3596/tex_table_textures_2748/tex_wall_textures_3212","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8910504753124768352,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8910504753124768352,"visual_seed":8910504753124768352,"scene_id":"lab_003","finished_at":"2026-09-05T05:24:17"}
+{"episode_id":"ep_000062","started_at":"2026-09-05T05:24:21","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.4656499473734063,-1.8989691383061262,0.71338606911949],"aabb_xy":[[-0.5296499506631145,-1.9423040573100436],[-0.4016499440836982,-1.8556342193022084]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.11179615038061297,-0.30188147343630334,0.71338606911949],"aabb_xy":[[-0.13538127384450782,-0.36688147568173507],[-0.08821102691671813,-0.2368814711908715]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[-0.30955243022042805,0.381637701016861,0.71338606911949],"aabb_xy":[[-0.3320172001918331,0.35913770013800045],[-0.2870876602490229,0.40413770189572146]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[0.5933671797128603,0.2868586234940156,0.71338606911949],"aabb_xy":[[0.5433883712025445,0.23685862348829673],[0.6433459882231762,0.33685862349973433]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[-0.5149830423070154,-1.5279117914357938,0.71338606911949],"aabb_xy":[[-0.5949830409639014,-1.542416650360057],[-0.4349830436501294,-1.5134069325115311]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[-0.13821995766155248,1.3972513599800447,0.71338606911949],"aabb_xy":[[-0.18821496862100454,1.347251360944453],[-0.08822494670210045,1.4472513590156364]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.15952401014688988,-1.7367850200287587,0.71338606911949],"aabb_xy":[[-0.19655811957494956,-1.7711622273624676],[-0.12248990071883015,-1.7024078126950488]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[-0.28494863804276194,0.09334003392363854,0.71338606911949],"aabb_xy":[[-0.2958002442916375,0.08248074319598751],[-0.2740970317938863,0.10419932465128955]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[-0.40202720273476017,-2.30220319380046,0.71338606911949],"aabb_xy":[[-0.439527203026935,-2.3062446692010634],[-0.36452720244258535,-2.298161718399856]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[-0.44278134185965357,-2.5577693568965203,0.71338606911949],"aabb_xy":[[-0.45334882151775263,-2.568314387009529],[-0.4322138622015546,-2.5472243267835117]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[0.4451760396099069,-0.15522170529900725,0.71338606911949],"aabb_xy":[[0.4360161606660303,-0.16175292334254424],[0.45433591855378347,-0.1486904872554702]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.48792998216355854,1.6808285490336687,0.71338606911949],"aabb_xy":[[-0.5679299854214015,1.600832041241685],[-0.4079299789057156,1.760825056825653]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.488076753798,-1.1911335796364748,0.71338606911949],"aabb_xy":[[0.39807675146398086,-1.2686159342215875],[0.578076756132019,-1.1136512250513622]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[0.5850367851212572,0.8527534893618829,0.71338606911949],"aabb_xy":[[0.5428523709604265,0.7887534890846718],[0.627221199282088,0.9167534896390942]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.5760342183997869,-1.858352625726405,0.71338606911949],"aabb_xy":[[0.5260611528672715,-1.9083526255389385],[0.6260072839323024,-1.8083526259138727]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.6288982638765367,0.48330226168056134,0.71338606911949],"aabb_xy":[[-0.6349352768772015,0.4772755606116132],[-0.6228612508758721,0.4893289627495096]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[-0.5767318563144006,0.8162072950189256,0.71338606911949],"aabb_xy":[[-0.6417318544703197,0.7899110504690134],[-0.5117318581584815,0.8425035395688378]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[-0.35400266161412564,-0.36203079988172027,0.71338606911949],"aabb_xy":[[-0.36124642766037096,-0.4420307980853226],[-0.3467588955678803,-0.28203080167811784]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.1690557556203004,0.5057027862939965,0.71338606911949],"aabb_xy":[[-0.19155489134652737,0.4832027855157335],[-0.14655661989407343,0.5282027870722594]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_19","position":[0.70139100587937,-1.4415903061497712,0.71338606911949],"aabb_xy":[[0.6933970173016664,-1.4495903862448611],[0.7093849944570731,-1.4335902260546804]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[-0.6422450809762461,1.0702592558712256,0.71338606911949],"aabb_xy":[[-0.6635230891197182,1.0052592535451526],[-0.6209670728327737,1.1352592581972987]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[0.5569893011789877,1.653574823863981,0.71338606911949],"aabb_xy":[[0.5525586718241475,1.6481264521292984],[0.5614199305338279,1.6590231955986634]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[-0.669540973028531,-1.913493523681959,0.71338606911949],"aabb_xy":[[-0.6920409732720464,-1.9256981583417307],[-0.6470409727850156,-1.9012888890221868]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[-0.06441301118134268,-1.5210926312419348,0.71338606911949],"aabb_xy":[[-0.08261883484259036,-1.5321180318239267],[-0.046207187520095006,-1.5100672306599434]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[-0.6456827747540026,-0.31387670175266535,0.71338606911949],"aabb_xy":[[-0.6869315857839173,-0.3688767012648827],[-0.6044339637240879,-0.2588767022404478]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.5836255753618338,1.3199857500747467,0.71338606911949],"aabb_xy":[[-0.6476255745316036,1.273219062955784],[-0.5196255761920637,1.366752437193709]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[0.5315664988909672,-0.8418689629425635,0.71338606911949],"aabb_xy":[[0.527430642558267,-0.8793689623869205],[0.5357023552236674,-0.8043689634982065]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[0.5922902249597151,1.0301777576994784,0.71338606911949],"aabb_xy":[[0.569793803525851,1.007677757892731],[0.6147866463935792,1.0526777575062258]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_28","position":[0.24657105134905344,-2.165799237091258,0.71338606911949],"aabb_xy":[[0.19157557352839402,-2.2207992385251645],[0.3015665291697128,-2.1107992356573506]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_29","position":[0.3360749098105811,-0.7838262287162392,0.71338606911949],"aabb_xy":[[0.30608324707671075,-0.8138262280530396],[0.3660665725444514,-0.7538262293794386]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_30","position":[0.3386338116034895,0.6564619674650127,0.71338606911949],"aabb_xy":[[0.3288778220943156,0.6466994334057781],[0.3483898011126634,0.666224501524247]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_31","position":[0.5057378293353925,-2.0258837746252043,0.71338606911949],"aabb_xy":[[0.4481073604481215,-2.085883773551914],[0.5633682982226632,-1.9658837756984928]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_32","position":[0.23815809001311772,-1.1482019331109836,0.71338606911949],"aabb_xy":[[0.18316583937760678,-1.2032019348542966],[0.29315034064862866,-1.093201931367671]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_33","position":[0.1841161685268381,-1.2536996006179473,0.71338606911949],"aabb_xy":[[0.18041290719769923,-1.257401618926665],[0.18781942985597697,-1.249997582309229]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_34","position":[-0.30296676764081054,-1.9655195270501962,0.71338606911949],"aabb_xy":[[-0.32285780752115084,-1.9781753383348937],[-0.28307572776047035,-1.9528637157655]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873520945128725,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4096.png","name":"4096"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4096.png","name":"4096"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7719.png","name":"7719"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/967.png","name":"967"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6351.png","name":"6351"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2231.png","name":"2231"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":786.8786913651586,"rotation_z_degrees":52.669048198593075,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010865609028061458,0.004108882265854416,-0.015020879589978168]},{"name":"camera_2","offset_m":[-0.008691898358583541,0.014856084737728027,-0.019698586949026927]},{"name":"camera_3","offset_m":[0.014081837199287062,-0.01595399646796937,-0.015596650903519839]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009593413034161516,-0.0019369496076315947,0.0008275831767469697],"end_effector_yaw_offset_degrees":-0.20479204899988734},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012314281536165888,-0.00040701031659701485,-0.0008074710713092674],"end_effector_yaw_offset_degrees":0.49097954299238755},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015323611097176695,0.0013976428178806535,-0.0017320830096850535],"end_effector_yaw_offset_degrees":0.6570233750729206},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015067517330924146,0.0015404965614919624,-0.000965152961060595],"end_effector_yaw_offset_degrees":0.19230046057867112}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0041607254125563395,0.0014770488764743982],"position_m":[0.14466072541255634,0.2361770488764744,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002155204330295324,-0.0007045987725612535],"position_m":[0.24694479566970468,-0.38410459877256126,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004918182218357273,0.001586053691598758],"position_m":[0.20868181778164274,-0.05211394630840124,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00012430577853481204,-0.001861143218641117],"position_m":[0.35372430577853486,0.11533885678135888,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ce3c617d7d1e1114a3d4ecd3ccddd5349d6429ee176c36218b7c11413a4ae0c1","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4096/tex_ceiling_textures_2231/tex_floor_textures_6351/tex_table_textures_7719/tex_wall_textures_967","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3733123322095475115,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3733123322095475115,"visual_seed":3733123322095475115,"scene_id":"lab_003","finished_at":"2026-09-05T05:28:14"}
+{"episode_id":"ep_000063","started_at":"2026-09-05T05:28:18","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[0.18463402371373394,1.4289465746227044,0.71338606911949],"aabb_xy":[[0.15963402378121608,1.422063906401781],[0.20963402364625186,1.4358292428436277]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[0.31181878909892147,-1.9236030764752718,0.71338606911949],"aabb_xy":[[0.28659795223908174,-1.9488268273281586],[0.3370396259587611,-1.898379325622385]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.3666571799823788,-2.321392449639875,0.71338606911949],"aabb_xy":[[0.3578759528351426,-2.3301721969284057],[0.3754384071296151,-2.312612702351345]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.3025012270512346,-1.9657954294580593,0.71338606911949],"aabb_xy":[[-0.3078388027172392,-1.9907954303871989],[-0.29716365138523004,-1.9407954285289193]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[0.6475964576959021,0.22670900698733876,0.71338606911949],"aabb_xy":[[0.5926032463587654,0.17170900664854516],[0.7025896690330389,0.28170900732613235]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.29191407660183405,-1.1891994147721197,0.71338606911949],"aabb_xy":[[-0.3020670921559833,-1.2252689563448596],[-0.28176106104768456,-1.1531298731993789]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_6","position":[0.4454432135710418,1.4852363800884398,0.71338606911949],"aabb_xy":[[0.4229432133275264,1.4730317454286679],[0.46794321381455717,1.4974410147482118]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.43834161082703504,-0.67728935202705,0.71338606911949],"aabb_xy":[[0.4158279190035778,-0.7472893526280574],[0.4608553026504922,-0.6072893514260423]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.028372314256372544,-1.0461731394646514,0.71338606911949],"aabb_xy":[[-0.05128802714142246,-1.0690774366010751],[-0.0054566013713226455,-1.0232688423282281]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[-0.48879956687328496,0.785980655031735,0.71338606911949],"aabb_xy":[[-0.578799569207304,0.7084983004466222],[-0.39879956453926596,0.8634630096168475]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.41349584198373396,-2.291017554880826,0.71338606911949],"aabb_xy":[[-0.42536792499523507,-2.376017554574476],[-0.40162375897223285,-2.2060175551871755]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[-0.1547392939231046,-0.18580558674173764,0.71338606911949],"aabb_xy":[[-0.1780211361212359,-0.27080558803896565],[-0.13145745172497322,-0.10080558544450956]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.5285631564641562,-1.6169347103394918,0.71338606911949],"aabb_xy":[[0.4787463769993213,-1.6669347088237947],[0.5783799359289908,-1.566934711855188]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[-0.5097499530692472,-0.12034347105019183,0.71338606911949],"aabb_xy":[[-0.5195059425784211,-0.13010600510942627],[-0.4999939635600733,-0.11058093699095738]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[0.19925436269796137,-0.620402271982309,0.71338606911949],"aabb_xy":[[0.1912280920673354,-0.6291537669596616],[0.2072806333285874,-0.6116507770049564]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[-0.0015840864155340917,-2.393107449650235,0.71338606911949],"aabb_xy":[[-0.039084086359300496,-2.4014005396850715],[0.03591591352823231,-2.3848143596153983]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.3589706573145566,-0.42353833732616586,0.71338606911949],"aabb_xy":[[0.3513463892243784,-0.4311715608627096],[0.3665949254047349,-0.41590511378962214]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.646782565169743,-0.10582647587397576,0.71338606911949],"aabb_xy":[[0.5827825634917456,-0.15434386735328998],[0.7107825668477403,-0.057309084394661536]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[0.3214273809240762,-1.429380360147351,0.71338606911949],"aabb_xy":[[0.31652808861751264,-1.4570572794499195],[0.32632667323063963,-1.401703440844782]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[0.10551696148744993,1.0897982053980684,0.71338606911949],"aabb_xy":[[0.09825571391704253,1.077011195134559],[0.11277820905785736,1.1025852156615779]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[0.4170433594793044,-2.52453508177658,0.71338606911949],"aabb_xy":[[0.36704335819546435,-2.5745139361672016],[0.4670433607631443,-2.4745562273859574]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_21","position":[-0.06431275318271445,1.5810251783002243,0.71338606911949],"aabb_xy":[[-0.12831275029482014,1.5319928085058137],[-0.0003127560706087662,1.6300575480946349]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[-0.22361494266137488,-2.3735259204354735,0.71338606911949],"aabb_xy":[[-0.28361494291277606,-2.4278072454719384],[-0.1636149424099737,-2.3192445953990086]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_23","position":[0.501060713326889,-1.4305032560192155,0.71338606911949],"aabb_xy":[[0.44106071273087266,-1.485315728564439],[0.561060713922905,-1.375690783473992]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_24","position":[-0.10536300887687977,-1.7320675867650799,0.71338606911949],"aabb_xy":[[-0.1703630089111825,-1.778768263445407],[-0.04036300884257703,-1.6853669100847524]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[0.21071649972318607,-1.2349326907268006,0.71338606911949],"aabb_xy":[[0.19554433044155273,-1.2501015476550041],[0.2258886690048194,-1.2197638337985974]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_26","position":[0.1019356907582375,0.9520505595429327,0.71338606911949],"aabb_xy":[[0.08204465087789727,0.9393947482582361],[0.12182673063857777,0.9647063708276298]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.2374175636051835,0.9750901428808127,0.71338606911949],"aabb_xy":[[0.2000862870799409,0.9404370880859606],[0.2747488401304261,1.009743197675665]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6877759567819585,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9530.png","name":"9530"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9530.png","name":"9530"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/753.png","name":"753"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3938.png","name":"3938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4844.png","name":"4844"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8559.png","name":"8559"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":635.4792210373038,"rotation_z_degrees":97.24627184832539,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012659137085510613,-0.0006695264768313836,-0.015266879613490398]},{"name":"camera_2","offset_m":[-0.008837504668226042,0.000876635152762293,0.014265650143692233]},{"name":"camera_3","offset_m":[0.0077324058831608825,0.011083703036162077,-0.0052292674770558455]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008941745422440571,-0.0017492732202089036,0.000519296490409387],"end_effector_yaw_offset_degrees":-0.6053667527397593},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-7.822387264732017e-05,-0.0015397900770487021,4.715385786803949e-05],"end_effector_yaw_offset_degrees":0.20258849443021898},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00022376743628290232,0.0018647635063142216,-0.0013997501628573291],"end_effector_yaw_offset_degrees":0.5857512130552747},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00012724320240327814,0.0008679563287165189,-0.0017285707206535963],"end_effector_yaw_offset_degrees":-0.7769226965444562}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004936467147189631,-5.948513173564818e-06],"position_m":[0.14543646714718964,0.23469405148682643,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005479906917071446,0.0009285673795298077],"position_m":[0.24855200930829285,-0.38247143262047023,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017199216943333197,0.004899232208374324],"position_m":[0.21188007830566669,-0.04880076779162568,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022530341273497823,-0.0015379612507712527],"position_m":[0.35134696587265024,0.11566203874922874,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"acdb8310ae7535de1dca11db6c5156437e868d5ffc749bc879ea7917da2e1719","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9530/tex_ceiling_textures_8559/tex_floor_textures_4844/tex_table_textures_753/tex_wall_textures_3938","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4000138995562513399,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4000138995562513399,"visual_seed":4000138995562513399,"scene_id":"lab_003","finished_at":"2026-09-05T05:32:08"}
+{"episode_id":"ep_000064","started_at":"2026-09-05T05:32:13","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.6518349761097648,-1.9168626539721703,0.71338606911949],"aabb_xy":[[0.59683497790802,-1.9573846205986078],[0.7068349743115097,-1.8763406873457327]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[-0.43000286287529743,0.06544445539174104,0.71338606911949],"aabb_xy":[[-0.4535879863391923,0.0004444531463092538],[-0.4064177394114026,0.13044445763717283]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.6981223893764963,-1.3449437906754667,0.71338606911949],"aabb_xy":[[0.6900087347031192,-1.3530496071294957],[0.7062360440498734,-1.3368379742214376]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.08112243710476075,0.3849753092016912,0.71338606911949],"aabb_xy":[[-0.08708897604549654,0.37901416454232717],[-0.07515589816402496,0.39093645386105524]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.49620185010333095,-0.9298029146455413,0.71338606911949],"aabb_xy":[[-0.5039050407774079,-0.9375122853442793],[-0.4884986594292539,-0.9220935439468033]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[0.7188359580344235,0.20509944135311464,0.71338606911949],"aabb_xy":[[0.7153952817943663,0.20123800837875017],[0.7222766342744806,0.20896087432747912]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[0.11843786071491769,-0.6303063183930078,0.71338606911949],"aabb_xy":[[0.1076648867935499,-0.6653063166120468],[0.12921083463628547,-0.5953063201739688]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.5729525910214188,-0.05686411410707537,0.71338606911949],"aabb_xy":[[0.4929525930406338,-0.06446565506892732],[0.6529525890022039,-0.04926257314522342]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[-0.5217589302000828,1.3276319907574061,0.71338606911949],"aabb_xy":[[-0.5399647538613305,1.3166065901754145],[-0.5035531065388351,1.3386573913393978]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[-0.21767575339437212,1.0115579275948967,0.71338606911949],"aabb_xy":[[-0.2648051323962078,0.9475579265504945],[-0.17054637439253645,1.0755579286392984]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[0.016543878840323045,-1.5015262870493764,0.71338606911949],"aabb_xy":[[-0.020490230587736673,-1.5359034943830856],[0.053577988268382754,-1.4671490797156668]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[0.5449794224218967,-0.38431747669731653,0.71338606911949],"aabb_xy":[[0.4909638261399967,-0.4483174795895737],[0.5989950187037967,-0.32031747380505937]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.33530025219821846,0.8698615350008803,0.71338606911949],"aabb_xy":[[0.28530025091437844,0.8198826806102582],[0.3853002534820584,0.9198403893915024]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.3818925722325548,-1.6006730491063894,0.71338606911949],"aabb_xy":[[0.33912586535313466,-1.6646730525281919],[0.42465927911197504,-1.536673045684587]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[-0.20903025163276417,-0.9306148961583784,0.71338606911949],"aabb_xy":[[-0.25902526259221625,-0.9806148951939702],[-0.15903524067331218,-0.8806148971227867]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_15","position":[0.36601833610110535,-2.3246612191396605,0.71338606911949],"aabb_xy":[[0.28101833740903065,-2.3566470825345394],[0.45101833479317993,-2.2926753557447817]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[0.06895824348191903,-2.32590802394383,0.71338606911949],"aabb_xy":[[0.004958240192210916,-2.3692429429477477],[0.13295824677162713,-2.2825731049399125]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[-0.44500349929861005,-1.6601418598366946,0.71338606911949],"aabb_xy":[[-0.4950034979445313,-1.710061403496157],[-0.3950035006526889,-1.6102223161772322]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.34229284114896796,1.5459549826832188,0.71338606911949],"aabb_xy":[[-0.35237454822754144,1.4659549847911042],[-0.3322111340703945,1.6259549805753335]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.390935752186401,-1.9846152460806619,0.71338606911949],"aabb_xy":[[0.38484112429828266,-1.993184640632331],[0.3970303800745193,-1.9760458515289936]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[-0.4739733426793161,-1.9810357846437916,0.71338606911949],"aabb_xy":[[-0.5439733453159024,-2.001140649639657],[-0.40397334004272967,-1.960930919647926]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_21","position":[0.1857112991693619,-0.9967599380394458,0.71338606911949],"aabb_xy":[[0.1775836109760487,-1.0056735464501534],[0.19383898736267513,-0.9878463296287382]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[0.6323488092843501,-2.505897588355686,0.71338606911949],"aabb_xy":[[0.5948488080995571,-2.510315811051746],[0.6698488104691427,-2.501479365659625]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[0.10188529388244283,-0.721834771149644,0.71338606911949],"aabb_xy":[[0.09462404631203541,-0.7346217814131535],[0.10914654145285024,-0.7090477608861345]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[0.16139979870232124,-2.414235790752366,0.71338606911949],"aabb_xy":[[0.12389979888528768,-2.4188740020635073],[0.1988997985193548,-2.4095975794412237]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[0.04687447002277911,1.7653350665793002,0.71338606911949],"aabb_xy":[[0.0122833871687339,1.7003350662942691],[0.08146555287682433,1.8303350668643312]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[0.5123100762257791,0.5608874747788009,0.71338606911949],"aabb_xy":[[0.5035961071758444,0.5383874741196124],[0.5210240452757133,0.5833874754379889]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_27","position":[-0.6495806275033942,1.7248146341076303,0.71338606911949],"aabb_xy":[[-0.6945732142218447,1.6798146348331813],[-0.6045880407849439,1.7698146333820788]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_28","position":[-0.20562445795676693,0.4300404377838687,0.71338606911949],"aabb_xy":[[-0.2306244571224,0.4230881920785121],[-0.18062445879113379,0.43699268348922526]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_29","position":[0.32365245387169717,-0.5500395543881229,0.71338606911949],"aabb_xy":[[0.2861524530797017,-0.556407395346313],[0.3611524546636926,-0.5436717134299328]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890754484512744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5346.png","name":"5346"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5346.png","name":"5346"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5028.png","name":"5028"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5977.png","name":"5977"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9186.png","name":"9186"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/41.png","name":"41"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":681.0434804910583,"rotation_z_degrees":49.08835861480913,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-3.2084714439484935e-05,-0.015189008637488337,-0.006239017482277788]},{"name":"camera_2","offset_m":[0.009016924792488855,0.0008965072650641143,-0.012484012789408597]},{"name":"camera_3","offset_m":[-0.012724302853175731,-0.009539228813586745,-0.008946119953463314]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00046451310583450495,0.00018654475165136427,-0.0007622147050618806],"end_effector_yaw_offset_degrees":-0.010512040834424363},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011622705911800723,0.0016276940115728562,-0.0004486256482861531],"end_effector_yaw_offset_degrees":-0.49248429141666894},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008713436302812015,-0.0015417610471280612,0.0008740978009280044],"end_effector_yaw_offset_degrees":0.6138188727719087},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012045596406572907,-0.0010240625760328487,-0.0018645327572515634],"end_effector_yaw_offset_degrees":-0.36256103993155575}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038356073655935333,0.00017536358825854994],"position_m":[0.13666439263440647,0.23487536358825853,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002082103838770442,-0.00027759776576673396],"position_m":[0.24930821038387704,-0.38367759776576676,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013048825708838526,-0.0006046706024606654],"position_m":[0.21490488257088386,-0.054304670602460664,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008775764140967592,0.0011754915116112012],"position_m":[0.3544775764140968,0.1183754915116112,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7814c92f4b54f7c96f18a058f62dfaee9a65c05237136bd938d7561a701c46c5","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5346/tex_ceiling_textures_41/tex_floor_textures_9186/tex_table_textures_5028/tex_wall_textures_5977","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":861088547498914207,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":861088547498914207,"visual_seed":861088547498914207,"scene_id":"lab_003","finished_at":"2026-09-05T05:36:04"}
+{"episode_id":"ep_000065","started_at":"2026-09-05T05:36:09","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[-0.4847850568338884,1.1026822656005781,0.71338606911949],"aabb_xy":[[-0.522285056650922,1.098044054289436],[-0.44728505701685484,1.1073204769117198]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[-0.45921993296484254,-1.64950994670484,0.71338606911949],"aabb_xy":[[-0.4743921022464758,-1.6646788036330433],[-0.44404776368320914,-1.6343410897766366]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[-0.19794720380865438,-0.09909148776091481,0.71338606911949],"aabb_xy":[[-0.2059835385099392,-0.10712960706533158],[-0.1899108691073695,-0.09105336845649802]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.4930522159494022,0.16960903131501492,0.71338606911949],"aabb_xy":[[-0.5630522175516817,0.15617623811335735],[-0.4230522143471227,0.1830418245166725]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.071842159226574,0.6305915233548447,0.71338606911949],"aabb_xy":[[-0.07910340679698141,0.6178045130913352],[-0.06458091165616658,0.6433785336183542]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[0.4917703457687499,-0.3499479060251587,0.71338606911949],"aabb_xy":[[0.4876543956566772,-0.35406346105800407],[0.4958862958808225,-0.3458323509923131]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[0.5775151913328695,0.7118893267827664,0.71338606911949],"aabb_xy":[[0.5550014995094122,0.6418893261817588],[0.6000288831563266,0.7818893273837738]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.5900999295449382,1.2876273166291163,0.71338606911949],"aabb_xy":[[-0.6313487405748528,1.2326273171168989],[-0.5488511185150233,1.3426273161413338]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[-0.5546525576172874,-1.317777984921347,0.71338606911949],"aabb_xy":[[-0.6186525596670194,-1.357872468010655],[-0.4906525555675554,-1.2776835018320392]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.6554018493907111,1.5930765849563593,0.71338606911949],"aabb_xy":[[-0.6673345837525392,1.5806944321485001],[-0.643469115028883,1.6054587377642189]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[-0.14995234918883538,1.5399933912621075,0.71338606911949],"aabb_xy":[[-0.15528486384344836,1.5346690630168722],[-0.1446198345342224,1.5453177195073433]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[-0.6292404007994973,-1.9250737062327126,0.71338606911949],"aabb_xy":[[-0.6385874083817925,-1.9393773284503566],[-0.619893393217202,-1.9107700840150685]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.31240950587331734,1.4790965829193392,0.71338606911949],"aabb_xy":[[-0.3194498158068544,1.399096583519668],[-0.3053691959397804,1.559096582319011]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[0.3750757018792561,-1.3438161258155619,0.71338606911949],"aabb_xy":[[0.3110757032926836,-1.3908230892150706],[0.4390757004658285,-1.2968091624160532]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[-0.49056367729743255,-2.4431152589007143,0.71338606911949],"aabb_xy":[[-0.554563679640234,-2.488056110144847],[-0.42656367495463093,-2.398174407656582]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[-0.30304660591643784,-2.5465892956831264,0.71338606911949],"aabb_xy":[[-0.3365257731774788,-2.5800684090542334],[-0.2695674386553969,-2.5131101823120194]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.645649294546994,0.8472163794901792,0.71338606911949],"aabb_xy":[[0.62315287311313,0.8247163796834318],[0.6681457159808581,0.8697163792969267]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[0.5279394318368404,-0.6332582396493882,0.71338606911949],"aabb_xy":[[0.4944992566408208,-0.6667018654803181],[0.5613796070328599,-0.5998146138184579]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[-0.1913625993123209,-0.2464636195648673,0.71338606911949],"aabb_xy":[[-0.2713625963265689,-0.26659817123827856],[-0.11136260229807293,-0.22632906789145602]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.19553298535509994,-1.2794491385778004,0.71338606911949],"aabb_xy":[[-0.259532981750673,-1.343412426996534],[-0.13153298895952686,-1.2154858501590668]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_20","position":[0.5614025148431423,-2.3029473545827606,0.71338606911949],"aabb_xy":[[0.4974025144656088,-2.352692621433573],[0.625402515220676,-2.2532020877319483]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[0.6453949434681232,0.19994277597494126,0.71338606911949],"aabb_xy":[[0.6088991228408445,0.16345883354818366],[0.681890764095402,0.2364267184016988]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[-0.24268056837615487,-1.9367674727956825,0.71338606911949],"aabb_xy":[[-0.2776805675689731,-1.9477345187933448],[-0.20768056918333658,-1.9258004267980193]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.0019292377415095485,1.4618260070443614,0.71338606911949],"aabb_xy":[[-0.036245514916127486,1.4118260070711834],[0.03238703943310839,1.5118260070175389]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[0.1915163428672959,-1.4021132685656315,0.71338606911949],"aabb_xy":[[0.16651634370166277,-1.4090655142709878],[0.216516342032929,-1.3951610228602747]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_25","position":[0.5831833750938644,-1.0649858477320786,0.71338606911949],"aabb_xy":[[0.5475542191939047,-1.1006185144889316],[0.6188125309938242,-1.0293531809752257]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_26","position":[-0.14360126110727423,0.706079200671466,0.71338606911949],"aabb_xy":[[-0.15301873567713697,0.696663023533747],[-0.13418378653741148,0.715495377809185]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_27","position":[-0.24221589855020925,0.822593351175088,0.71338606911949],"aabb_xy":[[-0.26549774074834054,0.7375933498778598],[-0.2189340563520779,0.907593352472316]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_28","position":[0.32121017025984866,-2.335031869340696,0.71338606911949],"aabb_xy":[[0.3060472972829116,-2.350197326635816],[0.33637304323678574,-2.3198664120455783]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_29","position":[-0.032855701699792905,-1.65238042248082,0.71338606911949],"aabb_xy":[[-0.09285570334271476,-1.7043805717727643],[0.027144299943128947,-1.6003802731888759]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_30","position":[0.5180404653383914,-1.6651981967457212,0.71338606911949],"aabb_xy":[[0.5061683823268903,-1.7501981964393716],[0.5299125483498925,-1.5801981970520709]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_31","position":[0.6021219185255331,0.9748228425542425,0.71338606911949],"aabb_xy":[[0.5771219185930153,0.9679401743333191],[0.6271219184580511,0.9817055107751658]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6924991339622186,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2520.png","name":"2520"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2520.png","name":"2520"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6255.png","name":"6255"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/200.png","name":"200"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5823.png","name":"5823"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7429.png","name":"7429"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":637.4757816017732,"rotation_z_degrees":172.12662717276007,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006958196677762554,-0.0072766866796214556,0.013798328498451067]},{"name":"camera_2","offset_m":[0.017876300742675984,0.008424669675704748,0.008243522167626392]},{"name":"camera_3","offset_m":[0.018311082335546545,0.005117292524557674,0.017595375454189707]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.8327384407927526e-05,0.0017186918114580154,0.0003286371589108876],"end_effector_yaw_offset_degrees":-0.26151381429876985},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00040841544280772807,0.0009999594898199853,0.0012841390328556276],"end_effector_yaw_offset_degrees":0.305600889030031},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00031557616414185823,0.0014665197486270353,0.0006750819621651727],"end_effector_yaw_offset_degrees":0.04552598280947673},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00046643635833480473,-0.0004336331525958074,4.8211374960960545e-05],"end_effector_yaw_offset_degrees":0.8553573650477109}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00033929410951934105,-7.8060486658235e-05],"position_m":[0.14083929410951934,0.23462193951334176,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027290272761627734,-0.0026653968691922603],"position_m":[0.25182902727616274,-0.3860653968691923,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024361459616472807,-0.0011587466382849986],"position_m":[0.2160361459616473,-0.054858746638284994,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004058107278442397,0.0022651674219837372],"position_m":[0.3495418927215576,0.11946516742198374,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8c4171ec70d87160e5d957cd77f653e799dda5b5ac22b07d9aadedd4b0e188e9","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2520/tex_ceiling_textures_7429/tex_floor_textures_5823/tex_table_textures_6255/tex_wall_textures_200","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5716995737861828543,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5716995737861828543,"visual_seed":5716995737861828543,"scene_id":"lab_003","finished_at":"2026-09-05T05:40:04"}
+{"episode_id":"ep_000066","started_at":"2026-09-05T05:40:09","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[0.5988799052022902,1.1323373577313536,0.71338606911949],"aabb_xy":[[0.5576310941723754,1.077337358219136],[0.6401287162322049,1.1873373572435708]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.21150968519750846,-1.911574637956768,0.71338606911949],"aabb_xy":[[-0.22908798738645533,-1.9291491275308728],[-0.19393138300856164,-1.8940001483826632]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[0.6798760569584119,-1.119097906412801,0.71338606911949],"aabb_xy":[[0.671849786327786,-1.1278494013901537],[0.687902327589038,-1.1103464114354484]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[0.03794224638750665,-1.0689765339738437,0.71338606911949],"aabb_xy":[[0.015428554564049457,-1.138976534574851],[0.060455938210963844,-0.998976533372836]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.14794034620175212,-1.7154783182465256,0.71338606911949],"aabb_xy":[[-0.19311166404992114,-1.7794783153910643],[-0.10276902835358318,-1.6514783211019874]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.06890248136144905,0.4831090287649755,0.71338606911949],"aabb_xy":[[-0.10004940020503217,0.4131090300781683],[-0.03775556251786594,0.5531090274517827]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.5713628039062573,0.19398887364670392,0.71338606911949],"aabb_xy":[[0.5535692969713408,0.17618912805090625],[0.5891563108411737,0.21178861924250159]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.5970267048802934,-0.5800452741379862,0.71338606911949],"aabb_xy":[[-0.6468434843451282,-0.6300452726222896],[-0.5472099254154587,-0.5300452756536829]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[-0.02311134451901098,1.2003596109220083,0.71338606911949],"aabb_xy":[[-0.08711134163111667,1.1513272411275977],[0.04088865259309471,1.2493919807164189]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[-0.2806083082109452,-0.68547601334748,0.71338606911949],"aabb_xy":[[-0.2915140842985079,-0.7654760097463091],[-0.26970253212338247,-0.6054760169486508]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.17223993748072175,1.018548411256757,0.71338606911949],"aabb_xy":[[0.13661078158076198,0.9829157444999042],[0.20786909338068146,1.05418107801361]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.28681342977986973,1.1012726531979617,0.71338606911949],"aabb_xy":[[-0.3368084407393218,1.0512726541623703],[-0.23681841882041776,1.1512726522335537]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[-0.23089408945501377,0.9223583038332426,0.71338606911949],"aabb_xy":[[-0.27191203284138465,0.8723583032022851],[-0.1898761460686429,0.9723583044641998]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[-0.23692763200581368,0.28752539655179543,0.71338606911949],"aabb_xy":[[-0.28473379961958234,0.22252539384473646],[-0.189121464392045,0.3525253992588544]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.0815519820924715,-0.2608750918384408,0.71338606911949],"aabb_xy":[[-0.09905191552645487,-0.2783750917586753],[-0.06405204865848813,-0.24337509191820622]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_15","position":[0.6170813505751565,0.8993822467652572,0.71338606911949],"aabb_xy":[[0.5370813536121172,0.8223066051214837],[0.6970813475381955,0.9764578884090306]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.40102957487813096,-0.5304497352708801,0.71338606911949],"aabb_xy":[[-0.46502957515210924,-0.5805158354681681],[-0.3370295746041528,-0.48038363507359216]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[0.4059337039018862,-1.1008958945030327,0.71338606911949],"aabb_xy":[[0.31593370156786715,-1.1783782490881454],[0.49593370623590527,-1.02341353991792]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.6771580828986286,0.8273087495130027,0.71338606911949],"aabb_xy":[[-0.6879985611251435,0.8101224682223538],[-0.6663176046721137,0.8444950308036514]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.08860459809694476,-0.8339962031533965,0.71338606911949],"aabb_xy":[[-0.123604597289763,-0.844963249151059],[-0.05360459890412647,-0.8230291571557338]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[0.5426997385993242,-1.7799448370709925,0.71338606911949],"aabb_xy":[[0.5347062488040422,-1.7879429690114683],[0.5506932283946062,-1.771946705130517]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[0.2850322158467159,-0.6436748181259093,0.71338606911949],"aabb_xy":[[0.22103221255700775,-0.6870097371298267],[0.34903221913642396,-0.6003398991219915]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.5065421520570127,1.1999263159897238,0.71338606911949],"aabb_xy":[[-0.5153442073659853,1.1921149898347947],[-0.49774009674803993,1.2077376421446528]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6908714071017408,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2104.png","name":"2104"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2104.png","name":"2104"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/959.png","name":"959"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5931.png","name":"5931"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/234.png","name":"234"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9602.png","name":"9602"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":743.1844000604203,"rotation_z_degrees":101.79301695822606,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0011802018292932474,-0.0036575267056773338,-0.012862155227179768]},{"name":"camera_2","offset_m":[0.0008320130335483789,0.012257662670793788,0.017880302484120595]},{"name":"camera_3","offset_m":[-0.008701496939630324,-0.013628281649916602,0.0067129157085957895]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017661371110054068,0.001800815748986515,-0.001659713128311792],"end_effector_yaw_offset_degrees":-0.6994144041822008},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015395840063805667,-0.0009359440779474549,-0.0002945909834265218],"end_effector_yaw_offset_degrees":0.7493835591144409},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000896476039976606,-0.0019955718837186293,0.0016980024509396516],"end_effector_yaw_offset_degrees":-0.6560639610756556},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018431786546271778,-0.0006764190669242107,0.0011933418299825767],"end_effector_yaw_offset_degrees":0.11423022860514198}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0049645557743950965,-0.00287635493136168],"position_m":[0.13553544422560493,0.2318236450686383,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004797847244784597,0.003384403560104763],"position_m":[0.2538978472447846,-0.38001559643989524,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-9.761954348027051e-05,0.0018199256894322249],"position_m":[0.21350238045651973,-0.05188007431056777,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008475770824113438,-0.0025442585866690117],"position_m":[0.35444757708241137,0.11465574141333099,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6501189019b24e036432e3d2e14be90ba8990e9b6160e33357d0d201c5c21efb","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2104/tex_ceiling_textures_9602/tex_floor_textures_234/tex_table_textures_959/tex_wall_textures_5931","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2728338598442865779,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2728338598442865779,"visual_seed":2728338598442865779,"scene_id":"lab_003","finished_at":"2026-09-05T05:44:12"}
+{"episode_id":"ep_000067","started_at":"2026-09-05T05:44:17","dimensions":{"distractor":{"count":23,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[-0.2983227401702774,1.4527683548768455,0.71338606911949],"aabb_xy":[[-0.33686843299547836,1.4142225838206568],[-0.2597770473450763,1.4913141259330343]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.13669883834980978,-0.20923876703919442,0.71338606911949],"aabb_xy":[[-0.19169108898532075,-0.26423876878250724],[-0.08170658771429883,-0.15423876529588168]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[0.02916396695041712,-2.184393192760535,0.71338606911949],"aabb_xy":[[-0.05083603006383086,-2.2045277444339457],[0.1091639639646651,-2.1642586410871236]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[-0.5321812627578695,-2.4085490988057123,0.71338606911949],"aabb_xy":[[-0.5971812627921723,-2.455249775486039],[-0.46718126272356686,-2.3618484221253846]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[-0.24793501712330396,-1.7971392246029918,0.71338606911949],"aabb_xy":[[-0.32793501408634307,-1.8742148662467653],[-0.16793502016026476,-1.7200635829592184]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[0.6754491123306583,1.157140975221647,0.71338606911949],"aabb_xy":[[0.6699911666936381,1.077140971913988],[0.6809070579676783,1.2371409785293062]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[0.5814560209297859,1.0430797813546318,0.71338606911949],"aabb_xy":[[0.5589595994959218,1.0205797815478843],[0.60395244236365,1.0655797811613792]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.17693304053588177,1.1342523706078218,0.71338606911949],"aabb_xy":[[0.1269382076079402,1.0842523717125783],[0.2269278734638234,1.1842523695030653]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.6000503231900063,-1.8541693942225543,0.71338606911949],"aabb_xy":[[0.5912482678810335,-1.861980720377483],[0.6088523784989789,-1.8463580680676248]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[0.004169994025696178,-2.3333192236521856,0.71338606911949],"aabb_xy":[[-0.0410013238224728,-2.3973192207967244],[0.04934131187386516,-2.2693192265076476]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[-0.2522295254658004,-0.3900088511680879,0.71338606911949],"aabb_xy":[[-0.3072032475021333,-0.44500885073232116],[-0.19725580342946752,-0.3350088516038548]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.5944439096995335,-1.3406679967343287,0.71338606911949],"aabb_xy":[[-0.6397225245806828,-1.4046679960825126],[-0.5491652948183843,-1.2766679973861452]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.33490415952393326,-2.3352221028328293,0.71338606911949],"aabb_xy":[[0.2709041591463996,-2.3849673696836415],[0.3989041599014668,-2.285476835982017]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_13","position":[0.5708966880299178,-1.699480907779581,0.71338606911949],"aabb_xy":[[0.5603292083718188,-1.7100259378925893],[0.5814641676880168,-1.6889358776665722]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.48825762483183444,0.8481791458969652,0.71338606911949],"aabb_xy":[[0.4768958901785483,0.836810679490677],[0.4996193594851206,0.8595476123032532]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.5316209154620858,1.2709408411412344,0.71338606911949],"aabb_xy":[[-0.5866163932827452,1.2159408397073275],[-0.4766254376414264,1.3259408425751413]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[-0.40431971091803515,-0.12538205298002092,0.71338606911949],"aabb_xy":[[-0.4643197115140513,-0.1801945255252444],[-0.34431971032201897,-0.07056958043479744]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[-0.48449734796630034,-0.9969991200192303,0.71338606911949],"aabb_xy":[[-0.5343800448439966,-1.046999119265505],[-0.4346146510886042,-0.9469991207729556]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[-0.13156863436545985,-2.303108092176151,0.71338606911949],"aabb_xy":[[-0.17656122108391026,-2.3481080914506],[-0.08657604764700944,-2.2581080929017023]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[-0.41937761043729377,0.9092763082905471,0.71338606911949],"aabb_xy":[[-0.4368083255163002,0.8920041936266961],[-0.4019468953582872,0.9265484229543978]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.33271420269197716,1.7708114017987264,0.71338606911949],"aabb_xy":[[0.31521420243264053,1.7567198596099545],[0.3502142029513138,1.7849029439874997]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.36102450384923324,-1.4532154991895805,0.71338606911949],"aabb_xy":[[0.3458523345675999,-1.468384356117784],[0.3761966731308666,-1.4380466422613774]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[-0.21255690913153086,0.4550784722826662,0.71338606911949],"aabb_xy":[[-0.22720031468556381,0.44041975262588184],[-0.19791350357749785,0.4697371919394504]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6896454797163432,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3015.png","name":"3015"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3015.png","name":"3015"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6009.png","name":"6009"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1964.png","name":"1964"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8548.png","name":"8548"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7012.png","name":"7012"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":592.4850229312536,"rotation_z_degrees":261.4159048701347,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011820903584467465,-0.011019371488148093,0.01599066218241901]},{"name":"camera_2","offset_m":[0.01671228685575132,0.002431223719785547,0.006018514504669937]},{"name":"camera_3","offset_m":[-0.010366617337532316,0.007920740632298407,0.013134380520556179]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002598125370747188,-0.0008295802205831207,-0.001790250622124674],"end_effector_yaw_offset_degrees":-0.10817262428928798},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002568352413372147,-0.0010268489231783102,0.0005701872444396463],"end_effector_yaw_offset_degrees":-0.1854970966393803},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000257856751707838,-9.09645002840965e-05,0.001611855870120027],"end_effector_yaw_offset_degrees":0.9896810854132971},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016653368870842304,-0.0016291697063051949,0.0012772436105659463],"end_effector_yaw_offset_degrees":0.9173729874768572}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0039743158645127695,-0.0038151897088251263],"position_m":[0.13652568413548724,0.23088481029117486,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013093086436297818,0.0003429112633026761],"position_m":[0.25040930864362976,-0.38305708873669736,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035989804908083496,-0.004765040724982072],"position_m":[0.21719898049080835,-0.05846504072498207,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010547809731658517,-0.004729438437873511],"position_m":[0.3546547809731659,0.11247056156212648,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1a27242eb1f2b3ce9322f1a3056aab7d43c5e6415d1deb7068b1a2efb42335f4","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0067.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3015/tex_ceiling_textures_7012/tex_floor_textures_8548/tex_table_textures_6009/tex_wall_textures_1964","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2580159514581175088,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2580159514581175088,"visual_seed":2580159514581175088,"scene_id":"lab_003","finished_at":"2026-09-05T05:48:10"}
+{"episode_id":"ep_000068","started_at":"2026-09-05T05:48:14","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.29122360725675733,1.0359485813296692,0.71338606911949],"aabb_xy":[[0.23623039591962058,0.9809485809908756],[0.3462168185938941,1.0909485816684628]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[-0.5727920205530933,-0.17999958048634168,0.71338606911949],"aabb_xy":[[-0.6367920198472615,-0.24398572085519585],[-0.5087920212589251,-0.11601344011748746]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.38735319224788545,-2.1244535341052715,0.71338606911949],"aabb_xy":[[-0.4048531925072221,-2.1385450762940446],[-0.3698531919885488,-2.1103619919164993]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.09259606297118594,-0.5906194025009426,0.71338606911949],"aabb_xy":[[-0.1300960641559787,-0.5950376251970029],[-0.05509606178639314,-0.5862011798048818]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_4","position":[0.39362594704725096,-1.7522795905174255,0.71338606911949],"aabb_xy":[[0.36733712272681024,-1.7785510241720766],[0.41991477136769156,-1.726008156862774]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.4685985386525924,-1.9201475718935486,0.71338606911949],"aabb_xy":[[-0.5485985358121677,-1.9316951728513656],[-0.3885985414930171,-1.9085999709357315]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.6311245391657923,-1.2119504221495732,0.71338606911949],"aabb_xy":[[0.6202840609392773,-1.229136703440222],[0.6419650173923072,-1.1947641408589242]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[0.4984227630095124,-0.3711650625989269,0.71338606911949],"aabb_xy":[[0.4875169869219497,-0.451165058997756],[0.5093285390970752,-0.2911650662000977]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[-0.23821816922550026,-2.335411659033539,0.71338606911949],"aabb_xy":[[-0.3282181729024184,-2.396844065610643],[-0.14821816554858205,-2.273979252456434]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_9","position":[-0.378528347927714,-0.06393780754065093,0.71338606911949],"aabb_xy":[[-0.4021134713916089,-0.1289378097860827],[-0.3549432244638192,0.001062194704780861]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.4488041563071268,1.5698663300778235,0.71338606911949],"aabb_xy":[[0.3988267394418732,1.5198663285885747],[0.49878157317238037,1.6198663315670718]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.2155796144395793,-0.678014515261993,0.71338606911949],"aabb_xy":[[0.1936898668506385,-0.7680145125512421],[0.2374693620285201,-0.5880145179727438]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_12","position":[-0.12380676020725156,1.350237545949375,0.71338606911949],"aabb_xy":[[-0.14386517182049186,1.3301724590402177],[-0.10374834859401127,1.3703026328585326]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[-0.2226294054920524,-1.7742189609814374,0.71338606911949],"aabb_xy":[[-0.24174171285003124,-1.7933537398586796],[-0.2035170981340735,-1.7550841821041956]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.36933109276480786,-1.5518913141374355,0.71338606911949],"aabb_xy":[[-0.37637140269834496,-1.6318913135371074],[-0.3622907828312709,-1.4718913147377644]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[-0.5176297761363317,-1.216392766531337,0.71338606911949],"aabb_xy":[[-0.5351764710524506,-1.2538927680955885],[-0.5000830812202127,-1.178892764967086]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.1439213250135125,0.3058286150802587,0.71338606911949],"aabb_xy":[[-0.19392132458984723,0.25584803612815277],[-0.0939213254371778,0.35580919403236466]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[-0.019912499759978664,-0.24913150341154378,0.71338606911949],"aabb_xy":[[-0.029206117997129244,-0.2866315018996777],[-0.010618881522828083,-0.21163150492340985]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.6048573897338432,-2.170849021137085,0.71338606911949],"aabb_xy":[[0.5922546905967668,-2.183444417361951],[0.6174600888709197,-2.15825362491222]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.2622294595751601,-2.2273898057883605,0.71338606911949],"aabb_xy":[[0.24531872713881828,-2.2408620113809747],[0.2791401920115018,-2.2139176001957455]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.33472484849280426,1.7777915652327843,0.71338606911949],"aabb_xy":[[0.32336311383951805,1.766423098826496],[0.34608658314609037,1.7891600316390721]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.007993077280410654,-1.9196234253629358,0.71338606911949],"aabb_xy":[[-0.025625912873938225,-1.9372463713785586],[0.009639758313116918,-1.9020004793473126]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[0.23284463768292796,-1.5166892014049058,0.71338606911949],"aabb_xy":[[0.2078446377504101,-1.5235718696258294],[0.25784463761544585,-1.5098065331839827]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[-0.5888553429182185,0.9824431872195327,0.71338606911949],"aabb_xy":[[-0.6023018695522617,0.9689733355664414],[-0.5754088162841751,0.9959130388726238]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_24","position":[-0.48104489895920144,0.28824347260511507,0.71338606911949],"aabb_xy":[[-0.4882886650054467,0.2082434744015127],[-0.47380113291295606,0.36824347080871744]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_25","position":[-0.47481911999504733,-1.7784508594726736,0.71338606911949],"aabb_xy":[[-0.5388191185816198,-1.8254578228721823],[-0.4108191214084749,-1.7314438960731648]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_26","position":[0.5802002559157848,0.7786368742401986,0.71338606911949],"aabb_xy":[[0.5341151646610532,0.7146368769876434],[0.6262853471705162,0.8426368714927537]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_27","position":[-0.26192229191398897,-0.40636766229906307,0.71338606911949],"aabb_xy":[[-0.2720039989925624,-0.48636766019117766],[-0.25184058483541544,-0.32636766440694837]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_28","position":[0.29627449077615253,0.8648161098685385,0.71338606911949],"aabb_xy":[[0.24846832316238393,0.7998161071614794],[0.34408065838992125,0.9298161125755974]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_29","position":[-0.2717344468343066,-0.5602924223423207,0.71338606911949],"aabb_xy":[[-0.2810814544166018,-0.5745960445599646],[-0.26238743925201136,-0.5459888001246765]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898725233810893,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7125.png","name":"7125"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7125.png","name":"7125"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5218.png","name":"5218"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2238.png","name":"2238"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5874.png","name":"5874"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3536.png","name":"3536"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":537.2152498917274,"rotation_z_degrees":96.27155437614398,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011845903379729673,0.0030110548241581367,0.019924501322162575]},{"name":"camera_2","offset_m":[-0.0010865032793684823,-0.0017541756530167693,-0.0021458817891429442]},{"name":"camera_3","offset_m":[0.012646755607783427,0.0113836728906733,0.0005406677343889194]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019851441605558606,0.0005123920262288407,-0.001348134014417763],"end_effector_yaw_offset_degrees":-0.9233163331051897},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001596266649813276,-0.0007293792610457519,-0.001415465382368775],"end_effector_yaw_offset_degrees":0.8099114890705803},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001295564314141072,-0.0011064963758462198,-0.0016933606326176953],"end_effector_yaw_offset_degrees":-0.13672322370445578},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001281035381991614,-0.0007533112840734551,-0.0011659523239551895],"end_effector_yaw_offset_degrees":-0.9491288674784883}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017124007088085294,-0.0017233399902810789],"position_m":[0.14221240070880856,0.23297666000971892,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013212157976423547,-0.003970662970625701],"position_m":[0.24777878420235763,-0.3873706629706257,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006809903593974886,0.004424463463694745],"position_m":[0.21291900964060254,-0.04927553653630525,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007306693633500469,-0.0028224827403654676],"position_m":[0.35433066936335006,0.11437751725963453,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dded38946f7b989de249cef4b61f3ab786f20bcfb6db3a8b3c1ff49f86764b0d","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0068.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7125/tex_ceiling_textures_3536/tex_floor_textures_5874/tex_table_textures_5218/tex_wall_textures_2238","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1593713604045908273,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1593713604045908273,"visual_seed":1593713604045908273,"scene_id":"lab_003","finished_at":"2026-09-05T05:52:17"}
+{"episode_id":"ep_000069","started_at":"2026-09-05T05:52:22","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[-0.15727982394734596,-1.645459624134498,0.71338606911949],"aabb_xy":[[-0.17979351577080313,-1.7154596247355054],[-0.13476613212388874,-1.5754596235334903]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.6851205712235096,1.5296922058744324,0.71338606911949],"aabb_xy":[[0.6764226089327943,1.517567231566958],[0.6938185335142248,1.5418171801819074]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_2","position":[-0.520858881950146,1.7118162131687593,0.71338606911949],"aabb_xy":[[-0.5748744782320458,1.647816210276502],[-0.46684328566824584,1.7758162160610163]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_3","position":[-0.17283191177480628,1.6694127208645813,0.71338606911949],"aabb_xy":[[-0.22783191095139574,1.6144230460896232],[-0.11783191259821676,1.7244023956395385]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[0.30163660156493177,-1.5083092194969248,0.71338606911949],"aabb_xy":[[0.21194952525681632,-1.5983092197513753],[0.3913236778730472,-1.4183092192424742]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.5440504186506325,-1.6585315485590995,0.71338606911949],"aabb_xy":[[0.5090504203399371,-1.6662465634826449],[0.579050416961328,-1.6508165336355536]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[0.14357556123290094,-1.9034176469651487,0.71338606911949],"aabb_xy":[[0.08858008341224155,-1.9584176483990552],[0.19857103905356033,-1.8484176455312413]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.1705726390140878,-1.1797757075892363,0.71338606911949],"aabb_xy":[[0.15742139304279842,-1.204775707345923],[0.18372388498537714,-1.15477570783255]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.6203592471737149,0.17395729333669863,0.71338606911949],"aabb_xy":[[0.6069127205396716,0.16048744168360737],[0.6338057738077583,0.18742714498978982]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.28632677950220164,-0.6684035403519095,0.71338606911949],"aabb_xy":[[-0.36632677748298664,-0.6760050813137616],[-0.20632678152141656,-0.6608019993900577]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[-0.32171953906439144,0.3319626554254098,0.71338606911949],"aabb_xy":[[-0.3857195354599645,0.26799936700667626],[-0.25771954266881836,0.39592594384414337]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_11","position":[-0.25931243372842744,-1.7897825650105839,0.71338606911949],"aabb_xy":[[-0.26733870435905344,-1.7985340599879367],[-0.25128616309780144,-1.7810310700332315]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[-0.16533332177605775,0.7744983467132109,0.71338606911949],"aabb_xy":[[-0.17541502885463123,0.6944983488210962],[-0.15525161469748427,0.8544983446053255]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[-0.35457413030486745,1.427281781994028,0.71338606911949],"aabb_xy":[[-0.41457413015143424,1.370463159800989],[-0.29457413045830066,1.4841004041870665]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[0.5555337539562131,1.758842586907274,0.71338606911949],"aabb_xy":[[0.5005405426190764,1.7038425865684805],[0.6105269652933499,1.8138425872460677]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_15","position":[0.5690237228387103,1.3085078453994297,0.71338606911949],"aabb_xy":[[0.5340237237087546,1.3027626243237656],[0.6040237219686659,1.3142530664750938]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.6388354803225686,-2.1749621567403348,0.71338606911949],"aabb_xy":[[-0.6888354798989033,-2.224942735692441],[-0.5888354807462338,-2.1249815777882293]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_17","position":[-0.1804760959267362,0.9488504356786835,0.71338606911949],"aabb_xy":[[-0.184179357255875,0.9451484173699657],[-0.17677283459759727,0.9525524539874014]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.11163191490433266,-1.0107768235500008,0.71338606911949],"aabb_xy":[[0.10221444033446991,-1.0201930006877196],[0.12104938947419541,-1.0013606464122815]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.10552154589950125,0.6295410696366339,0.71338606911949],"aabb_xy":[[-0.1274302280388523,0.6076404028165431],[-0.0836128637601502,0.6514417364567245]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.0946516991179589,-1.0584643413116992,0.71338606911949],"aabb_xy":[[-0.15865170079595622,-1.1069817327910134],[-0.030651697439961517,-1.009946949832385]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[0.37705236416117316,-2.2910154376997465,0.71338606911949],"aabb_xy":[[0.35955236488308623,-2.308353537766092],[0.39455236343926,-2.2736773376334]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[-0.537520792226716,-1.6050954867514615,0.71338606911949],"aabb_xy":[[-0.5447820397971235,-1.617882497014971],[-0.5302595446563085,-1.592308476487952]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[-0.31746969926863045,-2.3865894189772527,0.71338606911949],"aabb_xy":[[-0.3396422262452813,-2.4087650861333754],[-0.2952971722919796,-2.3644137518211292]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[-0.360712752889487,-0.8240877197413867,0.71338606911949],"aabb_xy":[[-0.37587562586642415,-0.8392531770365057],[-0.34554987991254993,-0.8089222624462682]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[0.37297358102868516,1.6460247899965164,0.71338606911949],"aabb_xy":[[0.3229735800781523,1.6144756429929947],[0.4229735819792179,1.6775739370000375]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[-0.406194740692425,1.099449427170276,0.71338606911949],"aabb_xy":[[-0.45618975165187703,1.0494494281346844],[-0.3561997297329729,1.1494494262058679]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_27","position":[0.5634459814955843,-0.9603583074050026,0.71338606911949],"aabb_xy":[[0.48344598283869833,-0.9748631663292653],[0.6434459801524703,-0.9458534484807397]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[0.5034821092704658,1.032236874464599,0.71338606911949],"aabb_xy":[[0.46916583209584783,0.9822368744914214],[0.5377983864450837,1.0822368744377768]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6914953870711967,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8930.png","name":"8930"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8930.png","name":"8930"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4422.png","name":"4422"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6633.png","name":"6633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5002.png","name":"5002"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7320.png","name":"7320"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":504.07873437265033,"rotation_z_degrees":105.0292669270113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018649034519840412,0.0076724404629780855,0.002294280787319178]},{"name":"camera_2","offset_m":[-0.00030802068761507165,0.005714355171779699,0.010830395258387894]},{"name":"camera_3","offset_m":[0.00314460346773663,0.018780660378435916,-0.01905477580760102]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003104717511271224,-0.0010713651148618669,-0.00030077936502834516],"end_effector_yaw_offset_degrees":-0.6199894117476588},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00027201864166155566,-0.0006913604043421939,0.0016477101754744064],"end_effector_yaw_offset_degrees":0.3700187288714616},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016178733846668259,0.0009707772646861076,-1.9651493377262526e-06],"end_effector_yaw_offset_degrees":0.21951915475370654},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016444159389310347,0.000510424469327031,0.0003120886676823316],"end_effector_yaw_offset_degrees":-0.9046266113714516}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003233628838305862,0.002262553459538066],"position_m":[0.13726637116169416,0.23696255345953807,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034105615690187335,0.00015951301475779743],"position_m":[0.25251056156901874,-0.3832404869852422,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003699094277522433,-0.004201941447794292],"position_m":[0.21729909427752245,-0.057901941447794286,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018018582727568969,0.001828635946316817],"position_m":[0.35540185827275694,0.11902863594631681,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1d97b2162fd5fcc7c6101e1104960346d1e91a971e26e771a863bd296265a532","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8930/tex_ceiling_textures_7320/tex_floor_textures_5002/tex_table_textures_4422/tex_wall_textures_6633","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":117644791248477867,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":117644791248477867,"visual_seed":117644791248477867,"scene_id":"lab_003","finished_at":"2026-09-05T05:56:24"}
+{"episode_id":"ep_000070","started_at":"2026-09-05T05:56:28","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.04461837998221485,1.5576588688142796,0.71338606911949],"aabb_xy":[[0.019618380430476368,1.547516384949145],[0.06961837953395333,1.5678013526794143]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.3671025634787256,-0.3001765361265676,0.71338606911949],"aabb_xy":[[-0.4021025626715439,-0.3111435821242301],[-0.33210256428590734,-0.28920949012890484]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[0.5007063883062097,-0.2825316976899077,0.71338606911949],"aabb_xy":[[0.4557063868399809,-0.3275315545513884],[0.5457063897724386,-0.23753184082842704]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[0.5393890899108222,0.302348977199165,0.71338606911949],"aabb_xy":[[0.5018890913352013,0.28961268153560704],[0.5768890884864429,0.3150852728627229]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.4652425252989568,-2.3314632412957734,0.71338606911949],"aabb_xy":[[-0.4888276487628517,-2.396463243541205],[-0.44165740183506197,-2.2664632390503416]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.586054719519874,-0.9194278657822288,0.71338606911949],"aabb_xy":[[-0.6710547179372972,-1.0043021612445138],[-0.5010547211024508,-0.8345535703199439]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[-0.2554486576455687,1.1653198236126534,0.71338606911949],"aabb_xy":[[-0.263072925735747,1.15768660007611],[-0.2478243895553905,1.1729530471491973]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.48489797045418315,0.40511352127870826,0.71338606911949],"aabb_xy":[[-0.4936119395041175,0.3826135206195199],[-0.47618400140424855,0.42761352193789637]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.06655914239531613,-1.4703419914351583,0.71338606911949],"aabb_xy":[[0.036074892268285974,-1.5203419912166543],[0.09704339252234628,-1.4203419916536624]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.26013699844553995,-0.5033371887191445,0.71338606911949],"aabb_xy":[[-0.2884667083940802,-0.5077979309128616],[-0.23180728849699972,-0.4988764465254275]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.012423113524709484,-1.0970479695436093,0.71338606911949],"aabb_xy":[[-0.0624231129649051,-1.1470158940279256],[0.037576885915486136,-1.047080045059293]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[-0.5095129575317711,1.5878999127556788,0.71338606911949],"aabb_xy":[[-0.5995129598657901,1.510417558170566],[-0.419512955197752,1.6653822673407914]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.6337275963003501,0.5933508695911769,0.71338606911949],"aabb_xy":[[-0.639764609301015,0.5873241685222287],[-0.6276905832996855,0.5993775706601251]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.595946231704382,-1.1695610154185423,0.71338606911949],"aabb_xy":[[0.5309462316700793,-1.2162616920988694],[0.6609462317386847,-1.1228603387382148]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[-0.47691443233086706,-0.6863208169642494,0.71338606911949],"aabb_xy":[[-0.5419144349686605,-0.7378004156636965],[-0.41191442969307357,-0.6348412182648026]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[-0.1019277912911497,-1.494638875999984,0.71338606911949],"aabb_xy":[[-0.12520963348928105,-1.5796388772972119],[-0.07864594909301836,-1.4096388747027557]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.12611712932945562,-0.6396069387337462,0.71338606911949],"aabb_xy":[[-0.1760959378397715,-0.689606938739465],[-0.07613832081913974,-0.5896069387280274]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[0.5922342365013631,1.141018383253762,0.71338606911949],"aabb_xy":[[0.5572342373714075,1.1352731621780976],[0.6272342356313189,1.1467636043294258]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.6540253025504112,-1.3377140282270668,0.71338606911949],"aabb_xy":[[0.5900253054383054,-1.3867463980214774],[0.7180252996625168,-1.2886816584326561]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[0.47494465575512423,0.24187857072720176,0.71338606911949],"aabb_xy":[[0.43744465496312873,0.23551072976901166],[0.5124446565471197,0.24824641168539185]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[-0.6814744783377504,-0.1599658103623196,0.71338606911949],"aabb_xy":[[-0.6878882919809352,-0.16637563060998792],[-0.6750606646945653,-0.15355599011465124]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938752732735883,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/726.png","name":"726"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/726.png","name":"726"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/70.png","name":"70"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/960.png","name":"960"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2416.png","name":"2416"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5848.png","name":"5848"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":594.5825886998588,"rotation_z_degrees":307.35833142356495,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01888587635164626,-0.007235233510954316,0.0074538450973131234]},{"name":"camera_2","offset_m":[-0.005281237357140287,0.005215588969201754,0.013227802393626881]},{"name":"camera_3","offset_m":[0.00458458686163515,0.015461537431008508,0.015086412646714845]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003829370219590577,-0.001867687115916676,0.0007861091617769093],"end_effector_yaw_offset_degrees":0.02446223350547916},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-1.7817015966883898e-05,0.0013389209766913224,-0.0012049755909344945],"end_effector_yaw_offset_degrees":-0.25060407142352514},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009584979272046171,-0.00046130537546461704,0.0016552747331787265],"end_effector_yaw_offset_degrees":-0.8231634201152505},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010768063549788515,0.0012811908656089523,0.0007087365823059389],"end_effector_yaw_offset_degrees":-0.059935511697412513}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038089271076650307,0.0003215747381774617],"position_m":[0.14430892710766505,0.23502157473817745,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004376259544481574,-0.002679855940256151],"position_m":[0.25347625954448155,-0.3860798559402562,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011118117045504266,0.003254941065639289],"position_m":[0.21471181170455045,-0.05044505893436071,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005736973951510653,-0.004293344121856899],"position_m":[0.3541736973951511,0.1129066558781431,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10760bd5dff4986919c051f9d1e89022c30082e34c4a7df82b41a3c44fdc5714","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0070.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_726/tex_ceiling_textures_5848/tex_floor_textures_2416/tex_table_textures_70/tex_wall_textures_960","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3476723898311365718,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3476723898311365718,"visual_seed":3476723898311365718,"scene_id":"lab_003","finished_at":"2026-09-05T06:00:23"}
+{"episode_id":"ep_000071","started_at":"2026-09-05T06:00:27","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[0.529541249153977,-0.8464393951326719,0.71338606911949],"aabb_xy":[[0.48006082794001825,-0.9104393930455238],[0.5790216703679358,-0.7824393972198201]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[0.2621078653108768,-1.4589856515382338,0.71338606911949],"aabb_xy":[[0.19710786267308333,-1.5104652502376805],[0.3271078679486703,-1.4075060528387866]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[-0.09360934622525519,-0.32916734205258313,0.71338606911949],"aabb_xy":[[-0.157609346485726,-0.3741761414055111],[-0.029609345964784383,-0.28415854269965507]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[0.4209821245456673,-2.4605346093211384,0.71338606911949],"aabb_xy":[[0.41182224560179065,-2.467065827364675],[0.43014200348954384,-2.454003391277601]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[0.3005659555130512,1.6418455163425922,0.71338606911949],"aabb_xy":[[0.2544808642583198,1.5778455190900373],[0.34665104676778274,1.7058455135951476]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.6706410042733453,0.9060389873476624,0.71338606911949],"aabb_xy":[[-0.674719162180395,0.901958007099399],[-0.6665628463662956,0.9101199675959256]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[-0.05517403662603715,1.7376045591257214,0.71338606911949],"aabb_xy":[[-0.10517403828753191,1.6876061168700185],[-0.0051740349645423905,1.787603001381424]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.6501619706685087,0.045387887545972116,0.71338606911949],"aabb_xy":[[0.6372900671675684,-0.03461211286786402],[0.6630338741694487,0.12538788795980824]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.2787459068856519,-1.5661761964631589,0.71338606911949],"aabb_xy":[[-0.3160771834108945,-1.6008292512580113],[-0.24141463036040925,-1.5315231416683068]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[-0.4520652815505668,1.3595894792499212,0.71338606911949],"aabb_xy":[[-0.479910318331174,1.3288049805116096],[-0.42422024476995973,1.390373977988233]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[-0.5187150873020867,-2.4940331946894068,0.71338606911949],"aabb_xy":[[-0.5887150906936486,-2.529348968392837],[-0.44871508391052467,-2.4587174209859755]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.4264306856045928,0.9685333443729971,0.71338606911949],"aabb_xy":[[-0.49043068290693914,0.9241669174051401],[-0.36243068830224634,1.0128997713408536]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.13084313143159576,-1.3224618181350083,0.71338606911949],"aabb_xy":[[0.0933431312597238,-1.3551625535179153],[0.16834313160346767,-1.2897610827521009]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[0.2019185603543765,1.0068411947504194,0.71338606911949],"aabb_xy":[[0.15191856170845527,0.9569216510909571],[0.2519185590002977,1.0567607384098818]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[-0.18774338049792527,-1.5285205321419244,0.71338606911949],"aabb_xy":[[-0.19170386426765965,-1.536188396727445],[-0.1837828967281909,-1.5208526675564038]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[-0.1852649745321866,-0.43883270792420204,0.71338606911949],"aabb_xy":[[-0.22276497502954484,-0.44280139147232045],[-0.14776497403482836,-0.4348640243760836]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[-0.4675659952401131,1.6325735343943246,0.71338606911949],"aabb_xy":[[-0.4900307652115182,1.6100735335154641],[-0.445101225268708,1.6550735352731851]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.24888105639274877,0.8923550504142623,0.71338606911949],"aabb_xy":[[-0.29018559945648476,0.8283550508461452],[-0.20757651332901278,0.9563550499823794]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[-0.43460553445161254,-1.9976052445388648,0.71338606911949],"aabb_xy":[[-0.4425995230293159,-2.0056053246339554],[-0.4266115458739091,-1.9896051644437742]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.5275934698772267,0.057338634467137606,0.71338606911949],"aabb_xy":[[0.5214988419891085,0.048769239915468894],[0.5336880977653451,0.06590802901880632]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[0.3900486937696803,0.5688609322418312,0.71338606911949],"aabb_xy":[[0.3671329808846304,0.5459566351054077],[0.4129644066547303,0.5917652293782547]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[-0.20102644558650978,0.42138734660630783,0.71338606911949],"aabb_xy":[[-0.28102644299010315,0.341394775408125],[-0.12102644818291634,0.5013799178044906]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.5442378641386699,-1.342917586989408,0.71338606911949],"aabb_xy":[[-0.5573891101099593,-1.3679175867460946],[-0.5310866181673806,-1.3179175872327216]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_23","position":[-0.0386435946397552,1.3314267847240173,0.71338606911949],"aabb_xy":[[-0.08861688864301565,1.28142678416947],[0.011329699363505252,1.3814267852785647]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[0.0017041878374439712,-0.9054801464097784,0.71338606911949],"aabb_xy":[[-0.007077039309792256,-0.9142598936983087],[0.010485414984680199,-0.8967003991212484]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[0.273498714388303,1.442459928944062,0.71338606911949],"aabb_xy":[[0.20849871583123014,1.4127073955301794],[0.3384987129453758,1.4722124623579447]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[-0.5572631130551362,1.4569391664242652,0.71338606911949],"aabb_xy":[[-0.5653064729810914,1.3719391653288986],[-0.549219753129181,1.5419391675196314]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[0.60599899739578,0.3763394721184481,0.71338606911949],"aabb_xy":[[0.5760314404859543,0.34633947182056235],[0.6359665543056057,0.40633947241633384]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_28","position":[0.5379655712587066,1.2849481018736757,0.71338606911949],"aabb_xy":[[0.5302623805846295,1.2772387311749376],[0.5456687619327835,1.2926574725724138]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[-0.5866710660719299,-2.319306310234629,0.71338606911949],"aabb_xy":[[-0.5974440399932976,-2.3543063084536686],[-0.5758980921505621,-2.2843063120155906]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929346871235308,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7517.png","name":"7517"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7517.png","name":"7517"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3448.png","name":"3448"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7065.png","name":"7065"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6922.png","name":"6922"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6765.png","name":"6765"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":533.2577318190338,"rotation_z_degrees":135.57330511026933,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028834939161349465,0.002074256947061072,-0.016884967465347806]},{"name":"camera_2","offset_m":[0.011987179791872717,-0.007399888141980719,0.016030443713388177]},{"name":"camera_3","offset_m":[0.008237278305882768,-0.011144774049020182,-0.008104830433247381]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015198890340568597,-0.0009463205140918557,-0.0007668207491732231],"end_effector_yaw_offset_degrees":-0.08174889641693484},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004244533276696076,0.0016953605334157906,0.0009815624888661373],"end_effector_yaw_offset_degrees":0.6475277286618928},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010750077094817184,0.0018037691344686144,0.0019290321192003473],"end_effector_yaw_offset_degrees":0.3774969305000637},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013718946832883732,0.0014890370531012538,4.31449668305329e-05],"end_effector_yaw_offset_degrees":-0.13135534807277294}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-7.108421054710743e-05,0.00021943225831219226],"position_m":[0.1404289157894529,0.2349194322583122,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003004382829369031,-0.003036591031209458],"position_m":[0.25210438282936903,-0.3864365910312095,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016640350648959015,-0.0013793881032006694],"position_m":[0.2119359649351041,-0.05507938810320067,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019911466895842153,0.0016075700554708042],"position_m":[0.35559114668958425,0.1188075700554708,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"54b31a1cb56bbaeb886c025e7ea825600187ab0b68601c2434f3293b74731138","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7517/tex_ceiling_textures_6765/tex_floor_textures_6922/tex_table_textures_3448/tex_wall_textures_7065","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8601544008896784688,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8601544008896784688,"visual_seed":8601544008896784688,"scene_id":"lab_003","finished_at":"2026-09-05T06:04:29"}
+{"episode_id":"ep_000072","started_at":"2026-09-05T06:04:32","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.19714520469861274,-2.2114842230511167,0.71338606911949],"aabb_xy":[[0.14714520303711795,-2.261482665306819],[0.24714520636010748,-2.1614857807954135]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[-0.4427939538644527,0.39909267730777964,0.71338606911949],"aabb_xy":[[-0.45092164205776586,0.39017906889707205],[-0.4346662656711394,0.40800628571848735]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[0.59941677295694,-0.9315756502753891,0.71338606911949],"aabb_xy":[[0.544416774755195,-0.9720976169018266],[0.6544167711586847,-0.8910536836489514]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[-0.627889114634674,0.7733644856555153,0.71338606911949],"aabb_xy":[[-0.6398218489965021,0.7609823328476559],[-0.6159563802728459,0.7857466384633747]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[0.2756948932676523,-1.5505295952432514,0.71338606911949],"aabb_xy":[[0.26865344231690474,-1.557556346981046],[0.28273634421839994,-1.5435028435054567]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[-0.20502224934027574,-1.797345631857052,0.71338606911949],"aabb_xy":[[-0.2850222515030382,-1.8773008154831954],[-0.12502224717751326,-1.7173904482309081]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_6","position":[-0.06684481128116349,-1.5785201759308163,0.71338606911949],"aabb_xy":[[-0.10387892070922318,-1.6128973832645255],[-0.029810701853103756,-1.5441429685971066]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[-0.21335553996072826,-1.9247520138329115,0.71338606911949],"aabb_xy":[[-0.22076799550211673,-1.9306032242545397],[-0.20594308441933978,-1.9189008034112838]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_8","position":[-0.4452045133421604,-0.10628575484345637,0.71338606911949],"aabb_xy":[[-0.5102045114980794,-0.13258199939336857],[-0.3802045151862413,-0.07998951029354416]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[-0.028283143453233017,1.3153283102161257,0.71338606911949],"aabb_xy":[[-0.069587686516969,1.2513283106480089],[0.01302139961050297,1.379328309784243]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[-0.07340515262871294,-2.369181174405736,0.71338606911949],"aabb_xy":[[-0.08896092203897821,-2.384731607650143],[-0.05784938321844768,-2.3536307411613286]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[-0.3753950246311919,0.5774107354074935,0.71338606911949],"aabb_xy":[[-0.400395023796825,0.570458489702137],[-0.3503950254655588,0.5843629811128501]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.16700943647951083,1.2226099709025684,0.71338606911949],"aabb_xy":[[-0.20450943665138274,1.1899092355196612],[-0.12950943630763886,1.2553107062854756]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.4128141222465931,-1.5116286358642754,0.71338606911949],"aabb_xy":[[0.3228141236521232,-1.5278792221776967],[0.502814120841063,-1.4953780495508546]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.052291689118225015,-0.7839041371036657,0.71338606911949],"aabb_xy":[[-0.08675416713131279,-0.7905678142865885],[-0.01782921110513725,-0.7772404599207429]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.5912422702765373,-1.1341453969879998,0.71338606911949],"aabb_xy":[[-0.6712422705501443,-1.2070949448137163],[-0.5112422700029303,-1.0611958491622828]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[0.6345721429707096,-2.30145025008687,0.71338606911949],"aabb_xy":[[0.6268689522966326,-2.3091596207856075],[0.6422753336447866,-2.2937408793881313]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.539971480475232,1.4739568930589484,0.71338606911949],"aabb_xy":[[0.5075097795933043,1.4438240609440454],[0.5724331813571593,1.5040897251738505]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[0.16178406948153234,-1.6798818774463595,0.71338606911949],"aabb_xy":[[0.09778407031176238,-1.726648564565322],[0.22578406865130227,-1.633115190327397]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.22049929745461916,0.9531799696964893,0.71338606911949],"aabb_xy":[[-0.2429984331808461,0.9306799689182264],[-0.19800016172839216,0.9756799704747523]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[-0.6621506951306821,-2.0404370733535644,0.71338606911949],"aabb_xy":[[-0.6661111789004165,-2.048104937939085],[-0.6581902113609478,-2.032769208768044]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[-0.4399921644057249,-2.4569186655967084,0.71338606911949],"aabb_xy":[[-0.47590566883071456,-2.4928321738134627],[-0.40407865998073517,-2.421005157379953]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[0.5886834724499672,-1.303198814930281,0.71338606911949],"aabb_xy":[[0.5386834714994344,-1.334747961933802],[0.6386834734005,-1.2716496679267593]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[-0.5210413041638711,-0.5579985058048083,0.71338606911949],"aabb_xy":[[-0.5384720192428775,-0.5752706204686588],[-0.5036105890848644,-0.5407263911409572]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[0.08532950098480152,-1.3298973969592425,0.71338606911949],"aabb_xy":[[0.04782950063657376,-1.341688792540326],[0.12282950133302928,-1.318106001378159]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[0.5536577707432551,-1.8075753441691633,0.71338606911949],"aabb_xy":[[0.4836577681066686,-1.8276802091650284],[0.6236577733798413,-1.7874704791732974]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930163177574336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8845.png","name":"8845"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8845.png","name":"8845"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9678.png","name":"9678"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9171.png","name":"9171"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6679.png","name":"6679"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8263.png","name":"8263"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":595.7492115194547,"rotation_z_degrees":147.18003742338996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01488875041085859,-0.007610870973063087,0.0007839304747509698]},{"name":"camera_2","offset_m":[0.011202756281102694,0.0007241351115521467,0.0052621525978043815]},{"name":"camera_3","offset_m":[-0.012725918795329673,-0.017517467992961,-0.0162034261452212]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001018966342819771,0.0009703604228987876,0.000857536597607561],"end_effector_yaw_offset_degrees":0.7496641705358116},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001761056094200375,0.0011610171480736864,0.0007848820479327634],"end_effector_yaw_offset_degrees":0.040466845658939876},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007705597372146085,-0.0015290737762653315,-0.0016793229708863926],"end_effector_yaw_offset_degrees":0.8070202775949833},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010927812846877037,0.001767445335994539,0.0011174995541046767],"end_effector_yaw_offset_degrees":0.3514597244459565}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028911924202660744,-0.0011521786528740463],"position_m":[0.13760880757973393,0.23354782134712596,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037790043349767944,-0.0020279626025111286],"position_m":[0.2528790043349768,-0.38542796260251116,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001739363781465626,-0.004457635899333471],"position_m":[0.21186063621853438,-0.05815763589933347,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004115972756852461,-0.00479731638808288],"position_m":[0.35771597275685246,0.11240268361191712,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9f7a26abad3fff2b8fa5303876213dcf0fa8c0724a789fc3df664ecadab4161f","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8845/tex_ceiling_textures_8263/tex_floor_textures_6679/tex_table_textures_9678/tex_wall_textures_9171","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8724690188030441768,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8724690188030441768,"visual_seed":8724690188030441768,"scene_id":"lab_003","finished_at":"2026-09-05T06:08:30"}
+{"episode_id":"ep_000073","started_at":"2026-09-05T06:08:34","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.15317427041744103,-2.344747383495318,0.71338606911949],"aabb_xy":[[-0.17445227856091325,-2.4097473858213907],[-0.13189626227396875,-2.2797473811692446]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_1","position":[-0.0738060630770846,0.3466942952593923,0.71338606911949],"aabb_xy":[[-0.13780606166365705,0.2996873318598836],[-0.009806064490512134,0.39370125865890104]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[0.588769261125281,1.7338204475251628,0.71338606911949],"aabb_xy":[[0.5512692608331062,1.7297789721245593],[0.6262692614174559,1.7378619229257664]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[0.40269302780746163,-0.27966250425666095,0.71338606911949],"aabb_xy":[[0.393399409570311,-0.3171625027447948],[0.41198664604461216,-0.242162505768527]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[0.3265444735883689,-1.6460853113051144,0.71338606911949],"aabb_xy":[[0.27154447396662307,-1.7010690040925873],[0.38154447321011475,-1.5911016185176419]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.3730765911887268,-2.3442764200978203,0.71338606911949],"aabb_xy":[[0.3657942748120631,-2.434276423707329],[0.3803589075653904,-2.254276416488311]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[0.3770279968335368,-2.133926038865834,0.71338606911949],"aabb_xy":[[0.29702799540340963,-2.2134431938784433],[0.457027998263664,-2.0544088838532244]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.5696449842495667,1.3606627097827748,0.71338606911949],"aabb_xy":[[-0.6336406816446631,1.296662711482066],[-0.50564928685447,1.4246627080834833]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.3914064741718908,0.919761307961287,0.71338606911949],"aabb_xy":[[0.3739757590928842,0.9024891932974359],[0.40883718925089724,0.9370334226251376]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.2252523111394933,-1.9456053197918435,0.71338606911949],"aabb_xy":[[0.17577188992553452,-2.009605317704695],[0.2747327323534521,-1.8816053218789917]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[0.26580209994600057,0.6689244532157104,0.71338606911949],"aabb_xy":[[0.21067689431640976,0.6089244517744232],[0.3209273055755913,0.7289244546569975]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.1844125917244519,0.6135353132603081,0.71338606911949],"aabb_xy":[[-0.24941258960609974,0.5624116495537673],[-0.11941259384280414,0.6646589769668491]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.09378793561928223,-0.6981473174098698,0.71338606911949],"aabb_xy":[[-0.11158144255419866,-0.7159470630056675],[-0.07599442868436579,-0.6803475718140721]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[-0.2127943921894489,-0.18768515681881937,0.71338606911949],"aabb_xy":[[-0.24779439216594476,-0.19714977286643598],[-0.1777943922129531,-0.17822054077120275]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[-0.002153054910091101,1.6419277630277613,0.71338606911949],"aabb_xy":[[-0.024061737049442145,1.6200270962076704],[0.019755627229259942,1.6638284298478518]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[-0.37368184574234325,1.1382481450802566,0.71338606911949],"aabb_xy":[[-0.38237980803305854,1.1261231707727821],[-0.3649838834516279,1.1503731193877316]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[-0.18325989070651594,-1.1052618596977624,0.71338606911949],"aabb_xy":[[-0.1882159108913972,-1.1277618598998842],[-0.17830387052163477,-1.082761859495641]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.284841835317012,-0.6925038277837225,0.71338606911949],"aabb_xy":[[-0.3498418379548055,-0.7439834264831695],[-0.21984183267921853,-0.6410242290842756]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.44497410116008274,1.469534638476182,0.71338606911949],"aabb_xy":[[0.3552870248519673,1.3795346382217315],[0.5346611774681982,1.5595346387306326]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[0.15850459974645392,1.6412683962162853,0.71338606911949],"aabb_xy":[[0.10852718288120032,1.5912683947270365],[0.20848201661170748,1.6912683977055336]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[-0.3001567688065755,-2.480222918803624,0.71338606911949],"aabb_xy":[[-0.3501567683829102,-2.53020349775573],[-0.25015676923024077,-2.4302423398515183]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[-0.49468187537851727,1.0931746874329336,0.71338606911949],"aabb_xy":[[-0.5496818745551066,1.0381850126579757],[-0.4396818762019277,1.148164362207891]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[-0.5548094338098096,0.1472580473449665,0.71338606911949],"aabb_xy":[[-0.5892719118228973,0.14059437016204365],[-0.5203469557967217,0.1539217245278893]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.06533680751863202,-1.3319967245341398,0.71338606911949],"aabb_xy":[[-0.12933680394595393,-1.3791663483562364],[-0.0013368110913101194,-1.2848271007120435]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[-0.3805167072557191,1.6136647158330368,0.71338606911949],"aabb_xy":[[-0.38873125237140305,1.6049881255353948],[-0.3723021621400351,1.6223413061306775]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[0.5634157013267953,1.0003927906406886,0.71338606911949],"aabb_xy":[[0.5409157008147547,0.9779009322752903],[0.5859157018388359,1.022884649006087]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_26","position":[0.3595018795733609,1.1938489711879234,0.71338606911949],"aabb_xy":[[0.3054862832914608,1.129848968295666],[0.41351747585526083,1.2578489740801804]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[-0.555744666191977,0.6019306985423492,0.71338606911949],"aabb_xy":[[-0.5627849761255141,0.5219306991426779],[-0.5487043562584402,0.6819306979420207]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_28","position":[-0.05273585880937892,0.908974223049726,0.71338606911949],"aabb_xy":[[-0.11673585906984972,0.863965423696798],[0.01126414145109189,0.953983022402654]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6891195600577813,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5927.png","name":"5927"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5927.png","name":"5927"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3598.png","name":"3598"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2908.png","name":"2908"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6447.png","name":"6447"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1777.png","name":"1777"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":635.2013656522063,"rotation_z_degrees":19.81815866019612,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018476692161398075,0.016997126142603933,0.01178268178357986]},{"name":"camera_2","offset_m":[-0.00630590504032353,-0.005020601079003515,0.0034182748901612353]},{"name":"camera_3","offset_m":[0.012375649797022343,-0.013653457463267907,-0.004287893622036815]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006129681408919437,0.0010226107509817418,2.4586589255901504e-05],"end_effector_yaw_offset_degrees":-0.9239690421305045},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014725712904955016,-0.0002695978437783366,-0.00043770467007323705],"end_effector_yaw_offset_degrees":-0.5932372526559013},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015961765735432597,-0.0013640122555689613,-0.0015325690316819608],"end_effector_yaw_offset_degrees":0.030344953569651834},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001670901775552241,-0.0007151995350244066,0.0016213500082555869],"end_effector_yaw_offset_degrees":0.8799569903986864}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037772707582855473,0.0018056110668871273],"position_m":[0.14427727075828556,0.2365056110668871,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017077191805113879,-0.0031990538472567854],"position_m":[0.2473922808194886,-0.3865990538472568,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007006216780231292,-0.0016271303439167805],"position_m":[0.21430062167802313,-0.05532713034391678,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009291026508740771,0.0006141566995472528],"position_m":[0.3545291026508741,0.11781415669954726,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ddd018d189e38471a3d550747018b9392a7610f8d1083346729b65303ed67764","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5927/tex_ceiling_textures_1777/tex_floor_textures_6447/tex_table_textures_3598/tex_wall_textures_2908","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1495313829959217947,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1495313829959217947,"visual_seed":1495313829959217947,"scene_id":"lab_003","finished_at":"2026-09-05T06:12:44"}
+{"episode_id":"ep_000074","started_at":"2026-09-05T06:12:48","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.27325008214139546,1.0621737903561086,0.71338606911949],"aabb_xy":[[0.22325008047990066,1.0121753481004059],[0.32325008380289016,1.1121722326118113]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[0.4845667509889868,-2.1479459010632427,0.71338606911949],"aabb_xy":[[0.4347499715241521,-2.197945899547546],[0.5343835304538216,-2.0979459025789393]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_2","position":[0.45587300588292634,-0.4957402133052211,0.71338606911949],"aabb_xy":[[0.4202438499829666,-0.5313728800620741],[0.4915021617828861,-0.4601075465483682]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[-0.11410335202146449,-2.3405120053192316,0.71338606911949],"aabb_xy":[[-0.17810334841703757,-2.4044752937379656],[-0.05010335562589141,-2.2765487169004985]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.5601144648115837,-0.213161076998587,0.71338606911949],"aabb_xy":[[0.4961144615218755,-0.2564959960025046],[0.6241144681012917,-0.16982615799466938]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.05347721638924785,0.6031685450053978,0.71338606911949],"aabb_xy":[[-0.10347721775013508,0.5531906404299821],[-0.0034772150283606316,0.6531464495808134]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.33113016159208647,1.5656719330555222,0.71338606911949],"aabb_xy":[[-0.36863016194031417,1.5538805374744384],[-0.29363016124385866,1.5774633286366055]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[-0.21212559490547633,0.2140353444848042,0.71338606911949],"aabb_xy":[[-0.2310099786739865,0.19514941970445146],[-0.1932412111369661,0.23292126926515702]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[0.6196416276598928,-0.8122755877308097,0.71338606911949],"aabb_xy":[[0.5821416261442611,-0.8235023607469547],[0.6571416291755245,-0.8010488147146646]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[-0.6008116699366173,0.6043930448932868,0.71338606911949],"aabb_xy":[[-0.612380650683554,0.5793930447763551],[-0.5892426891896808,0.6293930450102185]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.18966695842993553,-2.0022258809491644,0.71338606911949],"aabb_xy":[[-0.26966696169394866,-2.0157859132580778],[-0.10966695516592237,-1.988665848640251]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[-0.3355386155237583,-2.1182100377191784,0.71338606911949],"aabb_xy":[[-0.4055386176551878,-2.140972003344874],[-0.2655386133923287,-2.095448072093482]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[-0.5909959382647064,-1.6640552907206976,0.71338606911949],"aabb_xy":[[-0.6284959394494991,-1.6684735134167579],[-0.5534959370799135,-1.6596370680246368]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[0.5610360297567205,0.7394310453969135,0.71338606911949],"aabb_xy":[[0.4960360318750726,0.6883073816903726],[0.6260360276383682,0.7905547091034545]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.3301362995112446,-1.6665591589923956,0.71338606911949],"aabb_xy":[[-0.34090927343261246,-1.7015591572114346],[-0.3193633255898769,-1.6315591607733566]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[0.692325423091452,1.7680079628392869,0.71338606911949],"aabb_xy":[[0.6639957131429118,1.76354722064557],[0.7206551330399923,1.7724687050330041]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[0.19291846166343074,1.3785933238799521,0.71338606911949],"aabb_xy":[[0.11291846138982377,1.3056437760542352],[0.2729184619370377,1.4515428717056686]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.4115611856263022,-1.938796387844222,0.71338606911949],"aabb_xy":[[-0.42976700928754985,-1.9498217884262137],[-0.3933553619650545,-1.9277709872622304]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[-0.3881565843895768,0.5342335787921919,0.71338606911949],"aabb_xy":[[-0.4781565838079477,0.5008580819480021],[-0.2981565849712059,0.5676090756363815]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[-0.605323018956711,1.3540878761026605,0.71338606911949],"aabb_xy":[[-0.6353146816905814,1.3240878767658602],[-0.5753313562228407,1.3840878754394612]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_20","position":[-0.5339159460004202,1.6785890312021023,0.71338606911949],"aabb_xy":[[-0.5838890115329357,1.6285890313895695],[-0.4839428804679048,1.7285890310146352]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[-0.5687951910199543,-1.5088645491101262,0.71338606911949],"aabb_xy":[[-0.6327951932403614,-1.5532376332354143],[-0.5047951887995473,-1.4644914649848377]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[0.4828988215832364,-1.205378879900335,0.71338606911949],"aabb_xy":[[0.44610418845833005,-1.2422847549969174],[0.5196934547081427,-1.1684730048037528]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888983086570704,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8652.png","name":"8652"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8652.png","name":"8652"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1462.png","name":"1462"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1800.png","name":"1800"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5636.png","name":"5636"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8073.png","name":"8073"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":528.4563083152633,"rotation_z_degrees":335.2675638572747,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008426621544250109,0.004905048143588827,-0.012356729802247567]},{"name":"camera_2","offset_m":[-0.0012352524672101031,0.014780490222397382,0.018516398959977785]},{"name":"camera_3","offset_m":[0.018381341409004822,-0.01754998154605355,-0.012437483897106114]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016773641472604694,0.0014585171898219848,-0.0008724895003746403],"end_effector_yaw_offset_degrees":-0.929910914071834},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014612900514417181,-0.0013752919800947728,0.00046450253666300645],"end_effector_yaw_offset_degrees":-0.5649087633600423},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016760477906448438,-0.0007233090720148651,-0.001347907082172645],"end_effector_yaw_offset_degrees":0.08492116828777774},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016754276670314532,0.0015884092343989536,-0.0008831880193573749],"end_effector_yaw_offset_degrees":-0.977543793237265}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002919643038659727,-0.0011149874884588983],"position_m":[0.14341964303865973,0.2335850125115411,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002607837588902514,-0.004130737506056157],"position_m":[0.24649216241109748,-0.38753073750605616,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00455847541793539,0.00011806820112178571],"position_m":[0.2181584754179354,-0.05358193179887821,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003242809301899359,0.0017759753066420789],"position_m":[0.3503571906981007,0.11897597530664208,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9ea833e194088aecb94218a78dbbd6fecbaecb6436c280107247db458b50c60d","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8652/tex_ceiling_textures_8073/tex_floor_textures_5636/tex_table_textures_1462/tex_wall_textures_1800","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2627250479377639777,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2627250479377639777,"visual_seed":2627250479377639777,"scene_id":"lab_003","finished_at":"2026-09-05T06:16:40"}
+{"episode_id":"ep_000075","started_at":"2026-09-05T06:16:44","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.03312682705027348,-1.755616721593468,0.71338606911949],"aabb_xy":[[-0.016850589814980107,-1.8056167230827165],[0.08310424391552705,-1.7056167201042194]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.5561503559413041,0.8445222084011559,0.71338606911949],"aabb_xy":[[0.5442176215794761,0.8321400555932965],[0.5680830903031322,0.8569043612090153]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.2826437345856104,-1.6711936450358995,0.71338606911949],"aabb_xy":[[-0.3064799522262155,-1.7611936458443866],[-0.25880751694500537,-1.5811936442274137]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.17850958513639337,0.9719836499253551,0.71338606911949],"aabb_xy":[[-0.22459467639112485,0.9079836526728001],[-0.1324244938816619,1.0359836471779102]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.07156537559971665,-0.3363486654346506,0.71338606911949],"aabb_xy":[[-0.10615645845376186,-0.4013486657196816],[-0.036974292745671426,-0.2713486651496195]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.2338724205353937,-2.5111856478982046,0.71338606911949],"aabb_xy":[[-0.2748903639217646,-2.5611856485291624],[-0.19285447714902285,-2.4611856472672478]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.03268371722695951,-1.324457272465405,0.71338606911949],"aabb_xy":[[-0.002316282749536318,-1.3339218885130215],[0.06768371720345534,-1.3149926564177883]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.40336620184272964,0.48206586283856456,0.71338606911949],"aabb_xy":[[-0.4673662021167079,0.4319997626412766],[-0.3393662015687514,0.5321319630358525]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.2908117321430863,-0.10767800446519304,0.71338606911949],"aabb_xy":[[-0.3408117334269262,-0.15765685885581512],[-0.24081173085924631,-0.05769915007457093]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[0.03848387117997554,-2.3917434352276143,0.71338606911949],"aabb_xy":[[-0.02551613203866232,-2.4384665471266227],[0.1024838743986134,-2.345020323328606]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.5831995353520742,1.562508118563676,0.71338606911949],"aabb_xy":[[0.5487371879539322,1.528014236165853],[0.6176618827502158,1.5970020009614985]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[-0.46348347084633823,-1.867273173498654,0.71338606911949],"aabb_xy":[[-0.5186086764759289,-1.9272731749399412],[-0.4083582652167474,-1.807273172057367]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[0.42546346519565503,1.1174421556755147,0.71338606911949],"aabb_xy":[[0.36546346534908825,1.060623533482476],[0.4854634650422218,1.1742607778685534]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.3832017615881438,-0.3032470242853904,0.71338606911949],"aabb_xy":[[0.3752082717928618,-0.31124515622586607],[0.39119525138342587,-0.29524889234491475]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[0.5765298647131047,0.05930112845758595,0.71338606911949],"aabb_xy":[[0.5692860986668594,-0.020698869746016424],[0.5837736307593501,0.13930112666118832]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.04755682694229313,0.8766333937164541,0.71338606911949],"aabb_xy":[[0.022556827009775238,0.8697507254955307],[0.07255682687481102,0.8835160619373773]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[-0.6191530006640911,-2.135741230813169,0.71338606911949],"aabb_xy":[[-0.683152997059664,-2.1997045192319025],[-0.5551530042685179,-2.0717779423944354]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_17","position":[0.21539610124513886,-1.509974329352242,0.71338606911949],"aabb_xy":[[0.16541186553696158,-1.5599743281657377],[0.26538033695331603,-1.4599743305387465]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[0.08131587023268183,1.4378888602636075,0.71338606911949],"aabb_xy":[[0.05881587022253354,1.4237926406240042],[0.10381587024283012,1.4519850799032108]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[0.48591007091430183,-1.0526307999341484,0.71338606911949],"aabb_xy":[[0.3959100685802827,-1.130113154519261],[0.5759100732483209,-0.9751484453490358]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[-0.4672317713250437,0.9112649054141686,0.71338606911949],"aabb_xy":[[-0.5212473676069436,0.8472649025219113],[-0.4132161750431436,0.9752649083064256]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[-0.5961751824152881,-1.6676694835988095,0.71338606911949],"aabb_xy":[[-0.6138508130038863,-1.685349699878212],[-0.5784995518266897,-1.6499892673194065]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[0.6677592482011496,-0.3660220080258192,0.71338606911949],"aabb_xy":[[0.6598359679624013,-0.3885220082638225],[0.675682528439898,-0.3435220077878158]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[-0.3500996054292258,-0.3201663912618935,0.71338606911949],"aabb_xy":[[-0.40009960679011297,-0.3701442958373091],[-0.3000996040683385,-0.2701884866864779]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[0.34970453673252266,0.7375563902848246,0.71338606911949],"aabb_xy":[[0.29970453808660147,0.6876368466253621],[0.39970453537844386,0.7874759339442868]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[-0.2518830198421219,-0.9115703116571934,0.71338606911949],"aabb_xy":[[-0.263244754495408,-0.9229387780634813],[-0.2405212851888357,-0.9002018452509052]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[0.25372400347221635,-1.960698762139843,0.71338606911949],"aabb_xy":[[0.2037240025216835,-1.9922479091433642],[0.3037240044227491,-1.9291496151363214]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6927893061213491,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7239.png","name":"7239"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7239.png","name":"7239"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9408.png","name":"9408"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9995.png","name":"9995"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9304.png","name":"9304"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9933.png","name":"9933"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":801.5200537976092,"rotation_z_degrees":69.60451553346508,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008650861557014181,-0.007412792512331108,0.01506408284925249]},{"name":"camera_2","offset_m":[-0.01429198565890356,-0.017738512345973057,0.011759137217599813]},{"name":"camera_3","offset_m":[0.0008609794370017555,0.004011710525609825,-0.015172437463675493]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018764235911695407,0.000953320730004586,-0.0008159291300163139],"end_effector_yaw_offset_degrees":-0.9947360634988411},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00034815721543133204,0.0018468882061516583,-0.001750174006600973],"end_effector_yaw_offset_degrees":0.2013932463431065},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018568324424690368,-0.0019757559498691127,-0.0009009420926501237],"end_effector_yaw_offset_degrees":-0.23842975241343978},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009478529577409515,-0.0017331731876153152,0.00040487595190056474],"end_effector_yaw_offset_degrees":-0.1267318780318185}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005838891535143668,-0.001754678098937965],"position_m":[0.13991611084648564,0.232945321901062,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019038315300597243,-0.004409945606348462],"position_m":[0.25100383153005973,-0.38780994560634846,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014137989822691262,-0.004295204177376281],"position_m":[0.21501379898226913,-0.057995204177376275,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038042216309447374,-0.00476267954929574],"position_m":[0.3497957783690553,0.11243732045070426,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"585b6f76146b070b171a5dfce80693d9ee4ff9188a7e12ee720be766aa613645","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7239/tex_ceiling_textures_9933/tex_floor_textures_9304/tex_table_textures_9408/tex_wall_textures_9995","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2736092480554147166,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2736092480554147166,"visual_seed":2736092480554147166,"scene_id":"lab_003","finished_at":"2026-09-05T06:20:41"}
+{"episode_id":"ep_000076","started_at":"2026-09-05T06:20:47","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.09891356955398345,1.6446256368965648,0.71338606911949],"aabb_xy":[[-0.11214451508866471,1.6313982178745652],[-0.08568262401930213,1.657853055918564]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.32204333009418895,-1.5127522960619804,0.71338606911949],"aabb_xy":[[0.28704332874270716,-1.5331120320188012],[0.35704333144567063,-1.4923925601051595]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[0.05744835836000772,-1.9144854091528376,0.71338606911949],"aabb_xy":[[0.03494835784796712,-1.9369772675182355],[0.07994835887204832,-1.8919935507874388]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[-0.2736905803657187,1.3976171637126908,0.71338606911949],"aabb_xy":[[-0.33769057953548864,1.3508504765937284],[-0.20969058119594877,1.4443838508316533]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[-0.14521287394764348,-2.303038458187367,0.71338606911949],"aabb_xy":[[-0.20021287312423294,-2.3580281329623243],[-0.09021287477105397,-2.248048783412409]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[-0.28323608620341884,0.9225191251160241,0.71338606911949],"aabb_xy":[[-0.3332093802066793,0.8725191245614765],[-0.2332627922001584,0.9725191256705712]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[0.19241294408853837,1.0530670830610376,0.71338606911949],"aabb_xy":[[0.18363171694130218,1.0442873357725075],[0.20119417123577465,1.061846830349568]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.10325121989765962,-2.519149481156973,0.71338606911949],"aabb_xy":[[0.0657512213220388,-2.5318857768205305],[0.1407512184732804,-2.5064131854934146]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[-0.37820960642063,0.788174433163046,0.71338606911949],"aabb_xy":[[-0.4132096056134482,0.7772073871653833],[-0.3432096072278117,0.7991414791607085]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[-0.5910031408537346,-1.3325858476181376,0.71338606911949],"aabb_xy":[[-0.6388093084675033,-1.3975858503251968],[-0.543196973239966,-1.2675858449110788]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.43191238418082456,1.096717753135977,0.71338606911949],"aabb_xy":[[0.4069123849088622,1.0803723895398147],[0.4569123834527868,1.1130631167321394]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.5858450322197558,-0.23404488521259603,0.71338606911949],"aabb_xy":[[-0.6233450306431562,-0.24720909918042663],[-0.5483450337963555,-0.22088067124476538]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.32468875422134913,1.1696002372924297,0.71338606911949],"aabb_xy":[[-0.38868875449532736,1.1195341370951417],[-0.2606887539473709,1.2196663374897176]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[-0.648531581341715,0.975282494201041,0.71338606911949],"aabb_xy":[[-0.6785232440755852,0.9452824948642404],[-0.6185399186078445,1.0052824935378415]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[0.4398921051532463,1.728090142665836,0.71338606911949],"aabb_xy":[[0.3598921064963603,1.7135852837415733],[0.5198921038101323,1.742595001590099]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.4448367716444739,-0.8501713277651692,0.71338606911949],"aabb_xy":[[0.42733677138513737,-0.864262869953942],[0.4623367719038106,-0.8360797855763967]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[0.285122974246263,-1.7413116530295816,0.71338606911949],"aabb_xy":[[0.2626229744323606,-1.7457862694000625],[0.30762297406016537,-1.736837036659101]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[-0.6581802309239655,0.6016468167001201,0.71338606911949],"aabb_xy":[[-0.6817653543878605,0.5366468144546883],[-0.6345951074600708,0.6666468189455519]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[0.6641245879668809,1.2610691498504014,0.71338606911949],"aabb_xy":[[0.627628767339602,1.2245852074236436],[0.7006204085941595,1.2975530922771588]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.656500932046046,-0.9971294613131199,0.71338606911949],"aabb_xy":[[0.6137342251666258,-1.0611294647349223],[0.6992676389254662,-0.9331294578913173]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.4290162121614509,-1.337434772735176,0.71338606911949],"aabb_xy":[[0.3790162135155297,-1.3873543163946382],[0.4790162108073721,-1.2875152290757135]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[0.5821127043344576,0.5875902206724879,0.71338606911949],"aabb_xy":[[0.5181127021140506,0.5432171365471997],[0.6461127065548646,0.6319633047977763]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.21658169430998375,-2.5714772607480447,0.71338606911949],"aabb_xy":[[-0.2245751841052658,-2.5794753926885208],[-0.20858820451470175,-2.5634791288075696]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[-0.37449670669708807,0.20517539904676285,0.71338606911949],"aabb_xy":[[-0.37983428236309263,0.1801753981176231],[-0.3691591310310835,0.23017539997590267]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[-0.6729062987305592,-1.8127183661467208,0.71338606911949],"aabb_xy":[[-0.6904062980086461,-1.830056466213067],[-0.6554062994524723,-1.795380266080375]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_25","position":[0.4538844774395483,-2.5246245337880864,0.71338606911949],"aabb_xy":[[0.4088844759733195,-2.569624390649567],[0.4988844789057772,-2.4796246769266057]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[-0.2554570286794673,-0.6300324768325642,0.71338606911949],"aabb_xy":[[-0.3104307507158002,-0.6850324763967974],[-0.2004833066431344,-0.5750324772683311]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.43613093572266415,-1.5920290106068848,0.71338606911949],"aabb_xy":[[0.4011309358266453,-1.6004032461188247],[0.471130935618683,-1.5836547750949446]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_28","position":[0.3801150099998938,0.5713532123736873,0.71338606911949],"aabb_xy":[[0.37370119635670884,0.5649433921260189],[0.3865288236430787,0.5777630326213555]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[0.3275345666583973,1.3110510502876065,0.71338606911949],"aabb_xy":[[0.2804051876565615,1.2470510492432043],[0.37466394566023287,1.3750510513320082]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915338736359773,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7699.png","name":"7699"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7699.png","name":"7699"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3023.png","name":"3023"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5350.png","name":"5350"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2246.png","name":"2246"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7061.png","name":"7061"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":704.4000035097539,"rotation_z_degrees":174.05030484811275,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006977669675120257,-0.015105562854957774,0.00019832834707248642]},{"name":"camera_2","offset_m":[0.014411588007858894,-0.009925008815411923,0.012568823236309246]},{"name":"camera_3","offset_m":[0.008210448161909491,0.013403537809187165,0.0011462419267236554]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005831301507499608,-0.0007990913529099992,-9.903331119742644e-06],"end_effector_yaw_offset_degrees":-0.17398031598065478},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017641918440442575,0.0005300350740478411,0.0008019194956131784],"end_effector_yaw_offset_degrees":0.018196297345427714},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008535633243835238,3.875837516704268e-05,0.0012894442912917852],"end_effector_yaw_offset_degrees":-0.06180867053097949},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007073838223099808,-0.0012211322546267032,0.0010449460657781223],"end_effector_yaw_offset_degrees":0.7522240832372777}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007006434428388887,-0.003119474898397847],"position_m":[0.1412006434428389,0.23158052510160215,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006073723848300317,-0.004086084988009349],"position_m":[0.24970737238483,-0.38748608498800935,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004941988870113321,4.402555785707699e-05],"position_m":[0.2086580111298867,-0.05365597444214292,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027178163932261292,0.002319483265056944],"position_m":[0.35631781639322613,0.11951948326505694,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c3eee0e606e33f841a83e41939f75fd92e72a0614fca35b178baad2fdf3ec708","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0076.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7699/tex_ceiling_textures_7061/tex_floor_textures_2246/tex_table_textures_3023/tex_wall_textures_5350","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7551259926670423808,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7551259926670423808,"visual_seed":7551259926670423808,"scene_id":"lab_003","finished_at":"2026-09-05T06:24:51"}
+{"episode_id":"ep_000077","started_at":"2026-09-05T06:24:54","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.15142235493475242,1.0643287079553239,0.71338606911949],"aabb_xy":[[0.14798167869469525,1.0604672749809594],[0.1548630311748096,1.0681901409296883]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[0.46962088594697815,1.6835113511413007,0.71338606911949],"aabb_xy":[[0.4587692796981025,1.6726520604136497],[0.4804724921958537,1.6943706418689517]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[-0.3567225831628023,-1.2942211484218795,0.71338606911949],"aabb_xy":[[-0.41672258375881854,-1.3490336209671028],[-0.2967225825667862,-1.2394086758766558]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.3266937238910957,-1.0322503685737388,0.71338606911949],"aabb_xy":[[-0.344193657325079,-1.049750368493973],[-0.30919379045711226,-1.014750368653504]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.662942054300889,1.5010853666106434,0.71338606911949],"aabb_xy":[[0.6264462336736103,1.464601424183886],[0.6994378749281678,1.5375693090374012]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[-0.5550980829192935,1.4781637799509224,0.71338606911949],"aabb_xy":[[-0.635098085082056,1.3982085963247788],[-0.47509808075653104,1.558118963577066]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.02678003143331409,-1.2959565955124575,0.71338606911949],"aabb_xy":[[-0.03236170306744284,-1.308456595330233],[-0.021198359799185326,-1.283456595694682]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[0.6205364113043048,-0.40944324205350036,0.71338606911949],"aabb_xy":[[0.5505364086677185,-0.4295481070493658],[0.6905364139408912,-0.3893383770576348]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[0.3507736059981956,0.7894690650873835,0.71338606911949],"aabb_xy":[[0.33900541920353816,0.7044690651821619],[0.3625417927928532,0.8744690649926051]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.5674698042373763,-0.9509179294664829,0.71338606911949],"aabb_xy":[[-0.604969804585604,-0.9627093250475662],[-0.5299698038891485,-0.9391265338853991]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.5885064289259883,-2.2393923758284227,0.71338606911949],"aabb_xy":[[-0.6135064281979505,-2.2557377394245846],[-0.563506429654026,-2.22304701223226]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.5244218017269552,-1.5942142232704426,0.71338606911949],"aabb_xy":[[-0.5944218033292347,-1.6076470164721002],[-0.4544218001246757,-1.580781430068785]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[-0.026437732985879592,1.4970997712671,0.71338606911949],"aabb_xy":[[-0.09043773215564953,1.4503330841481374],[0.037562266183890344,1.5438664583860624]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.6298231360179942,-0.04723422001692201,0.71338606911949],"aabb_xy":[[0.5885743249880795,-0.10223421952913947],[0.671071947047909,0.007765779495295436]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.18312575051979807,-1.0955541904861972,0.71338606911949],"aabb_xy":[[0.13704065926506656,-1.159554187738752],[0.22921084177452952,-1.0315541932336418]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[-0.07704522795632562,-2.063663765009913,0.71338606911949],"aabb_xy":[[-0.11204522622644553,-2.0707378927049014],[-0.04204522968620572,-2.056589637314925]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.08799922772358515,-0.9553855477545778,0.71338606911949],"aabb_xy":[[-0.12549922923921686,-0.9666123207707229],[-0.05049922620795344,-0.9441587747384328]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.006853850575651466,-1.7179304744804236,0.71338606911949],"aabb_xy":[[-0.001189509350303708,-1.8029304755757898],[0.01489721050160664,-1.632930473385057]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[-0.2810205557331842,1.3639962241173222,0.71338606911949],"aabb_xy":[[-0.2901804346770608,1.3574650060737852],[-0.2718606767893076,1.3705274421608593]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[0.5941104059209246,-1.6152183896701597,0.71338606911949],"aabb_xy":[[0.5789382366392912,-1.630387246598363],[0.6092825752025579,-1.6000495327419564]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.3175302397579889,1.1242142874715042,0.71338606911949],"aabb_xy":[[-0.3975302383453083,1.0448986855333433],[-0.23753024117066948,1.203529889409665]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[-0.16375499579449082,-2.042035861832829,0.71338606911949],"aabb_xy":[[-0.17390801134864017,-2.078105403405569],[-0.1536019802403414,-2.005966320260088]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[0.03182703281187016,0.7663273757630913,0.71338606911949],"aabb_xy":[[0.01594253954654501,0.7519744354642672],[0.04771152607719531,0.7806803160619153]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[-0.0009417510418298081,-2.4643959595390164,0.71338606911949],"aabb_xy":[[-0.060941750888396595,-2.521214581732055],[0.05905824880473698,-2.4075773373459777]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[0.6078516709341388,-1.6836183429520157,0.71338606911949],"aabb_xy":[[0.5828516713824002,-1.6937608268171502],[0.6328516704858772,-1.6734758590868808]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[0.42813114807118224,0.4121828886605514,0.71338606911949],"aabb_xy":[[0.3781311486309866,0.36221496417623517],[0.47813114751137786,0.4621508131448678]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_26","position":[-0.31390795616229517,0.6477598732008918,0.71338606911949],"aabb_xy":[[-0.3337989960426354,0.635104061916195],[-0.2940169162819549,0.6604156844855886]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[0.16070922210281868,0.7339362264302518,0.71338606911949],"aabb_xy":[[0.11070994693438252,0.6839362251543049],[0.21070849727125485,0.7839362277061992]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[0.5694214967210061,1.7687512408956114,0.71338606911949],"aabb_xy":[[0.5344214953695242,1.7483915049387908],[0.6044214980724877,1.7891109768524325]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_29","position":[0.31829106588412914,-1.080092479252677,0.71338606911949],"aabb_xy":[[0.30161392989103364,-1.0967924032266072],[0.33496820187722465,-1.0633925552787467]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_30","position":[0.2966455863213413,-1.3240846251101845,0.71338606911949],"aabb_xy":[[0.24665247421214948,-1.3740846257843802],[0.34663869843053324,-1.274084624435989]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_31","position":[-0.10884835506760937,1.1881299487052681,0.71338606911949],"aabb_xy":[[-0.12634835420197651,1.1782503216676798],[-0.09134835593324218,1.1980095757428555]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_32","position":[-0.12353911911853488,-0.28399457271716333,0.71338606911949],"aabb_xy":[[-0.12838271387976485,-0.28884622519614744],[-0.1186955243573049,-0.2791429202381792]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690293591087741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2329.png","name":"2329"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2329.png","name":"2329"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9781.png","name":"9781"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6611.png","name":"6611"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2957.png","name":"2957"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1982.png","name":"1982"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":564.020032764243,"rotation_z_degrees":90.68060236195358,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009145830974989541,0.0002106217699128672,0.019258585570060837]},{"name":"camera_2","offset_m":[-0.006553632814991786,-0.002112325775865065,0.01311893078728436]},{"name":"camera_3","offset_m":[0.011595910091029043,0.00576547706482471,0.002550277893854657]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003595437955988784,-0.0014643586239204281,-0.0013337925749828889],"end_effector_yaw_offset_degrees":0.05413764426349155},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006605572910451797,0.001606298276615278,0.0008598828299382862],"end_effector_yaw_offset_degrees":-0.894485804527068},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003310103753991762,0.001263385356901086,-0.0006183755508480234],"end_effector_yaw_offset_degrees":0.3959959642349542},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.748146403916231e-05,0.0007940218669162443,0.0009015777501768323],"end_effector_yaw_offset_degrees":-0.9725237607084194}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003563634717059441,-0.0023437202987295603],"position_m":[0.13693636528294056,0.23235627970127043,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00032591367878446326,-0.0032521324467384527],"position_m":[0.24877408632121553,-0.38665213244673846,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038029830927869424,-0.004691077394011767],"position_m":[0.20979701690721306,-0.05839107739401177,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011655652342014524,0.0017135612758708554],"position_m":[0.35243443476579855,0.11891356127587085,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8a79eef3a760c641823f749009d6128aa3f9f554c8ce87c722ce87c4eac30319","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2329/tex_ceiling_textures_1982/tex_floor_textures_2957/tex_table_textures_9781/tex_wall_textures_6611","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1481890462872825349,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1481890462872825349,"visual_seed":1481890462872825349,"scene_id":"lab_003","finished_at":"2026-09-05T06:28:46"}
+{"episode_id":"ep_000078","started_at":"2026-09-05T06:28:50","dimensions":{"distractor":{"count":31,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.07480967173883779,-2.1421037223562154,0.71338606911949],"aabb_xy":[[0.037775562310778076,-2.176480929689925],[0.1118437811668975,-2.107726515022506]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[-0.30420788698210444,-0.6047598203530837,0.71338606911949],"aabb_xy":[[-0.3542009990912964,-0.6547598210272795],[-0.2542147748729126,-0.5547598196788882]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.5224513725032193,-1.4887138552402408,0.71338606911949],"aabb_xy":[[-0.5864513688987925,-1.5526771436589741],[-0.4584513761076463,-1.424750566821507]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[-0.2654897928139127,-1.1055992929127434,0.71338606911949],"aabb_xy":[[-0.31548979383304804,-1.1420655086505715],[-0.2154897917947775,-1.0691330771749157]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.18687670258634714,0.8114462066460675,0.71338606911949],"aabb_xy":[[-0.20437670186443402,0.7941081065797214],[-0.16937670330826027,0.8287843067124133]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.18036843080145237,1.0631002723384855,0.71338606911949],"aabb_xy":[[0.11036842919917289,1.049667479136828],[0.25036843240373186,1.076533065540143]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.07097431766890538,1.4793665439642365,0.71338606911949],"aabb_xy":[[-0.12498991395080537,1.4153665410719791],[-0.016958721387005368,1.5433665468564934]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[0.49281686282512105,-1.5563752243576063,0.71338606911949],"aabb_xy":[[0.4078168641330464,-1.5883610877524852],[0.5778168615171957,-1.5243893609627275]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[-0.11951891855833974,-1.8987080501457696,0.71338606911949],"aabb_xy":[[-0.1366209965167079,-1.9158148556770394],[-0.10241684059997158,-1.8816012446144998]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.5226209785901919,1.22682081331549,0.71338606911949],"aabb_xy":[[-0.5636389219765627,1.1768208126845328],[-0.481603035203821,1.2768208139464474]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.19433308166251173,-2.3380234577187022,0.71338606911949],"aabb_xy":[[0.1769023665835052,-2.355295572382553],[0.2117637967415182,-2.3207513430548516]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[-0.5036286180134216,-0.9333046324783927,0.71338606911949],"aabb_xy":[[-0.517075144647465,-0.9467744841314839],[-0.4901820913793783,-0.9198347808253015]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[0.5086643191013496,-0.7862848374313207,0.71338606911949],"aabb_xy":[[0.47116431899575656,-0.7931069992843017],[0.5461643192069424,-0.7794626755783395]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[0.5524326778643096,0.8334095558974584,0.71338606911949],"aabb_xy":[[0.5464661389235739,0.8274484112380943],[0.5583992168050453,0.8393707005568224]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.2755892223125557,1.0611318337569497,0.71338606911949],"aabb_xy":[[-0.29308915574653904,1.043631833836715],[-0.2580892888785723,1.078631833677184]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.2835646594210184,-0.8002502378414587,0.71338606911949],"aabb_xy":[[-0.34856465757693744,-0.8265464823913707],[-0.21856466126509932,-0.7739539932915463]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.39085795380909394,-0.5913404293736284,0.71338606911949],"aabb_xy":[[0.3658579545371316,-0.6076857929697908],[0.41585795308105616,-0.5749950657774661]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.48598716563623046,-1.8255500963284161,0.71338606911949],"aabb_xy":[[0.47275622010154916,-1.8387775153504156],[0.49921811117091175,-1.8123226773064167]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[-0.491107293077898,-1.7651659410316782,0.71338606911949],"aabb_xy":[[-0.5748295185779805,-1.855165944566374],[-0.40738506757781556,-1.675165937496982]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[0.42267292413097124,-2.30798552913099,0.71338606911949],"aabb_xy":[[0.3726729245546366,-2.3579661080830965],[0.472672923707306,-2.2580049501788846]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.01817333204027649,-2.0148057607463263,0.71338606911949],"aabb_xy":[[-0.05247024305801711,-2.0491026469562668],[0.01612357897746413,-1.9805088745363841]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[0.5650011422569114,-0.9493522577832005,0.71338606911949],"aabb_xy":[[0.5300011422804156,-0.9588168738308172],[0.6000011422334073,-0.9398876417355839]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[-0.4038959240641297,-0.38963478854044364,0.71338606911949],"aabb_xy":[[-0.4654866832881226,-0.4536347866494906],[-0.34230516484013696,-0.3256347904313968]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[-0.606765326709822,0.08004635523286119,0.71338606911949],"aabb_xy":[[-0.6442653272071802,0.07607767168474276],[-0.5692653262124637,0.08401503878097959]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[0.6098177562952245,0.46764903480355935,0.71338606911949],"aabb_xy":[[0.5298177577079051,0.38833343286539845],[0.6898177548825439,0.5469646367417202]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[0.569122618190137,-1.922363382121262,0.71338606911949],"aabb_xy":[[0.47912261846696275,-1.9454367346564416],[0.6591226179133111,-1.899290029586082]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_26","position":[-0.2950562230016767,0.7557683003582416,0.71338606911949],"aabb_xy":[[-0.3153405257250755,0.7354856752155327],[-0.27477192027827796,0.7760509255009503]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[0.3676658430558615,1.5554330953795854,0.71338606911949],"aabb_xy":[[0.3176870345455456,1.5054330953738664],[0.41764465156617736,1.605433095385304]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_28","position":[0.05369429096676159,1.6154728341932256,0.71338606911949],"aabb_xy":[[0.04957834085468892,1.6113572791603796],[0.05781024107883425,1.6195883892260707]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_29","position":[0.423625447279,1.1736317779647982,0.71338606911949],"aabb_xy":[[0.4109986599918036,1.1640857042632253],[0.43625223456619633,1.1831778516663711]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_30","position":[0.37430376022202205,-2.5331100285743684,0.71338606911949],"aabb_xy":[[0.35180375970998146,-2.5556018869397668],[0.39680376073406265,-2.51061817020897]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6845669117185939,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4022.png","name":"4022"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4022.png","name":"4022"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2061.png","name":"2061"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1304.png","name":"1304"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/30.png","name":"30"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5485.png","name":"5485"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":597.1204580886757,"rotation_z_degrees":13.528516905180235,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008700037291378684,0.008523093270014201,0.005716002191047554]},{"name":"camera_2","offset_m":[-0.011622582225634219,-0.002970475671945215,0.019595612763587077]},{"name":"camera_3","offset_m":[-0.01193143060911576,0.013174964261947617,0.013639573304032416]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003302466272275546,0.0009333674836699423,-0.0001958132829732956],"end_effector_yaw_offset_degrees":-0.40601606275261437},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00118749477726176,0.00039310354816298647,0.0009522900260724382],"end_effector_yaw_offset_degrees":-0.8721266256114844},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006568204284733582,0.0005298978063365619,-0.0017593344564709895],"end_effector_yaw_offset_degrees":-0.7988190460997937},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007999214874354595,-0.0011915049974868096,-0.0004078182674797403],"end_effector_yaw_offset_degrees":-0.7107623671117034}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001003384117745444,-0.0037630800293714474],"position_m":[0.14150338411774546,0.23093691997062854,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003264595168107688,0.0026391233376639846],"position_m":[0.2458354048318923,-0.38076087666233605,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001011534068993061,-0.004161608354073912],"position_m":[0.21258846593100694,-0.05786160835407391,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00041704037665099645,-0.004218611403167652],"position_m":[0.353182959623349,0.11298138859683235,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37779bc158c3eb8b70059e0e7cae96d5a510067db42382def3bc9442cd84b3e2","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4022/tex_ceiling_textures_5485/tex_floor_textures_30/tex_table_textures_2061/tex_wall_textures_1304","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8918192107267591052,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8918192107267591052,"visual_seed":8918192107267591052,"scene_id":"lab_003","finished_at":"2026-09-05T06:32:42"}
+{"episode_id":"ep_000079","started_at":"2026-09-05T06:32:47","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[-0.16713880591858365,1.6852572249859805,0.71338606911949],"aabb_xy":[[-0.22713880642643658,1.628410491300059],[-0.10713880541073074,1.7421039586719016]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[0.5799756799958531,0.7997573475832138,0.71338606911949],"aabb_xy":[[0.5434798593685742,0.7632734051564561],[0.6164715006231317,0.8362412900099713]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.12956878485304635,1.7384056975569329,0.71338606911949],"aabb_xy":[[0.1073962578763955,1.7162300304008093],[0.1517413118296972,1.7605813647130555]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[0.547507747500722,-0.8187846179786675,0.71338606911949],"aabb_xy":[[0.5373547319465725,-0.8548541595514076],[0.5576607630548712,-0.782715076405927]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[-0.15121725008293452,-1.513005599301935,0.71338606911949],"aabb_xy":[[-0.19834662908477016,-1.5770056003463364],[-0.10408787108109882,-1.4490055982575325]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.2642726972735356,-0.4369589581580038,0.71338606911949],"aabb_xy":[[-0.2736901718433983,-0.4463751352957228],[-0.2548552227036728,-0.42754278102028476]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[0.04552659289967431,-2.2969774954369617,0.71338606911949],"aabb_xy":[[0.03739890470636109,-2.305891103847669],[0.05365428109298753,-2.2880638870262535]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.5815099579412415,-0.4846557572932455,0.71338606911949],"aabb_xy":[[-0.6152855171319345,-0.4986942525064106],[-0.5477343987505485,-0.47061726208008053]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[-0.5738611797898862,-1.3599023401867967,0.71338606911949],"aabb_xy":[[-0.5914940153834136,-1.3775252862024199],[-0.5562283441963585,-1.342279394171174]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.3678476096517962,-2.1191980854731702,0.71338606911949],"aabb_xy":[[0.3637316595397235,-2.123313640506015],[0.3719635597638688,-2.115082530440324]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.1438911689554484,-0.4485243873106666,0.71338606911949],"aabb_xy":[[-0.18139116906104136,-0.45534654916364775],[-0.10639116884985546,-0.4417022254576855]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[-0.6547317045350367,-2.2417461950423965,0.71338606911949],"aabb_xy":[[-0.6666644388968648,-2.254128347850256],[-0.6427989701732086,-2.229364042234537]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.4271863511169698,1.7576246370092208,0.71338606911949],"aabb_xy":[[0.34718635004384946,1.7478465906718363],[0.5071863521900901,1.7674026833466052]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[0.19405518384652587,-1.1181951343697691,0.71338606911949],"aabb_xy":[[0.17416414396618562,-1.130850945654466],[0.21394622372686614,-1.1055393230850723]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[-0.20774463202668114,0.6743337783386716,0.71338606911949],"aabb_xy":[[-0.21578096672796596,0.6662956590342547],[-0.19970829732539627,0.6823718976430883]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[0.03013917488425799,-1.207772701438969,0.71338606911949],"aabb_xy":[[-0.019839633626057902,-1.2577727014446876],[0.08011798339457388,-1.15777270143325]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_16","position":[0.21280727262606125,1.2661207383068334,0.71338606911949],"aabb_xy":[[0.1328072740387418,1.1868051363686722],[0.2928072712133806,1.345436340244994]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.27504588263694496,-0.8474684764435416,0.71338606911949],"aabb_xy":[[0.21004588153100168,-0.87243384951167],[0.34004588374288824,-0.8225031033754134]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[-0.6686752204569586,1.4526191567553526,0.71338606911949],"aabb_xy":[[-0.6759364680273662,1.439832146491843],[-0.6614139728865512,1.465406167018862]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[-0.012594914217647801,0.7743787558192863,0.71338606911949],"aabb_xy":[[-0.016508787413070325,0.7656297404127295],[-0.008681041022225276,0.7831277712258431]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[-0.08368701488207131,-2.4559049030356,0.71338606911949],"aabb_xy":[[-0.11408512598121488,-2.486311805037269],[-0.053288903782927714,-2.42549800103393]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[-0.38647866127167635,-2.3350446590112997,0.71338606911949],"aabb_xy":[[-0.4039785947056598,-2.3525446589315333],[-0.36897872783769303,-2.317544659091064]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[-0.40429481810457296,-2.1457765144062324,0.71338606911949],"aabb_xy":[[-0.45429481938841293,-2.195755368796854],[-0.354294816820733,-2.09579766001561]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[-0.24531265206126557,1.101479704588134,0.71338606911949],"aabb_xy":[[-0.2905912669424148,1.03747970523995],[-0.2000340371801163,1.1654797039363174]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_24","position":[-0.31993978117730193,-1.6135218689715745,0.71338606911949],"aabb_xy":[[-0.343775998817907,-1.7035218697800611],[-0.29610356353669687,-1.5235218681630882]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[-0.5685844449097706,-1.735880453346099,0.71338606911949],"aabb_xy":[[-0.583756614191404,-1.7510493102743026],[-0.5534122756281373,-1.7207115964178958]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6824545426661226,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7041.png","name":"7041"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7041.png","name":"7041"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2815.png","name":"2815"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2264.png","name":"2264"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8321.png","name":"8321"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8394.png","name":"8394"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":846.8499651434029,"rotation_z_degrees":149.41038945759578,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013318120134292104,-0.019631356024630505,0.013622843729702693]},{"name":"camera_2","offset_m":[0.008170545835670551,0.0021761853915696523,-0.0025306847223659813]},{"name":"camera_3","offset_m":[0.01038387558599518,-0.002373441809295586,0.008038063228585118]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018706281078858175,-0.00020055865909900648,-0.0005443560813346306],"end_effector_yaw_offset_degrees":0.2039569776859096},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016555029112433352,0.0018986107444175777,-0.0005304283733956435],"end_effector_yaw_offset_degrees":-0.4629017536467146},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004520300040896769,-0.0013126775772262396,-0.0008244973401766217],"end_effector_yaw_offset_degrees":-0.9128152839825749},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007749298945940852,-0.0003342388283216983,0.00028448628441806595],"end_effector_yaw_offset_degrees":-0.16769352051025543}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015612187313123528,-0.0010202596775178386],"position_m":[0.13893878126868767,0.23367974032248215,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004565038887960657,0.004494769430902326],"position_m":[0.24453496111203932,-0.3789052305690977,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003033725242739389,-0.004430456561580212],"position_m":[0.2105662747572606,-0.05813045656158021,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005341642298784463,-0.002040266109548796],"position_m":[0.3541341642298785,0.1151597338904512,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"44280be75c612daa1ca1bdbb548d4b8555aca4000f2a8137d8e4db86a41d72cb","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7041/tex_ceiling_textures_8394/tex_floor_textures_8321/tex_table_textures_2815/tex_wall_textures_2264","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2627604448166795063,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2627604448166795063,"visual_seed":2627604448166795063,"scene_id":"lab_003","finished_at":"2026-09-05T06:36:52"}
+{"episode_id":"ep_000080","started_at":"2026-09-05T06:36:56","dimensions":{"distractor":{"count":29,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.22191923562400828,-0.30610530404325464,0.71338606911949],"aabb_xy":[[-0.22916300167025358,-0.386105302246857],[-0.21467546957776293,-0.22610530583965227]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[0.5941150452311843,0.28931372840355163,0.71338606911949],"aabb_xy":[[0.5513483383517641,0.22531372498174917],[0.6368817521106045,0.3533137318253541]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.27892012756201656,-2.221756727147536,0.71338606911949],"aabb_xy":[[0.22892012654288135,-2.2582229428853644],[0.3289201285811519,-2.1852905114097085]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_3","position":[-0.3105184478051689,1.662933343318095,0.71338606911949],"aabb_xy":[[-0.3905184449647442,1.6513857423602776],[-0.23051845064559362,1.6744809442759117]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_4","position":[-0.25575345790083925,0.4807040120407402,0.71338606911949],"aabb_xy":[[-0.29260400583782686,0.4432040112177065],[-0.21890290996385164,0.5182040128637739]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.4527743750660436,0.4449752374481615,0.71338606911949],"aabb_xy":[[-0.5127743767089654,0.3929750881562173],[-0.3927743734231217,0.49697538674010566]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[-0.5220716433328668,-0.8357522053179114,0.71338606911949],"aabb_xy":[[-0.6020716413136519,-0.8433537462797632],[-0.4420716453520818,-0.8281506643560593]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[-0.14433382825496033,-2.554082256954931,0.71338606911949],"aabb_xy":[[-0.17217886503556745,-2.5848667556932425],[-0.1164887914743532,-2.523297758216619]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[0.3254125762296787,-2.475961004570801,0.71338606911949],"aabb_xy":[[0.2886179431047724,-2.512866879667383],[0.36220720935458495,-2.4390551294742187]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[-0.16462935299306347,-2.2297814216369405,0.71338606911949],"aabb_xy":[[-0.2146026469963239,-2.279781422191488],[-0.114656058989803,-2.179781421082393]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.4213606513695977,-0.31253062813319277,0.71338606911949],"aabb_xy":[[-0.4853606535900048,-0.356903712258481],[-0.35736064914919075,-0.2681575440079044]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[0.5857724344130872,-0.10998109217542718,0.71338606911949],"aabb_xy":[[0.5307724362113423,-0.15050305880186476],[0.640772432614832,-0.06945912554898959]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.4793803661559697,-2.4184751687036634,0.71338606911949],"aabb_xy":[[-0.4866416137263771,-2.431262178967173],[-0.47211911858556227,-2.405688158440154]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.09093584815305034,0.512692362839291,0.71338606911949],"aabb_xy":[[-0.1746580736531328,0.4226923593045949],[-0.007213622652967863,0.6026923663739868]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.012235572673912731,1.781445168989935,0.71338606911949],"aabb_xy":[[-0.01276442649172038,1.7744929232845783],[0.037235571839545845,1.7883974146952915]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[-0.5305216154346571,-1.4251787865187713,0.71338606911949],"aabb_xy":[[-0.6105216140219765,-1.5044943884569322],[-0.45052161684733766,-1.3458631845806104]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.042766681361843584,-1.4398929347662592,0.71338606911949],"aabb_xy":[[-0.06493920833849441,-1.4620686019223823],[-0.02059415438519274,-1.4177172676101357]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[-0.1897450145836489,-1.8473263357151612,0.71338606911949],"aabb_xy":[[-0.19937665080407854,-1.8569636484948702],[-0.1801133783632193,-1.8376890229354523]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.46964532540650034,0.20803116256822607,0.71338606911949],"aabb_xy":[[-0.5195280222841965,0.1580311633219513],[-0.4197626285288042,0.2580311618145008]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[0.7005942155568492,0.570225070893335,0.71338606911949],"aabb_xy":[[0.6933118991801852,0.4802250672838258],[0.7078765319335125,0.6602250745028437]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[0.48992324032103385,-0.6442073597015232,0.71338606911949],"aabb_xy":[[0.40992323706319084,-0.7242038674935072],[0.5699232435788768,-0.5642108519095392]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.16384290429980974,-2.1074110099037275,0.71338606911949],"aabb_xy":[[-0.19884290427630558,-2.1168756259513444],[-0.1288429043233139,-2.0979463938561107]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.5975113262656766,0.8921109985026496,0.71338606911949],"aabb_xy":[[0.5325113252651761,0.8413246333479747],[0.6625113272661771,0.9428973636573246]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[0.0456790846180124,1.5253990256106778,0.71338606911949],"aabb_xy":[[0.023165392794555206,1.45539902500967],[0.0681927764414696,1.595399026211685]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_24","position":[0.3365440934510535,0.41736543616620647,0.71338606911949],"aabb_xy":[[0.3263910778969041,0.3812958945934661],[0.34669710900520284,0.45343497773894675]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[-0.4235710565060701,-1.1440648635020358,0.71338606911949],"aabb_xy":[[-0.4685636432245205,-1.1890648627764846],[-0.37857846978761966,-1.099064864227587]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_26","position":[0.30930198682513743,-1.9287567559297254,0.71338606911949],"aabb_xy":[[0.296699287688061,-1.9413521521545911],[0.3219046859622139,-1.9161613597048601]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_27","position":[-0.6220828614678823,1.6902401661321202,0.71338606911949],"aabb_xy":[[-0.6570828605978379,1.6844949450564561],[-0.5870828623379266,1.6959853872077844]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_28","position":[-0.07089547833261378,-0.1576143615969854,0.71338606911949],"aabb_xy":[[-0.09339189976647787,-0.18011436140373283],[-0.04839905689874967,-0.13511436179023795]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.688450881998534,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1691.png","name":"1691"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1691.png","name":"1691"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4191.png","name":"4191"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4697.png","name":"4697"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8567.png","name":"8567"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5946.png","name":"5946"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":552.8320690669754,"rotation_z_degrees":83.60139458081099,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004936669607863818,-0.009615606894581838,-0.0004914667968239396]},{"name":"camera_2","offset_m":[0.005430453743915167,0.00019390167436994163,-0.0029376354083717783]},{"name":"camera_3","offset_m":[0.0013264436528718504,0.003653063372109192,-0.011098948388893972]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001858915520946157,0.0015518614709933791,0.0014206791856468557],"end_effector_yaw_offset_degrees":-0.6095011417897618},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011295331807337785,-0.00040644113435732844,0.0006865358038393708],"end_effector_yaw_offset_degrees":-0.20311673785895268},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014932138555334659,0.00030063245462386536,-0.0004583955673037167],"end_effector_yaw_offset_degrees":0.22418118428919964},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015533372967224072,-0.0005691766571191267,-0.0010616427492154273],"end_effector_yaw_offset_degrees":-0.47548217217565614}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004548572746334516,-0.0020351336089824736],"position_m":[0.1359514272536655,0.23266486639101752,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012253532221507268,0.002371418943865558],"position_m":[0.2503253532221507,-0.38102858105613446,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004890865585828785,0.0009491158107820894],"position_m":[0.20870913441417122,-0.05275088418921791,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010864852375881747,0.0021282296399744863],"position_m":[0.3546864852375882,0.11932822963997448,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"629d65755a9c41ffaa3451a87491efab4eeba7bd8571c96fc7454d6b955899e0","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1691/tex_ceiling_textures_5946/tex_floor_textures_8567/tex_table_textures_4191/tex_wall_textures_4697","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1712317005492395840,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1712317005492395840,"visual_seed":1712317005492395840,"scene_id":"lab_003","finished_at":"2026-09-05T06:40:51"}
+{"episode_id":"ep_000081","started_at":"2026-09-05T06:40:55","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.07233222876360246,1.6668815332590579,0.71338606911949],"aabb_xy":[[-0.10733222865962133,1.6585072977471178],[-0.03733222886758359,1.675255768770998]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.2062103544356063,-0.6504584201774914,0.71338606911949],"aabb_xy":[[0.15908097543377062,-0.7144584212218934],[0.253339733437442,-0.5864584191330895]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.19171771708372876,1.1219350696846977,0.71338606911949],"aabb_xy":[[-0.28171772076064694,1.0605026631075933],[-0.10171771340681057,1.183367476261802]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.3323355906372636,-2.333354766241813,0.71338606911949],"aabb_xy":[[0.2948355922138632,-2.3465189802096433],[0.3698355890606639,-2.320190552273982]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.2548134221039139,0.890361931197349,0.71338606911949],"aabb_xy":[[-0.2625166127779909,0.882652560498611],[-0.2471102314298368,0.898071301896087]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[0.6414685637467394,-1.8998796361014443,0.71338606911949],"aabb_xy":[[0.5764685658650918,-1.9510032998079854],[0.7064685616283873,-1.8487559723949036]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_6","position":[-0.385747482919301,-2.3412020674140495,0.71338606911949],"aabb_xy":[[-0.4707474813367242,-2.4260763628763344],[-0.30074748450187777,-2.2563277719517645]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.12255342078512188,-1.4563029749850052,0.71338606911949],"aabb_xy":[[-0.12983573716178548,-1.5463029785945135],[-0.1152711044084582,-1.3663029713754955]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[-0.4916950921702643,-1.8541011831094205,0.71338606911949],"aabb_xy":[[-0.55569508928237,-1.9031335529038311],[-0.4276950950581586,-1.80506881331501]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.316954180844493,0.35164770551257796,0.71338606911949],"aabb_xy":[[-0.3394541806583954,0.34717308914209727],[-0.2944541810305906,0.35612232188305865]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[-0.05015846295983328,-2.1261948828894814,0.71338606911949],"aabb_xy":[[-0.13015845992287245,-2.2032705245332544],[0.02984153400320589,-2.0491192412457075]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[0.19537266099813388,-1.732162324464821,0.71338606911949],"aabb_xy":[[0.14537765003868186,-1.782162323500413],[0.24536767195758594,-1.6821623254292295]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.6443637598157363,-0.4909758005308431,0.71338606911949],"aabb_xy":[[0.6342820527371629,-0.5709757984229576],[0.6544454668943098,-0.41097580263872835]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[0.09157916144820821,1.7194225340817169,0.71338606911949],"aabb_xy":[[0.04158604933901632,1.6694225334075214],[0.1415722735574001,1.7694225347559127]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.3898611768416218,-0.3819213574456377,0.71338606911949],"aabb_xy":[[0.3790095705927462,-0.3927806481732888],[0.4007127830904974,-0.37106206671798675]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[-0.0692788441239569,-1.7203979218548486,0.71338606911949],"aabb_xy":[[-0.1492788455540841,-1.799915076867458],[0.010721157306170293,-1.6408807668422392]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[0.5481028874604423,-0.7686773821474191,0.71338606911949],"aabb_xy":[[0.48310288482264885,-0.820156980846866],[0.6131028900982358,-0.717197783447972]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.5293758936933528,-2.4258531223746385,0.71338606911949],"aabb_xy":[[0.48437589222712396,-2.4708529792361196],[0.5743758951595817,-2.3808532655131582]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[-0.6336685767044982,1.7884654992730984,0.71338606911949],"aabb_xy":[[-0.643424566213672,1.778702965213864],[-0.6239125871953242,1.7982280333323328]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.0951286569915335,0.7057581612113921,0.71338606911949],"aabb_xy":[[-0.10528167254568285,0.6696886196386517],[-0.0849756414373841,0.7418277027841323]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[-0.27792461493740905,1.6605504493371908,0.71338606911949],"aabb_xy":[[-0.28603826961078616,1.652444632883162],[-0.26981096026403195,1.66865626579122]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.3976359024685441,-1.750211710150076,0.71338606911949],"aabb_xy":[[0.39059559253500714,-1.8302117095497477],[0.4046762124020811,-1.6702117107504049]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_22","position":[-0.6034760328262251,0.5297522365936165,0.71338606911949],"aabb_xy":[[-0.6259760323499323,0.5072562891429956],[-0.5809760333025175,0.5522481840442371]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_23","position":[0.3611510069200399,1.5710380881756207,0.71338606911949],"aabb_xy":[[0.3061555290993805,1.5160380867417136],[0.41614648474069926,1.6260380896095274]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6857109092332142,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4040.png","name":"4040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4040.png","name":"4040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6549.png","name":"6549"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2463.png","name":"2463"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/564.png","name":"564"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5890.png","name":"5890"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":614.8778727107392,"rotation_z_degrees":285.0879189045167,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003838845500200253,-0.002497232681551935,-0.0014508113641066751]},{"name":"camera_2","offset_m":[0.018530065629712173,-0.0008916731452423172,-0.0008020494618338793]},{"name":"camera_3","offset_m":[0.011588855062458759,0.00909157952849642,0.011572033234918944]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011365529404055857,-0.0010439163004075428,0.001311834196141992],"end_effector_yaw_offset_degrees":-0.6758280059904749},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012352510721432672,-0.0006700204688129857,0.0019325082757435203],"end_effector_yaw_offset_degrees":0.4649918336723111},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-3.2100151879078075e-06,-0.0005193839385232253,-0.0007968044437317464],"end_effector_yaw_offset_degrees":0.4884587182587663},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004571623789183096,0.0015567465029639078,0.001052208566399967],"end_effector_yaw_offset_degrees":0.8565349656509376}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003969017215363575,-0.002273787509655808],"position_m":[0.1444690172153636,0.23242621249034418,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038736159517393943,-0.0003172998376303783],"position_m":[0.24522638404826058,-0.3837172998376304,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017497358282847308,-0.004405245207193364],"position_m":[0.2118502641717153,-0.05810524520719336,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015705678494312677,-0.003422375743080963],"position_m":[0.3551705678494313,0.11377762425691904,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a098fe8a7f969e8804ffc5e45c46dfcd819a6766585a918c132be8f32047134b","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0081.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4040/tex_ceiling_textures_5890/tex_floor_textures_564/tex_table_textures_6549/tex_wall_textures_2463","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":9078737662925719947,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":9078737662925719947,"visual_seed":9078737662925719947,"scene_id":"lab_003","finished_at":"2026-09-05T06:45:02"}
+{"episode_id":"ep_000082","started_at":"2026-09-05T06:45:06","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[0.35827680076969415,-1.4253947065517554,0.71338606911949],"aabb_xy":[[0.3406439651761665,-1.4430176525673781],[0.37590963636322167,-1.4077717605361322]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.4188544204127348,1.1581613229138625,0.71338606911949],"aabb_xy":[[-0.48885441682269654,1.1377233872621804],[-0.34885442400277294,1.1785992585655438]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[0.4417048451853882,-0.07789926791568869,0.71338606911949],"aabb_xy":[[0.4315518296312387,-0.113968809488429],[0.4518578607395375,-0.04182972634294834]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_3","position":[0.5718212102447005,1.7136060373179416,0.71338606911949],"aabb_xy":[[0.5657265823565821,1.7050366427662729],[0.5779158381328188,1.7221754318696103]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[-0.23259644840869292,-0.1255553748217615,0.71338606911949],"aabb_xy":[[-0.31259644706557893,-0.14006023374602425],[-0.15259644975180692,-0.11105051589749868]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.6007921270281138,-1.3282119229169296,0.71338606911949],"aabb_xy":[[0.5507921283821925,-1.378131466576392],[0.6507921256740349,-1.2782923792574672]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[-0.072025243651197,-1.319332032017072,0.71338606911949],"aabb_xy":[[-0.12202524531269175,-1.3693304742727745],[-0.022025241989702234,-1.2693335897613691]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[0.06774183761941188,0.6286813173218904,0.71338606911949],"aabb_xy":[[0.05617285687247531,0.6036813172049588],[0.07931081836634846,0.6536813174388222]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[0.16517070161318825,-1.096859522718437,0.71338606911949],"aabb_xy":[[0.15788838523652454,-1.1868595263279456],[0.17245301798985185,-1.0068595191089276]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_9","position":[-0.4929372668176222,0.9820859615024289,0.71338606911949],"aabb_xy":[[-0.5304372652410225,0.9689217475345981],[-0.4554372683942218,0.9952501754702594]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[0.10828905431742897,-2.47626425094684,0.71338606911949],"aabb_xy":[[0.028289053847213037,-2.484574958561189],[0.18828905478764496,-2.4679535433324924]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[-0.5689765046952349,0.12550794598554038,0.71338606911949],"aabb_xy":[[-0.6489703282737931,0.04550794339269881],[-0.48898268111667664,0.20550794857838195]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.5957975211001337,-0.6170609673086394,0.71338606911949],"aabb_xy":[[-0.6307975210766296,-0.6265255833562561],[-0.5607975211236379,-0.6075963512610228]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[0.3537918774928084,0.4204978735730589,0.71338606911949],"aabb_xy":[[0.34437440292294563,0.4110816964353398],[0.36320935206267113,0.4299140507107779]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[0.1111646132394436,0.8638920475039122,0.71338606911949],"aabb_xy":[[0.04116461110801403,0.8411300818782165],[0.1811646153708731,0.8866540131296078]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[0.22152010652511656,0.6565911267698481,0.71338606911949],"aabb_xy":[[0.18027129549520177,0.6015911272576306],[0.2627689175550312,0.7115911262820656]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[-0.5486405961708876,-1.1045793094376986,0.71338606911949],"aabb_xy":[[-0.6136405971280148,-1.156527521371404],[-0.4836405952137604,-1.0526310975039928]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[0.624674765617492,1.551466231718393,0.71338606911949],"aabb_xy":[[0.6164602205018078,1.5427896414207514],[0.6328893107331758,1.560142822016034]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.1303410085572888,1.6659222019253792,0.71338606911949],"aabb_xy":[[-0.1553410081090273,1.6557797180602445],[-0.10534100900555032,1.676064685790514]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[-0.5114638062489267,0.38591898615322107,0.71338606911949],"aabb_xy":[[-0.5951860317490092,0.2959189826185251],[-0.4277415807488443,0.475918989687917]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[-0.2246777092034825,1.434188044715571,0.71338606911949],"aabb_xy":[[-0.2746565177137984,1.3841880447098522],[-0.17469890069316663,1.4841880447212898]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[-0.6472177853493272,-1.8045662231729531,0.71338606911949],"aabb_xy":[[-0.6542592363000748,-1.8115929749107478],[-0.6401763343985796,-1.7975394714351585]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.529420512263931,-1.8826396973882005,0.71338606911949],"aabb_xy":[[0.4908748194387299,-1.9211854684443892],[0.567966205089132,-1.8440939263320117]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[-0.27936757191961464,0.8831929677540216,0.71338606911949],"aabb_xy":[[-0.34336757121378286,0.8192068273851673],[-0.21536757262544642,0.9471791081228756]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_24","position":[0.5307538992136127,-0.41086891696148387,0.71338606911949],"aabb_xy":[[0.4407538955366944,-0.47230132353858817],[0.6207539028905308,-0.3494365103843795]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_25","position":[0.3344406634763404,-0.9933974244845043,0.71338606911949],"aabb_xy":[[0.2845579665986442,-1.043397423730779],[0.38432336035403664,-0.9433974252382296]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_26","position":[-0.19415238226049225,0.1949971046795178,0.71338606911949],"aabb_xy":[[-0.20349938984278748,0.1806934824618738],[-0.18480537467819702,0.20930072689716187]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_27","position":[0.4818392647464258,-2.3962964013631614,0.71338606911949],"aabb_xy":[[0.43965485058559517,-2.460296401640373],[0.5240236789072567,-2.3322964010859506]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_28","position":[0.5381445651862842,0.6025832703996334,0.71338606911949],"aabb_xy":[[0.47314456662921145,0.5728307369857507],[0.6031445637433571,0.632335803813516]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_29","position":[0.5259723863100891,0.7121468774123878,0.71338606911949],"aabb_xy":[[0.4909723879993937,0.7044318624888422],[0.5609723846207846,0.7198618923359335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6855496718689854,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5074.png","name":"5074"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5074.png","name":"5074"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1144.png","name":"1144"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6475.png","name":"6475"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7224.png","name":"7224"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/943.png","name":"943"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":697.6292059484185,"rotation_z_degrees":317.9773031303387,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018796427418016144,0.010973442823745003,0.007004091297718184]},{"name":"camera_2","offset_m":[0.017677965212655643,0.014597469370579468,-0.0008086681629757668]},{"name":"camera_3","offset_m":[0.005631483030328437,0.0027672303839623574,-0.01648154773208455]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00034426013262938955,0.0009225621036505027,-0.0012108949311842357],"end_effector_yaw_offset_degrees":-0.6229955181223668},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012419845327442426,0.0005588560466442591,0.0016144583790414957],"end_effector_yaw_offset_degrees":-0.6489419580523101},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00014046968940507692,-0.0012604493310342932,0.001663292186202888],"end_effector_yaw_offset_degrees":0.6062284228024069},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011549441559577768,-0.0018029434816363588,-0.001211531098686939],"end_effector_yaw_offset_degrees":-0.5444942142272724}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020347384242985845,0.004202238782321213],"position_m":[0.13846526157570144,0.2389022387823212,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003658506046089011,0.00028991009220949784],"position_m":[0.245441493953911,-0.3831100899077905,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014356315288256236,0.0003169986644172406],"position_m":[0.21503563152882563,-0.053383001335582755,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004344675612129587,-0.003269678866831883],"position_m":[0.3579446756121296,0.11393032113316812,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f85b302be1d6681ece5899f90de9b23881f7fe4d95c860f95b94c0931dae2f37","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5074/tex_ceiling_textures_943/tex_floor_textures_7224/tex_table_textures_1144/tex_wall_textures_6475","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7359298698197994076,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7359298698197994076,"visual_seed":7359298698197994076,"scene_id":"lab_003","finished_at":"2026-09-05T06:49:00"}
+{"episode_id":"ep_000083","started_at":"2026-09-05T06:49:04","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.5249532719025083,-0.21509870437251077,0.71338606911949],"aabb_xy":[[0.45995327374658923,-0.24139494892242297],[0.5899532700584273,-0.18880245982259858]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.5854963606368089,-2.053879359083142,0.71338606911949],"aabb_xy":[[0.5433119464759781,-2.1178793593603538],[0.6276807747976396,-1.9898793588059314]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[0.6549988990059954,0.22200016239505604,0.71338606911949],"aabb_xy":[[0.5949988981451825,0.1705737323885696],[0.7149988998668081,0.2734265924015423]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[-0.1253731822043863,-0.14985778355428758,0.71338606911949],"aabb_xy":[[-0.1893731785999594,-0.21382107197302114],[-0.061373185808813235,-0.08589449513555403]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[0.11231072280410326,1.3182946141026521,0.71338606911949],"aabb_xy":[[0.06231761069491136,1.2682946134284565],[0.16230383491329514,1.3682946147768478]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[-0.07317783114950804,0.9818304442541592,0.71338606911949],"aabb_xy":[[-0.1431778337860944,0.9617255792582937],[-0.0031778285129216988,1.0019353092500247]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[-0.3569694166500125,1.6792576184090398,0.71338606911949],"aabb_xy":[[-0.40696941622634736,1.629277039456934],[-0.3069694170736779,1.729238197361146]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_7","position":[0.27821291569423934,-0.9063974462615647,0.71338606911949],"aabb_xy":[[0.22323919365790645,-0.9613974458257979],[0.3331866377305722,-0.8513974466973315]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.01238668874687221,1.757089160798246,0.71338606911949],"aabb_xy":[[-0.022075789266215562,1.7504254836153232],[0.04684916675995998,1.7637528379811687]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[0.27366239896031574,-1.6079914818228471,0.71338606911949],"aabb_xy":[[0.24369484205049008,-1.6379914821207329],[0.3036299558701414,-1.5779914815249614]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[-0.461390936037236,-0.7321013369959546,0.71338606911949],"aabb_xy":[[-0.47889093531532295,-0.7494394370623004],[-0.4438909367591492,-0.7147632369296085]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.013156226750066002,-1.7262450318118197,0.71338606911949],"aabb_xy":[[-0.03464994086370265,-1.7912450345188784],[0.060962394363834646,-1.6612450291047605]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_12","position":[0.6775529482921259,1.408407251767731,0.71338606911949],"aabb_xy":[[0.6550392564686686,1.3384072511667233],[0.700066640115583,1.4784072523687384]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[0.4484418911214685,0.37673192716818527,0.71338606911949],"aabb_xy":[[0.4232210542616287,0.3515081763152984],[0.47366272798130804,0.4019556780210719]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[-0.5400824531817482,-0.35945571388709796,0.71338606911949],"aabb_xy":[[-0.5765782738090268,-0.39593965631385547],[-0.5035866325544693,-0.32297177146034034]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.48546779744235313,1.1280804230049406,0.71338606911949],"aabb_xy":[[0.45498354731532303,1.0780804232234447],[0.5159520475693833,1.1780804227864365]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[-0.016591581919722542,0.626259193690156,0.71338606911949],"aabb_xy":[[-0.024627916621007384,0.6182210743857393],[-0.0085552472184377,0.6342973129945728]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.417190787272982,-2.2414010577473507,0.71338606911949],"aabb_xy":[[-0.425217057903608,-2.2501525527247037],[-0.409164516642356,-2.2326495627699985]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[0.39631140485013217,0.8893733053953516,0.71338606911949],"aabb_xy":[[0.35898012832488957,0.8547202506004994],[0.43364268137537476,0.9240263601902039]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[-0.3807590692906968,1.2783064459034739,0.71338606911949],"aabb_xy":[[-0.44075906988671304,1.2234939733582504],[-0.3207590686946807,1.3331189184486973]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[-0.4003624591340596,0.33129122538865996,0.71338606911949],"aabb_xy":[[-0.4206467618574583,0.31100860024595106],[-0.3800781564106608,0.35157385053136875]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[-0.6370644218641233,-1.4151979854290389,0.71338606911949],"aabb_xy":[[-0.6720644209940788,-1.4209432065047027],[-0.6020644227341675,-1.4094527643533745]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_22","position":[0.1858891558904272,1.4628273356055916,0.71338606911949],"aabb_xy":[[0.13590620570294784,1.4128273359630308],[0.2358721060779065,1.5128273352481516]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[-0.4356865145637001,-1.2895059672654776,0.71338606911949],"aabb_xy":[[-0.5156865131510194,-1.3688215692036385],[-0.3556865159763806,-1.2101903653273167]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.5884055533994637,0.04593579538931625,0.71338606911949],"aabb_xy":[[0.5534055550887682,0.0382207804657706],[0.6234055517101591,0.053650810312861896]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_25","position":[-0.33075204140744086,0.10930453082776559,0.71338606911949],"aabb_xy":[[-0.3947520386930895,0.06779781187492162],[-0.2667520441217922,0.15081124978060956]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[0.10058141336606508,-2.1710129214828595,0.71338606911949],"aabb_xy":[[0.05927687030232909,-2.235012921050977],[0.14188595642980106,-2.107012921914743]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_27","position":[0.43067454801068994,-2.1090143050114354,0.71338606911949],"aabb_xy":[[0.4132438329316834,-2.1262864196752855],[0.4481052630896964,-2.0917421903475844]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[-0.6101760607145813,-2.491136291993233,0.71338606911949],"aabb_xy":[[-0.6183037489078945,-2.5000499004039414],[-0.6020483725212681,-2.482222683582526]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_29","position":[-0.385005086862024,0.587885896542653,0.71338606911949],"aabb_xy":[[-0.4048961267423643,0.5752300852579563],[-0.36511404698168376,0.60054170782735]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[0.47776576351717326,-1.6711179775612623,0.71338606911949],"aabb_xy":[[0.46009013292857487,-1.6887981938406649],[0.49544139410577154,-1.6534377612818594]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[-0.6309356055145429,-0.11744494869950817,0.71338606911949],"aabb_xy":[[-0.6397376608235155,-0.12525627485443722],[-0.62213355020557,-0.10963362254457908]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_32","position":[-0.19109607329296552,-1.3618727730243512,0.71338606911949],"aabb_xy":[[-0.21942578324150577,-1.3663335152180685],[-0.16276636334442532,-1.3574120308306343]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_33","position":[-0.573432409475011,-1.6558028050547857,0.71338606911949],"aabb_xy":[[-0.5811356001490879,-1.6635121757535234],[-0.565729218800934,-1.6480934343560476]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6861495376589009,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/287.png","name":"287"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/287.png","name":"287"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/240.png","name":"240"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4809.png","name":"4809"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8721.png","name":"8721"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7941.png","name":"7941"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":808.4897719434166,"rotation_z_degrees":44.537225661098375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0039360750185886036,0.0025170149501857267,-0.00791933507109583]},{"name":"camera_2","offset_m":[-0.012783557867175159,-0.003732915256251506,-0.007787408374601226]},{"name":"camera_3","offset_m":[-0.016430106789756704,0.01293495507880511,-0.014131994115460466]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018464180006204558,0.0009556834277166361,0.0014700710460917553],"end_effector_yaw_offset_degrees":-0.06351402135403084},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019482579047331453,-0.0012446260666453103,0.0010777991418838926],"end_effector_yaw_offset_degrees":0.10949068870020562},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005031560396545178,-0.0011803795350314953,-0.0017964421495825916],"end_effector_yaw_offset_degrees":-0.49961887665440585},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012515592875561024,-0.00055689338075317,0.000989710966161498],"end_effector_yaw_offset_degrees":-0.17363676870892708}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013753852630862375,0.003225564334930286],"position_m":[0.14187538526308624,0.23792556433493028,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[9.650286556638337e-05,0.004833417401783057],"position_m":[0.24919650286556638,-0.37856658259821696,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005993383870738118,0.002429448368862973],"position_m":[0.21419933838707383,-0.05127055163113702,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004339923255921679,0.004366128822328049],"position_m":[0.34926007674407833,0.12156612882232805,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"218bb5c5528bb8da5fe36288083ab4b08e9c46e7ad2249218748104d260dc95a","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0083.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_287/tex_ceiling_textures_7941/tex_floor_textures_8721/tex_table_textures_240/tex_wall_textures_4809","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2749154478373961733,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2749154478373961733,"visual_seed":2749154478373961733,"scene_id":"lab_003","finished_at":"2026-09-05T06:52:57"}
+{"episode_id":"ep_000084","started_at":"2026-09-05T06:53:01","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[0.10885498198710286,-1.7250891251096374,0.71338606911949],"aabb_xy":[[0.044854980074760534,-1.781000274367648],[0.1728549838994452,-1.6691779758516272]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.6798547806957582,-0.4600126604402752,0.71338606911949],"aabb_xy":[[0.6453923026826703,-0.466676337623198],[0.7143172587088459,-0.45334898325735234]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[0.24792426381423172,0.8457758230057486,0.71338606911949],"aabb_xy":[[0.23042433038024834,0.828275823085514],[0.2654241972482151,0.863275822925983]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.22584268719674006,-1.614027369045571,0.71338606911949],"aabb_xy":[[-0.3108426856141633,-1.698901664507856],[-0.14084268877931685,-1.5291530735832861]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.2190313372930076,1.0930462130740297,0.71338606911949],"aabb_xy":[[-0.2540313386444893,1.0726864771172087],[-0.18403133594152585,1.1134059490308503]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.2485829132527937,-0.1615715881065234,0.71338606911949],"aabb_xy":[[-0.30858291489571554,-0.21357173739846755],[-0.18858291160987184,-0.10957143881457918]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.4674160599544338,-1.0593358015597045,0.71338606911949],"aabb_xy":[[-0.5571031362625494,-1.149335801814155],[-0.3777289836463184,-0.969335801305254]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[0.526411610670368,0.13579195925383258,0.71338606911949],"aabb_xy":[[0.5155058345828053,0.05579196285500343],[0.5373173867579307,0.21579195565266174]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.3804397618009494,0.3920683294160936,0.71338606911949],"aabb_xy":[[0.3763238116888767,0.38795277438324804],[0.384555711913022,0.39618388444893904]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.35414479093215556,0.7517480714568614,0.71338606911949],"aabb_xy":[[0.3468835433617481,0.738961061193352],[0.3614060385025629,0.764535081720371]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[-0.21777001732174417,1.6916122699712628,0.71338606911949],"aabb_xy":[[-0.2563157101469452,1.653066498915074],[-0.17922432449654313,1.7301580410274515]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[-0.2562488112413509,0.6351682815003867,0.71338606911949],"aabb_xy":[[-0.34624881096452503,0.6120949289652068],[-0.1662488115181767,0.6582416340355665]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[0.33105410590692586,-0.9023248770199761,0.71338606911949],"aabb_xy":[[0.26605410587262307,-0.9490255537003033],[0.39605410594122853,-0.8556242003396487]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.18389333965062327,-2.2939999580943793,0.71338606911949],"aabb_xy":[[0.1758570049493384,-2.3020380773987963],[0.19192967435190808,-2.2859618387899623]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[-0.47706660766017317,-1.9477191012021275,0.71338606911949],"aabb_xy":[[-0.5320666058619179,-1.9882410678285651],[-0.42206660945842833,-1.90719713457569]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[0.33882758883335984,-1.943380202214797,0.71338606911949],"aabb_xy":[[0.30534842157231895,-1.9768593155859042],[0.37230675609440084,-1.9099010888436903]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[0.39869821322996657,1.0782063897023502,0.71338606911949],"aabb_xy":[[0.3840548076759336,1.063547670045566],[0.41334161878399955,1.0928651093591344]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[-0.3834495764934193,-0.6962495946511587,0.71338606911949],"aabb_xy":[[-0.43344957751255464,-0.7327158103889865],[-0.33344957547428405,-0.6597833789133306]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[0.49522766688636155,0.9339734199352057,0.71338606911949],"aabb_xy":[[0.43022766592923434,0.8820252080015001],[0.5602276678434888,0.9859216318689112]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[0.06810403310139546,-0.7074864884085841,0.71338606911949],"aabb_xy":[[0.052042105642877805,-0.7924864902211759],[0.08416596055991309,-0.6224864865959923]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_20","position":[0.16229171648301444,-1.4291436398361304,0.71338606911949],"aabb_xy":[[0.14040196889407364,-1.5191436371253793],[0.18418146407195524,-1.339143642546881]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[-0.5988430969331633,-0.360390094272093,0.71338606911949],"aabb_xy":[[-0.6036866916943933,-0.3652417467510771],[-0.5939995021719333,-0.3555384417931089]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[-0.2432846275402729,-1.84458865380694,0.71338606911949],"aabb_xy":[[-0.27574632842220037,-1.8747214859218422],[-0.21082292665834546,-1.814455821692037]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[-0.2948665590019216,-0.540128588654365,0.71338606911949],"aabb_xy":[[-0.3013681955099262,-0.5498964106806747],[-0.288364922493917,-0.5303607666280552]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_24","position":[0.32311748142118657,1.7709364278094317,0.71338606911949],"aabb_xy":[[0.3055391792322397,1.753361938235327],[0.3406957836101334,1.788510917383537]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692630676299948,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3447.png","name":"3447"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3447.png","name":"3447"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9229.png","name":"9229"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9825.png","name":"9825"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7723.png","name":"7723"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4275.png","name":"4275"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":750.1817057523499,"rotation_z_degrees":296.2184630745766,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0004174757345172149,-0.0169965116577854,0.00880533105426674]},{"name":"camera_2","offset_m":[0.01704531960544119,-0.005233116108244005,0.0013577224522970908]},{"name":"camera_3","offset_m":[-0.0005415134397232062,-0.006081143827967579,0.018690099949249122]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004343085160911481,-0.0018994211214654838,-0.0016808469708214835],"end_effector_yaw_offset_degrees":0.8870719906447222},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010725943690365887,0.0010423260778858801,-0.0015759329813734057],"end_effector_yaw_offset_degrees":-0.2768651051969673},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004692082711110865,-0.0018991429544206225,0.00012496903156537266],"end_effector_yaw_offset_degrees":0.508774099761266},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010724789494375047,0.0018992915142486697,0.0008973156957799173],"end_effector_yaw_offset_degrees":-0.8964330409294747}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003984147188713575,-0.0028513967773387606],"position_m":[0.13651585281128645,0.23184860322266124,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013826247981571947,-0.004897466166515603],"position_m":[0.2504826247981572,-0.3882974661665156,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002810788444508099,-0.003165563006314429],"position_m":[0.2107892115554919,-0.05686556300631443,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037340034379912687,-0.0005641143194298238],"position_m":[0.3573340034379913,0.11663588568057018,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3e925a61a7f778b5ed24126a40e5163986c0c0c8fa3ed2ab6b191a737b7e2768","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0084.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3447/tex_ceiling_textures_4275/tex_floor_textures_7723/tex_table_textures_9229/tex_wall_textures_9825","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5634244566839451732,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5634244566839451732,"visual_seed":5634244566839451732,"scene_id":"lab_003","finished_at":"2026-09-05T06:57:10"}
+{"episode_id":"ep_000085","started_at":"2026-09-05T06:57:13","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.5019676095732737,1.0263634115469635,0.71338606911949],"aabb_xy":[[-0.5099938802038998,1.017611916569611],[-0.4939413389426478,1.0351149065243161]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.3147592682381801,-1.1701471542962105,0.71338606911949],"aabb_xy":[[-0.33243489882677846,-1.1878273705756133],[-0.2970836376495818,-1.1524669380168078]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[0.30093138779969275,-2.358274678804965,0.71338606911949],"aabb_xy":[[0.29597536761481164,-2.3807746790070867],[0.305887407984574,-2.335774678602843]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.08632603695929353,1.063324541701101,0.71338606911949],"aabb_xy":[[0.06382603644725292,1.0408326833357024],[0.10882603747133411,1.0858164000664992]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[0.421218493747471,-2.1431681221315144,0.71338606911949],"aabb_xy":[[0.3662184955457261,-2.1836900887579516],[0.4762184919492158,-2.1026461555050764]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[0.19496003563246012,-1.506313009902367,0.71338606911949],"aabb_xy":[[0.13096003525492647,-1.556058276753179],[0.25896003600999373,-1.4565677430515545]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[-0.0942976880871822,-1.5605724148498987,0.71338606911949],"aabb_xy":[[-0.10716959158812234,-1.6405724152637349],[-0.08142578458624206,-1.4805724144360626]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.12116091188095657,0.5454797576880219,0.71338606911949],"aabb_xy":[[-0.15616091015107644,0.5384056299930338],[-0.08616091361083664,0.5525538853830101]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[0.411375208089098,0.671197054861095,0.71338606911949],"aabb_xy":[[0.39980622734216154,0.6461970547441634],[0.4229441888360347,0.6961970549780269]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[0.38118605357404634,-0.722999793911195,0.71338606911949],"aabb_xy":[[0.3312018178658691,-0.7729997927246905],[0.43117028928222356,-0.6729997950976994]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[-0.47804198332343584,-0.7894816963018696,0.71338606911949],"aabb_xy":[[-0.5580419803376838,-0.8096162479752809],[-0.39804198630918786,-0.7693471446284583]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.5789193025408859,-1.2630118203131468,0.71338606911949],"aabb_xy":[[0.5439193034109302,-1.2687570413888107],[0.6139193016708415,-1.2572665992374825]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[-0.5172693515968658,-1.7091273825477196,0.71338606911949],"aabb_xy":[[-0.5207100278369231,-1.7129888155220843],[-0.5138286753568088,-1.7052659495733553]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.40062249943447625,-0.2875247390122295,0.71338606911949],"aabb_xy":[[-0.4341016666955173,-0.3210038523833365],[-0.3671433321734354,-0.25404562564112254]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.005408048463355741,1.0909263474727617,0.71338606911949],"aabb_xy":[[-0.02924426610396081,1.0009263466642755],[0.018428169177249324,1.1809263482812484]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[0.5041006511467772,1.5307577043971246,0.71338606911949],"aabb_xy":[[0.4822109035578364,1.4407577071078754],[0.525990398735718,1.6207577016863737]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[-0.21258896559811447,0.4574647927747537,0.71338606911949],"aabb_xy":[[-0.2189010651344529,0.4516978535215349],[-0.20627686606177603,0.4632317320279725]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[-0.656067056367226,-2.156085768974302,0.71338606911949],"aabb_xy":[[-0.6669186626161016,-2.166945059701953],[-0.6452154501183504,-2.1452264782466512]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.28048786567781153,-0.6164012793314833,0.71338606911949],"aabb_xy":[[-0.31752197510587127,-0.6507784866651926],[-0.24345375624975182,-0.5820240719977737]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.5964552753633383,-1.6935453477021967,0.71338606911949],"aabb_xy":[[0.5064552716864199,-1.7549777542793006],[0.6864552790402563,-1.6321129411250919]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[-0.0817384657546103,-2.4553415581374307,0.71338606911949],"aabb_xy":[[-0.0969013387315474,-2.47050701543255],[-0.06657559277767322,-2.4401761008423124]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[0.1803703469722132,-1.1977385018260962,0.71338606911949],"aabb_xy":[[0.16031193535897292,-1.2178035887352539],[0.2004287585854535,-1.1776734149169386]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_22","position":[0.6941528288420142,-2.0778617568990447,0.71338606911949],"aabb_xy":[[0.6716564074081502,-2.1003617567057926],[0.7166492502758784,-2.0553617570922977]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[0.541893648270914,1.0259163216386025,0.71338606911949],"aabb_xy":[[0.5374630189160738,1.02046794990392],[0.5463242776257542,1.031364693373285]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_24","position":[0.6297794877056637,-0.1592982789993731,0.71338606911949],"aabb_xy":[[0.5497794866325434,-0.16907632533675754],[0.709779488778784,-0.14952023266198866]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_25","position":[0.10648462695301286,-1.8501736176738777,0.71338606911949],"aabb_xy":[[0.09571165303164508,-1.8851736158929167],[0.11725760087438064,-1.8151736194548387]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[0.024513917046579237,-0.9236277166095641,0.71338606911949],"aabb_xy":[[0.007503819756528581,-0.939762205107838],[0.04152401433662989,-0.9074932281112902]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[0.10647866876700951,1.6611106892028382,0.71338606911949],"aabb_xy":[[0.05148545742987276,1.606110688864045],[0.16147188010414626,1.7161106895416323]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_28","position":[0.09224774111030265,-1.6636588080731278,0.71338606911949],"aabb_xy":[[0.08412005291698944,-1.6725724164838358],[0.10037542930361588,-1.6547451996624203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6879975018521978,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1196.png","name":"1196"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1196.png","name":"1196"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3633.png","name":"3633"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7199.png","name":"7199"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3850.png","name":"3850"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9432.png","name":"9432"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":786.2936219245987,"rotation_z_degrees":266.2855424893712,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007822214998340753,0.010124816899692354,-0.012803553796608119]},{"name":"camera_2","offset_m":[0.01887892595095222,-0.014208960511824511,-0.001861391901679773]},{"name":"camera_3","offset_m":[-0.00894857428124066,-0.011930976953066726,0.0033883071344034885]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005305061222986426,-0.0018923098464546926,0.0011566043653087749],"end_effector_yaw_offset_degrees":-0.6176437753746775},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009551512478832853,3.628091366886764e-05,0.0015998861821344334],"end_effector_yaw_offset_degrees":0.288748107173991},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017991121633487452,0.0013026482704476244,0.0016908455986702747],"end_effector_yaw_offset_degrees":-0.4414150115693254},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001301203289120605,0.0017114167667569486,-0.0008773991641307793],"end_effector_yaw_offset_degrees":-0.09673313804632477}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002095490283901988,-0.0027160526547781037],"position_m":[0.142595490283902,0.23198394734522187,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023107325218581073,0.004833103982572675],"position_m":[0.2514107325218581,-0.3785668960174273,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0045786360525588805,0.0022258815656934173],"position_m":[0.21817863605255888,-0.05147411843430658,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024185649733667715,-0.003084084271015256],"position_m":[0.3560185649733668,0.11411591572898475,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f02b73d6530a0862dafbb8514a0f55f0a6d1e9d3426c35584dc5ea2eaef96ff7","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1196/tex_ceiling_textures_9432/tex_floor_textures_3850/tex_table_textures_3633/tex_wall_textures_7199","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7155920185964567657,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7155920185964567657,"visual_seed":7155920185964567657,"scene_id":"lab_003","finished_at":"2026-09-05T07:01:08"}
+{"episode_id":"ep_000086","started_at":"2026-09-05T07:01:11","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_0","position":[0.3626969100064985,0.584730459547834,0.71338606911949],"aabb_xy":[[0.3127018990470465,0.5347304605122424],[0.4126919209659506,0.6347304585834258]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.6632918731918409,-0.8462084254892315,0.71338606911949],"aabb_xy":[[0.6056614043045699,-0.9062084244159418],[0.7209223420791117,-0.7862084265625207]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.47355642884176596,0.02318315883570765,0.71338606911949],"aabb_xy":[[0.43605642902473235,0.018544947524565782],[0.5110564286587995,0.027821370146849513]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[-0.18510179737703747,-1.9887175492897171,0.71338606911949],"aabb_xy":[[-0.2491017966712057,-2.0527036896585713],[-0.12110179808286925,-1.9247314089208631]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.023923160832881374,-1.007325134011198,0.71338606911949],"aabb_xy":[[-0.058923159962837035,-1.013070355086862],[0.011076838297074287,-1.0015799129355338]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[-0.6298150325007207,1.4165077233418697,0.71338606911949],"aabb_xy":[[-0.6657285369257102,1.3805942151251152],[-0.5939015280757309,1.4524212315586242]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.6587505065505093,1.3109567946607692,0.71338606911949],"aabb_xy":[[0.6489945170413352,1.3011942606015343],[0.6685064960596829,1.3207193287200032]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.42665651378818054,-1.5029532372748482,0.71338606911949],"aabb_xy":[[-0.4609727909627985,-1.5529532372480257],[-0.3923402366135626,-1.4529532373016703]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.0975106579102214,-1.7052426908790288,0.71338606911949],"aabb_xy":[[-0.1615106611999295,-1.7485776098829462],[-0.033510654620513274,-1.661907771875111]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[-0.2090473885904175,-2.211876531576885,0.71338606911949],"aabb_xy":[[-0.2890473872473035,-2.226381390501148],[-0.1290473899335315,-2.197371672652622]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.477130950130467,-0.38768599480669375,0.71338606911949],"aabb_xy":[[0.47228735536923705,-0.39253764728567786],[0.481974544891697,-0.38283434232770963]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_11","position":[0.26078165549316,1.4386119851413741,0.71338606911949],"aabb_xy":[[0.2535378894469147,1.3586119869377717],[0.26802542153940534,1.5186119833449765]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.39281008002321105,1.4097124280613649,0.71338606911949],"aabb_xy":[[0.3428271298357317,1.3597124284188042],[0.4427930302106904,1.459712427703925]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[-0.4629035597699792,-1.7132496793146124,0.71338606911949],"aabb_xy":[[-0.5129035611308663,-1.7632275838900282],[-0.412903558409092,-1.663271774739197]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.3321013736018103,0.4481423395521875,0.71338606911949],"aabb_xy":[[-0.3559375912424154,0.35814233874370116],[-0.3082651559612053,0.5381423403606742]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[-0.32908673128037264,-1.4776027087996182,0.71338606911949],"aabb_xy":[[-0.34095881429187375,-1.5626027084932685],[-0.3172146482688715,-1.3926027091059678]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[-0.39712168455629276,1.468099590276315,0.71338606911949],"aabb_xy":[[-0.4671216861585723,1.4546667970746574],[-0.32712168295401334,1.4815323834779726]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.35976174682581497,1.006120226123043,0.71338606911949],"aabb_xy":[[0.30476853548867827,0.9511202257842495],[0.4147549581629518,1.0611202264618367]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.7067041857051939,-1.896747573389939,0.71338606911949],"aabb_xy":[[0.6896940884151431,-1.9128820618882127],[0.7237142829952444,-1.880613084891665]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[0.011025960625641207,-0.8075035090814859,0.71338606911949],"aabb_xy":[[-0.0014413974840944404,-0.8199688337148094],[0.023493318735376856,-0.7950381844481624]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[-0.5613634278341536,0.8941395850264748,0.71338606911949],"aabb_xy":[[-0.6229541870581464,0.8301395869174281],[-0.4997726686101608,0.9581395831355218]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900928580420199,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2708.png","name":"2708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2708.png","name":"2708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/38.png","name":"38"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2401.png","name":"2401"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3312.png","name":"3312"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8903.png","name":"8903"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":723.9415096186099,"rotation_z_degrees":321.84257646478534,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0020178846099196644,0.014574118742533452,0.011448717710036183]},{"name":"camera_2","offset_m":[0.011402545151636054,-0.004421809506264212,0.014507692228541366]},{"name":"camera_3","offset_m":[0.006771437734444625,-0.005223163151876471,-0.01857809087098348]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017804591241992141,0.0017039338645963012,-0.001072937592508823],"end_effector_yaw_offset_degrees":-0.338804214406361},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003368481391927429,-0.00019931718227315758,-0.0009445109739784061],"end_effector_yaw_offset_degrees":-0.6572067978494467},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00045200789942692046,0.0005931191530358947,0.001920792595502794],"end_effector_yaw_offset_degrees":-0.49727136321681487},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001304866336414345,-0.0013644642677446478,-0.0007625906398880176],"end_effector_yaw_offset_degrees":-0.2706995880525169}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012389187679886626,-0.0014298870358124228],"position_m":[0.14173891876798866,0.23327011296418756,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010043490372561,-0.0038960405103793862],"position_m":[0.24809565096274389,-0.3872960405103794,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007604468564723467,0.0020491424144963378],"position_m":[0.21436044685647235,-0.05165085758550366,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020851265974804155,0.004815630505140917],"position_m":[0.35151487340251963,0.12201563050514092,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2da5388486da7774d196f1e187ee901c4b3c7943f39cbf4e0c3067e451499efa","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0086.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2708/tex_ceiling_textures_8903/tex_floor_textures_3312/tex_table_textures_38/tex_wall_textures_2401","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3860757722035234278,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3860757722035234278,"visual_seed":3860757722035234278,"scene_id":"lab_003","finished_at":"2026-09-05T07:05:10"}
+{"episode_id":"ep_000087","started_at":"2026-09-05T07:05:13","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.6550188841629723,-2.1117890521088296,0.71338606911949],"aabb_xy":[[0.6010032878810722,-2.1757890550010863],[0.7090344804448722,-2.047789049216572]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[-0.5248051510398564,-1.3600358172329348,0.71338606911949],"aabb_xy":[[-0.5598051493099762,-1.367109944927923],[-0.48980515276973635,-1.3529616895379466]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[-0.025224988638712253,-1.6621634902702653,0.71338606911949],"aabb_xy":[[-0.09522499203027422,-1.697479263973696],[0.04477501475284972,-1.6268477165668342]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[-0.18404553807425938,-1.4769097914101872,0.71338606911949],"aabb_xy":[[-0.27404554040827844,-1.5543921459952998],[-0.09404553574024033,-1.3994274368250745]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[0.24106451159295295,-2.374306040019183,0.71338606911949],"aabb_xy":[[0.19106950063350098,-2.424306039054775],[0.291059522552405,-2.3243060409835916]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[-0.5933847852897549,-0.7419023826981597,0.71338606911949],"aabb_xy":[[-0.6783847839818296,-0.7738882460930385],[-0.5083847865976803,-0.7099165193032808]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.28638594038148835,0.9218734313015595,0.71338606911949],"aabb_xy":[[-0.2996168859161696,0.9086460122795601],[-0.273154994846807,0.9351008503235589]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[0.5295089389204284,-0.5849717369898699,0.71338606911949],"aabb_xy":[[0.4823795599185927,-0.6489717380342718],[0.576638317922264,-0.5209717359454679]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.30989098968335704,-0.7989526669921734,0.71338606911949],"aabb_xy":[[0.3057750395712843,-0.8030682220250188],[0.31400693979542965,-0.7948371119593277]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[0.6782090470886151,0.6431135044374172,0.71338606911949],"aabb_xy":[[0.6653371435876749,0.5631135040235811],[0.6910809505895552,0.7231135048512534]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[-0.48552939452819976,-1.5737573323029366,0.71338606911949],"aabb_xy":[[-0.5471201537521926,-1.6377573304119835],[-0.42393863530420695,-1.5097573341938897]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.3908334638687223,-1.8602150565959865,0.71338606911949],"aabb_xy":[[0.3258334659870746,-1.9113387203025276],[0.4558334617503702,-1.8090913928894459]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[0.25837609391533534,-0.6734258175367782,0.71338606911949],"aabb_xy":[[0.1933760953582625,-0.7031783509506608],[0.32337609247240817,-0.6436732841228956]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[-0.37956872050591584,-1.3775743970397405,0.71338606911949],"aabb_xy":[[-0.41403119851900355,-1.3842380742226632],[-0.345106242492828,-1.3709107198568173]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.43809131306848725,-2.2635492950131875,0.71338606911949],"aabb_xy":[[-0.4858974806822558,-2.3285492977202464],[-0.3902851454547185,-2.1985492923061285]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[0.4326923508503886,-2.08435411303945,0.71338606911949],"aabb_xy":[[0.39519235005839315,-2.09072195399764],[0.47019235164238404,-2.0779862720812594]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.06914107305868822,-1.1700026093000555,0.71338606911949],"aabb_xy":[[-0.15914106955955995,-1.2159142517185135],[0.020858923442183538,-1.124090966881597]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[-0.5417521763880913,-1.0350093798290139,0.71338606911949],"aabb_xy":[[-0.6057521756822595,-1.0989955201978683],[-0.47775217709392304,-0.9710232394601599]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.08431338431210889,1.5927335076900877,0.71338606911949],"aabb_xy":[[-0.09035039731277363,1.58670680662114],[-0.07827637131144417,1.5987602087590362]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.6711486934890578,0.2325316540872704,0.71338606911949],"aabb_xy":[[-0.6771152324297935,0.22657050942790635],[-0.6651821545483221,0.23849279874663443]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.4512100124150491,0.9765858345094878,0.71338606911949],"aabb_xy":[[0.3812100102836194,0.953823868883792],[0.5212100145464784,0.9993478001351833]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[0.6373953730028332,1.0849237369339164,0.71338606911949],"aabb_xy":[[0.5998953731857997,1.0802855256227746],[0.6748953728198668,1.0895619482450583]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.47731844202879015,0.290848586322523,0.71338606911949],"aabb_xy":[[0.45280481793178434,0.2665839930204865],[0.501832066125796,0.3151131796245594]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_23","position":[-0.35367281412608614,-0.7804231918118574,0.71338606911949],"aabb_xy":[[-0.36301982170838143,-0.7947268140295014],[-0.34432580654379097,-0.7661195695942133]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[0.48030656989499887,-0.04037147906672045,0.71338606911949],"aabb_xy":[[0.44530657070218055,-0.051338525064383064],[0.5153065690878171,-0.02940443306905781]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[0.33842765795241325,1.5046948157562512,0.71338606911949],"aabb_xy":[[0.32867166844323936,1.4949322816970168],[0.34818364746158714,1.5144573498154856]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[0.33894452497828675,1.3567889642230075,0.71338606911949],"aabb_xy":[[0.27394452234049327,1.3053093655235608],[0.40394452761608024,1.4082685629224547]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907008654057776,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9492.png","name":"9492"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9492.png","name":"9492"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1726.png","name":"1726"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4029.png","name":"4029"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9810.png","name":"9810"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1754.png","name":"1754"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":798.3216885492361,"rotation_z_degrees":144.4852834605135,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002591020738766353,0.003720945180518246,-0.004876017591840438]},{"name":"camera_2","offset_m":[-0.0012433076336685785,0.015673143142469332,-0.001715450920766498]},{"name":"camera_3","offset_m":[0.017191036570528093,0.003313696133198974,-0.01130992143739614]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003909774727240043,-0.001903950043079218,0.0010557090128643868],"end_effector_yaw_offset_degrees":0.7687633122080193},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019884946921139885,-0.0005930850845881545,-0.0007033857039980952],"end_effector_yaw_offset_degrees":-0.8415519647829692},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009513043743563823,0.0010408093335083353,-0.0019037833350269632],"end_effector_yaw_offset_degrees":0.48295297180208197},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001674398733063734,-6.64379985530132e-05,0.00012281670744137543],"end_effector_yaw_offset_degrees":-0.46137835829353224}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038438049768386526,-0.0045803779119735055],"position_m":[0.13665619502316137,0.2301196220880265,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011108900817747838,-0.001849312863175071],"position_m":[0.2502108900817748,-0.3852493128631751,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0040699936125477626,0.002973604292926293],"position_m":[0.21766999361254777,-0.050726395707073706,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004509070918128023,-0.004895280871435038],"position_m":[0.35810907091812805,0.11230471912856496,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d66beca3ba3371a61d45fd30e2c8f82da4cd93e885530dac9d86f01ad20b7fcc","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9492/tex_ceiling_textures_1754/tex_floor_textures_9810/tex_table_textures_1726/tex_wall_textures_4029","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3741148544229465716,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3741148544229465716,"visual_seed":3741148544229465716,"scene_id":"lab_003","finished_at":"2026-09-05T07:09:06"}
+{"episode_id":"ep_000088","started_at":"2026-09-05T07:09:13","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[-0.4209176202203263,-1.3492784210498312,0.71338606911949],"aabb_xy":[[-0.4849176222700583,-1.389372904139139],[-0.3569176181705943,-1.309183937960523]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[0.5051724241587525,-1.2826453040079995,0.71338606911949],"aabb_xy":[[0.48816232686870187,-1.2987797925062734],[0.5221825214488032,-1.2665108155097256]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[0.4626595937962481,-1.7237447015298994,0.71338606911949],"aabb_xy":[[0.402659593200232,-1.778557174075123],[0.5226595943922643,-1.668932228984676]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.3318332353731843,1.2383212133103383,0.71338606911949],"aabb_xy":[[-0.3517242752535246,1.2256654020256414],[-0.31194219549284413,1.2509770245950351]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.03449604179349197,1.75702324407909,0.71338606911949],"aabb_xy":[[-0.040909855436676905,1.7506134238314217],[-0.028082228150307028,1.7634330643267584]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[0.2645766127053042,0.8142012532012002,0.71338606911949],"aabb_xy":[[0.2420766126951559,0.8001050335615969],[0.2870766127154525,0.8282974728408035]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[0.6177361557896548,1.2327144381917297,0.71338606911949],"aabb_xy":[[0.6025732828127178,1.2175489808966111],[0.632899028766592,1.2478798954868486]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[0.5379995166627032,0.5646400603250523,0.71338606911949],"aabb_xy":[[0.48790205268162956,0.5006400598152404],[0.5880969806437768,0.628640060834864]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.5738167015688789,-2.190589900970398,0.71338606911949],"aabb_xy":[[0.5363167009043001,-2.2062769589706197],[0.6113167022334575,-2.1749028429701753]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[0.1369469556445183,-1.2757856296139563,0.71338606911949],"aabb_xy":[[0.07294695494104898,-1.3218040120868773],[0.2009469563479877,-1.2297672471410352]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.5775024615966766,-0.08558604109983925,0.71338606911949],"aabb_xy":[[-0.6275024610368722,-0.13555396558415556],[-0.527502462156481,-0.03561811661552293]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[0.6792423283422047,1.6780360166575705,0.71338606911949],"aabb_xy":[[0.6710277832265206,1.6693594263599287],[0.6874568734578885,1.6867126069552114]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[-0.271313738612032,-1.810147300211219,0.71338606911949],"aabb_xy":[[-0.3213137372579532,-1.8600668438706813],[-0.2213137399661108,-1.7602277565517566]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[0.20532964661968234,1.0709669232856243,0.71338606911949],"aabb_xy":[[0.1413296463457041,1.020900823088336],[0.26932964689366057,1.121033023482912]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[-0.1008893408039494,0.49694628872199376,0.71338606911949],"aabb_xy":[[-0.16588934180444992,0.44615992356731876],[-0.03588933980344888,0.5477326538766687]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_15","position":[0.5141604188982143,1.8097391271765324,0.71338606911949],"aabb_xy":[[0.4766604187926214,1.8029169653235513],[0.5516604190038072,1.8165612890295135]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.08180562184645246,-1.1841291399190343,0.71338606911949],"aabb_xy":[[-0.13179873395564437,-1.2341291405932302],[-0.03181250973726058,-1.134129139244839]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.41903394953799955,-1.8754447129386262,0.71338606911949],"aabb_xy":[[-0.45588449747498716,-1.91294471376166],[-0.38218340160101194,-1.8379447121155925]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.44506748584215466,0.9759951912501088,0.71338606911949],"aabb_xy":[[-0.5350674825777648,0.9228117279328142],[-0.35506748910654445,1.0291786545674033]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[0.5689314830907235,-2.486018526245408,0.71338606911949],"aabb_xy":[[0.5354913078947038,-2.5194621520763376],[0.602371658286743,-2.452574900414478]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[-0.21757749018181016,0.32828573178584675,0.71338606911949],"aabb_xy":[[-0.2675774915426974,0.2783078272104311],[-0.16757748882092294,0.37826363636126237]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.2372952528560292,-0.14084323351615824,0.71338606911949],"aabb_xy":[[-0.2747952532042569,-0.15263462909724176],[-0.19979525250780142,-0.12905183793507466]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[0.5845520621391966,-1.8299188606027263,0.71338606911949],"aabb_xy":[[0.5726799791276956,-1.9149188602963765],[0.5964241451506979,-1.7449188609090758]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.21816471266201953,-1.495699318230245,0.71338606911949],"aabb_xy":[[-0.24066384838824648,-1.5181993190085077],[-0.19566557693579253,-1.4731993174519817]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.6230964380956813,1.519825654895509,0.71338606911949],"aabb_xy":[[-0.6350291724575093,1.5074435020876498],[-0.6111637037338532,1.5322078077033685]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[0.3681911809144758,1.0435276868426828,0.71338606911949],"aabb_xy":[[0.33227767648948603,1.0076141786259283],[0.4041046853394654,1.0794411950594374]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[-0.5331071165748431,-2.2670348335698276,0.71338606911949],"aabb_xy":[[-0.5418210856247774,-2.2895348342290154],[-0.5243931475249084,-2.244534832910639]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[-0.6001302234324695,-1.068480917492398,0.71338606911949],"aabb_xy":[[-0.6113752790030872,-1.0797227152164932],[-0.5888851678618515,-1.0572391197683026]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_28","position":[-0.4204444474848246,1.798542942149496,0.71338606911949],"aabb_xy":[[-0.4579444473018581,1.7939047308383542],[-0.382944447667791,1.803181153460638]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_29","position":[0.5680709496465763,-0.9112168691197744,0.71338606911949],"aabb_xy":[[0.5040709477342341,-0.967128018377785],[0.6320709515589188,-0.8553057198617641]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[-0.6736342136252198,0.5082996582830073,0.71338606911949],"aabb_xy":[[-0.691134212759587,0.4984200312454194],[-0.6561342144908526,0.518179285320595]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_31","position":[-0.3769474338636506,0.42776688609461244,0.71338606911949],"aabb_xy":[[-0.4385381930876434,0.3637668879855656],[-0.3153566746396578,0.4917668842036594]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_32","position":[0.09170908737973238,-2.4427961553772812,0.71338606911949],"aabb_xy":[[0.0017090879613614746,-2.4761716522214705],[0.18170908679810327,-2.409420658533091]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_33","position":[-0.25077192623953687,-1.3052083394144938,0.71338606911949],"aabb_xy":[[-0.28191884508312,-1.375208338101301],[-0.21962500739595375,-1.2352083407276866]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_34","position":[0.3435809539851884,-1.5169644788022096,0.71338606911949],"aabb_xy":[[0.320299111787057,-1.6019644800994375],[0.3668627961833197,-1.4319644775049813]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6862344185885607,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2284.png","name":"2284"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2284.png","name":"2284"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9427.png","name":"9427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5642.png","name":"5642"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2415.png","name":"2415"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1373.png","name":"1373"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":746.1419582110129,"rotation_z_degrees":319.69456174643176,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0003959198119627104,-0.00668796537055103,-0.004824909342530605]},{"name":"camera_2","offset_m":[-0.017748248479511078,-0.01829272364846665,0.012742759200243394]},{"name":"camera_3","offset_m":[0.007397095590007615,-0.009067889834547925,0.013400074215848986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00015577197326134898,0.0016150861762824404,-0.0011718958359143805],"end_effector_yaw_offset_degrees":0.17639041193388905},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00014077629439463975,-0.0008651588113932798,0.0006753631684218971],"end_effector_yaw_offset_degrees":0.9415061669489531},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016286116660846066,0.00169927881262388,3.6412717252574164e-05],"end_effector_yaw_offset_degrees":0.09701611907107432},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009437280066216889,0.0001913710307655035,0.0010357937950832125],"end_effector_yaw_offset_degrees":-0.13214178581907432}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0020003296258048284,-0.003322873171496813],"position_m":[0.14250032962580483,0.23137712682850317,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00022173479672785937,0.00486889049177579],"position_m":[0.24932173479672784,-0.3785311095082242,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004704887779230571,-0.003576673214289506],"position_m":[0.20889511222076945,-0.0572766732142895,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00023838715267713185,0.0013952953501448397],"position_m":[0.3538383871526772,0.11859529535014483,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ad369f2d91f32ee45ab8c91296805a81b3502b414143931791733099a432057d","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0088.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2284/tex_ceiling_textures_1373/tex_floor_textures_2415/tex_table_textures_9427/tex_wall_textures_5642","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6874011398862170002,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6874011398862170002,"visual_seed":6874011398862170002,"scene_id":"lab_003","finished_at":"2026-09-05T07:13:02"}
+{"episode_id":"ep_000089","started_at":"2026-09-05T07:13:05","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.5304996801267248,-2.3775379509960124,0.71338606911949],"aabb_xy":[[0.48040221614565104,-2.4415379515058246],[0.5805971441077983,-2.313537950486201]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[-0.4866256830120089,-2.0600054983790312,0.71338606911949],"aabb_xy":[[-0.4925922219527447,-2.0659666430383954],[-0.48065914407127314,-2.054044353719667]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.15179102113506593,1.8232316480266575,0.71338606911949],"aabb_xy":[[-0.18679101944576137,1.8155166331031118],[-0.11679102282437048,1.8309466629502031]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.2353448394509131,0.9408996562143885,0.71338606911949],"aabb_xy":[[-0.3153448381077991,0.9263947972901257],[-0.1553448407940271,0.9554045151386513]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.628334974452241,0.51348516593016,0.71338606911949],"aabb_xy":[[-0.6783342496206772,0.46348516465421297],[-0.5783356992838049,0.5634851672061073]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.38271293696317676,0.04047100779863522,0.71338606911949],"aabb_xy":[[-0.3866734207329111,0.03280314321311462],[-0.3787524531934424,0.048138872384155824]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.4778051405094371,1.3081792668494234,0.71338606911949],"aabb_xy":[[-0.547805143900999,1.2728634931459923],[-0.40780513711787514,1.343495040552854]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_7","position":[-0.4954895971344565,-1.7826052450423098,0.71338606911949],"aabb_xy":[[-0.517989597646497,-1.805097103407708],[-0.47298959662241585,-1.7601133866769112]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[0.5101233909568157,1.6601806637862233,0.71338606911949],"aabb_xy":[[0.42012339236234575,1.6439300774728023],[0.6001233895512856,1.6764312500996443]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.5800646303881263,0.9695438131197731,0.71338606911949],"aabb_xy":[[0.5625179354720073,0.9320438115555219],[0.5976113253042452,1.0070438146840244]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.3158744093863813,-1.7488717791399544,0.71338606911949],"aabb_xy":[[-0.3858744111951267,-1.7702255479041415],[-0.24587440757763585,-1.7275180103757668]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[0.2999758660570585,-1.07656756285715,0.71338606911949],"aabb_xy":[[0.29507657375049495,-1.1042444821597186],[0.30487515836362195,-1.048890643554581]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.46096379736338594,-0.019861022466069578,0.71338606911949],"aabb_xy":[[-0.4703108049456811,-0.03416464468371361],[-0.45161678978109066,-0.005557400248425548]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[0.20746280785125482,1.1777580363802715,0.71338606911949],"aabb_xy":[[0.18224197099141512,1.1525342855273846],[0.23268364471109446,1.202981787233158]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[-0.0719712331932757,1.3290647579831347,0.71338606911949],"aabb_xy":[[-0.13597123389674504,1.2830463755102137],[-0.007971232489806345,1.3750831404560557]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.4198156143047313,-0.30556964482393933,0.71338606911949],"aabb_xy":[[-0.48381561457870953,-0.3556357450212273],[-0.35581561403075307,-0.25550354462665137]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.31233649307547723,1.520313856570438,0.71338606911949],"aabb_xy":[[-0.34733649226829544,1.5093468105727752],[-0.2773364938826589,1.5312809025681002]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.5328463211944929,-1.6438725587366871,0.71338606911949],"aabb_xy":[[0.49551504466925034,-1.6785256135315396],[0.5701775977197355,-1.609219503941835]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.2057602853789155,-0.8585763071557531,0.71338606911949],"aabb_xy":[[-0.26076028455550493,-0.9135659819307107],[-0.15076028620232598,-0.8035866323807954]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[0.4645337949477226,1.2462662068026353,0.71338606911949],"aabb_xy":[[0.4406975773071176,1.156266205994149],[0.48837001258832774,1.336266207611122]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_20","position":[-0.16586405773145174,1.1152411368503259,0.71338606911949],"aabb_xy":[[-0.20265869085635801,1.0783352617537436],[-0.12906942460654547,1.1521470119469082]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[-0.041397246942161736,1.0455288909410805,0.71338606911949],"aabb_xy":[[-0.07585959434030351,1.0110350085432576],[-0.006934899544019927,1.080022773338903]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_22","position":[0.4557862177704224,-2.035536617044238,0.71338606911949],"aabb_xy":[[0.42234604257440267,-2.068980242875167],[0.4892263929664419,-2.002092991213307]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[0.3465104626091957,-2.5240400012660795,0.71338606911949],"aabb_xy":[[0.309010461093564,-2.535266774282224],[0.3840104641248274,-2.512813228249934]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[-0.23292792418702268,-2.542343172797496,0.71338606911949],"aabb_xy":[[-0.23777151894825269,-2.5471948252764807],[-0.22808432942579274,-2.5374915203185124]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_25","position":[-0.18245939110663845,-0.25296606596186777,0.71338606911949],"aabb_xy":[[-0.26245321468519667,-0.33296606855470934],[-0.10246556752808023,-0.1729660633690262]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[0.38234187148559884,-1.4275157810798647,0.71338606911949],"aabb_xy":[[0.3395751646061786,-1.491515784501667],[0.425108578365019,-1.3635157776580622]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[0.6092426050382327,0.05863048716901975,0.71338606911949],"aabb_xy":[[0.5492426033953107,0.006630337877075565],[0.6692426066811544,0.11063063646096394]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_28","position":[-0.5274006891789151,-0.4558131930154703,0.71338606911949],"aabb_xy":[[-0.5444107864689658,-0.4719476815137442],[-0.5103905918888645,-0.4396787045171964]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_29","position":[-0.3814474661453204,0.31910195785091444,0.71338606911949],"aabb_xy":[[-0.4454474654394886,0.2551158174820603],[-0.31744746685115216,0.3830880982197687]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_30","position":[0.36718514541071157,1.58159686844933,0.71338606911949],"aabb_xy":[[0.3594819547366346,1.5738874977505917],[0.37488833608478866,1.589306239148068]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6875743686171053,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/377.png","name":"377"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6198.png","name":"6198"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2632.png","name":"2632"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5144.png","name":"5144"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3316.png","name":"3316"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":763.0754182090267,"rotation_z_degrees":57.58712233790693,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0104020029710097,-0.0028662284096345435,-0.01627428094042044]},{"name":"camera_2","offset_m":[0.01754092442778669,-0.01972593478073216,0.01527326606411079]},{"name":"camera_3","offset_m":[-0.007351573969405547,0.006009264833354101,-0.00281811673627895]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018754136393927924,-0.0007947615899964614,-0.0008736389054572653],"end_effector_yaw_offset_degrees":0.21360226298500407},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017797764904327147,0.0009609387666393468,-0.0010374117247133486],"end_effector_yaw_offset_degrees":0.910065793447187},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004419461001686749,-5.44064924365695e-05,0.001039786100815998],"end_effector_yaw_offset_degrees":0.8451391792816194},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016956022767251459,0.0010455444031092077,-0.001410320357909721],"end_effector_yaw_offset_degrees":-0.9554345046273056}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019365378911579633,-0.001334628980173014],"position_m":[0.13856346210884204,0.233365371019827,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003488338107409756,-0.0030711325689546107],"position_m":[0.24561166189259023,-0.38647113256895466,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024284282593617004,0.003778885621345307],"position_m":[0.21602842825936172,-0.049921114378654693,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021082117552325198,-0.004649521133869372],"position_m":[0.3514917882447675,0.11255047886613062,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"13573a38f531283637d44576f08ff323a2d5105dfb1a5220a7d3d268f54c37da","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0089.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_377/tex_ceiling_textures_3316/tex_floor_textures_5144/tex_table_textures_6198/tex_wall_textures_2632","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":9023332256624861836,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":9023332256624861836,"visual_seed":9023332256624861836,"scene_id":"lab_003","finished_at":"2026-09-05T07:17:01"}
+{"episode_id":"ep_000090","started_at":"2026-09-05T07:17:06","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_0","position":[0.3250675039501367,1.1274922418788238,0.71338606911949],"aabb_xy":[[0.31897287606201846,1.118922847327155],[0.3311621318382551,1.1360616364304925]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[0.16669977947601688,0.637294310239314,0.71338606911949],"aabb_xy":[[0.15789772416704417,0.629482984084385],[0.1755018347849896,0.6451056363942431]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[0.4907348393945674,-1.7397702366101369,0.71338606911949],"aabb_xy":[[0.46573484012260513,-1.7561156002062994],[0.5157348386665297,-1.7234248730139747]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_3","position":[-0.6026850510954125,0.9366001295922071,0.71338606911949],"aabb_xy":[[-0.6439895941591484,0.87260013002409],[-0.5613805080316764,1.0006001291603241]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.711715939830982,-2.300517252349638,0.71338606911949],"aabb_xy":[[0.7009429659096142,-2.335517250568677],[0.7224889137523498,-2.2655172541305992]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.5085492029502618,0.5387197867571274,0.71338606911949],"aabb_xy":[[-0.5201181836971984,0.5137197866401957],[-0.4969802222033253,0.5637197868740591]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.4455823582313374,-1.9921908336185328,0.71338606911949],"aabb_xy":[[0.428082357986288,-2.009690621458099],[0.4630823584763868,-1.9746910457789657]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[-0.3741544773657362,-1.0169094324335586,0.71338606911949],"aabb_xy":[[-0.40248418731427643,-1.0213701746272756],[-0.345824767417196,-1.0124486902398415]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.6223123140417983,-1.1873382703996433,0.71338606911949],"aabb_xy":[[-0.6473123139743162,-1.1942209386205667],[-0.5973123141092804,-1.18045560217872]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.15076401382289994,0.9378291393684264,0.71338606911949],"aabb_xy":[[0.13326408038891657,0.9203291394481917],[0.16826394725688332,0.9553291392886608]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.6285900762760663,1.180473848373083,0.71338606911949],"aabb_xy":[[0.5942931652583255,1.1461769621631415],[0.6628869872938067,1.214770734583024]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[-0.4729438303106396,-0.05256344479419095,0.71338606911949],"aabb_xy":[[-0.5369438274227453,-0.10159581458860156],[-0.4089438331985339,-0.003531074999780337]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.37914522257839345,0.9957834585196164,0.71338606911949],"aabb_xy":[[-0.38955678125887705,0.9904377251837176],[-0.3687336638979096,1.0011291918555145]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.719595775757593,-1.3814892156770853,0.71338606911949],"aabb_xy":[[0.7161550995175359,-1.38535064865145],[0.7230364519976502,-1.377627782702721]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.13794225125942217,1.5278480882593208,0.71338606911949],"aabb_xy":[[0.09939655843422113,1.489302317203132],[0.1764879440846232,1.5663938593155096]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_15","position":[0.5920896538678515,1.380485736918486,0.71338606911949],"aabb_xy":[[0.582007946789278,1.3004857390263709],[0.602171360946425,1.4604857348106002]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.39550301547511135,-1.1224677580497087,0.71338606911949],"aabb_xy":[[-0.4595030157490895,-1.1725338582469966],[-0.33150301520113307,-1.0724016578524207]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.08848160638847258,0.641296972695701,0.71338606911949],"aabb_xy":[[-0.13561098539030825,0.5772969716512989],[-0.041352227386636894,0.7052969737401028]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.6614978024377245,-1.6632557962429777,0.71338606911949],"aabb_xy":[[0.6114978011538844,-1.7132346506335998],[0.7114978037215643,-1.6132769418523556]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[-0.2178830926745678,-1.0288318560905119,0.71338606911949],"aabb_xy":[[-0.2818787900696643,-1.0928318543912205],[-0.15388739527947118,-0.9648318577898032]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_20","position":[0.6327120372699468,-1.141423135599383,0.71338606911949],"aabb_xy":[[0.6175491642930098,-1.1565885928945019],[0.6478749102468839,-1.1262576783042644]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[-0.0342020318881785,-1.4424368037076971,0.71338606911949],"aabb_xy":[[-0.05207113964263399,-1.4562697116849082],[-0.016332924133723004,-1.428603895730486]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[0.6598333247524515,-0.8393981207266248,0.71338606911949],"aabb_xy":[[0.6561300634233125,-0.8431001390353426],[0.6635365860815903,-0.8356961024179069]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_23","position":[0.5009912822314171,0.4468060310161177,0.71338606911949],"aabb_xy":[[0.49227731318148243,0.42430603035692943],[0.5097052512813514,0.4693060316753059]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_24","position":[-0.09969868029410844,-2.100353166655803,0.71338606911949],"aabb_xy":[[-0.10673899022764546,-2.180353166055475],[-0.09265837036057147,-2.020353167256132]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[-0.5282650048157738,1.4703142800290423,0.71338606911949],"aabb_xy":[[-0.5441494980810989,1.4559613397302182],[-0.5123805115504486,1.4846672203278664]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[-0.12025252095564876,-0.3648121713922654,0.71338606911949],"aabb_xy":[[-0.13692965694874426,-0.3815120953661957],[-0.10357538496255327,-0.34811224741833513]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6876704380354053,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8855.png","name":"8855"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8855.png","name":"8855"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4077.png","name":"4077"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/476.png","name":"476"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5616.png","name":"5616"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6978.png","name":"6978"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":505.5283949798351,"rotation_z_degrees":85.71987521929341,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013653809561567625,-0.0009969220414055222,0.0076478238028606475]},{"name":"camera_2","offset_m":[-0.017338119548517106,0.01565707892220378,-0.006555749799949436]},{"name":"camera_3","offset_m":[0.01596507547370862,-0.015009604848393674,0.01501085980819038]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011930840657493435,0.0013400016380541386,-0.0015330672439094984],"end_effector_yaw_offset_degrees":0.1999003427150401},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018151634484039488,0.0007976302362980112,0.000562359337963034],"end_effector_yaw_offset_degrees":0.28107096407711585},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010879712920777609,0.0009923019555073383,0.0004578296779065151],"end_effector_yaw_offset_degrees":0.8304583823902063},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017171393886271373,-0.001119031915685725,-0.001971292126518126],"end_effector_yaw_offset_degrees":0.848572218492925}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005107083408489024,-0.002688408025109571],"position_m":[0.1399892916591511,0.2320115919748904,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011343496609027325,0.00024304553803313877],"position_m":[0.24796565033909726,-0.3831569544619669,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0046406168651085804,-0.004699562075686607],"position_m":[0.20895938313489143,-0.058399562075686605,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008402259900443885,-0.0027693995597039946],"position_m":[0.35444022599004443,0.114430600440296,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c0fc697318dda0fb4ca8cc0481b7e46f28df76ff2b7b65654987939bea5951da","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8855/tex_ceiling_textures_6978/tex_floor_textures_5616/tex_table_textures_4077/tex_wall_textures_476","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7975341256699559585,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7975341256699559585,"visual_seed":7975341256699559585,"scene_id":"lab_003","finished_at":"2026-09-05T07:21:04"}
+{"episode_id":"ep_000091","started_at":"2026-09-05T07:24:06","dimensions":{"distractor":{"count":24,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.38990964534145234,-1.2899074219271467,0.71338606911949],"aabb_xy":[[-0.39715341138769766,-1.369907420130749],[-0.382665879295207,-1.2099074237235443]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.549082587457621,-0.5261067745412897,0.71338606911949],"aabb_xy":[[-0.5990825884081538,-0.5576559215448111],[-0.49908258650708814,-0.49455762753776833]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.5601279040840481,-0.15908496304266562,0.71338606911949],"aabb_xy":[[-0.6099446835488829,-0.20908496152696898],[-0.5103111246192134,-0.10908496455836225]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.48104043035029476,-0.6635710497406686,0.71338606911949],"aabb_xy":[[-0.49871606093889315,-0.6812512660200712],[-0.4633647997616965,-0.6458908334612657]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_4","position":[-0.239900527622753,-2.0140554815805967,0.71338606911949],"aabb_xy":[[-0.3249005260401762,-2.0989297770428816],[-0.15490052920532976,-1.9291811861183117]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[-0.3505003147833901,-1.5986984099986894,0.71338606911949],"aabb_xy":[[-0.35778263116005365,-1.688698413608198],[-0.34321799840672634,-1.50869840638918]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[-0.2146786375675105,-1.5854757271334285,0.71338606911949],"aabb_xy":[[-0.2210924512106954,-1.5918855473810964],[-0.20826482392432552,-1.5790659068857598]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[-0.2022339919387493,-0.7309543808105827,0.71338606911949],"aabb_xy":[[-0.25221280044906513,-0.7809543808163014],[-0.1522551834284334,-0.6809543808048638]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.6175598847113677,-0.28233254645702965,0.71338606911949],"aabb_xy":[[0.5375598877483285,-0.35940818810080305],[0.6975598816744069,-0.20525690481325615]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[0.5369544418152825,-0.10008770319603189,0.71338606911949],"aabb_xy":[[0.5195237267362759,-0.1173598178598827],[0.5543851568942889,-0.08281558853218107]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[0.15900355755745232,-2.428342851494946,0.71338606911949],"aabb_xy":[[0.10400355935570747,-2.468864818121383],[0.21400355575919713,-2.387820884868508]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.5436333978126786,1.5354447688428334,0.71338606911949],"aabb_xy":[[-0.5936064633451941,1.4854447690303005],[-0.49366033228016315,1.5854447686553665]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.2154947040673536,-0.8456230306390498,0.71338606911949],"aabb_xy":[[0.192994703555313,-0.8681148890044481],[0.2379947045793942,-0.8231311722736514]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[-0.0300554531858912,1.542114082450142,0.71338606911949],"aabb_xy":[[-0.08003840337337052,1.4921140828075814],[0.019927497001588135,1.5921140820927022]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.5534841031471591,-0.6559201373764549,0.71338606911949],"aabb_xy":[[0.5457809124730821,-0.6636295080751929],[0.5611872938212361,-0.6482107666777169]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[-0.11469441411557435,1.6868123540096671,0.71338606911949],"aabb_xy":[[-0.1260561487688605,1.675443887603379],[-0.10333267946228818,1.6981808204159552]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[-0.26259713384488215,0.5508606658745121,0.71338606911949],"aabb_xy":[[-0.2720146084147449,0.5414444887367931],[-0.2531796592750194,0.5602768430122311]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[-0.4375009203945855,0.9453628173202353,0.71338606911949],"aabb_xy":[[-0.47500092068676025,0.9413213419196316],[-0.4000009201024106,0.9494042927208388]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[0.22610082790445096,-1.9436932997608516,0.71338606911949],"aabb_xy":[[0.1761275339011905,-1.9936933003153987],[0.2760741219077114,-1.893693299206304]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_19","position":[0.20442336387221538,1.1750058058906596,0.71338606911949],"aabb_xy":[[0.15432589989114176,1.1110058053808478],[0.254520827853289,1.2390058064004714]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[0.5371104828002122,-2.47934532268684,0.71338606911949],"aabb_xy":[[0.5224670772461792,-2.494004042343624],[0.5517538883542452,-2.4646866030300556]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_21","position":[-0.4589764663235698,0.09674820819086838,0.71338606911949],"aabb_xy":[[-0.4788675062039101,0.08409239690617155],[-0.4390854264432296,0.10940401947556525]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.13657982114714795,1.073581773863626,0.71338606911949],"aabb_xy":[[-0.22657982348116698,0.9960994192785133],[-0.046579818813128865,1.1510641284487386]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[0.39791984729838026,-1.141549288006237,0.71338606911949],"aabb_xy":[[0.3634574999002384,-1.1760431704040595],[0.432382194696522,-1.107055405608414]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6888931480825724,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5133.png","name":"5133"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5133.png","name":"5133"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3660.png","name":"3660"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4204.png","name":"4204"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4177.png","name":"4177"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6470.png","name":"6470"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":643.4960692409376,"rotation_z_degrees":287.00299250904357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01095665492036249,-0.013889094530424861,0.0013636706270081511]},{"name":"camera_2","offset_m":[0.007681182759746458,-0.013156378437000491,-0.009548098616684845]},{"name":"camera_3","offset_m":[-0.01601934008708796,-0.0017818875368149287,-0.004046741404271352]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012485135289814838,-0.0004981679191507608,0.0014945182050885072],"end_effector_yaw_offset_degrees":-0.7011613847875733},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002966583449471546,5.809717651757704e-05,-0.0009567982320724706],"end_effector_yaw_offset_degrees":0.4013815788716373},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013399923635087681,-0.00177892173563404,0.0014269296722556769],"end_effector_yaw_offset_degrees":0.08137164277328424},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009607701447039742,-0.0016562458888068684,0.0012202212683493372],"end_effector_yaw_offset_degrees":-0.8081038537845653}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003355515213688074,0.0038759236828305047],"position_m":[0.1408355515213688,0.2385759236828305,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-7.248151476077838e-06,-0.00027159612310800104],"position_m":[0.24909275184852392,-0.383671596123108,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004057903466541785,0.0016002255288350246],"position_m":[0.2176579034665418,-0.05209977447116497,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004675741881767939,-0.004273180842042386],"position_m":[0.3489242581182321,0.11292681915795762,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f2e6f0b4b2d4cb9a28aab7d52429bc018af2917c85c1bea718449941e0c96029","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0092.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5133/tex_ceiling_textures_6470/tex_floor_textures_4177/tex_table_textures_3660/tex_wall_textures_4204","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7002567250043849173,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7002567250043849173,"visual_seed":7002567250043849173,"scene_id":"lab_003","finished_at":"2026-09-05T07:28:02"}
+{"episode_id":"ep_000092","started_at":"2026-09-05T07:28:07","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[0.16415055165714465,-1.7045145090774834,0.71338606911949],"aabb_xy":[[0.12665055136496986,-1.708555984478087],[0.2016505519493195,-1.70047303367688]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[0.6153325180839324,0.010205285220870497,0.71338606911949],"aabb_xy":[[0.5655157386190978,-0.03979471326343287],[0.6651492975487673,0.06020528370517386]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[0.6794843155648806,1.1198267605615904,0.71338606911949],"aabb_xy":[[0.6643121462832473,1.104657903633387],[0.694656484846514,1.1349956174897937]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[0.032961707940134644,-1.5960812159493818,0.71338606911949],"aabb_xy":[[-0.031038293737862717,-1.6445986074286958],[0.096961709618132,-1.5475638244700674]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.1699573162764454,-1.2664197783310198,0.71338606911949],"aabb_xy":[[-0.21993612478676125,-1.3164197783367386],[-0.11997850776612948,-1.216419778325301]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.3256665302225016,0.25006987154829874,0.71338606911949],"aabb_xy":[[-0.37279590922433714,0.18606987050389673],[-0.2785371512206658,0.31406987259270064]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[0.35102411592984617,-0.6844480592577102,0.71338606911949],"aabb_xy":[[0.3223747835694299,-0.7130936185347859],[0.37967344829026234,-0.6558024999806343]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.15331718854417742,-0.16057398057562278,0.71338606911949],"aabb_xy":[[-0.2333171890143934,-0.16888468818997113],[-0.0733171880739615,-0.15226327296127437]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[-0.5212684814880493,1.4663921817198413,0.71338606911949],"aabb_xy":[[-0.5254043378207495,1.4288921822754845],[-0.5171326251553491,1.5038921811641985]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.6229908203151453,-2.5405566451298243,0.71338606911949],"aabb_xy":[[0.6189126624080956,-2.544637625378088],[0.627068978222195,-2.5364756648815607]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[-0.3918839418969699,1.5662569113971503,0.71338606911949],"aabb_xy":[[-0.4468839410735594,1.5112672366221924],[-0.3368839427203804,1.6212465861721077]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.5272769598684643,0.06688459133010305,0.71338606911949],"aabb_xy":[[-0.5416113849946277,0.054824375775564205],[-0.5129425347423008,0.0789448068846419]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.12698058309070293,-0.2635310267957034,0.71338606911949],"aabb_xy":[[-0.13301759609136768,-0.26955772786465165],[-0.12094357009003823,-0.25750432572675525]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_13","position":[-0.20126966603671015,-0.7582332000365497,0.71338606911949],"aabb_xy":[[-0.2912696657598843,-0.7813065525717294],[-0.11126966631353595,-0.7351598475013698]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[-0.6373552143378084,-2.3130185010301902,0.71338606911949],"aabb_xy":[[-0.6445989803840538,-2.3930184992337926],[-0.6301114482915632,-2.233018502826588]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.6542300028435681,-1.656726377823381,0.71338606911949],"aabb_xy":[[0.6433895246170531,-1.6739126591140294],[0.6650704810700829,-1.639540096532732]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[0.10825521184978959,-2.4829743099865773,0.71338606911949],"aabb_xy":[[0.028255214886750424,-2.5600499516303503],[0.18825520881282876,-2.4058986683428034]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.5723008108126095,-0.49075772012715513,0.71338606911949],"aabb_xy":[[0.5642574508866542,-0.5757577212225216],[0.5803441707385646,-0.4057577190317887]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[0.16966894844697955,-2.3288575809920524,0.71338606911949],"aabb_xy":[[0.16335684891064114,-2.334624520245271],[0.175981047983318,-2.3230906417388337]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.3178834642622601,0.531497443005891,0.71338606911949],"aabb_xy":[[0.27569905010142937,0.46749744272867977],[0.36006787842309085,0.5954974432831022]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.6111573142264499,1.5376065677849797,0.71338606911949],"aabb_xy":[[0.553526845339179,1.477606568858269],[0.6687877831137207,1.5976065667116899]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[0.2045007594088485,-1.2690519869206147,0.71338606911949],"aabb_xy":[[0.18739868145048033,-1.2861587924518845],[0.22160283736721664,-1.251945181389345]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_22","position":[-0.2684262372818362,-1.3734602016645554,0.71338606911949],"aabb_xy":[[-0.2862953450362916,-1.3872931096417664],[-0.25055712952738063,-1.3596272936873444]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[0.23189078783367933,1.0624548537455212,0.71338606911949],"aabb_xy":[[0.1819177223011639,1.0124548539329885],[0.28186385336619485,1.1124548535580543]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.04686189545234132,-0.7824234173277271,0.71338606911949],"aabb_xy":[[-0.06935831688620542,-0.8049234171344746],[-0.024365474018477218,-0.7599234175209797]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_25","position":[-0.022165461210013726,0.3980210049582822,0.71338606911949],"aabb_xy":[[-0.0270090559712437,0.39316935247929813],[-0.01732186644878375,0.40287265743726636]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[0.653604493822671,-2.1397067883179153,0.71338606911949],"aabb_xy":[[0.6463221774460072,-2.2297067919274234],[0.6608868101993345,-2.0497067847084054]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[0.2480507546295525,0.7515003876323423,0.71338606911949],"aabb_xy":[[0.23025724769463604,0.7337006420365446],[0.26584426156446894,0.76930013322814]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[0.3412817862790405,0.8897959790714078,0.71338606911949],"aabb_xy":[[0.3307143066209415,0.8792509489583993],[0.3518492659371395,0.9003410091844164]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6925720955497033,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9400.png","name":"9400"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9400.png","name":"9400"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9060.png","name":"9060"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1590.png","name":"1590"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8418.png","name":"8418"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8983.png","name":"8983"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":718.1327671014158,"rotation_z_degrees":322.36542392190125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005670860369170572,0.0016626515007050029,0.010478617647264935]},{"name":"camera_2","offset_m":[-0.012802575486051767,-0.004717565902132143,0.014917242840979731]},{"name":"camera_3","offset_m":[-0.012166274999374385,-0.009167526414582872,0.002132141299056124]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000167028328126683,-0.0006566642369207169,-0.00021516920892776384],"end_effector_yaw_offset_degrees":-0.7194054630159992},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018908218086312431,-0.0011456397322461885,-0.00019555203601653837],"end_effector_yaw_offset_degrees":0.09207969578863606},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00142537476248419,0.00017163273801275823,0.0015797314878158836],"end_effector_yaw_offset_degrees":0.7690051040747843},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009416249679661277,-0.00196695735101118,0.00021347956651315185],"end_effector_yaw_offset_degrees":-0.1816681079758924}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002371760785269063,-0.004400597624046597],"position_m":[0.1428717607852691,0.2302994023759534,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002150606555040609,-0.003655885138514542],"position_m":[0.2512506065550406,-0.3870558851385146,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004643678888034066,-0.0005852727548713568],"position_m":[0.2182436788880341,-0.054285272754871355,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017772155340062346,0.003909505351541936],"position_m":[0.3518227844659938,0.12110950535154194,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"df136ac19b76ed88de0fe957f71c5398a19ee30fedc0a511560a9f26284f685c","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9400/tex_ceiling_textures_8983/tex_floor_textures_8418/tex_table_textures_9060/tex_wall_textures_1590","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5225598860245240455,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5225598860245240455,"visual_seed":5225598860245240455,"scene_id":"lab_003","finished_at":"2026-09-05T07:32:02"}
+{"episode_id":"ep_000093","started_at":"2026-09-05T07:32:07","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[0.45959230579941646,-0.8944737980939259,0.71338606911949],"aabb_xy":[[0.4476595714375884,-0.9068559509017854],[0.4715250401612445,-0.8820916452860667]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[-0.02298946876658403,0.8158098935862146,0.71338606911949],"aabb_xy":[[-0.11298947110060309,0.738327539001102],[0.06701053356743503,0.8932922481713274]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.6367456207024089,-0.05496924880446574,0.71338606911949],"aabb_xy":[[-0.642203566339429,-0.13496925211212485],[-0.6312876750653889,0.02503075450319337]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[0.6149407176502064,-2.492520686572639,0.71338606911949],"aabb_xy":[[0.5649564819420292,-2.5425206853861346],[0.6649249533583836,-2.4425206877591434]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[0.0590319140108827,-1.318544174456398,0.71338606911949],"aabb_xy":[[0.00904896382340335,-1.368544174098958],[0.10901486419836201,-1.268544174813837]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[-0.3849733525676975,-1.8429245647719936,0.71338606911949],"aabb_xy":[[-0.4224733540833292,-1.8541513377881387],[-0.3474733510520658,-1.8316977917558486]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[-0.30225811627495264,-2.5113674322107276,0.71338606911949],"aabb_xy":[[-0.3872581149670273,-2.543353295605606],[-0.217258117582878,-2.4793815688158483]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_7","position":[-0.41408229464765633,0.728529092804191,0.71338606911949],"aabb_xy":[[-0.48408229803921826,0.6932133191007601],[-0.3440822912560943,0.7638448665076218]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.6301588828942234,-1.902403143857214,0.71338606911949],"aabb_xy":[[-0.6500499227745637,-1.9150589551419113],[-0.6102678430138833,-1.8897473325725176]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[0.20408299139307085,-2.5196611829402222,0.71338606911949],"aabb_xy":[[0.19161563328333525,-2.5321265075735453],[0.21655034950280655,-2.5071958583068983]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[0.3971285486981839,1.618032019387417,0.71338606911949],"aabb_xy":[[0.31712854726805667,1.5385148643748074],[0.47712855012831107,1.6975491744000264]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[0.20886292982839283,1.5322761286073692,0.71338606911949],"aabb_xy":[[0.14486292791605052,1.476364979349359],[0.27286293174073517,1.5881872778653798]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.16823028651180283,-2.257870339089277,0.71338606911949],"aabb_xy":[[-0.19655999646034306,-2.2623310812829946],[-0.1399005765632626,-2.2534095968955605]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.5257980811773925,-1.2470759189579164,0.71338606911949],"aabb_xy":[[-0.5386699846783326,-1.327075919371752],[-0.5129261776764523,-1.1670759185440798]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.5881322257053142,-0.7267736440051316,0.71338606911949],"aabb_xy":[[-0.623761381605274,-0.7624063107619844],[-0.5525030698053545,-0.6911409772482785]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.5538361688554463,-0.03646093889682467,0.71338606911949],"aabb_xy":[[0.5179226644304568,-0.0723744471135793],[0.589749673280436,-0.0005474306800700435]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[0.38415464591934745,1.114166818167932,0.71338606911949],"aabb_xy":[[0.3709237003846661,1.1009393991459324],[0.3973855914540287,1.1273942371899313]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.6370175012016583,1.1325066023300003,0.71338606911949],"aabb_xy":[[-0.671479979214746,1.1258429251470776],[-0.6025550231885705,1.139170279512923]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.20132390166905084,-2.009519654040397,0.71338606911949],"aabb_xy":[[-0.2388239028538436,-2.0139378767364566],[-0.16382390048425802,-2.0051014313443356]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.39837677979290104,0.9114036677209376,0.71338606911949],"aabb_xy":[[-0.4483767784388222,0.8614841240614751],[-0.3483767811469798,0.9613232113803999]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[0.5271203335355568,0.9343729651520483,0.71338606911949],"aabb_xy":[[0.5052116513962057,0.9124722983319575],[0.5490290156749078,0.956273631972139]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.45073980260555335,-1.2337958816994465,0.71338606911949],"aabb_xy":[[0.37073980233194637,-1.306745429525163],[0.5307398028791603,-1.1608463338737296]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[-0.4434945999022931,-1.7594309791543266,0.71338606911949],"aabb_xy":[[-0.4498066994386316,-1.7651979184075455],[-0.43718250036595474,-1.7536640399011076]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_23","position":[0.15760334737701942,1.2785657514328062,0.71338606911949],"aabb_xy":[[0.07760334997342598,1.1985731802346231],[0.23760334478061282,1.3585583226309887]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[0.283853067368673,0.6906911192468841,0.71338606911949],"aabb_xy":[[0.2668429700786223,0.67455663074861],[0.3008631646587236,0.7068256077451579]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[-0.4822670606092515,-0.8842908647334555,0.71338606911949],"aabb_xy":[[-0.5047661963354784,-0.9067908655117185],[-0.4597679248830245,-0.8617908639551926]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[0.00533709416978001,1.5264408339922757,0.71338606911949],"aabb_xy":[[-0.012338536418818321,1.5087606177128727],[0.02301272475837834,1.5441210502716782]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[0.6497594367643418,0.6556321172276247,0.71338606911949],"aabb_xy":[[0.5897594361683256,0.6008196446824012],[0.709759437360358,0.7104445897728482]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_28","position":[0.5347697562907174,-2.164748129813945,0.71338606911949],"aabb_xy":[[0.4797775056552065,-2.2197481315572576],[0.5897620069262284,-2.109748128070632]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_29","position":[-0.5958597647975616,-2.459440955948576,0.71338606911949],"aabb_xy":[[-0.6196959824381668,-2.549440956757063],[-0.5720235471569567,-2.36944095514009]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_30","position":[-0.5992142069350637,-1.7640380691883362,0.71338606911949],"aabb_xy":[[-0.6692142033450252,-1.7844760048400177],[-0.5292142105251016,-1.7436001335366542]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_31","position":[0.5353354503987635,0.23690304665539008,0.71338606911949],"aabb_xy":[[0.5015598912080704,0.22286455144222508],[0.5691110095894564,0.2509415418685551]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_32","position":[0.3399606605059289,-0.7782660766361971,0.71338606911949],"aabb_xy":[[0.2699606583744993,-0.8010280422618926],[0.40996066263735836,-0.7555041110105013]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_33","position":[-0.28700163498931397,1.625794609889192,0.71338606911949],"aabb_xy":[[-0.3370016363502012,1.5758167053137764],[-0.23700163362842677,1.6757725144646076]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_34","position":[0.4041362126755734,1.2113930266267858,0.71338606911949],"aabb_xy":[[0.39478920509327825,1.1970894044091418],[0.4134832202578687,1.2256966488444299]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.691194721893972,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5758.png","name":"5758"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5758.png","name":"5758"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1499.png","name":"1499"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2266.png","name":"2266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8796.png","name":"8796"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/916.png","name":"916"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":832.4041861669268,"rotation_z_degrees":243.49897093142354,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00020699893930437377,0.012423814011152171,0.01900301969264762]},{"name":"camera_2","offset_m":[0.017738221761426493,0.01187768086467286,-0.0024629595456953993]},{"name":"camera_3","offset_m":[-0.010718546638837121,-0.00204296572808986,0.0003711529882682342]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00016066556194300812,-0.0016927942968107108,0.0017839307410765048],"end_effector_yaw_offset_degrees":0.474816486518187},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014844119772633234,-0.0018081602475739228,0.0011708991509149893],"end_effector_yaw_offset_degrees":0.49787263975072893},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008963668823999235,-0.0002420314215691795,-0.00014834098526340738],"end_effector_yaw_offset_degrees":-0.7555616660796347},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.522558107026628e-05,0.0019626689860849245,-0.0008130350337489393],"end_effector_yaw_offset_degrees":-0.6141765470686118}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005042729027361645,0.003172370199139663],"position_m":[0.13999572709726385,0.23787237019913965,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003013820453698403,0.00010625570295493512],"position_m":[0.2521138204536984,-0.3832937442970451,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0045430516029256905,0.0025432329989117184],"position_m":[0.2181430516029257,-0.05115676700108828,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004501185906637467,0.0018576485608811496],"position_m":[0.3581011859066375,0.11905764856088115,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d04605fa9b1018227aed8b9430e5da69f48b9e2e65d9431659bd462585f575da","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5758/tex_ceiling_textures_916/tex_floor_textures_8796/tex_table_textures_1499/tex_wall_textures_2266","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6715844480007798503,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6715844480007798503,"visual_seed":6715844480007798503,"scene_id":"lab_003","finished_at":"2026-09-05T07:36:03"}
+{"episode_id":"ep_000094","started_at":"2026-09-05T07:36:07","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_0","position":[-0.041869562655041825,0.6231720041711362,0.71338606911949],"aabb_xy":[[-0.06436956316708242,0.6006801458057377],[-0.01936956214300123,0.6456638625365344]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[-0.22467739538432996,0.6584529595995301,0.71338606911949],"aabb_xy":[[-0.2696773968505588,0.6134531027380494],[-0.1796773939181011,0.7034528164610108]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[-0.14678308235806725,-1.8365277727507399,0.71338606911949],"aabb_xy":[[-0.1703682058219621,-1.9015277749961716],[-0.1231979588941724,-1.771527770505308]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[0.6116289496390321,0.8929159835106995,0.71338606911949],"aabb_xy":[[0.5771666022408901,0.8584221011128765],[0.6460912970371737,0.9274098659085219]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[-0.6462766605313734,-1.8570481500700162,0.71338606911949],"aabb_xy":[[-0.6637766607764228,-1.874547937909583],[-0.6287766602863241,-1.8395483622304494]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.09697912430154543,-2.219821289637163,0.71338606911949],"aabb_xy":[[0.0909421113008807,-2.2258479907061117],[0.10301613730221017,-2.2137945885682155]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[-0.033083632872570434,-2.4372074990529278,0.71338606911949],"aabb_xy":[[-0.08318109685364405,-2.5012074995627396],[0.017013831108503186,-2.373207498543116]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.198466329971344,-2.3177390053842024,0.71338606911949],"aabb_xy":[[-0.22711566233176023,-2.3463845646612778],[-0.16981699761092778,-2.289093446107126]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.49164154791985326,-2.1129775832300326,0.71338606911949],"aabb_xy":[[0.43164154627693146,-2.164977732521977],[0.5516415495627751,-2.0609774339380884]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[0.2675200131004323,-0.9469040251404721,0.71338606911949],"aabb_xy":[[0.20252001214330503,-0.9988522370741778],[0.33252001405755943,-0.8949558132067666]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[-0.5803951642392766,0.746778051088623,0.71338606911949],"aabb_xy":[[-0.6303951659007713,0.6967796088329201],[-0.5303951625777817,0.7967764933443255]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[-0.47955711880723584,-0.34067114823172195,0.71338606911949],"aabb_xy":[[-0.5014658009465869,-0.36257181505181263],[-0.45764843666788474,-0.31877048141163117]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.3412614022246579,1.4470028757217377,0.71338606911949],"aabb_xy":[[-0.3782955116527176,1.412625668388028],[-0.3042272927965981,1.4813800830554469]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.6814139058626609,1.555359591203557,0.71338606911949],"aabb_xy":[[0.6721202876255103,1.5178595927154228],[0.6907075240998115,1.5928595896916906]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[0.32577122228716515,1.3350940069656168,0.71338606911949],"aabb_xy":[[0.2607712244055174,1.2839703432590759],[0.39077122016881305,1.3862176706721576]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.1715469942272997,-1.9578239824236126,0.71338606911949],"aabb_xy":[[-0.25154699220808474,-1.9654255233854643],[-0.09154699624651465,-1.9502224414617604]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[0.026106012118375488,0.9012245710619835,0.71338606911949],"aabb_xy":[[-0.03789399010203154,0.8568514869366951],[0.09010601433878251,0.9455976551872717]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.17019265686567775,-0.9926131497578974,0.71338606911949],"aabb_xy":[[-0.255192655283101,-1.0774874452201826],[-0.08519265844825452,-0.9077388542956125]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[0.5850602683723523,-0.03286040573704829,0.71338606911949],"aabb_xy":[[0.5674819661834054,-0.050434895311153194],[0.6026385705612991,-0.015285916162943392]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[-0.47547123675503616,1.0992440095171294,0.71338606911949],"aabb_xy":[[-0.510471236731532,1.0897793934695128],[-0.4404712367785404,1.108708625564746]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.5003743673228878,-2.3342727385729467,0.71338606911949],"aabb_xy":[[0.46922744847930453,-2.4042727372597534],[0.5315212861664708,-2.264272739886139]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.004617418423379593,1.4942386973047639,0.71338606911949],"aabb_xy":[[-0.03460908115724992,1.4642386979679634],[0.025374244310490734,1.5242386966415644]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[-0.14726863554917669,1.7686163488674933,0.71338606911949],"aabb_xy":[[-0.16976863555932498,1.7545201292278902],[-0.1247686355390284,1.7827125685070968]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[-0.10960894329155202,-1.4749329199687091,0.71338606911949],"aabb_xy":[[-0.1596020554007439,-1.5249329206429052],[-0.059615831182360135,-1.4249329192945137]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.06523448290188472,0.73963035738204,0.71338606911949],"aabb_xy":[[-0.004765520489677265,0.704314583678609],[0.13523448629344667,0.7749461310854707]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[-0.475967996078845,-0.6893263094986288,0.71338606911949],"aabb_xy":[[-0.5659679997557632,-0.7507587160757329],[-0.3859679924019268,-0.6278939029215242]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[0.5329452796457608,-0.29868681773351335,0.71338606911949],"aabb_xy":[[0.51105553205682,-0.3886868150227625],[0.5548350272347016,-0.20868682044426426]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_27","position":[0.6364885336708117,-1.4403940012643852,0.71338606911949],"aabb_xy":[[0.5664885315393821,-1.4631559668900807],[0.7064885358022411,-1.4176320356386893]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_28","position":[0.6358947964752757,0.7108972769869468,0.71338606911949],"aabb_xy":[[0.5758947966287089,0.654078654793908],[0.6958947963218425,0.7677158991799854]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_29","position":[-0.5726483496542967,-1.0754964447786117,0.71338606911949],"aabb_xy":[[-0.6526421732328549,-1.1554964473714535],[-0.49265452607573845,-0.9954964421857704]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_30","position":[0.1993174705783186,1.7298362800588838,0.71338606911949],"aabb_xy":[[0.15403885569716932,1.6658362807107001],[0.24459608545946784,1.7938362794070675]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_31","position":[0.27840541001470287,-0.5975785535999345,0.71338606911949],"aabb_xy":[[0.22341315937919198,-0.6525785553432473],[0.33339766065021387,-0.5425785518566217]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_32","position":[-0.6359624778269084,-0.09865704669289155,0.71338606911949],"aabb_xy":[[-0.6400406357339581,-0.10273802694115484],[-0.6318843199198587,-0.09457606644462822]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_33","position":[0.6103433891163086,1.14629254140997,0.71338606911949],"aabb_xy":[[0.5453433864785151,1.094812942710523],[0.6753433917541021,1.197772140109417]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_34","position":[-0.4847409850567949,0.9691243571158341,0.71338606911949],"aabb_xy":[[-0.5024166156453932,0.9514441408364311],[-0.4670653544681965,0.9868045733952366]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921190754541258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6067.png","name":"6067"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1375.png","name":"1375"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8775.png","name":"8775"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/962.png","name":"962"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":500.1513850878351,"rotation_z_degrees":171.67550924279732,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016955784049113957,-0.01231132327586313,0.006919521514314818]},{"name":"camera_2","offset_m":[-0.002129378683929907,0.013366568420814729,0.010432188658215828]},{"name":"camera_3","offset_m":[0.013646011085127457,-0.014696028507791371,0.00831697539379737]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006866949190851629,0.001684850554779575,-0.0013649876894919334],"end_effector_yaw_offset_degrees":0.3872766747770491},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001996604573479205,0.0007584180375634613,-0.0013013647002787594],"end_effector_yaw_offset_degrees":-0.9636155266304429},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00014850964801429046,-0.0016710166615657488,-0.001330088943671579],"end_effector_yaw_offset_degrees":0.16975247314631203},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009770651687157903,0.0015016409892390356,-0.00025623021961773554],"end_effector_yaw_offset_degrees":0.47030781695856905}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023067447349361583,-0.004405078988905766],"position_m":[0.13819325526506385,0.23029492101109422,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003345823358735984,-0.0010615913849468155],"position_m":[0.252445823358736,-0.38446159138494684,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011893044690953671,0.00024217559821964815],"position_m":[0.2147893044690954,-0.053457824401780346,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016744216038924757,0.0047066293435519034],"position_m":[0.3552744216038925,0.1219066293435519,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bfffe265a733cc36497265d6cabec17122d946f000180cd15b05d389cc974013","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4756/tex_ceiling_textures_962/tex_floor_textures_8775/tex_table_textures_6067/tex_wall_textures_1375","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1531396267052702873,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1531396267052702873,"visual_seed":1531396267052702873,"scene_id":"lab_003","finished_at":"2026-09-05T07:40:03"}
+{"episode_id":"ep_000095","started_at":"2026-09-05T07:40:07","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.5666894262267776,-0.0694685956776584,0.71338606911949],"aabb_xy":[[0.511696214889641,-0.12446859601645202],[0.6216826375639145,-0.014468595338864802]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[-0.2974770798703702,-0.9999024685267934,0.71338606911949],"aabb_xy":[[-0.3193857620097212,-1.0218031353468842],[-0.2755683977310191,-0.9780018017067027]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[0.4622931289351975,-0.8083912948404928,0.71338606911949],"aabb_xy":[[0.4504210459236963,-0.893391294534143],[0.47416521194669853,-0.7233912951468423]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.5527012059807672,-2.2210275297816504,0.71338606911949],"aabb_xy":[[0.4727012027167541,-2.2345875620905638],[0.6327012092447803,-2.207467497472737]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[-0.06191127034921706,0.9315440147392535,0.71338606911949],"aabb_xy":[[-0.11172804981405182,0.88154401625495],[-0.012094490884382303,0.9815440132235568]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.657855735614512,-2.122851644397363,0.71338606911949],"aabb_xy":[[-0.6639503635026304,-2.131421038949032],[-0.6517611077263937,-2.1142822498456946]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[-0.22098685643550975,1.1272411269706906,0.71338606911949],"aabb_xy":[[-0.28598685754145303,1.1022757539025623],[-0.15598685532956647,1.1522065000388189]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.21282933508023782,0.46538538658268935,0.71338606911949],"aabb_xy":[[-0.2233968147383368,0.45484035646968074],[-0.2022618554221388,0.47593041669569786]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[-0.6413444050000413,0.41073947620274875,0.71338606911949],"aabb_xy":[[-0.6651806226406465,0.3207394753942623],[-0.6175081873594364,0.5007394770112352]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[-0.05956375713396034,-0.39359016743491315,0.71338606911949],"aabb_xy":[[-0.08247947001901024,-0.41649446457133676],[-0.03664804424891043,-0.3706858702984897]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.0837055266116381,-1.5631524847331077,0.71338606911949],"aabb_xy":[[-0.17370553028855626,-1.6245848913102117],[0.006294477065280078,-1.501720078156003]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[-0.404011019370604,-1.2587718874465996,0.71338606911949],"aabb_xy":[[-0.4415110191876375,-1.2634100987577415],[-0.3665110195535704,-1.2541336761354578]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[0.4277081334045749,-0.6268930354940672,0.71338606911949],"aabb_xy":[[0.37772932489425903,-0.676893035499786],[0.4776869419148908,-0.5768930354883484]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[0.6079747632818466,0.9240330324130746,0.71338606911949],"aabb_xy":[[0.5279747661222713,0.9124854314552574],[0.6879747604414219,0.9355806333708915]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.6020026353067262,1.1439145835028466,0.71338606911949],"aabb_xy":[[-0.637002633576846,1.1368404558078584],[-0.5670026370366061,1.1509887111978347]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[0.027684182355156794,-1.9191927897234549,0.71338606911949],"aabb_xy":[[0.013349757228993345,-1.9312530052779935],[0.04201860748132025,-1.9071325741689158]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.545638937092483,-1.570793809865453,0.71338606911949],"aabb_xy":[[-0.6156389389012284,-1.5921475786296404],[-0.4756389352837376,-1.5494400411012657]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.3149691253113761,-0.25223595252801667,0.71338606911949],"aabb_xy":[[-0.3243865998812388,-0.2616521296657357],[-0.3055516507415133,-0.24281977539029764]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[-0.07292003420562843,0.3121790242792679,0.71338606911949],"aabb_xy":[[-0.12292003556651564,0.2622011197038523],[-0.022920032844741197,0.36215692885468354]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[-0.5944444440936455,-0.005706023471308885,0.71338606911949],"aabb_xy":[[-0.684131520401761,-0.09570602372575943],[-0.50475736778553,0.08429397678314166]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.07716588677288638,-0.5831801913043049,0.71338606911949],"aabb_xy":[[-0.10216588604484865,-0.5995255549004672],[-0.052165887500924095,-0.5668348277081425]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.5225539954176657,0.43629571546065815,0.71338606911949],"aabb_xy":[[-0.5281356670517944,0.4237957156428826],[-0.5169723237835367,0.4487957152784336]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[0.1590806714395201,1.638444348808315,0.71338606911949],"aabb_xy":[[0.10408519361886068,1.5834443473744078],[0.21407614926017945,1.6934443502422216]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930332630354019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6273.png","name":"6273"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6273.png","name":"6273"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7663.png","name":"7663"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9846.png","name":"9846"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6848.png","name":"6848"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1309.png","name":"1309"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":753.7347279354622,"rotation_z_degrees":353.6825281045849,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008229012104931665,0.01086807616682484,-0.01665027981461464]},{"name":"camera_2","offset_m":[-0.011280940880173649,-0.009374617594584463,0.01324711319161995]},{"name":"camera_3","offset_m":[0.019590024742201156,-0.015110296015654345,-0.012210984914865747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011590447003088796,0.00010512924741180874,-0.0011177911703668044],"end_effector_yaw_offset_degrees":-0.5796193458962147},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00016824535154976242,0.00039995352772376506,0.0016002210498417004],"end_effector_yaw_offset_degrees":0.6780480112960676},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001592230432028269,-0.0008222275284952639,0.0017784382125436747],"end_effector_yaw_offset_degrees":0.13607722235261188},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005286806035659942,0.0013885081962370914,-0.0005323495742521748],"end_effector_yaw_offset_degrees":-0.7706265919111004}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002814365730155277,0.0015861300976252948],"position_m":[0.13768563426984473,0.23628613009762528,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004406081943048277,-0.0011198301948241274],"position_m":[0.25350608194304824,-0.38451983019482416,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027584079362208305,-0.00032551481908449625],"position_m":[0.21084159206377917,-0.05402551481908449,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041514162651935,-0.0005711177885970422],"position_m":[0.34944858373480653,0.11662888221140295,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"254b523746ea152c9cf7fda2c3e4f13591c77eda0b4bf1a79ec9a3e35b514b54","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6273/tex_ceiling_textures_1309/tex_floor_textures_6848/tex_table_textures_7663/tex_wall_textures_9846","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5538057903932156084,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5538057903932156084,"visual_seed":5538057903932156084,"scene_id":"lab_003","finished_at":"2026-09-05T07:44:02"}
+{"episode_id":"ep_000096","started_at":"2026-09-05T07:44:06","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.1677697641318049,-1.5325838705787491,0.71338606911949],"aabb_xy":[[-0.24776976109484405,-1.6096595122225226],[-0.08776976716876572,-1.4555082289349757]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.11788425024197768,-0.59847946454555,0.71338606911949],"aabb_xy":[[-0.12419634977831615,-0.6042464037987689],[-0.11157215070563928,-0.5927125252923313]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[0.506800594412208,-1.5780147768826445,0.71338606911949],"aabb_xy":[[0.48180059447969015,-1.584897445103568],[0.5318005943447259,-1.5711321086617214]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[0.5906195261160048,-0.13805921788146502,0.71338606911949],"aabb_xy":[[0.5496015827296339,-0.18805921851242235],[0.6316374695023756,-0.0880592172505077]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[0.548683946593834,0.7263473712731154,0.71338606911949],"aabb_xy":[[0.4586839498582238,0.6731639079558207],[0.6386839433294442,0.7795308345904097]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.5960450581280177,-1.0751147636170666,0.71338606911949],"aabb_xy":[[0.57354505860431,-1.0976107110676872],[0.6185450576517248,-1.0526188161664456]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[-0.39358335402071026,0.9448407431788421,0.71338606911949],"aabb_xy":[[-0.4735833554508374,0.8653235881662327],[-0.313583352590583,1.0243578981914516]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[-0.11893805151928549,-0.27077811735333857,0.71338606911949],"aabb_xy":[[-0.14082779910822626,-0.36077811464258763],[-0.09704830393034468,-0.18077812006408941]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[-0.11998086611758796,-2.3177344523256056,0.71338606911949],"aabb_xy":[[-0.18498086711808848,-2.3685208174802805],[-0.05498086511708744,-2.2669480871709307]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[-0.49198731507985816,0.0212140709471198,0.71338606911949],"aabb_xy":[[-0.49662243023209146,0.01734673586997115],[-0.48735219992762474,0.025081406024268445]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[-0.6251739741068799,0.11386107878713769,0.71338606911949],"aabb_xy":[[-0.6751739754677671,0.06388317421172207],[-0.5751739727459927,0.16383898336255331]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[-0.33365075115457626,-0.8060325291007688,0.71338606911949],"aabb_xy":[[-0.3429443693917268,-0.8435325275889025],[-0.32435713291742563,-0.7685325306126347]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[0.10525759261469658,-2.37231849839669,0.71338606911949],"aabb_xy":[[0.06962843671473684,-2.407951165153543],[0.14088674851465632,-2.336685831639837]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[-0.5092977015023588,0.42767656755917294,0.71338606911949],"aabb_xy":[[-0.5442977006951769,0.4167095215615103],[-0.4742977023095404,0.43864361355683557]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.20729237325867306,1.302622940983996,0.71338606911949],"aabb_xy":[[-0.22516148101312855,1.2887900330067847],[-0.18942326550421756,1.3164558489612068]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_15","position":[-0.21165977361368798,-1.7785649874294334,0.71338606911949],"aabb_xy":[[-0.2616597746328233,-1.8150312031672617],[-0.16165977259455272,-1.7420987716916059]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[-0.5451298383288355,-0.0911305517813843,0.71338606911949],"aabb_xy":[[-0.6151298409654218,-0.1112354167772498],[-0.4751298356922491,-0.0710256867855188]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[0.035730576981211404,1.646725191327452,0.71338606911949],"aabb_xy":[[-0.011398802020624266,1.58272519028305],[0.08285995598304707,1.7107251923718538]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_18","position":[-0.34728356239826175,0.6791612512283423,0.71338606911949],"aabb_xy":[[-0.3697483323696668,0.6566612503494816],[-0.3248187924268566,0.7016612521072026]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[-0.3774771490581764,1.7182915973317825,0.71338606911949],"aabb_xy":[[-0.3847209151044218,1.63829159912818],[-0.37023338301193115,1.7982915955353846]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[-0.250637570591561,-1.6823823658024137,0.71338606911949],"aabb_xy":[[-0.2881375706971539,-1.6892045276553949],[-0.21313757048596801,-1.6755602039494326]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[0.20602673456793874,1.0089889488642032,0.71338606911949],"aabb_xy":[[0.14102673641201968,0.9826927043142908],[0.2710267327238578,1.0352851934141152]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[-0.45947114795423194,-1.2787319366374217,0.71338606911949],"aabb_xy":[[-0.48137983009358287,-1.3006326034575122],[-0.4375624658148808,-1.2568312698173307]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[0.2495917548558172,1.6410905362901125,0.71338606911949],"aabb_xy":[[0.2326810224194754,1.6276183306974976],[0.2665024872921589,1.654562741882727]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.5248768241510279,1.5654264496800088,0.71338606911949],"aabb_xy":[[-0.5888768263714349,1.5210533655547205],[-0.46087682193062085,1.609799533805297]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_25","position":[0.0524889775482652,-1.169022379775887,0.71338606911949],"aabb_xy":[[0.04835312121556501,-1.206522379220244],[0.0566248338809654,-1.13152238033153]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[0.358558234416535,-1.652204168626603,0.71338606911949],"aabb_xy":[[0.321058234244663,-1.6849049040095099],[0.3960582345884069,-1.6195034332436955]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[-0.534550595906949,0.7594351004050726,0.71338606911949],"aabb_xy":[[-0.5567231228835998,0.7372594332489494],[-0.5123780689302981,0.7816107675611956]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[0.46677373142873035,-0.8115645478311104,0.71338606911949],"aabb_xy":[[0.3767737328342604,-0.8278151341445313],[0.5567737300232003,-0.7953139615176893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889096809837042,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5530.png","name":"5530"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5530.png","name":"5530"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6963.png","name":"6963"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8210.png","name":"8210"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8869.png","name":"8869"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9399.png","name":"9399"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":756.3390654297439,"rotation_z_degrees":34.197543111068086,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00891332694473683,-0.018197858490449647,0.010289893723383566]},{"name":"camera_2","offset_m":[-0.0164093062977833,-0.01804706815616916,0.013746898211227213]},{"name":"camera_3","offset_m":[0.0019816378796642803,0.01106318347003472,-0.014578351893027306]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00015020679227482642,0.00048156491752333885,-0.0012585909481681611],"end_effector_yaw_offset_degrees":-0.8525920161517981},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013668779619876491,0.0005119579469992446,0.0016684209083553327],"end_effector_yaw_offset_degrees":-0.2656451501207264},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000467941666450377,0.0005601963697081775,-0.0008283608151424735],"end_effector_yaw_offset_degrees":-0.4461238200856139},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-3.774662685181998e-05,-0.0015945382602001032,-0.0015869998236184438],"end_effector_yaw_offset_degrees":-0.6560341942343131}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007541263092394916,0.002752566836968658],"position_m":[0.1412541263092395,0.23745256683696864,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031345437252589528,-0.004923871941496867],"position_m":[0.24596545627474103,-0.38832387194149687,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003229220736467254,-0.002732698760148593],"position_m":[0.21682922073646727,-0.05643269876014859,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016047931608786066,0.0012040068647455908],"position_m":[0.3552047931608786,0.11840400686474559,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3eb468ac565e4062880203feff30cc0fa74291aafdedee43c40e0027600b9618","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5530/tex_ceiling_textures_9399/tex_floor_textures_8869/tex_table_textures_6963/tex_wall_textures_8210","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2217923262349240028,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2217923262349240028,"visual_seed":2217923262349240028,"scene_id":"lab_003","finished_at":"2026-09-05T07:47:57"}
+{"episode_id":"ep_000097","started_at":"2026-09-05T07:48:01","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[0.6494115859873704,-0.07796581270251313,0.71338606911949],"aabb_xy":[[0.5854115826976621,-0.12130073170643073],[0.7134115892770784,-0.034630893698595504]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[-0.4681212888848037,-1.223536879756427,0.71338606911949],"aabb_xy":[[-0.5142063801395351,-1.2875368770089821],[-0.4220361976300723,-1.1595368825038719]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.3485647327051027,1.6967043763259526,0.71338606911949],"aabb_xy":[[0.25856473328673174,1.663328879481763],[0.4385647321234735,1.7300798731701423]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[0.028510078517884563,-2.059093390759631,0.71338606911949],"aabb_xy":[[-0.03548992077628366,-2.123079531128486],[0.09251007781205278,-1.9951072503907774]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.17394175207798035,-2.3150734264927166,0.71338606911949],"aabb_xy":[[0.09394174882013737,-2.3950699342847],[0.2539417553358233,-2.235076918700732]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[0.5183284145656826,0.007942950473111221,0.71338606911949],"aabb_xy":[[0.5127467429315536,-0.004557049344664276],[0.5239100861998113,0.020442950290886715]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[-0.5350633893657705,-1.9501368912246084,0.71338606911949],"aabb_xy":[[-0.6250633890889445,-1.9732102437597883],[-0.44506338964259623,-1.9270635386894286]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.12806937033641475,-0.9300942184568652,0.71338606911949],"aabb_xy":[[0.08306936887018591,-0.9750940753183461],[0.17306937180264362,-0.8850943615953848]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[-0.032893746318042094,-1.7035677233128141,0.71338606911949],"aabb_xy":[[-0.042187364555192675,-1.741067721800948],[-0.023600128080891514,-1.6660677248246802]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_9","position":[-0.062232848577233546,0.2348521988956227,0.71338606911949],"aabb_xy":[[-0.07139272752111014,0.2283209808520857],[-0.05307296963335695,0.2413834169391597]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[0.10142442832478527,1.0241692926346655,0.71338606911949],"aabb_xy":[[0.011424425990766193,0.9466869380495528],[0.19142443065880432,1.1016516472197782]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.548953581401525,-2.3601106474627587,0.71338606911949],"aabb_xy":[[0.5121030334645372,-2.3976106482857924],[0.5858041293385124,-2.322610646639725]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[0.24819891316604958,-1.5538782813017937,0.71338606911949],"aabb_xy":[[0.1681989162030104,-1.630953922945567],[0.32819891012908875,-1.47680263965802]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[0.4861379136286266,-0.5059513264490088,0.71338606911949],"aabb_xy":[[0.4636379131165859,-0.528443184814407],[0.5086379141406672,-0.4834594680836103]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.44567912463774495,-1.1128116225671145,0.71338606911949],"aabb_xy":[[0.42679474086923475,-1.1316975473474675],[0.46456350840625515,-1.093925697786762]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.3902128102064297,-0.8464522606169882,0.71338606911949],"aabb_xy":[[-0.3989267792563641,-0.8689522612761763],[-0.3814988411564951,-0.8239522599577999]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[-0.29019582695470536,-0.6748389558618411,0.71338606911949],"aabb_xy":[[-0.3751958253721286,-0.759713251324126],[-0.20519582853728213,-0.5899646603995561]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[-0.31130256030831266,1.5426121689327528,0.71338606911949],"aabb_xy":[[-0.33158686303171137,1.5223295437900437],[-0.29101825758491384,1.5628947940754614]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[-0.6564669603151582,-0.7639888795156105,0.71338606911949],"aabb_xy":[[-0.6645103202411133,-0.8489888806109768],[-0.648423600389203,-0.6789888784202439]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[0.32706068115016174,1.3046099904124433,0.71338606911949],"aabb_xy":[[0.321023668149497,1.2985832893434954],[0.33309769415082646,1.3106366914813916]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[0.3613696123386312,0.9046604255234025,0.71338606911949],"aabb_xy":[[0.2913696102072016,0.8818984598977068],[0.43136961447006067,0.9274223911490981]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[-0.2347825206994359,-0.273577701760515,0.71338606911949],"aabb_xy":[[-0.29878251928600835,-0.32058466516002365],[-0.17078252211286343,-0.22657073836100622]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.3777391232101921,-1.681191540984366,0.71338606911949],"aabb_xy":[[0.352739124044559,-1.6881437866897224],[0.4027391223758252,-1.6742392952790093]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_23","position":[0.42874405992600306,-1.3086530210105976,0.71338606911949],"aabb_xy":[[0.3587440581172576,-1.330006789774785],[0.4987440617347485,-1.2872992522464102]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[0.41238190451362433,1.4200036262008013,0.71338606911949],"aabb_xy":[[0.34838190722797563,1.3784969072479574],[0.4763819017992729,1.4615103451536453]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[-0.22590915698597586,0.7228694797048067,0.71338606911949],"aabb_xy":[[-0.23124673265198045,0.697869478775667],[-0.22057158131997132,0.7478694806339465]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[-0.5611454729730527,-0.059645194039143146,0.71338606911949],"aabb_xy":[[-0.6111404839325048,-0.10964519307473489],[-0.5111504620136007,-0.009645195003551427]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_27","position":[0.3644188059636926,-2.558238333063148,0.71338606911949],"aabb_xy":[[0.3269188052991138,-2.57392539106337],[0.40191880662827123,-2.5425512750629258]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_28","position":[0.603117203538637,0.4591909111779593,0.71338606911949],"aabb_xy":[[0.5391172011958353,0.4142500599338268],[0.6671172058814384,0.5041317624220918]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_29","position":[0.38975126107793434,-0.48124076584491693,0.71338606911949],"aabb_xy":[[0.3647512611454165,-0.48812343406584024],[0.4147512610104523,-0.4743580976239936]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_30","position":[-0.36112622389874816,-1.8868646725927327,0.71338606911949],"aabb_xy":[[-0.3786262241580849,-1.9009562147815058],[-0.3436262236394116,-1.8727731304039605]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_31","position":[0.2190254845685704,-0.6850530805355199,0.71338606911949],"aabb_xy":[[0.16403323393305946,-0.7400530822788328],[0.27401773520408135,-0.6300530787922073]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_32","position":[-0.3744148517034124,-1.6964104038617112,0.71338606911949],"aabb_xy":[[-0.3844965587819858,-1.7764104017538256],[-0.36433314462483884,-1.6164104059695963]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_33","position":[-0.6172844973782283,1.142685256124905,0.71338606911949],"aabb_xy":[[-0.6812845005968662,1.0959621442258967],[-0.5532844941595905,1.1894083680239134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883060547597195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5691.png","name":"5691"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5691.png","name":"5691"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/394.png","name":"394"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6170.png","name":"6170"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5605.png","name":"5605"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8589.png","name":"8589"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":752.8478100977619,"rotation_z_degrees":342.4722503228729,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00977151414589239,0.010249535361006212,0.013382340170011473]},{"name":"camera_2","offset_m":[0.008897407483359258,-0.013527755427496234,0.019736453552945548]},{"name":"camera_3","offset_m":[0.0013776645458815177,0.013543637380159585,-0.00784758284354993]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009429927277998852,0.0008434619950753691,-0.0006366623721530461],"end_effector_yaw_offset_degrees":-0.6699019869150817},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00021907443438491658,-0.001945419530915363,-0.0008588737739346581],"end_effector_yaw_offset_degrees":-0.14723228893298312},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007590488749948531,-0.000510735876693385,-0.0009211353876234917],"end_effector_yaw_offset_degrees":0.8680406580294975},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015476088909463308,0.0018967953870707432,0.0013190510062496448],"end_effector_yaw_offset_degrees":-0.8926985043087323}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008136225057836441,0.0011671226691955328],"position_m":[0.13968637749421636,0.23586712266919552,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025318328761798417,0.004607878276193667],"position_m":[0.25163183287617985,-0.37879212172380633,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007214302651341875,0.004676308218469053],"position_m":[0.21287856973486582,-0.049023691781530945,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00371383646167901,0.0011292108487752943],"position_m":[0.357313836461679,0.11832921084877529,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"070ae07997233629386bf942e8ac2dd4875a60eb9d3db4bc20f743e0468e4b8d","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5691/tex_ceiling_textures_8589/tex_floor_textures_5605/tex_table_textures_394/tex_wall_textures_6170","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2374077310589527482,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2374077310589527482,"visual_seed":2374077310589527482,"scene_id":"lab_003","finished_at":"2026-09-05T07:51:59"}
+{"episode_id":"ep_000098","started_at":"2026-09-05T07:52:03","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.08830066618077304,1.2128743600006429,0.71338606911949],"aabb_xy":[[0.008300664018010565,1.1329191763744992],[0.16830066834353552,1.2928295436267865]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[-0.6268538081117895,1.468829346666992,0.71338606911949],"aabb_xy":[[-0.633165907648128,1.4630624074137728],[-0.620541708575451,1.4745962859202106]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[0.5486957626742548,1.0381043365945977,0.71338606911949],"aabb_xy":[[0.5406524027482996,0.9531043354992312],[0.55673912260021,1.123104337689964]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[-0.08714196570362298,1.6710436631465835,0.71338606911949],"aabb_xy":[[-0.1521419657379257,1.624342986466256],[-0.022141965669320265,1.7177443398269105]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.5022685612647286,1.3488836577771361,0.71338606911949],"aabb_xy":[[0.417268562572654,1.316897794382257],[0.5872685599568033,1.3808695211720148]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.3139818520152041,1.351304368939335,0.71338606911949],"aabb_xy":[[-0.3514818504386044,1.338140154971504],[-0.2764818535918037,1.3644685829071654]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.5866527715048077,0.6261774354938487,0.71338606911949],"aabb_xy":[[-0.5974932497313226,0.6089911542031998],[-0.5758122932782928,0.6433637167844974]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.2465679660156701,-1.2696539492830339,0.71338606911949],"aabb_xy":[[-0.26212373542593537,-1.2852043825274413],[-0.23101219660540487,-1.254103516038627]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.4480655989242364,-2.2124455550125477,0.71338606911949],"aabb_xy":[[-0.5377526752323518,-2.302445555266998],[-0.3583785226161209,-2.1224455547580967]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.3464019287197155,1.0064670841943752,0.71338606911949],"aabb_xy":[[-0.41040192801388375,0.9424809438255213],[-0.2824019294255473,1.0704532245632297]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[-0.1743257375975107,-1.069205063018418,0.71338606911949],"aabb_xy":[[-0.22442320157858434,-1.1332050635282298],[-0.1242282736164371,-1.0052050625086062]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_11","position":[0.47919947963062937,-0.3926551064181476,0.71338606911949],"aabb_xy":[[0.45670305819676527,-0.4151551062248951],[0.5016959010644935,-0.3701551066114002]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[0.18883886141935413,0.8493990124155277,0.71338606911949],"aabb_xy":[[0.09883885908533507,0.7719166578304151],[0.2788388637533732,0.9268813670006404]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[-0.5367371296517757,1.775348695289639,0.71338606911949],"aabb_xy":[[-0.5867302417609677,1.7253486946154433],[-0.4867440175425839,1.8253486959638345]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.29034843058751786,-1.6668723915397097,0.71338606911949],"aabb_xy":[[-0.3055205998691512,-1.682041248467913],[-0.2751762613058845,-1.6517035346115063]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[0.5804530250669964,-0.4044959977573992,0.71338606911949],"aabb_xy":[[0.567006498432953,-0.4179658494104904],[0.5938995517010397,-0.39102614610430797]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.5061890857197582,1.4937813998767537,0.71338606911949],"aabb_xy":[[0.5013454909585283,1.4889297473977698],[0.5110326804809883,1.498633052355738]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[-0.5600978550663325,0.18060845605294729,0.71338606911949],"aabb_xy":[[-0.6400978536536518,0.10129285411478638],[-0.480097856479013,0.2599240579911081]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[0.2015239576238217,1.8234078524048756,0.71338606911949],"aabb_xy":[[0.1934976869931957,1.8146563574275232],[0.2095502282544477,1.8321593473822284]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.5817471518038624,-1.7969368058749025,0.71338606911949],"aabb_xy":[[-0.6062607759008681,-1.8212013991769387],[-0.5572335277068564,-1.7726722125728658]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[0.13623060309256907,1.0578474306953183,0.71338606911949],"aabb_xy":[[0.12486886843928291,1.04647896428903],[0.14759233774585523,1.0692158971016061]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[-0.40225119714524554,-1.9053986488966443,0.71338606911949],"aabb_xy":[[-0.416585622271409,-1.9174588644511832],[-0.3879167720190821,-1.8933384333421055]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.3577160717267769,-0.7447661983935479,0.71338606911949],"aabb_xy":[[0.3528167794202134,-0.7724431176961166],[0.3626153640333404,-0.7170892790909791]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[-0.12818843831961202,-0.23052251964530646,0.71338606911949],"aabb_xy":[[-0.20818843974973922,-0.31003967465791593],[-0.04818843688948482,-0.15100536463269698]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[-0.5371594088096854,-0.7258753243699936,0.71338606911949],"aabb_xy":[[-0.5869761882745201,-0.7758753228542968],[-0.4873426293448506,-0.6758753258856901]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6898067325648677,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7909.png","name":"7909"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7909.png","name":"7909"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7863.png","name":"7863"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2298.png","name":"2298"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3324.png","name":"3324"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7208.png","name":"7208"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":727.3258660902038,"rotation_z_degrees":227.22965854166202,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013748840872242738,-0.0033732705241391082,0.013868839080142904]},{"name":"camera_2","offset_m":[-0.010856652092358096,0.004383789177710606,0.003301339362528171]},{"name":"camera_3","offset_m":[0.0026528852080854592,-0.006437169296237286,-0.0027407345759266726]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004235213573762636,0.001257662750722303,0.00023802803796774],"end_effector_yaw_offset_degrees":-0.021551919889169824},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008270161322572198,0.0014489592694616376,-8.403822932115629e-05],"end_effector_yaw_offset_degrees":0.2920153861026733},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001736020550758651,-0.0018152249078613862,-0.0010252801360846426],"end_effector_yaw_offset_degrees":-0.3311111472960262},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000915927416485632,0.0011830222341333682,0.00025343694216714823],"end_effector_yaw_offset_degrees":-0.5398655915331267}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030268743511776006,0.00011731209452476004],"position_m":[0.1435268743511776,0.23481731209452475,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010016619542370184,-0.0033820278697496153],"position_m":[0.24809833804576298,-0.38678202786974963,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004550827370345958,0.002868531248619817],"position_m":[0.20904917262965406,-0.05083146875138018,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022982856308973454,0.0014806065788317158],"position_m":[0.35589828563089737,0.11868060657883171,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"90ff1984bd4dce8f74ee15a8283db7136f520d8f195b5e7740ac63c10c4e5252","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7909/tex_ceiling_textures_7208/tex_floor_textures_3324/tex_table_textures_7863/tex_wall_textures_2298","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2632409366908316721,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2632409366908316721,"visual_seed":2632409366908316721,"scene_id":"lab_003","finished_at":"2026-09-05T07:55:57"}
+{"episode_id":"ep_000099","started_at":"2026-09-05T07:56:01","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[0.3536772364811023,-1.0335038406879342,0.71338606911949],"aabb_xy":[[0.3360989342921554,-1.051078330262039],[0.3712555386700491,-1.0159293511138294]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.14301008045956143,1.1462140740286069,0.71338606911949],"aabb_xy":[[-0.1767856396502544,1.132175578815442],[-0.10923452126886846,1.1602525692417718]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.05474081625087368,0.9396512384913809,0.71338606911949],"aabb_xy":[[-0.11874081267819558,0.8924816146692846],[0.009259180176448223,0.9868208623134774]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.22169547386614863,-1.63232325594807,0.71338606911949],"aabb_xy":[[-0.28669547486664915,-1.683109621102745],[-0.1566954728656481,-1.581536890793395]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.27675815659909897,1.5462834913301493,0.71338606911949],"aabb_xy":[[-0.3667581530999707,1.5003718489116908],[-0.18675816009822718,1.5921951337486073]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.02549760573404991,1.3972578142518022,0.71338606911949],"aabb_xy":[[-0.0854976065948627,1.3458313842453156],[0.03450239512676288,1.4486842442582883]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[-0.33283939611377245,-0.9486765847369896,0.71338606911949],"aabb_xy":[[-0.33893402400189077,-0.9572459792886583],[-0.3267447682256541,-0.9401071901853209]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.672645317536319,0.5283394441741716,0.71338606911949],"aabb_xy":[[0.6624923019821695,0.4922699026014311],[0.6827983330904682,0.5644089857469118]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[0.12375761933330476,0.9178776979408485,0.71338606911949],"aabb_xy":[[0.08690707139631715,0.8803776971178148],[0.16060816727029237,0.9553776987638822]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.21559181468082594,-1.1607108320915147,0.71338606911949],"aabb_xy":[[-0.2795875120759225,-1.2247108303922232],[-0.15159611728572933,-1.0967108337908058]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[0.6126894707854909,0.11783827058619156,0.71338606911949],"aabb_xy":[[0.5826978080516205,0.08783827124939103],[0.6426811335193612,0.1478382699229921]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[-0.4968232317304409,-0.9818762960198935,0.71338606911949],"aabb_xy":[[-0.5135003677235364,-0.9985762199938237],[-0.48014609573734546,-0.9651763720459632]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[0.5651875056066566,-0.7864971716242766,0.71338606911949],"aabb_xy":[[0.5476408106905377,-0.8239971731885277],[0.5827342005227756,-0.7489971700600252]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.6248250858018096,-1.2968206825132427,0.71338606911949],"aabb_xy":[[-0.6335390548517439,-1.3193206831724305],[-0.6161111167518749,-1.274320681854054]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[0.2367507774685671,1.3347266493781196,0.71338606911949],"aabb_xy":[[0.20112162156860736,1.2990939826212666],[0.27237993336852684,1.3703593161349725]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[0.2690587036189982,-1.650355324014677,0.71338606911949],"aabb_xy":[[0.2050587003292901,-1.6936902430185947],[0.3330587069087063,-1.6070204050107595]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[0.6026773328475767,1.050385504310246,0.71338606911949],"aabb_xy":[[0.5683804218298361,1.0160886181003044],[0.6369742438653172,1.084682390520187]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.5939016013116243,-1.1661981410493558,0.71338606911949],"aabb_xy":[[0.5139016008414085,-1.174508848663704],[0.6739016017818403,-1.1578874334350076]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[0.5429076457937396,-0.48529490287046473,0.71338606911949],"aabb_xy":[[0.49302494891604354,-0.5352949021167395],[0.5927903426714359,-0.43529490362419004]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_19","position":[-0.29453332864413206,1.797782631365744,0.71338606911949],"aabb_xy":[[-0.30094714228731695,1.7913728111180751],[-0.28811951500094707,1.8041924516134118]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[0.19217592367448677,-1.9553404995231305,0.71338606911949],"aabb_xy":[[0.1546759252510864,-1.9685047134909612],[0.2296759220978871,-1.9421762855552998]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_21","position":[-0.18253355193204823,-2.0135451209055253,0.71338606911949],"aabb_xy":[[-0.22770486978021726,-2.0775451180500637],[-0.1373622340838793,-1.9495451237609869]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.41450677056443097,0.6861131158823914,0.71338606911949],"aabb_xy":[[0.3445067679278445,0.6660082508865258],[0.4845067732010172,0.7062179808782568]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[-0.6281500948049552,-0.3469860024343756,0.71338606911949],"aabb_xy":[[-0.6457829303984827,-0.36460894844999847],[-0.6105172592114275,-0.3293630564187525]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.41030507837245395,-2.483542766718907,0.71338606911949],"aabb_xy":[[-0.4402726352822796,-2.5135427670167925],[-0.3803375214626283,-2.4535427664210214]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_25","position":[-0.21971288180430004,0.5023771072990346,0.71338606911949],"aabb_xy":[[-0.22900650004145062,0.4648771088109007],[-0.21041926356714946,0.5398771057871685]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.5330364898711848,-1.4324218191571652,0.71338606911949],"aabb_xy":[[0.5256240343297963,-1.4382730295787929],[0.5404489454125733,-1.426570608735537]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_27","position":[0.21657068603173157,1.1002529406681423,0.71338606911949],"aabb_xy":[[0.20844299783841835,1.0913393322574345],[0.2246983742250448,1.10916654907885]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[-0.3198387895358459,1.668212704207693,0.71338606911949],"aabb_xy":[[-0.3341732146620094,1.6561524886531545],[-0.3055043644096825,1.6802729197622321]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_29","position":[-0.4522938665467341,-0.029578887935653775,0.71338606911949],"aabb_xy":[[-0.4564098166588067,-0.033694442968499265],[-0.44817791643466137,-0.02546333290280827]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_30","position":[0.7031243267414342,-1.0051252029074411,0.71338606911949],"aabb_xy":[[0.6913561399467769,-1.090125202812663],[0.714892513536092,-0.9201252030022198]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_31","position":[0.4835434390041695,0.7849457792373129,0.71338606911949],"aabb_xy":[[0.4731318803236857,0.7796000459014144],[0.4939549976846531,0.7902915125732114]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_32","position":[0.49509154515376963,-2.099530047483187,0.71338606911949],"aabb_xy":[[0.47259240942754266,-2.1220300482614496],[0.5175906808799966,-2.077030046704924]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6929476455628094,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1694.png","name":"1694"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1694.png","name":"1694"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5160.png","name":"5160"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8525.png","name":"8525"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/289.png","name":"289"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6837.png","name":"6837"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":697.3327066933689,"rotation_z_degrees":223.09866274287802,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005536230237159172,-0.006948995128284641,-0.005969571433802275]},{"name":"camera_2","offset_m":[0.011657277987939463,0.0010784861660710736,-0.00889433942293659]},{"name":"camera_3","offset_m":[-0.009221533868888443,-0.007191530627194149,-0.004954651433658874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008889702554911332,-0.0011659989780466663,0.0006759389212531303],"end_effector_yaw_offset_degrees":-0.17997277248199484},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00025084503189952683,-0.0018315339994640265,0.0012315111934573788],"end_effector_yaw_offset_degrees":-0.31882076650625857},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005564653541029834,0.0018109454026996527,0.0007381339739216978],"end_effector_yaw_offset_degrees":-0.14753826015986693},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004403187562161408,0.001991051178280096,0.0018655648660301145],"end_effector_yaw_offset_degrees":0.921478796993848}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013263958599567778,0.002169761443269444],"position_m":[0.1418263958599568,0.23686976144326943,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002506825686933779,-0.0037992988271472574],"position_m":[0.25160682568693377,-0.38719929882714726,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004751808775009215,-0.003796947608143225],"position_m":[0.2088481912249908,-0.05749694760814322,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009752555539418537,0.004538437038181451],"position_m":[0.3526247444460582,0.12173843703818145,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ebec8b68ef69ccf212da790ac0a977ff616e6c6734375478809150d66aad61d9","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1694/tex_ceiling_textures_6837/tex_floor_textures_289/tex_table_textures_5160/tex_wall_textures_8525","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6872263174452760906,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6872263174452760906,"visual_seed":6872263174452760906,"scene_id":"lab_003","finished_at":"2026-09-05T08:00:03"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0c4b111f5522f698a0e03ca8ab0b5fa389ccb60b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00032
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00032
+  reproducibility:
+    enabled: true
+    layout_id: layout_00032
+    action_seed: 8965520104066671838
+    step_seeds:
+    - 5868908299052723470
+    - 1147186024122430536
+    - 7048677080094423649
+    - 1480185638166204106
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1405
+      - 0.1405
+      'y':
+      - 0.2347
+      - 0.2347
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2136
+      - 0.2136
+      'y':
+      - -0.0537
+      - -0.0537
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3536
+      - 0.3536
+      'y':
+      - 0.1172
+      - 0.1172
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2491
+      - 0.2491
+      'y':
+      - -0.3834
+      - -0.3834
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..69b4d3fb81272a8a3383eb0efc0d548375aec67c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16732762360182207,
+              0.23293948992271327,
+              1.046990978023099
+            ],
+            "current_z": 1.046990978023099,
+            "required_z": 0.8611065916600125,
+            "initial_z": 0.7611065916600125,
+            "lift_margin": 0.18588438636308657,
+            "gripper_z": 1.0529870539395185,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1645769987619963,
+              0.22942230456389787,
+              1.0529870539395185
+            ],
+            "object_minus_gripper": [
+              0.0027506248398257716,
+              0.0035171853588154,
+              -0.0059960759164194855
+            ],
+            "object_to_gripper_xy": 0.004465034138473296,
+            "object_to_gripper_z": -0.0059960759164194855,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16732762360182207,
+              0.20981104182832006,
+              1.046990978023099
+            ],
+            "finger_b": [
+              0.1578346090788812,
+              0.23293948992271327,
+              1.046990978023099
+            ],
+            "finger_midpoint": [
+              0.16258111634035163,
+              0.22137526587551665,
+              1.046990978023099
+            ],
+            "object_minus_finger_midpoint": [
+              0.0047465072614704396,
+              0.01156422404719662,
+              0.0
+            ],
+            "finger_gap": 0.02500084870535013,
+            "fingertip_max_gap": 0.09475826243064933,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01250042435267508,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046990978023099,
+            "object_top_z": 1.0986431109491779,
+            "finger_top_clearance": 0.05165213292607884,
+            "fingertip_min_top_clearance": 0.015495639877823653,
+            "object_projection_between_fingers": 0.8558220697601974,
+            "object_to_finger_line_xy": 0.008782049611226759,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04987913121532467,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8389968931835932,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16833571047504645,
+              0.23474799618953923,
+              1.2407716923614474
+            ],
+            "held_position": [
+              0.1712052571960596,
+              0.23802796506792595,
+              1.2346618187517246
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007504868403513069,
+            "max_held_gripper_dist": 0.0075213627336524,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006109873609722705,
+            "max_held_gripper_z_dist": 0.006141172748707291,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08604899035884495,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1712052571960596,
+              0.21415700903975216,
+              1.2346618187517246
+            ],
+            "held_grasp_finger_b": [
+              0.16335494493012953,
+              0.23802796506792595,
+              1.2346618187517246
+            ],
+            "held_grasp_midpoint": [
+              0.16728010106309457,
+              0.22609248705383905,
+              1.2346618187517246
+            ],
+            "held_grasp_object_position": [
+              0.1712052571960596,
+              0.23802796506792595,
+              1.2346618187517246
+            ],
+            "held_grasp_finger_gap": 0.025128667779482843,
+            "held_grasp_max_gap": 0.12498315930366516,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023611815822489272,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03004014603662343,
+              -0.9990232616257444,
+              0.03240543714807653
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00358596792804964,
+            "held_grasp_line_xy_max_dist": 0.04749157965183258,
+            "held_grasp_object_top_z": 0.04972071573138237,
+            "held_grasp_top_clearance": 0.0376789832932361,
+            "held_grasp_min_top_clearance": 0.01491621471941471
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3019062500870582,
+              -0.3872099066883329,
+              0.8515395964912323
+            ],
+            "target_position": [
+              0.2987321664956017,
+              -0.3866326810075323,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003226142608771199,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18155565553251168,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395964912323,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565898071289498,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665086600970705,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14894168633233965,
+            "release_required_pad_clearance": 0.053325433004853526,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.668312452091097,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00864022970199585,
+            "max_z_decrease": 0.00864022970199585,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035012600077647005,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00864022970199585,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02081666249230535,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00864022970199585,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008640598199037449,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15443208813667295,
+              -0.44289413094520563,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15443208813667295,
+              -0.44289413094520563,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15283057582224965,
+              -0.44237774828591275,
+              0.80357896839455
+            ],
+            "closest_button": [
+              0.15448604524135587,
+              -0.4428696930408478,
+              0.7686089873313904
+            ],
+            "closest_ee_minus_button": [
+              -0.0016554694191062147,
+              0.0004919447549350253,
+              0.03496998106315963
+            ],
+            "button_min_z_position": [
+              0.15450243651866913,
+              -0.44285646080970764,
+              0.7681686282157898
+            ],
+            "min_active_finger_to_button": 0.14699740252807977,
+            "closest_active_finger": [
+              0.026356995105743408,
+              -0.5064525008201599,
+              0.8108072280883789
+            ],
+            "closest_active_finger_button": [
+              0.1544332504272461,
+              -0.44289502501487726,
+              0.7766728401184082
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12807625532150269,
+              -0.06355747580528265,
+              0.0341343879699707
+            ],
+            "min_contact_pad_to_button": 0.02081666249230535,
+            "closest_contact_pad": [
+              0.15450243651866913,
+              -0.4434140250272401,
+              0.7889778223246898
+            ],
+            "closest_contact_pad_button": [
+              0.15450243651866913,
+              -0.44285646080970764,
+              0.7681686282157898
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005575642175324469,
+              0.02080919410890003
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1dec4d17129a2c3216e221554dc96c04db7bafd3b2e32d04164455ca8ab40135",
+    "visual_seed": 8867158031164763564,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bed85bcaad44a21d113cd5bbd1055638b5fbbf2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16642264959625508,
+              0.23824432445178437,
+              1.0486657241674413
+            ],
+            "current_z": 1.0486657241674413,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18755897773409624,
+            "gripper_z": 1.0544357030229479,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.163290433884381,
+              0.23453840557500094,
+              1.0544357030229479
+            ],
+            "object_minus_gripper": [
+              0.003132215711874081,
+              0.003705918876783426,
+              -0.005769978855506563
+            ],
+            "object_to_gripper_xy": 0.004852278844729617,
+            "object_to_gripper_z": -0.005769978855506563,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16642264959625508,
+              0.21478820542278879,
+              1.0486657241674413
+            ],
+            "finger_b": [
+              0.15672807813849166,
+              0.23824432445178437,
+              1.0486657241674413
+            ],
+            "finger_midpoint": [
+              0.16157536386737337,
+              0.22651626493728658,
+              1.0486657241674413
+            ],
+            "object_minus_finger_midpoint": [
+              0.004847285728881712,
+              0.01172805951449779,
+              0.0
+            ],
+            "finger_gap": 0.02538058777199791,
+            "fingertip_max_gap": 0.09109212649083825,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012690293885998955,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486657241674413,
+            "object_top_z": 1.0986366023737748,
+            "finger_top_clearance": 0.0499708782063335,
+            "fingertip_min_top_clearance": 0.014991263461900033,
+            "object_projection_between_fingers": 0.8541004738344719,
+            "object_to_finger_line_xy": 0.008959486048596811,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804606324541913,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7181450370912853,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1672157115626825,
+              0.2398317359457376,
+              1.2440765264194231
+            ],
+            "held_position": [
+              0.17048015540172126,
+              0.2432852891355974,
+              1.2382071554692535
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007552028771404661,
+            "max_held_gripper_dist": 0.007566329027062602,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0058693709501695945,
+            "max_held_gripper_z_dist": 0.005904367551175849,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860032553101246,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17048015540172126,
+              0.2191991933981243,
+              1.2382071554692535
+            ],
+            "held_grasp_finger_b": [
+              0.16223871682995392,
+              0.2432852891355974,
+              1.2382071554692535
+            ],
+            "held_grasp_midpoint": [
+              0.1663594361158376,
+              0.23124224126686085,
+              1.2382071554692535
+            ],
+            "held_grasp_object_position": [
+              0.17048015540172126,
+              0.2432852891355974,
+              1.2382071554692535
+            ],
+            "held_grasp_finger_gap": 0.025457048485771776,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023736595912077604,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03968844805454513,
+              -0.9990695910624348,
+              0.01687540533916254
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036452495497988607,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037524862207405946,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31038117300834717,
+              -0.3864849525064069,
+              0.8515395707544169
+            ],
+            "target_position": [
+              0.30467127881166634,
+              -0.3872071131434661,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005755380762643528,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18403249056437154,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395707544169,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543925640156667,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558816666238488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15223688992335604,
+            "release_required_pad_clearance": 0.05279408333119244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6355037058951901,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008576691150665283,
+            "max_z_decrease": 0.008576691150665283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035050182148230004,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008576691150665283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020829664176203688,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008576691150665283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008576913473257926,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16037119925022125,
+              -0.44346857070922857,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16037119925022125,
+              -0.44346857070922857,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15986491544752546,
+              -0.44141037739784245,
+              0.8032192177293235
+            ],
+            "closest_button": [
+              0.16042445600032806,
+              -0.4434373080730439,
+              0.7682321667671204
+            ],
+            "closest_ee_minus_button": [
+              -0.0005595405528026065,
+              0.0020269306752014327,
+              0.034987050962203115
+            ],
+            "button_min_z_position": [
+              0.16042445600032806,
+              -0.4434373080730439,
+              0.7682321667671204
+            ],
+            "min_active_finger_to_button": 0.14531220059768296,
+            "closest_active_finger": [
+              0.03404854238033295,
+              -0.5066586136817932,
+              0.8104879856109619
+            ],
+            "closest_active_finger_button": [
+              0.1603707522153854,
+              -0.44346833229064947,
+              0.7763511538505554
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12632220983505246,
+              -0.06319028139114374,
+              0.034136831760406494
+            ],
+            "min_contact_pad_to_button": 0.020829664176203688,
+            "closest_contact_pad": [
+              0.16042445600032806,
+              -0.4434373080730439,
+              0.789061830943324
+            ],
+            "closest_contact_pad_button": [
+              0.16042445600032806,
+              -0.4434373080730439,
+              0.7682321667671204
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020829664176203688
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ebec8b68ef69ccf212da790ac0a977ff616e6c6734375478809150d66aad61d9",
+    "visual_seed": 6872263174452760906,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..70a2770413ea44420ab7cbebba3992aff8093913
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16995566545369395,
+              0.23649372922840695,
+              1.046451067716884
+            ],
+            "current_z": 1.046451067716884,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1853444404928284,
+            "gripper_z": 1.0523035847345361,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16645428266626913,
+              0.23248710884464252,
+              1.0523035847345361
+            ],
+            "object_minus_gripper": [
+              0.003501382787424817,
+              0.004006620383764425,
+              -0.0058525170176522145
+            ],
+            "object_to_gripper_xy": 0.005320966859854642,
+            "object_to_gripper_z": -0.0058525170176522145,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16995566545369395,
+              0.2130353863306263,
+              1.046451067716884
+            ],
+            "finger_b": [
+              0.15950461059460078,
+              0.23649372922840695,
+              1.046451067716884
+            ],
+            "finger_midpoint": [
+              0.16473013802414738,
+              0.22476455777951662,
+              1.046451067716884
+            ],
+            "object_minus_finger_midpoint": [
+              0.005225527429546573,
+              0.011729171448890324,
+              0.0
+            ],
+            "finger_gap": 0.025681090303521593,
+            "fingertip_max_gap": 0.09128495884890891,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01284054515176079,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046451067716884,
+            "object_top_z": 1.0963660776951014,
+            "finger_top_clearance": 0.04991500997821752,
+            "fingertip_min_top_clearance": 0.01497450299346527,
+            "object_projection_between_fingers": 0.8343874139008559,
+            "object_to_finger_line_xy": 0.009546496103964297,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814247942445446,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8540541164659718,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17006704985155222,
+              0.2383200296113009,
+              1.2406565607555042
+            ],
+            "held_position": [
+              0.1737375386608202,
+              0.2420399734682192,
+              1.2346927580588374
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007929527918000962,
+            "max_held_gripper_dist": 0.007943345349644372,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005963802696666853,
+            "max_held_gripper_z_dist": 0.006001003565351493,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08590138943216716,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1737375386608202,
+              0.21781284910048535,
+              1.2346927580588374
+            ],
+            "held_grasp_finger_b": [
+              0.16492127069065587,
+              0.2420399734682192,
+              1.2346927580588374
+            ],
+            "held_grasp_midpoint": [
+              0.16932940467573804,
+              0.22992641128435226,
+              1.2346927580588374
+            ],
+            "held_grasp_object_position": [
+              0.1737375386608202,
+              0.2420399734682192,
+              1.2346927580588374
+            ],
+            "held_grasp_finger_gap": 0.025781391274548957,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023815579333163025,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04381855560559476,
+              -0.9989586503993034,
+              0.012710191856998395
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038762090652453185,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03742614427522908,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3062397307983844,
+              -0.3842690591819126,
+              0.8515395635269349
+            ],
+            "target_position": [
+              0.30060990313850317,
+              -0.3853332258502894,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005729520937918629,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1828946917968157,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395635269349,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590251662700015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08630566823622086,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15011792654849027,
+            "release_required_pad_clearance": 0.053152834118110434,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3305813140066056,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008511126041412354,
+            "max_z_decrease": 0.008511126041412354,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035018182322476804,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008511126041412354,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0209875678675674,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008511126041412354,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008511276124731144,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1563098281621933,
+              -0.4415946900844574,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1563098281621933,
+              -0.4415946900844574,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15722307874285432,
+              -0.4426219521013348,
+              0.8036295561718232
+            ],
+            "closest_button": [
+              0.15634296834468842,
+              -0.4415657520294189,
+              0.7686383724212646
+            ],
+            "closest_ee_minus_button": [
+              0.0008801103981659064,
+              -0.0010562000719159248,
+              0.03499118375055854
+            ],
+            "button_min_z_position": [
+              0.15634022653102875,
+              -0.441554307937622,
+              0.7682977318763733
+            ],
+            "min_active_finger_to_button": 0.14474628999822722,
+            "closest_active_finger": [
+              0.016611546277999878,
+              -0.4252949655056,
+              0.8105981945991516
+            ],
+            "closest_active_finger_button": [
+              0.15630954504013062,
+              -0.4415955543518066,
+              0.7763893008232117
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13969799876213074,
+              0.01630058884620661,
+              0.03420889377593994
+            ],
+            "min_contact_pad_to_button": 0.0209875678675674,
+            "closest_contact_pad": [
+              0.15634022653102875,
+              -0.4439371653346911,
+              0.7891495902017356
+            ],
+            "closest_contact_pad_button": [
+              0.15634022653102875,
+              -0.441554307937622,
+              0.7682977318763733
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023828573970690603,
+              0.020851858325362294
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e7fa72f996b595a991e4bed7b020313183833a9f5867cde634dbc359eef3e8b2",
+    "visual_seed": 338180647283071887,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b13a62f1196a846f9abcfad43812700a31f0ac73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16980414429118945,
+              0.24239786215732698,
+              1.047853808998085
+            ],
+            "current_z": 1.047853808998085,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1867471221693846,
+            "gripper_z": 1.0534863280736098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1664426634695321,
+              0.23852209866053686,
+              1.0534863280736098
+            ],
+            "object_minus_gripper": [
+              0.0033614808216573533,
+              0.0038757634967901133,
+              -0.005632519075524867
+            ],
+            "object_to_gripper_xy": 0.005130408950309997,
+            "object_to_gripper_z": -0.005632519075524867,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16980414429118945,
+              0.2189237583232262,
+              1.047853808998085
+            ],
+            "finger_b": [
+              0.15968232788425113,
+              0.24239786215732698,
+              1.047853808998085
+            ],
+            "finger_midpoint": [
+              0.1647432360877203,
+              0.23066081024027657,
+              1.047853808998085
+            ],
+            "object_minus_finger_midpoint": [
+              0.005060908203469161,
+              0.011737051917050406,
+              0.0
+            ],
+            "finger_gap": 0.02556334716327091,
+            "fingertip_max_gap": 0.09134817981458365,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012781673581635468,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047853808998085,
+            "object_top_z": 1.0976838596233987,
+            "finger_top_clearance": 0.04983005062531376,
+            "fingertip_min_top_clearance": 0.01494901518759416,
+            "object_projection_between_fingers": 0.8432233156736312,
+            "object_to_finger_line_xy": 0.009294579767220656,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04817408990729183,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1141266101151095,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17020832497658328,
+              0.24409415175978016,
+              1.2410610427490885
+            ],
+            "held_position": [
+              0.17369489433905272,
+              0.2476996583123746,
+              1.2352982628478295
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007639730074450668,
+            "max_held_gripper_dist": 0.007652565453821517,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005762779901258952,
+            "max_held_gripper_z_dist": 0.005796430815120379,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08610384950742198,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17369489433905272,
+              0.2235068307916349,
+              1.2352982628478295
+            ],
+            "held_grasp_finger_b": [
+              0.1652196371119799,
+              0.2476996583123746,
+              1.2352982628478295
+            ],
+            "held_grasp_midpoint": [
+              0.1694572657255163,
+              0.23560324455200474,
+              1.2352982628478295
+            ],
+            "held_grasp_object_position": [
+              0.17369489433905272,
+              0.2476996583123746,
+              1.2352982628478295
+            ],
+            "held_grasp_finger_gap": 0.025634408292631028,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023861932981609654,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03683713770608083,
+              -0.9992274436898338,
+              0.01369456325346552
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003792821263118762,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03747707936172209,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3128249930946969,
+              -0.3820301826278534,
+              0.8515395666376936
+            ],
+            "target_position": [
+              0.3066353246960013,
+              -0.38305703496250376,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062742665390456654,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18200505365225744,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395666376936,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531138363234463,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528057466977006,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15060503029549535,
+            "release_required_pad_clearance": 0.05264028733488503,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34034838747644436,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008521080017089844,
+            "max_z_decrease": 0.008521080017089844,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503978458097286,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008521080017089844,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020862048044517856,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008521080017089844,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008521117536329982,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16233524680137632,
+              -0.4393185079097748,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16233524680137632,
+              -0.4393185079097748,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16127073227275138,
+              -0.43771053285531286,
+              0.8032754035124621
+            ],
+            "closest_button": [
+              0.16234102845191956,
+              -0.43929389119148254,
+              0.7682877779006958
+            ],
+            "closest_ee_minus_button": [
+              -0.0010702961791681787,
+              0.0015833583361696824,
+              0.03498762561176627
+            ],
+            "button_min_z_position": [
+              0.16234102845191956,
+              -0.43929389119148254,
+              0.7682877779006958
+            ],
+            "min_active_finger_to_button": 0.1460621896530076,
+            "closest_active_finger": [
+              0.03356355428695679,
+              -0.4991813600063324,
+              0.8104978799819946
+            ],
+            "closest_active_finger_button": [
+              0.16233593225479126,
+              -0.43932026624679565,
+              0.7763147354125977
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12877237796783447,
+              -0.05986109375953674,
+              0.03418314456939697
+            ],
+            "min_contact_pad_to_button": 0.020862048044517856,
+            "closest_contact_pad": [
+              0.16234102845191956,
+              -0.43929389119148254,
+              0.7891498259452137
+            ],
+            "closest_contact_pad_button": [
+              0.16234102845191956,
+              -0.43929389119148254,
+              0.7682877779006958
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020862048044517856
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e82b36abc8da5e2645aa26ff057035ea8799956974a6734a5d6092974837b780",
+    "visual_seed": 1571835608451270317,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b16231cf8aba9ab650c013c4447b46ed6884abe1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16875870601240892,
+              0.2415893482267242,
+              1.046189709273817
+            ],
+            "current_z": 1.046189709273817,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1850832012590512,
+            "gripper_z": 1.0518081542224285,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16536937562149484,
+              0.23765515065083737,
+              1.0518081542224285
+            ],
+            "object_minus_gripper": [
+              0.003389330390914075,
+              0.003934197575886839,
+              -0.005618444948611412
+            ],
+            "object_to_gripper_xy": 0.005192828811436752,
+            "object_to_gripper_z": -0.005618444948611412,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16875870601240892,
+              0.21813870600891028,
+              1.046189709273817
+            ],
+            "finger_b": [
+              0.15850701327572225,
+              0.2415893482267242,
+              1.046189709273817
+            ],
+            "finger_midpoint": [
+              0.1636328596440656,
+              0.22986402711781723,
+              1.046189709273817
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051258463683433175,
+              0.011725321108906978,
+              0.0
+            ],
+            "finger_gap": 0.02559355044528506,
+            "fingertip_max_gap": 0.09122332206786299,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012796775222642536,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046189709273817,
+            "object_top_z": 1.0960790784000425,
+            "finger_top_clearance": 0.049889369126225436,
+            "fingertip_min_top_clearance": 0.014966810737867613,
+            "object_projection_between_fingers": 0.8395535591612978,
+            "object_to_finger_line_xy": 0.009393334426536738,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048111661033931497,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9131884637240782,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.168917757676114,
+              0.2436327859668725,
+              1.2395894248692227
+            ],
+            "held_position": [
+              0.17246157464042003,
+              0.24730778650053117,
+              1.2338585161072153
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007675127545347271,
+            "max_held_gripper_dist": 0.007689982406713457,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005730908762007436,
+            "max_held_gripper_z_dist": 0.00576749762477502,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597420840030542,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17246157464042003,
+              0.2231372863966751,
+              1.2338585161072153
+            ],
+            "held_grasp_finger_b": [
+              0.16375340260909058,
+              0.24730778650053117,
+              1.2338585161072153
+            ],
+            "held_grasp_midpoint": [
+              0.1681074886247553,
+              0.23522253644860314,
+              1.2338585161072153
+            ],
+            "held_grasp_object_position": [
+              0.17246157464042003,
+              0.24730778650053117,
+              1.2338585161072153
+            ],
+            "held_grasp_finger_gap": 0.02569134748116056,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023810004705502097,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03909963272438311,
+              -0.9991721697878705,
+              0.011233603260627166
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038806366508541525,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037474761389218285,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30608572831764547,
+              -0.38722664722636313,
+              0.8515395779003275
+            ],
+            "target_position": [
+              0.30048628169225733,
+              -0.38825581005981746,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005693239732202954,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18131636389528763,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395779003275,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557238863026519,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08570686241779711,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14928608721928938,
+            "release_required_pad_clearance": 0.05285343120889856,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7496450350075671,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008557677268981934,
+            "max_z_decrease": 0.008557677268981934,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035056137564057455,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008557677268981934,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021025123061799846,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008557677268981934,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00855785260181875,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15618620812892908,
+              -0.44451725482940674,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15618620812892908,
+              -0.44451725482940674,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15438716496992547,
+              -0.4462608605275828,
+              0.8035457772028844
+            ],
+            "closest_button": [
+              0.15622238814830774,
+              -0.4444877505302429,
+              0.7685826420783997
+            ],
+            "closest_ee_minus_button": [
+              -0.0018352231783822781,
+              -0.0017731099973398723,
+              0.03496313512448479
+            ],
+            "button_min_z_position": [
+              0.15622600913047785,
+              -0.4444796144962311,
+              0.7682511806488037
+            ],
+            "min_active_finger_to_button": 0.14732356089448626,
+            "closest_active_finger": [
+              0.013591095805168152,
+              -0.43030354380607605,
+              0.8105484843254089
+            ],
+            "closest_active_finger_button": [
+              0.15618574619293207,
+              -0.4445182383060456,
+              0.7763587236404419
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14259465038776392,
+              0.014214694499969538,
+              0.03418976068496704
+            ],
+            "min_contact_pad_to_button": 0.021025123061799846,
+            "closest_contact_pad": [
+              0.15622600913047785,
+              -0.4474457000077225,
+              0.7890660343956439
+            ],
+            "closest_contact_pad_button": [
+              0.15622600913047785,
+              -0.4444796144962311,
+              0.7682511806488037
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002966085511491412,
+              0.020814853746840223
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "285fb09f406606f75c8d0b6116e33faa7fc4d8bde3b98b1265211ecc1b2497fb",
+    "visual_seed": 2731712804601893770,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cca4347a0e917884d59f633d79df8ff9e73abc0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16167502962407426,
+              0.23470963052711458,
+              1.0473883494897605
+            ],
+            "current_z": 1.0473883494897605,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18628166266106017,
+            "gripper_z": 1.0533753721039132,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15859323848408882,
+              0.23096127514968662,
+              1.0533753721039132
+            ],
+            "object_minus_gripper": [
+              0.0030817911399854403,
+              0.0037483553774279588,
+              -0.005987022614152737
+            ],
+            "object_to_gripper_xy": 0.004852587419715986,
+            "object_to_gripper_z": -0.005987022614152737,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16167502962407426,
+              0.21142806837124112,
+              1.0473883494897605
+            ],
+            "finger_b": [
+              0.15175356845543214,
+              0.23470963052711458,
+              1.0473883494897605
+            ],
+            "finger_midpoint": [
+              0.1567142990397532,
+              0.22306884944917785,
+              1.0473883494897605
+            ],
+            "object_minus_finger_midpoint": [
+              0.00496073058432106,
+              0.01164078107793673,
+              0.0
+            ],
+            "finger_gap": 0.025307440173566995,
+            "fingertip_max_gap": 0.09154544487202365,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012653720086783497,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473883494897605,
+            "object_top_z": 1.0975619073227219,
+            "finger_top_clearance": 0.0501735578329614,
+            "fingertip_min_top_clearance": 0.01505206734988842,
+            "object_projection_between_fingers": 0.8463067351748312,
+            "object_to_finger_line_xy": 0.009127241368176248,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827272243601183,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.057709070264299,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16216904269062432,
+              0.23666829692313834,
+              1.2406870835974777
+            ],
+            "held_position": [
+              0.16537379907486466,
+              0.24016415811562916,
+              1.2345830641502915
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077298487935482775,
+            "max_held_gripper_dist": 0.007746749979720805,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006104019447186193,
+            "max_held_gripper_z_dist": 0.006137488222531573,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08581068375789427,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16537379907486466,
+              0.21616639171133906,
+              1.2345830641502915
+            ],
+            "held_grasp_finger_b": [
+              0.15704177465853733,
+              0.24016415811562916,
+              1.2345830641502915
+            ],
+            "held_grasp_midpoint": [
+              0.161207786866701,
+              0.2281652749134841,
+              1.2345830641502915
+            ],
+            "held_grasp_object_position": [
+              0.16537379907486466,
+              0.24016415811562916,
+              1.2345830641502915
+            ],
+            "held_grasp_finger_gap": 0.02540305932893024,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023666792779975167,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03762098947333865,
+              -0.9992701561819705,
+              0.006619374223232996
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037125139572235224,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037573394677249225,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31063499481205625,
+              -0.3835529006835018,
+              0.8515395081538479
+            ],
+            "target_position": [
+              0.30455013571154915,
+              -0.3847415758177008,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006199875712277395,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18350255569568077,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395081538479,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555146739343505,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573325594688534,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15159398219929707,
+            "release_required_pad_clearance": 0.05286662797344267,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7753077379573906,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008605420589447021,
+            "max_z_decrease": 0.008605420589447021,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350964651035392,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008605420589447021,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020859216037901862,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008605420589447021,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008605486921433047,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16025006771087646,
+              -0.4410030245780945,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16025006771087646,
+              -0.4410030245780945,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16202668510715526,
+              -0.4393176975229936,
+              0.8035842552071817
+            ],
+            "closest_button": [
+              0.1602533757686615,
+              -0.44096052646636963,
+              0.768571138381958
+            ],
+            "closest_ee_minus_button": [
+              0.0017733093384937615,
+              0.001642828943376029,
+              0.03501311682522368
+            ],
+            "button_min_z_position": [
+              0.16024588048458102,
+              -0.4409694969654083,
+              0.7682034373283386
+            ],
+            "min_active_finger_to_button": 0.14349680922818572,
+            "closest_active_finger": [
+              0.03611932694911957,
+              -0.5043951869010925,
+              0.8104349374771118
+            ],
+            "closest_active_finger_button": [
+              0.16024881601333618,
+              -0.441003680229187,
+              0.7763069272041321
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12412948906421661,
+              -0.06339150667190552,
+              0.034128010272979736
+            ],
+            "min_contact_pad_to_button": 0.020859216037901862,
+            "closest_contact_pad": [
+              0.16024588048458102,
+              -0.4409694969654083,
+              0.7890626533662405
+            ],
+            "closest_contact_pad_button": [
+              0.16024588048458102,
+              -0.4409694969654083,
+              0.7682034373283386
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020859216037901862
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e90a0c6c2ce06a300797d8db5cc4cf4bc24eb538b16c8b5bd0ad08f878c0cd6",
+    "visual_seed": 8723952546666565202,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ef9e001380bff237c6050d03c692cdb5d9f8b74
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16879996867556893,
+              0.2357864687700881,
+              1.0477819839802947
+            ],
+            "current_z": 1.0477819839802947,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.1866751779423047,
+            "gripper_z": 1.053693843715312,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1659631703275116,
+              0.23225766279683327,
+              1.053693843715312
+            ],
+            "object_minus_gripper": [
+              0.0028367983480573344,
+              0.003528805973254834,
+              -0.0059118597350174
+            ],
+            "object_to_gripper_xy": 0.004527681135462149,
+            "object_to_gripper_z": -0.0059118597350174,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16879996867556893,
+              0.21248059788220572,
+              1.0477819839802947
+            ],
+            "finger_b": [
+              0.15943837223379423,
+              0.2357864687700881,
+              1.0477819839802947
+            ],
+            "finger_midpoint": [
+              0.16411917045468158,
+              0.2241335333261469,
+              1.0477819839802947
+            ],
+            "object_minus_finger_midpoint": [
+              0.00468079822088735,
+              0.011652935443941193,
+              0.0
+            ],
+            "finger_gap": 0.025115793950844803,
+            "fingertip_max_gap": 0.09502929993854894,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012557896975422402,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477819839802947,
+            "object_top_z": 1.0997880584819448,
+            "finger_top_clearance": 0.05200607450165018,
+            "fingertip_min_top_clearance": 0.015601822350495086,
+            "object_projection_between_fingers": 0.8610668096979306,
+            "object_to_finger_line_xy": 0.008686970374238205,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050014649969274474,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8001140311090722,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16984440385227442,
+              0.23756137443828235,
+              1.2402544048895467
+            ],
+            "held_position": [
+              0.17275769649535472,
+              0.2408606737948929,
+              1.2342156591226092
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007472556504066226,
+            "max_held_gripper_dist": 0.0074865581525458596,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0060387457669375255,
+            "max_held_gripper_z_dist": 0.006069744167962243,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08542262185664978,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17275769649535472,
+              0.2169345721627024,
+              1.2342156591226092
+            ],
+            "held_grasp_finger_b": [
+              0.1649382086682073,
+              0.2408606737948929,
+              1.2342156591226092
+            ],
+            "held_grasp_midpoint": [
+              0.168847952581781,
+              0.22889762297879765,
+              1.2342156591226092
+            ],
+            "held_grasp_object_position": [
+              0.17275769649535472,
+              0.2408606737948929,
+              1.2342156591226092
+            ],
+            "held_grasp_finger_gap": 0.025171466568176266,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0236752116590435,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.028680436747482566,
+              -0.998887255118612,
+              0.03743907196471208
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035933163514320536,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0376583779145491,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3039638637196974,
+              -0.3881053706117125,
+              0.8515395765332916
+            ],
+            "target_position": [
+              0.3009937329052968,
+              -0.38737408829708647,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0030588316198079464,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18311604325866687,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395765332916,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756043772187704,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08654361420442551,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15066737235471794,
+            "release_required_pad_clearance": 0.053271807102212757,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5631926228525745,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008379936218261719,
+            "max_z_decrease": 0.008379936218261719,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503569747117311,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008379936218261719,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020796499841424176,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008379936218261719,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00838014810886396,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15669365227222443,
+              -0.4436355531215668,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15669365227222443,
+              -0.4436355531215668,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1550157959069361,
+              -0.4421396089840795,
+              0.8037510348663398
+            ],
+            "closest_button": [
+              0.1567034125328064,
+              -0.44360992312431335,
+              0.7687869071960449
+            ],
+            "closest_ee_minus_button": [
+              -0.001687616625870303,
+              0.0014703141402338527,
+              0.03496412767029489
+            ],
+            "button_min_z_position": [
+              0.15674838423728943,
+              -0.4436119794845581,
+              0.7684289216995239
+            ],
+            "min_active_finger_to_button": 0.14661069919069153,
+            "closest_active_finger": [
+              0.02928408980369568,
+              -0.5076249241828918,
+              0.8107411861419678
+            ],
+            "closest_active_finger_button": [
+              0.1566937416791916,
+              -0.44363561272621155,
+              0.7765820622444153
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1274096518754959,
+              -0.0639893114566803,
+              0.03415912389755249
+            ],
+            "min_contact_pad_to_button": 0.020796499841424176,
+            "closest_contact_pad": [
+              0.15674838423728943,
+              -0.4436119794845581,
+              0.7892254215409481
+            ],
+            "closest_contact_pad_button": [
+              0.15674838423728943,
+              -0.4436119794845581,
+              0.7684289216995239
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020796499841424176
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "511a6dbb355fba72ad8e292ba67c17454da2ed4f79d18577517ada33cb05f5f1",
+    "visual_seed": 8067904165992210116,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4a7b9443f83e47ddf2274a0776a96bcaf1299ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16217448088239036,
+              0.23616366828372054,
+              1.0465937294061751
+            ],
+            "current_z": 1.0465937294061751,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1854871617867644,
+            "gripper_z": 1.052349973304973,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15920662133402777,
+              0.2326155538276214,
+              1.052349973304973
+            ],
+            "object_minus_gripper": [
+              0.0029678595483625947,
+              0.0035481144560991495,
+              -0.005756243898797919
+            ],
+            "object_to_gripper_xy": 0.004625722267104542,
+            "object_to_gripper_z": -0.005756243898797919,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16217448088239036,
+              0.21262793825925944,
+              1.0465937294061751
+            ],
+            "finger_b": [
+              0.15298346158072268,
+              0.23616366828372054,
+              1.0465937294061751
+            ],
+            "finger_midpoint": [
+              0.1575789712315565,
+              0.22439580327149,
+              1.0465937294061751
+            ],
+            "object_minus_finger_midpoint": [
+              0.004595509650833857,
+              0.011767865012230538,
+              0.0
+            ],
+            "finger_gap": 0.025266686042849935,
+            "fingertip_max_gap": 0.09207141209232561,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01263334302142496,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465937294061751,
+            "object_top_z": 1.096896340882445,
+            "finger_top_clearance": 0.05030261147626991,
+            "fingertip_min_top_clearance": 0.015090783442880971,
+            "object_projection_between_fingers": 0.8676783863632223,
+            "object_to_finger_line_xy": 0.008561366083656857,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853570604616281,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.228149940209079,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16280191785064865,
+              0.2384439381004243,
+              1.239997020014958
+            ],
+            "held_position": [
+              0.1658106213930963,
+              0.24181299810123716,
+              1.234120281021067
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007412079566338497,
+            "max_held_gripper_dist": 0.0074286162307497985,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005876738993890962,
+            "max_held_gripper_z_dist": 0.005908855108182509,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08579768993742756,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1658106213930963,
+              0.21791781786575543,
+              1.234120281021067
+            ],
+            "held_grasp_finger_b": [
+              0.15772820932540288,
+              0.24181299810123716,
+              1.234120281021067
+            ],
+            "held_grasp_midpoint": [
+              0.1617694153592496,
+              0.2298654079834963,
+              1.234120281021067
+            ],
+            "held_grasp_object_position": [
+              0.1658106213930963,
+              0.24181299810123716,
+              1.234120281021067
+            ],
+            "held_grasp_finger_gap": 0.025225087181576858,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023780157942688795,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.013880049106259094,
+              -0.999881230592598,
+              0.006698428579875014
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038758138192467187,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037717986822354055,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30740992897960673,
+              -0.3789265831579409,
+              0.8515395813653339
+            ],
+            "target_position": [
+              0.30153574584447823,
+              -0.37987284390217596,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005949910663288005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18445630203771105,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395813653339,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553485101404732,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08722782322813637,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15245205299366288,
+            "release_required_pad_clearance": 0.053613911614068185,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.23815196240208,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00830233097076416,
+            "max_z_decrease": 0.00830233097076416,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501308771251828,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00830233097076416,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02093200383677183,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00830233097076416,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008302476957921492,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1572356671094894,
+              -0.43613430857658386,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1572356671094894,
+              -0.43613430857658386,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15821638156032386,
+              -0.43676105311581753,
+              0.8035709799157758
+            ],
+            "closest_button": [
+              0.15727636218070984,
+              -0.43611034750938416,
+              0.7685765624046326
+            ],
+            "closest_ee_minus_button": [
+              0.000940019379614021,
+              -0.0006507056064333772,
+              0.03499441751114318
+            ],
+            "button_min_z_position": [
+              0.1572776138782501,
+              -0.4361085295677185,
+              0.7685065269470215
+            ],
+            "min_active_finger_to_button": 0.1446939771745838,
+            "closest_active_finger": [
+              0.017590627074241638,
+              -0.4198594391345978,
+              0.810795783996582
+            ],
+            "closest_active_finger_button": [
+              0.15723609924316403,
+              -0.43613538146018976,
+              0.7765820026397705
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396454721689224,
+              0.016275942325591986,
+              0.03421378135681152
+            ],
+            "min_contact_pad_to_button": 0.02093200383677183,
+            "closest_contact_pad": [
+              0.1572776138782501,
+              -0.4380058935189374,
+              0.7893523609351172
+            ],
+            "closest_contact_pad_button": [
+              0.1572776138782501,
+              -0.4361085295677185,
+              0.7685065269470215
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018973639512188667,
+              0.020845833988095697
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b60c920fc7886b1e80ade01faa183c3fe73e30d97274463ba3778ee87522d504",
+    "visual_seed": 6340200423598931331,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcaac14184948666d0b5e6040a7049bd30bae69b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16142737504236998,
+              0.23711396601371176,
+              1.0498840212907874
+            ],
+            "current_z": 1.0498840212907874,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18877745367137644,
+            "gripper_z": 1.055558516254806,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1583659115254094,
+              0.2334642483408827,
+              1.055558516254806
+            ],
+            "object_minus_gripper": [
+              0.003061463516960572,
+              0.003649717672829067,
+              -0.005674494964018617
+            ],
+            "object_to_gripper_xy": 0.004763716821667868,
+            "object_to_gripper_z": -0.005674494964018617,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16142737504236998,
+              0.21364753683267698,
+              1.0498840212907874
+            ],
+            "finger_b": [
+              0.15189442708444895,
+              0.23711396601371176,
+              1.0498840212907874
+            ],
+            "finger_midpoint": [
+              0.15666090106340946,
+              0.22538075142319436,
+              1.0498840212907874
+            ],
+            "object_minus_finger_midpoint": [
+              0.004766473978960517,
+              0.011733214590517405,
+              0.0
+            ],
+            "finger_gap": 0.02532884512323749,
+            "fingertip_max_gap": 0.09192048222282209,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012664422561618757,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498840212907874,
+            "object_top_z": 1.1003119949120685,
+            "finger_top_clearance": 0.05042797362128115,
+            "fingertip_min_top_clearance": 0.015128392086384345,
+            "object_projection_between_fingers": 0.8583476879798352,
+            "object_to_finger_line_xy": 0.008831995578661846,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04846024111141105,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9381173535761437,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16215829953837832,
+              0.238981838943301,
+              1.2429598447227637
+            ],
+            "held_position": [
+              0.16529206752606065,
+              0.24240866258477275,
+              1.2371580846423256
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074312880512961785,
+            "max_held_gripper_dist": 0.007446309412502903,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00580176008043809,
+            "max_held_gripper_z_dist": 0.005835252621182452,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08577320207892761,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16529206752606065,
+              0.21841345705512408,
+              1.2371580846423256
+            ],
+            "held_grasp_finger_b": [
+              0.1571558616299752,
+              0.24240866258477275,
+              1.2371580846423256
+            ],
+            "held_grasp_midpoint": [
+              0.1612239645780179,
+              0.23041105981994842,
+              1.2371580846423256
+            ],
+            "held_grasp_object_position": [
+              0.16529206752606065,
+              0.24240866258477275,
+              1.2371580846423256
+            ],
+            "held_grasp_finger_gap": 0.02533708220757825,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02373259343480185,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.030815986933691256,
+              -0.9995046143593749,
+              0.006395375174295115
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003697257523922403,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037603228138110546,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30306892449626277,
+              -0.3847855096610604,
+              0.8515395766380396
+            ],
+            "target_position": [
+              0.2971804405149419,
+              -0.38586638668207945,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005986863847862198,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18189774959672905,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395766380396,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586607065597013,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718071092158695,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1492138983219446,
+            "release_required_pad_clearance": 0.05359035546079348,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.19114531535708,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00841611623764038,
+            "max_z_decrease": 0.00841611623764038,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350629424325836,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00841611623764038,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02097399861999774,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00841611623764038,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00841627606177241,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1528803706169128,
+              -0.44212785363197327,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1528803706169128,
+              -0.44212785363197327,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15476221748289753,
+              -0.4431660036849506,
+              0.8036015135117547
+            ],
+            "closest_button": [
+              0.15291845798492426,
+              -0.44209566712379456,
+              0.7686034440994263
+            ],
+            "closest_ee_minus_button": [
+              0.001843759497973274,
+              -0.0010703365611560711,
+              0.034998069412328414
+            ],
+            "button_min_z_position": [
+              0.15291611850261683,
+              -0.4420902729034424,
+              0.7683927416801453
+            ],
+            "min_active_finger_to_button": 0.14380268168370022,
+            "closest_active_finger": [
+              0.014023110270500183,
+              -0.427024781703949,
+              0.8107267022132874
+            ],
+            "closest_active_finger_button": [
+              0.1528796404600143,
+              -0.44212776422500605,
+              0.7765218019485474
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1388565301895141,
+              0.015102982521057073,
+              0.03420490026473999
+            ],
+            "min_contact_pad_to_button": 0.02097399861999774,
+            "closest_contact_pad": [
+              0.15291611850261683,
+              -0.44437002352341387,
+              0.7892424744175788
+            ],
+            "closest_contact_pad_button": [
+              0.15291611850261683,
+              -0.4420902729034424,
+              0.7683927416801453
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002279750619971488,
+              0.020849732737433513
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a61d5569b7bb07710c73f108cc3cdabfb1a4686f26f468d5731d13b1700efe5f",
+    "visual_seed": 4728741899765316676,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aafd2e65cb78e47addc1c94a96a9cb14134b373f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16796951527273357,
+              0.23559051686136237,
+              1.0472214947949663
+            ],
+            "current_z": 1.0472214947949663,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18611486757091078,
+            "gripper_z": 1.0530377237228066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16496026817756534,
+              0.23188863644698027,
+              1.0530377237228066
+            ],
+            "object_minus_gripper": [
+              0.003009247095168227,
+              0.0037018804143821027,
+              -0.0058162289278402834
+            ],
+            "object_to_gripper_xy": 0.004770690377939468,
+            "object_to_gripper_z": -0.0058162289278402834,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16796951527273357,
+              0.2123909532866677,
+              1.0472214947949663
+            ],
+            "finger_b": [
+              0.15805465896475435,
+              0.23559051686136237,
+              1.0472214947949663
+            ],
+            "finger_midpoint": [
+              0.16301208711874396,
+              0.22399073507401504,
+              1.0472214947949663
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049574281539896126,
+              0.01159978178734733,
+              0.0
+            ],
+            "finger_gap": 0.025229429753051785,
+            "fingertip_max_gap": 0.09255175662701975,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012614714876525893,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472214947949663,
+            "object_top_z": 1.0980593868107462,
+            "finger_top_clearance": 0.05083789201577993,
+            "fingertip_min_top_clearance": 0.015251367604733994,
+            "object_projection_between_fingers": 0.8455606446883679,
+            "object_to_finger_line_xy": 0.009117143807941321,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877587831350988,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0417291884666893,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16896319959857053,
+              0.2368838470838643,
+              1.2425204915218409
+            ],
+            "held_position": [
+              0.17214996407681238,
+              0.2402955508996731,
+              1.2366020693741464
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007538097338513776,
+            "max_held_gripper_dist": 0.007552835577705718,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0059184221476944465,
+            "max_held_gripper_z_dist": 0.005954058976070042,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08605125187966545,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17214996407681238,
+              0.21622175101023083,
+              1.2366020693741464
+            ],
+            "held_grasp_finger_b": [
+              0.16404302360501694,
+              0.2402955508996731,
+              1.2366020693741464
+            ],
+            "held_grasp_midpoint": [
+              0.16809649384091466,
+              0.22825865095495196,
+              1.2366020693741464
+            ],
+            "held_grasp_object_position": [
+              0.17214996407681238,
+              0.2402955508996731,
+              1.2366020693741464
+            ],
+            "held_grasp_finger_gap": 0.02540217165775686,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023608899622285122,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.052224552307183356,
+              -0.9982753478625175,
+              0.026812795197146855
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00343478189291349,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037492418922232,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3096816577679462,
+              -0.3790842308967092,
+              0.8515395674572447
+            ],
+            "target_position": [
+              0.3044278945589786,
+              -0.3795330179267484,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005272896514652342,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18253034498085788,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395674572447,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553512942267476,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851863076443523,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15046407683012647,
+            "release_required_pad_clearance": 0.05259315382217615,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.25022906881042783,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008342921733856201,
+            "max_z_decrease": 0.008342921733856201,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035022915542447984,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008342921733856201,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02097863309968553,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008342921733856201,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008342961774516091,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16012781858444214,
+              -0.435794472694397,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16012781858444214,
+              -0.435794472694397,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15900923622017313,
+              -0.4370478967435168,
+              0.8035155648909748
+            ],
+            "closest_button": [
+              0.16014699637889865,
+              -0.435769647359848,
+              0.7685344815254211
+            ],
+            "closest_ee_minus_button": [
+              -0.0011377601587255204,
+              -0.0012782493836687725,
+              0.03498108336555361
+            ],
+            "button_min_z_position": [
+              0.16013868153095248,
+              -0.43577101826667786,
+              0.7684659361839294
+            ],
+            "min_active_finger_to_button": 0.1466599488304788,
+            "closest_active_finger": [
+              0.018331080675125122,
+              -0.4205211102962494,
+              0.8107410669326782
+            ],
+            "closest_active_finger_button": [
+              0.16012682020664218,
+              -0.43579649925231934,
+              0.776539146900177
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14179573953151706,
+              0.015275388956069946,
+              0.03420192003250122
+            ],
+            "min_contact_pad_to_button": 0.02097863309968553,
+            "closest_contact_pad": [
+              0.16013868153095248,
+              -0.4382472901217744,
+              0.7892979097925648
+            ],
+            "closest_contact_pad_button": [
+              0.16013868153095248,
+              -0.43577101826667786,
+              0.7684659361839294
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024762718550965235,
+              0.020831973608635312
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a5b6a55a805fa42ac8c6c99fc728c8680314c491e1e5544d062d1503498fc63a",
+    "visual_seed": 1281071443607442919,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2993f8a4d5eaf5c899c361f0a1f04e254475f8fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16083526283540875,
+              0.23475748663533366,
+              1.0486667301329269
+            ],
+            "current_z": 1.0486667301329269,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18756016251351604,
+            "gripper_z": 1.0544974589995852,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15806618813931833,
+              0.23131786205708837,
+              1.0544974589995852
+            ],
+            "object_minus_gripper": [
+              0.002769074696090418,
+              0.0034396245782452872,
+              -0.005830728866658363
+            ],
+            "object_to_gripper_xy": 0.004415743641992514,
+            "object_to_gripper_z": -0.005830728866658363,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16083526283540875,
+              0.21130481648796098,
+              1.0486667301329269
+            ],
+            "finger_b": [
+              0.1518837094878449,
+              0.23475748663533366,
+              1.0486667301329269
+            ],
+            "finger_midpoint": [
+              0.15635948616162682,
+              0.22303115156164732,
+              1.0486667301329269
+            ],
+            "object_minus_finger_midpoint": [
+              0.004475776673781934,
+              0.01172633507368634,
+              0.0
+            ],
+            "finger_gap": 0.02510294891792092,
+            "fingertip_max_gap": 0.09305893370231227,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012551474458960463,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486667301329269,
+            "object_top_z": 1.0993057990060002,
+            "finger_top_clearance": 0.050639068873073345,
+            "fingertip_min_top_clearance": 0.015191720661922037,
+            "object_projection_between_fingers": 0.8728409356201097,
+            "object_to_finger_line_xy": 0.00836307434052701,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04902946685115614,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5001907805389159,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16150528577923054,
+              0.23759781656900364,
+              1.2429345211875857
+            ],
+            "held_position": [
+              0.16431402883627869,
+              0.24088956963920463,
+              1.2370105172212993
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007336109243207289,
+            "max_held_gripper_dist": 0.00735131632993574,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005924003966286451,
+            "max_held_gripper_z_dist": 0.005956739671394651,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08571381363050093,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16431402883627869,
+              0.2171658589095137,
+              1.2370105172212993
+            ],
+            "held_grasp_finger_b": [
+              0.15623755248712526,
+              0.24088956963920463,
+              1.2370105172212993
+            ],
+            "held_grasp_midpoint": [
+              0.16027579066170197,
+              0.22902771427435917,
+              1.2370105172212993
+            ],
+            "held_grasp_object_position": [
+              0.16431402883627869,
+              0.24088956963920463,
+              1.2370105172212993
+            ],
+            "held_grasp_finger_gap": 0.02506080447640273,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023693729881436257,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.003122961055059688,
+              -0.9997994273657957,
+              0.019782622507534597
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004008056829693201,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03784816260827642,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3034679327831391,
+              -0.37843715177460235,
+              0.8515395674673496
+            ],
+            "target_position": [
+              0.29896558511679266,
+              -0.3789044923114883,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004526537494163954,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18228690783064094,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395674673496,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532568439820904,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08685961038995214,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15085340328401844,
+            "release_required_pad_clearance": 0.053429805194976074,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8738169078365494,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008535981178283691,
+            "max_z_decrease": 0.008535981178283691,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350332546029418,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008535981178283691,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020910301481687335,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008535981178283691,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008536049997054245,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1546655148267746,
+              -0.4351659417152405,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1546655148267746,
+              -0.4351659417152405,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15601575477507695,
+              -0.4352368089253446,
+              0.8036471081056751
+            ],
+            "closest_button": [
+              0.15466678142547607,
+              -0.435135304927826,
+              0.7686399817466736
+            ],
+            "closest_ee_minus_button": [
+              0.0013489733496008793,
+              -0.00010150399751862604,
+              0.035007126359001495
+            ],
+            "button_min_z_position": [
+              0.15465621650218964,
+              -0.4351329505443573,
+              0.768272876739502
+            ],
+            "min_active_finger_to_button": 0.144383857710154,
+            "closest_active_finger": [
+              0.015439726412296295,
+              -0.4180756211280823,
+              0.8109291195869446
+            ],
+            "closest_active_finger_button": [
+              0.15466895699501038,
+              -0.4351653456687928,
+              0.7767258882522583
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13922923058271408,
+              0.017089724540710505,
+              0.03420323133468628
+            ],
+            "min_contact_pad_to_button": 0.020910301481687335,
+            "closest_contact_pad": [
+              0.15465621650218964,
+              -0.4365001201439565,
+              0.7891384358103964
+            ],
+            "closest_contact_pad_button": [
+              0.15465621650218964,
+              -0.4351329505443573,
+              0.768272876739502
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001367169599599205,
+              0.02086555907089449
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "97794886b7f76dae1b75caecbec4aec4beacf38550201749eecb30e21cc37c61",
+    "visual_seed": 2348731994720019043,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7375c4c8f0311739b4ce78c5730331127196d11e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1643847373877379,
+              0.23324854008609688,
+              1.047590209832145
+            ],
+            "current_z": 1.047590209832145,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18648352300344484,
+            "gripper_z": 1.0533781526544534,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16142565210067886,
+              0.2295727788588819,
+              1.0533781526544534
+            ],
+            "object_minus_gripper": [
+              0.0029590852870590434,
+              0.0036757612272149964,
+              -0.005787942822308434
+            ],
+            "object_to_gripper_xy": 0.004718835273198928,
+            "object_to_gripper_z": -0.005787942822308434,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1643847373877379,
+              0.2100936951046124,
+              1.047590209832145
+            ],
+            "finger_b": [
+              0.15451023537344605,
+              0.23324854008609688,
+              1.047590209832145
+            ],
+            "finger_midpoint": [
+              0.15944748638059197,
+              0.22167111759535463,
+              1.047590209832145
+            ],
+            "object_minus_finger_midpoint": [
+              0.004937251007145926,
+              0.011577422490742256,
+              0.0
+            ],
+            "finger_gap": 0.025172457888470706,
+            "fingertip_max_gap": 0.09194200343492726,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012586228944235365,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047590209832145,
+            "object_top_z": 1.0976382316869409,
+            "finger_top_clearance": 0.05004802185479584,
+            "fingertip_min_top_clearance": 0.01501440655643877,
+            "object_projection_between_fingers": 0.8461210693872033,
+            "object_to_finger_line_xy": 0.009083044827140441,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847100171746363,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3163729307511747,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16512156188064375,
+              0.2352670718073874,
+              1.2420820332544371
+            ],
+            "held_position": [
+              0.16822244471864878,
+              0.238678161005359,
+              1.2361830825360947
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007486562860818409,
+            "max_held_gripper_dist": 0.0074996596592186385,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005898950718342455,
+            "max_held_gripper_z_dist": 0.005933395035671474,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0858752216386276,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16822244471864878,
+              0.21473327550028795,
+              1.2361830825360947
+            ],
+            "held_grasp_finger_b": [
+              0.16003560856073107,
+              0.238678161005359,
+              1.2361830825360947
+            ],
+            "held_grasp_midpoint": [
+              0.16412902663968992,
+              0.22670571825282348,
+              1.2361830825360947
+            ],
+            "held_grasp_object_position": [
+              0.16822244471864878,
+              0.238678161005359,
+              1.2361830825360947
+            ],
+            "held_grasp_finger_gap": 0.025305766697090015,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023627332762744497,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03648023648104514,
+              -0.9992108952348036,
+              0.015709207183991266
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036588334093909003,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0376079259696504,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3047632287960722,
+              -0.3781852318367191,
+              0.8515395240308021
+            ],
+            "target_position": [
+              0.2990079084477005,
+              -0.3790559471474442,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005820812440262342,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18479504577705597,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395240308021,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518156855341868,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498273708358799,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15363624324149247,
+            "release_required_pad_clearance": 0.052491368541793995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05595277271755855,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00842982530593872,
+            "max_z_decrease": 0.00842982530593872,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499714052410127,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00842982530593872,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020864314168753405,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00842982530593872,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00842988970860221,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15470783412456512,
+              -0.43531739711761475,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15470783412456512,
+              -0.43531739711761475,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1542275282318306,
+              -0.43507912653909125,
+              0.8037370531753943
+            ],
+            "closest_button": [
+              0.154728963971138,
+              -0.4352850615978241,
+              0.7687441110610962
+            ],
+            "closest_ee_minus_button": [
+              -0.0005014357393073876,
+              0.00020593505873284235,
+              0.03499294211429815
+            ],
+            "button_min_z_position": [
+              0.15473003685474399,
+              -0.435293048620224,
+              0.7683790326118469
+            ],
+            "min_active_finger_to_button": 0.14607503987344259,
+            "closest_active_finger": [
+              0.027495793998241425,
+              -0.4984857141971588,
+              0.8103652596473694
+            ],
+            "closest_active_finger_button": [
+              0.15470768511295319,
+              -0.43531790375709534,
+              0.7762349247932434
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12721189111471176,
+              -0.06316781044006348,
+              0.03413033485412598
+            ],
+            "min_contact_pad_to_button": 0.020864314168753405,
+            "closest_contact_pad": [
+              0.15473003685474399,
+              -0.4362055388300353,
+              0.7892233835815807
+            ],
+            "closest_contact_pad_button": [
+              0.15473003685474399,
+              -0.435293048620224,
+              0.7683790326118469
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000912490209811323,
+              0.020844350969733805
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8bc4a80ff532d8e8ae5f61af9dc3ccaaab16954d52ef22d9f10b2c5fa7c897d5",
+    "visual_seed": 8008944924786395191,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fdff0dc6ff45f8dc7890f2883d98125fb56744b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1669085039649288,
+              0.24031773046350363,
+              1.0478141383402413
+            ],
+            "current_z": 1.0478141383402413,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18670757072083033,
+            "gripper_z": 1.0539654430671914,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16447805537199053,
+              0.23704884680950583,
+              1.0539654430671914
+            ],
+            "object_minus_gripper": [
+              0.0024304485929382558,
+              0.0032688836539978006,
+              -0.006151304726950135
+            ],
+            "object_to_gripper_xy": 0.004073411433465758,
+            "object_to_gripper_z": -0.006151304726950135,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1669085039649288,
+              0.21717590459028777,
+              1.0478141383402413
+            ],
+            "finger_b": [
+              0.15809052333610743,
+              0.24031773046350363,
+              1.0478141383402413
+            ],
+            "finger_midpoint": [
+              0.16249951365051812,
+              0.22874681752689568,
+              1.0478141383402413
+            ],
+            "object_minus_finger_midpoint": [
+              0.004408990314410666,
+              0.011570912936607947,
+              0.0
+            ],
+            "finger_gap": 0.02476491241891463,
+            "fingertip_max_gap": 0.10197577137405045,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012382456209457321,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478141383402413,
+            "object_top_z": 1.1031690245082808,
+            "finger_top_clearance": 0.05535488616803952,
+            "fingertip_min_top_clearance": 0.01660646585041187,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012382456209457321,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05348788568702523,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.044253931546237,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16809889714927786,
+              0.242852964342158,
+              1.2404338318041872
+            ],
+            "held_position": [
+              0.1705763673285275,
+              0.24594935974418197,
+              1.2341746218639136
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007409671521138202,
+            "max_held_gripper_dist": 0.007425632625432093,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0062592099402736245,
+            "max_held_gripper_z_dist": 0.006287164938303169,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08586825806723067,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1705763673285275,
+              0.22231877967203634,
+              1.2341746218639136
+            ],
+            "held_grasp_finger_b": [
+              0.1630355338696933,
+              0.24594935974418197,
+              1.2341746218639136
+            ],
+            "held_grasp_midpoint": [
+              0.1668059505991104,
+              0.23413406970810915,
+              1.2341746218639136
+            ],
+            "held_grasp_object_position": [
+              0.1705763673285275,
+              0.24594935974418197,
+              1.2341746218639136
+            ],
+            "held_grasp_finger_gap": 0.024804606100479798,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023570319453560036,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.00020559057895566668,
+              -0.9975154950030959,
+              0.07044710754347971
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038588323520681285,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03793354001899843,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30266947573136127,
+              -0.3820527122175853,
+              0.8515395969539857
+            ],
+            "target_position": [
+              0.30348516995203156,
+              -0.3793443268293546,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0028285523634567038,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.178490973015158,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395969539857,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561308351641488,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08775947944576783,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14579274918556814,
+            "release_required_pad_clearance": 0.053879739722883915,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.769029831338253,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008393168449401855,
+            "max_z_decrease": 0.008393168449401855,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502852669048639,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008393168449401855,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021067865895282555,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008393168449401855,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008393216328719304,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15918509662151328,
+              -0.4356057941913604,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15918509662151328,
+              -0.4356057941913604,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15873235063516883,
+              -0.4371893473583466,
+              0.8037678847243777
+            ],
+            "closest_button": [
+              0.159198448061943,
+              -0.43557989597320546,
+              0.768779456615448
+            ],
+            "closest_ee_minus_button": [
+              -0.0004660974267741702,
+              -0.0016094513851411252,
+              0.03498842810892966
+            ],
+            "button_min_z_position": [
+              0.15919171273708338,
+              -0.4355782270431518,
+              0.7684156894683838
+            ],
+            "min_active_finger_to_button": 0.14595861207942792,
+            "closest_active_finger": [
+              0.018270045518875122,
+              -0.41904884576797485,
+              0.8107000589370728
+            ],
+            "closest_active_finger_button": [
+              0.15918551385402674,
+              -0.435607761144638,
+              0.7764575481414795
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14091546833515162,
+              0.016558915376663152,
+              0.03424251079559326
+            ],
+            "min_contact_pad_to_button": 0.021067865895282555,
+            "closest_contact_pad": [
+              0.15919171273708338,
+              -0.4385341697234255,
+              0.789275156773484
+            ],
+            "closest_contact_pad_button": [
+              0.15919171273708338,
+              -0.4355782270431518,
+              0.7684156894683838
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029559426802737154,
+              0.020859467305100243
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bcc9d955c5bbc58bfb93d8e38e71b63af7484831d36a70a6244916744b4d0806",
+    "visual_seed": 4120103570046862923,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b61fa360a1bb1e43a1618224b62214502297ce2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16699701565384464,
+              0.24164149506255236,
+              1.046099280348988
+            ],
+            "current_z": 1.046099280348988,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.1849924147063533,
+            "gripper_z": 1.0525338585718982,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1627904969308889,
+              0.23743083557921996,
+              1.0525338585718982
+            ],
+            "object_minus_gripper": [
+              0.004206518722955743,
+              0.004210659483332407,
+              -0.00643457822291027
+            ],
+            "object_to_gripper_xy": 0.005951844508314574,
+            "object_to_gripper_z": -0.00643457822291027,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16699701565384464,
+              0.21768414558321098,
+              1.046099280348988
+            ],
+            "finger_b": [
+              0.15631866389733223,
+              0.24164149506255236,
+              1.046099280348988
+            ],
+            "finger_midpoint": [
+              0.16165783977558845,
+              0.22966282032288166,
+              1.046099280348988
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053391758782561916,
+              0.011978674739670708,
+              0.0
+            ],
+            "finger_gap": 0.026229406975970898,
+            "fingertip_max_gap": 0.10890055678836585,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013114703487985456,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046099280348988,
+            "object_top_z": 1.1034083155640655,
+            "finger_top_clearance": 0.057309035215077575,
+            "fingertip_min_top_clearance": 0.017192710564523237,
+            "object_projection_between_fingers": 0.8342584093915515,
+            "object_to_finger_line_xy": 0.009753365950227983,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05695027839418293,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 7.360895485424979,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 203,
+            "max_stable_success_frames": 203,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1653446232115532,
+              0.24507345492904514,
+              1.238960140761955
+            ],
+            "held_position": [
+              0.16955348067081646,
+              0.2491274394556801,
+              1.2323962229405208
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008788304092436406,
+            "max_held_gripper_dist": 0.008805618523806477,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006563917821434284,
+            "max_held_gripper_z_dist": 0.006608067155021713,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597863753778126,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16955348067081646,
+              0.22495019930236163,
+              1.2323962229405208
+            ],
+            "held_grasp_finger_b": [
+              0.15960278457210736,
+              0.2491274394556801,
+              1.2323962229405208
+            ],
+            "held_grasp_midpoint": [
+              0.16457813262146193,
+              0.23703881937902088,
+              1.2323962229405208
+            ],
+            "held_grasp_object_position": [
+              0.16955348067081646,
+              0.2491274394556801,
+              1.2323962229405208
+            ],
+            "held_grasp_finger_gap": 0.026144890404820983,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024810683372479547,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.08033371509333673,
+              -0.9931368028294065,
+              0.08500461802212445
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.006015845161332403,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038114284769229366,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2993789014735353,
+              -0.3826013190963504,
+              0.8515395859114324
+            ],
+            "target_position": [
+              0.3015295848445023,
+              -0.3797420807035145,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0035778042357318806,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17810864959836292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395859114324,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531642680435016,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09028314955797288,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1461420413510159,
+            "release_required_pad_clearance": 0.055141574778986444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.374448416205565,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008569002151489258,
+            "max_z_decrease": 0.008569002151489258,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502484959371336,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008569002151489258,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021041907761255745,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008569002151489258,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008569101535917938,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15722951292991633,
+              -0.43600353598594666,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15722951292991633,
+              -0.43600353598594666,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15647238763340987,
+              -0.43749118584078756,
+              0.8035945560309201
+            ],
+            "closest_button": [
+              0.15722192823886869,
+              -0.4359647333621979,
+              0.7686110138893127
+            ],
+            "closest_ee_minus_button": [
+              -0.000749540605458815,
+              -0.0015264524785896794,
+              0.03498354214160737
+            ],
+            "button_min_z_position": [
+              0.15721613168716428,
+              -0.4359644949436188,
+              0.7682398557662964
+            ],
+            "min_active_finger_to_button": 0.1462508395959483,
+            "closest_active_finger": [
+              0.01600220799446106,
+              -0.4194888174533844,
+              0.8108300566673279
+            ],
+            "closest_active_finger_button": [
+              0.1572300344705581,
+              -0.43600529432296753,
+              0.7766070365905762
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14122782647609705,
+              0.01651647686958313,
+              0.03422302007675171
+            ],
+            "min_contact_pad_to_button": 0.021041907761255745,
+            "closest_contact_pad": [
+              0.15721613168716428,
+              -0.43882695888864615,
+              0.7890861547758715
+            ],
+            "closest_contact_pad_button": [
+              0.15721613168716428,
+              -0.4359644949436188,
+              0.7682398557662964
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028624639450273714,
+              0.02084629900957513
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f783ca687055aa08bef052b2efb4b1d9407a3c2fd5457b0656ee8141c49cfc81",
+    "visual_seed": 666945322348791976,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9189c0183efb281b68a574939bb80d6da4093c9e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16793664063034477,
+              0.2404446652068687,
+              1.047424991307214
+            ],
+            "current_z": 1.047424991307214,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.1863181256645794,
+            "gripper_z": 1.0530444422255005,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16463409298869267,
+              0.23653136895777482,
+              1.0530444422255005
+            ],
+            "object_minus_gripper": [
+              0.0033025476416521093,
+              0.003913296249093867,
+              -0.005619450918286528
+            ],
+            "object_to_gripper_xy": 0.005120616023346609,
+            "object_to_gripper_z": -0.005619450918286528,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16793664063034477,
+              0.2172046173398411,
+              1.047424991307214
+            ],
+            "finger_b": [
+              0.15750741087967127,
+              0.2404446652068687,
+              1.047424991307214
+            ],
+            "finger_midpoint": [
+              0.16272202575500802,
+              0.2288246412733549,
+              1.047424991307214
+            ],
+            "object_minus_finger_midpoint": [
+              0.005214614875336754,
+              0.011620023933513801,
+              0.0
+            ],
+            "finger_gap": 0.025472900464102385,
+            "fingertip_max_gap": 0.0915830939084259,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012736450232051192,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047424991307214,
+            "object_top_z": 1.097567706996317,
+            "finger_top_clearance": 0.050142715689103,
+            "fingertip_min_top_clearance": 0.0150428147067309,
+            "object_projection_between_fingers": 0.8323715719009653,
+            "object_to_finger_line_xy": 0.009515045173730726,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829154695421295,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9421821763366772,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1684168951509862,
+              0.2420303832298465,
+              1.2405197351520034
+            ],
+            "held_position": [
+              0.17189340166581005,
+              0.24563235475381479,
+              1.2347673289051044
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007625645811106991,
+            "max_held_gripper_dist": 0.007639381322772378,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005752406246898989,
+            "max_held_gripper_z_dist": 0.005788830948846746,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08609226795874139,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17189340166581005,
+              0.2214538666532947,
+              1.2347673289051044
+            ],
+            "held_grasp_finger_b": [
+              0.16342378385401,
+              0.24563235475381479,
+              1.2347673289051044
+            ],
+            "held_grasp_midpoint": [
+              0.16765859275991002,
+              0.23354311070355474,
+              1.2347673289051044
+            ],
+            "held_grasp_object_position": [
+              0.17189340166581005,
+              0.24563235475381479,
+              1.2347673289051044
+            ],
+            "held_grasp_finger_gap": 0.025619010767493587,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023693471933290158,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.052820118624620195,
+              -0.9984428327549294,
+              0.017942819978840396
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035970098222600816,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037426147885925506,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31140878429099905,
+              -0.3861864859079823,
+              0.8515395647009154
+            ],
+            "target_position": [
+              0.30517048019035853,
+              -0.38724632326306585,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006327692570858576,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18243256841765992,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395647009154,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523559013291302,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858053194535867,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15120009646346202,
+            "release_required_pad_clearance": 0.05290265972679335,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8448723220043828,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008752763271331787,
+            "max_z_decrease": 0.008752763271331787,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506893710895296,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008752763271331787,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020962611573306596,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008752763271331787,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008753026602803457,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16087040305137634,
+              -0.4435077905654907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16087040305137634,
+              -0.4435077905654907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16280441694427722,
+              -0.4440082328410856,
+              0.8030649900410604
+            ],
+            "closest_button": [
+              0.16082960367202756,
+              -0.4434535205364227,
+              0.7680560946464539
+            ],
+            "closest_ee_minus_button": [
+              0.001974813272249659,
+              -0.0005547123046629188,
+              0.0350088953946065
+            ],
+            "button_min_z_position": [
+              0.16082960367202756,
+              -0.4434535205364227,
+              0.7680560946464539
+            ],
+            "min_active_finger_to_button": 0.1437986557625163,
+            "closest_active_finger": [
+              0.022192761301994324,
+              -0.4270078241825104,
+              0.8109962344169617
+            ],
+            "closest_active_finger_button": [
+              0.16087402403354645,
+              -0.44350787997245783,
+              0.7767426371574402
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13868126273155212,
+              0.016500055789947454,
+              0.034253597259521484
+            ],
+            "min_contact_pad_to_button": 0.020962611573306596,
+            "closest_contact_pad": [
+              0.16082960367202756,
+              -0.44526300419998516,
+              0.7889404632709689
+            ],
+            "closest_contact_pad_button": [
+              0.16082960367202756,
+              -0.4434535205364227,
+              0.7680560946464539
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018094836635624834,
+              0.020884368624515037
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "71abbac6712920d0d61aa7c43f06f336167ef11d6b426130ff92360ccd3f332a",
+    "visual_seed": 5146403246040332349,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfcaf47aa88a20c2e96b737680b6296c3cf21338
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.165464626118491,
+              0.2431655959546579,
+              1.0468534272798051
+            ],
+            "current_z": 1.0468534272798051,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1857468596603944,
+            "gripper_z": 1.0525244940283816,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16235564886965115,
+              0.23937469865557937,
+              1.0525244940283816
+            ],
+            "object_minus_gripper": [
+              0.0031089772488398504,
+              0.0037908972990785272,
+              -0.0056710667485764255
+            ],
+            "object_to_gripper_xy": 0.004902717804031217,
+            "object_to_gripper_z": -0.0056710667485764255,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.165464626118491,
+              0.21990381420585087,
+              1.0468534272798051
+            ],
+            "finger_b": [
+              0.1554321787388499,
+              0.2431655959546579,
+              1.0468534272798051
+            ],
+            "finger_midpoint": [
+              0.16044840242867045,
+              0.23153470508025437,
+              1.0468534272798051
+            ],
+            "object_minus_finger_midpoint": [
+              0.005016223689820548,
+              0.011630890874403527,
+              0.0
+            ],
+            "finger_gap": 0.025332992135837392,
+            "fingertip_max_gap": 0.09219863676011733,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012666496067918708,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468534272798051,
+            "object_top_z": 1.0972301253838457,
+            "finger_top_clearance": 0.05037669810404055,
+            "fingertip_min_top_clearance": 0.015113009431212148,
+            "object_projection_between_fingers": 0.8431657886288408,
+            "object_to_finger_line_xy": 0.009212200442025996,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04859931838005867,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9801227923783205,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16592099090530255,
+              0.24498350034667857,
+              1.24082539967466
+            ],
+            "held_position": [
+              0.16918800502230755,
+              0.2485137356139809,
+              1.2350507768908892
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075154647612813465,
+            "max_held_gripper_dist": 0.007531093337771271,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005774622783770944,
+            "max_held_gripper_z_dist": 0.005808605400753786,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618773768556776,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16918800502230755,
+              0.22445598567089303,
+              1.2350507768908892
+            ],
+            "held_grasp_finger_b": [
+              0.1607949036277791,
+              0.2485137356139809,
+              1.2350507768908892
+            ],
+            "held_grasp_midpoint": [
+              0.1649914543250433,
+              0.23648486064243696,
+              1.2350507768908892
+            ],
+            "held_grasp_object_position": [
+              0.16918800502230755,
+              0.2485137356139809,
+              1.2350507768908892
+            ],
+            "held_grasp_finger_gap": 0.02547978577898527,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023677935492228096,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.042276056032807485,
+              -0.998961364796177,
+              0.016997844888991476
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036900182983259505,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03752645509913689,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3082682863707088,
+              -0.3857315139020506,
+              0.8515395842783121
+            ],
+            "target_position": [
+              0.30335720890577467,
+              -0.3864389310319801,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004961765901602126,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18231134355472367,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395842783121,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578702436761006,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605106164835939,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14965690356574804,
+            "release_required_pad_clearance": 0.0530255308241797,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0828048745112615,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008586108684539795,
+            "max_z_decrease": 0.008586108684539795,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035000557810271136,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008586108684539795,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02094123315522199,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008586108684539795,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00858633142189648,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1590571403503418,
+              -0.44270038604736334,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1590571403503418,
+              -0.44270038604736334,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15934871463623293,
+              -0.44364754135449186,
+              0.8036088864258005
+            ],
+            "closest_button": [
+              0.15909816324710846,
+              -0.4426744282245636,
+              0.7686227560043335
+            ],
+            "closest_ee_minus_button": [
+              0.0002505513891244704,
+              -0.0009731131299282603,
+              0.03498613042146703
+            ],
+            "button_min_z_position": [
+              0.15910273790359497,
+              -0.44265860319137573,
+              0.7682227492332458
+            ],
+            "min_active_finger_to_button": 0.14538584556084258,
+            "closest_active_finger": [
+              0.01850268244743347,
+              -0.428161084651947,
+              0.8105584979057312
+            ],
+            "closest_active_finger_button": [
+              0.15905670821666718,
+              -0.4427006244659424,
+              0.7763501405715942
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1405540257692337,
+              0.014539539813995361,
+              0.03420835733413696
+            ],
+            "min_contact_pad_to_button": 0.02094123315522199,
+            "closest_contact_pad": [
+              0.15910273790359497,
+              -0.4447716371972628,
+              0.7890571038753108
+            ],
+            "closest_contact_pad_button": [
+              0.15910273790359497,
+              -0.44265860319137573,
+              0.7682227492332458
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021130340058870822,
+              0.020834354642064956
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f72419c6ec2bd1a75ba04d7bb0559a6071f724b31b9876ced6f2f5505747665f",
+    "visual_seed": 4042849327352217031,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..88ea3a037444247f326147b00510b834f8171d31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16562431411514578,
+              0.23755739087249955,
+              1.049880182184086
+            ],
+            "current_z": 1.049880182184086,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18877349535538557,
+            "gripper_z": 1.0556608022697314,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1625292736468049,
+              0.2338333019811027,
+              1.0556608022697314
+            ],
+            "object_minus_gripper": [
+              0.003095040468340887,
+              0.0037240888913968595,
+              -0.005780620085645394
+            ],
+            "object_to_gripper_xy": 0.004842325223659938,
+            "object_to_gripper_z": -0.005780620085645394,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16562431411514578,
+              0.21419977746479393,
+              1.049880182184086
+            ],
+            "finger_b": [
+              0.155818855179439,
+              0.23755739087249955,
+              1.049880182184086
+            ],
+            "finger_midpoint": [
+              0.1607215846472924,
+              0.22587858416864676,
+              1.049880182184086
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049027294678533895,
+              0.011678806703852795,
+              0.0
+            ],
+            "finger_gap": 0.02533229419226891,
+            "fingertip_max_gap": 0.09148006930008315,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012666147096134442,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049880182184086,
+            "object_top_z": 1.0998269347956522,
+            "finger_top_clearance": 0.049946752611566225,
+            "fingertip_min_top_clearance": 0.01498402578346985,
+            "object_projection_between_fingers": 0.8501741312778008,
+            "object_to_finger_line_xy": 0.009041112398547354,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824003465004158,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0180344287920229,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1662158109952802,
+              0.23944174379292654,
+              1.243088307373513
+            ],
+            "held_position": [
+              0.16941113772676292,
+              0.24292155429444798,
+              1.237185112202301
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00756088005967879,
+            "max_held_gripper_dist": 0.0075784936094035775,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005903195171212072,
+            "max_held_gripper_z_dist": 0.00593782823823763,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08585573215032338,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16941113772676292,
+              0.2189099036960203,
+              1.237185112202301
+            ],
+            "held_grasp_finger_b": [
+              0.1611390757063088,
+              0.24292155429444798,
+              1.237185112202301
+            ],
+            "held_grasp_midpoint": [
+              0.16527510671653586,
+              0.23091572899523416,
+              1.237185112202301
+            ],
+            "held_grasp_object_position": [
+              0.16941113772676292,
+              0.24292155429444798,
+              1.237185112202301
+            ],
+            "held_grasp_finger_gap": 0.025396581945829066,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023714575415303522,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.033933449876936854,
+              -0.9993180151815461,
+              0.014561095874439763
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037303964540983414,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037582262760493305,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3090363626310955,
+              -0.38268618744812144,
+              0.8515395634052677
+            ],
+            "target_position": [
+              0.30305939206672455,
+              -0.3836930408682502,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006061182305209266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18413005794172702,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395634052677,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515297547097131,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500691399943892,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15305097295578515,
+            "release_required_pad_clearance": 0.052503456999719464,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912936285115259,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008355677127838135,
+            "max_z_decrease": 0.008355677127838135,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035026279590529646,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008355677127838135,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02082589125769796,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008355677127838135,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008355756532202266,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15875931084156036,
+              -0.4399544894695282,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15875931084156036,
+              -0.4399544894695282,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15761249735516747,
+              -0.4387954867385513,
+              0.8035094051881212
+            ],
+            "closest_button": [
+              0.15879479050636292,
+              -0.439932256937027,
+              0.7685215473175049
+            ],
+            "closest_ee_minus_button": [
+              -0.001182293151195446,
+              0.0011367701984756895,
+              0.03498785787061631
+            ],
+            "button_min_z_position": [
+              0.1587897390127182,
+              -0.43993446230888367,
+              0.7684531807899475
+            ],
+            "min_active_finger_to_button": 0.14628858862716315,
+            "closest_active_finger": [
+              0.03131973743438721,
+              -0.5031558275222778,
+              0.810701310634613
+            ],
+            "closest_active_finger_button": [
+              0.158759206533432,
+              -0.43995487689971924,
+              0.7765666842460632
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1274394690990448,
+              -0.0632009506225586,
+              0.034134626388549805
+            ],
+            "min_contact_pad_to_button": 0.02082589125769796,
+            "closest_contact_pad": [
+              0.1587897390127182,
+              -0.43993446230888367,
+              0.7892790720476455
+            ],
+            "closest_contact_pad_button": [
+              0.1587897390127182,
+              -0.43993446230888367,
+              0.7684531807899475
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02082589125769796
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5db525d4ff8335edd5ca98225c73c5d29c2617630f7df6b2c65946d4e461408",
+    "visual_seed": 4592117008546171146,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6b14779480c7ef755728f77b91a7189539b7e5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16213585247430448,
+              0.23892679308824397,
+              1.0473022197101747
+            ],
+            "current_z": 1.0473022197101747,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18619547327682962,
+            "gripper_z": 1.0529977423837318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15924209429289785,
+              0.2353766886842965,
+              1.0529977423837318
+            ],
+            "object_minus_gripper": [
+              0.002893758181406636,
+              0.003550104403947457,
+              -0.005695522673557107
+            ],
+            "object_to_gripper_xy": 0.004580073983178107,
+            "object_to_gripper_z": -0.005695522673557107,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16213585247430448,
+              0.21555519578658855,
+              1.0473022197101747
+            ],
+            "finger_b": [
+              0.15277574421710086,
+              0.23892679308824397,
+              1.0473022197101747
+            ],
+            "finger_midpoint": [
+              0.15745579834570267,
+              0.22724099443741624,
+              1.0473022197101747
+            ],
+            "object_minus_finger_midpoint": [
+              0.004680054128601813,
+              0.011685798650827722,
+              0.0
+            ],
+            "finger_gap": 0.025176242511886444,
+            "fingertip_max_gap": 0.09153511952520915,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012588121255943234,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473022197101747,
+            "object_top_z": 1.0974689896260204,
+            "finger_top_clearance": 0.05016676991584568,
+            "fingertip_min_top_clearance": 0.01505003097475372,
+            "object_projection_between_fingers": 0.8617771266125832,
+            "object_to_finger_line_xy": 0.008689171181282486,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826755976260458,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8954186502039555,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16311826911282426,
+              0.24064873931535388,
+              1.2407882273162643
+            ],
+            "held_position": [
+              0.16610328069868635,
+              0.24397520551420743,
+              1.234973577085574
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007333882249198665,
+            "max_held_gripper_dist": 0.007351292765727117,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005814650230690166,
+            "max_held_gripper_z_dist": 0.005847765876842548,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08602421945574504,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16610328069868635,
+              0.2200209774285404,
+              1.234973577085574
+            ],
+            "held_grasp_finger_b": [
+              0.15819192309772642,
+              0.24397520551420743,
+              1.234973577085574
+            ],
+            "held_grasp_midpoint": [
+              0.16214760189820637,
+              0.2319980914713739,
+              1.234973577085574
+            ],
+            "held_grasp_object_position": [
+              0.16610328069868635,
+              0.24397520551420743,
+              1.234973577085574
+            ],
+            "held_grasp_finger_gap": 0.02522686310801296,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023673513749020124,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03326136290638585,
+              -0.999266442636501,
+              0.018980473076353307
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035624555880950605,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037620350659337276,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3041745835203501,
+              -0.38044900789654323,
+              0.8515395611398335
+            ],
+            "target_position": [
+              0.29919257573093655,
+              -0.38074752818323143,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0049909433953253405,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18168978873776237,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395611398335,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525809487235982,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855320234347635,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15022932181679852,
+            "release_required_pad_clearance": 0.05276601171738175,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5814803177743894,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008498549461364746,
+            "max_z_decrease": 0.008498549461364746,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035020246606367655,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008498549461364746,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02083264166189347,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008498549461364746,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008498601927123066,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15489250421524053,
+              -0.4370089769363403,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15489250421524053,
+              -0.4370089769363403,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15386182565436773,
+              -0.4357986968279309,
+              0.8036611765157247
+            ],
+            "closest_button": [
+              0.15490123629570013,
+              -0.4369688928127288,
+              0.7686759233474731
+            ],
+            "closest_ee_minus_button": [
+              -0.0010394106413323945,
+              0.0011701959847979504,
+              0.03498525316825152
+            ],
+            "button_min_z_position": [
+              0.15490826964378362,
+              -0.43698361515998835,
+              0.7683103084564209
+            ],
+            "min_active_finger_to_button": 0.1461477191013151,
+            "closest_active_finger": [
+              0.026892870664596558,
+              -0.49873462319374084,
+              0.8108553886413574
+            ],
+            "closest_active_finger_button": [
+              0.15489651262760168,
+              -0.4370086789131164,
+              0.7767360210418701
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12800364196300512,
+              -0.061725944280624445,
+              0.034119367599487305
+            ],
+            "min_contact_pad_to_button": 0.02083264166189347,
+            "closest_contact_pad": [
+              0.15490826964378362,
+              -0.43698361515998835,
+              0.7891429501183144
+            ],
+            "closest_contact_pad_button": [
+              0.15490826964378362,
+              -0.43698361515998835,
+              0.7683103084564209
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02083264166189347
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b94e579ba203181e6dd909fc1e715dad3821f1648781857da6862656129d9d1c",
+    "visual_seed": 7899121335337340307,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95379a41ae87a532bf57f712c852583b96b8ffbe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16142968765174728,
+              0.23751623245826883,
+              1.0495626797465165
+            ],
+            "current_z": 1.0495626797465165,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18845599291781634,
+            "gripper_z": 1.055402114031727,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1583203683696568,
+              0.23372103278123912,
+              1.055402114031727
+            ],
+            "object_minus_gripper": [
+              0.003109319282090489,
+              0.003795199677029709,
+              -0.0058394342852103875
+            ],
+            "object_to_gripper_xy": 0.004906262017718389,
+            "object_to_gripper_z": -0.0058394342852103875,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16142968765174728,
+              0.21433082612537202,
+              1.0495626797465165
+            ],
+            "finger_b": [
+              0.15128005462690278,
+              0.23751623245826883,
+              1.0495626797465165
+            ],
+            "finger_midpoint": [
+              0.15635487113932503,
+              0.2259235292918204,
+              1.0495626797465165
+            ],
+            "object_minus_finger_midpoint": [
+              0.005074816512422253,
+              0.01159270316644842,
+              0.0
+            ],
+            "finger_gap": 0.025309644749789476,
+            "fingertip_max_gap": 0.09199253085345568,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01265482237489475,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495626797465165,
+            "object_top_z": 1.1001826513752242,
+            "finger_top_clearance": 0.05061997162870768,
+            "fingertip_min_top_clearance": 0.015185991488612305,
+            "object_projection_between_fingers": 0.8391842497469628,
+            "object_to_finger_line_xy": 0.009297774351920368,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048496265426727844,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6971066700127381,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1620831419782978,
+              0.2391079927862877,
+              1.2434347223354334
+            ],
+            "held_position": [
+              0.16535663878376616,
+              0.24261393428553144,
+              1.2374764617817053
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007649070267532053,
+            "max_held_gripper_dist": 0.007665103732794271,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005958260553728056,
+            "max_held_gripper_z_dist": 0.005993726594400561,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08605821286754858,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16535663878376616,
+              0.21854579582814246,
+              1.2374764617817053
+            ],
+            "held_grasp_finger_b": [
+              0.15705251472395934,
+              0.24261393428553144,
+              1.2374764617817053
+            ],
+            "held_grasp_midpoint": [
+              0.16120457675386274,
+              0.23057986505683695,
+              1.2374764617817053
+            ],
+            "held_grasp_object_position": [
+              0.16535663878376616,
+              0.24261393428553144,
+              1.2374764617817053
+            ],
+            "held_grasp_finger_gap": 0.02546043529095111,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023553735769914257,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05657349995174272,
+              -0.9981465402711991,
+              0.022425950322027766
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034753028071070426,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037473588823041186,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30543872522066395,
+              -0.3820147773689495,
+              0.8515395578330422
+            ],
+            "target_position": [
+              0.30084860538398234,
+              -0.3822922557774408,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004598499144533674,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1799948337352722,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395578330422,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571382682751622,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498259101256865,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1475926051686262,
+            "release_required_pad_clearance": 0.05249129550628433,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05595290148858355,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008596837520599365,
+            "max_z_decrease": 0.008596837520599365,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034997666450794586,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008596837520599365,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020875073698248262,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008596837520599365,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00859690899046842,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15654852986335754,
+              -0.4385537207126618,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15654852986335754,
+              -0.4385537207126618,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1555812153364152,
+              -0.43876225486080517,
+              0.8035664925110225
+            ],
+            "closest_button": [
+              0.15655522048473358,
+              -0.43850916624069214,
+              0.7685832977294922
+            ],
+            "closest_ee_minus_button": [
+              -0.0009740051483183854,
+              -0.0002530886201130289,
+              0.034983194781530336
+            ],
+            "button_min_z_position": [
+              0.15655267238616943,
+              -0.4385189116001129,
+              0.7682120203971863
+            ],
+            "min_active_finger_to_button": 0.1465923324067715,
+            "closest_active_finger": [
+              0.014853440225124359,
+              -0.42298609018325806,
+              0.8107859492301941
+            ],
+            "closest_active_finger_button": [
+              0.156548410654068,
+              -0.438554048538208,
+              0.7765882015228271
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14169497042894363,
+              0.015567958354949951,
+              0.03419774770736694
+            ],
+            "min_contact_pad_to_button": 0.020875073698248262,
+            "closest_contact_pad": [
+              0.15655267238616943,
+              -0.43989812172044945,
+              0.7890414822565637
+            ],
+            "closest_contact_pad_button": [
+              0.15655267238616943,
+              -0.4385189116001129,
+              0.7682120203971863
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013792101203365381,
+              0.020829461859377396
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1660b885038ac4727c40ea1d4b3619f2635a20a25efd11385accafc19b2aa7a3",
+    "visual_seed": 2938757637129367487,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42a7398f51de8861d16b122b7b286e6b80b394bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16391352129240905,
+              0.23578898878097138,
+              1.0459780591031171
+            ],
+            "current_z": 1.0459780591031171,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1848714914837064,
+            "gripper_z": 1.0518270396711453,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16097769004616921,
+              0.23219523106224763,
+              1.0518270396711453
+            ],
+            "object_minus_gripper": [
+              0.002935831246239834,
+              0.00359375771872375,
+              -0.005848980568028184
+            ],
+            "object_to_gripper_xy": 0.0046404956251767625,
+            "object_to_gripper_z": -0.005848980568028184,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16391352129240905,
+              0.21239634821539807,
+              1.0459780591031171
+            ],
+            "finger_b": [
+              0.1544999196708885,
+              0.23578898878097138,
+              1.0459780591031171
+            ],
+            "finger_midpoint": [
+              0.15920672048164877,
+              0.2240926684981847,
+              1.0459780591031171
+            ],
+            "object_minus_finger_midpoint": [
+              0.0047068008107602755,
+              0.011696320282786665,
+              0.0
+            ],
+            "finger_gap": 0.02521570003229734,
+            "fingertip_max_gap": 0.0913093246216789,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012607850016148682,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459780591031171,
+            "object_top_z": 1.0958790920969856,
+            "finger_top_clearance": 0.0499010329938685,
+            "fingertip_min_top_clearance": 0.014970309898160566,
+            "object_projection_between_fingers": 0.8606299128467608,
+            "object_to_finger_line_xy": 0.00873301153161226,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815466231083945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9119291414699908,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1645875554701258,
+              0.23804105846222962,
+              1.2401662553780928
+            ],
+            "held_position": [
+              0.1675972230658127,
+              0.24142281338550667,
+              1.2342012072739839
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007488401984533802,
+            "max_held_gripper_dist": 0.0075043178501780355,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0059650481041089165,
+            "max_held_gripper_z_dist": 0.0059974779214888585,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08580029329557168,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1675972230658127,
+              0.21751455436444486,
+              1.2342012072739839
+            ],
+            "held_grasp_finger_b": [
+              0.15949256464533437,
+              0.24142281338550667,
+              1.2342012072739839
+            ],
+            "held_grasp_midpoint": [
+              0.16354489385557353,
+              0.22946868387497577,
+              1.2342012072739839
+            ],
+            "held_grasp_object_position": [
+              0.1675972230658127,
+              0.24142281338550667,
+              1.2342012072739839
+            ],
+            "held_grasp_finger_gap": 0.025244610068900126,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023673239494260364,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.027582913504428333,
+              -0.9995202731158155,
+              0.014085684686693242
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003724901049603175,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03766008023076989,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3067064784392116,
+              -0.3833519391248621,
+              0.8515395452247119
+            ],
+            "target_position": [
+              0.30108314876440345,
+              -0.3842657010102365,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00569708674804422,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841131747079843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395452247119,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532863394997615,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566905955245367,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15255828886302739,
+            "release_required_pad_clearance": 0.05283452977622684,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7132635903068414,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008401989936828613,
+            "max_z_decrease": 0.008401989936828613,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503434062071502,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008401989936828613,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02106498067028388,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008401989936828613,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008402188279490795,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15678307414054865,
+              -0.44052717089653015,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15678307414054865,
+              -0.44052717089653015,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15573011492861802,
+              -0.44238902484865245,
+              0.8037408262515733
+            ],
+            "closest_button": [
+              0.15679523348808283,
+              -0.44051316380500793,
+              0.7687729597091675
+            ],
+            "closest_ee_minus_button": [
+              -0.0010651185594648116,
+              -0.0018758610436445111,
+              0.0349678665424058
+            ],
+            "button_min_z_position": [
+              0.1568299233913421,
+              -0.4404934346675872,
+              0.768406867980957
+            ],
+            "min_active_finger_to_button": 0.14651703976531522,
+            "closest_active_finger": [
+              0.015178129076957703,
+              -0.4248618483543396,
+              0.8107075691223145
+            ],
+            "closest_active_finger_button": [
+              0.1567825376987457,
+              -0.44052937626838684,
+              0.7765028476715088
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141604408621788,
+              0.01566752791404724,
+              0.034204721450805664
+            ],
+            "min_contact_pad_to_button": 0.02106498067028388,
+            "closest_contact_pad": [
+              0.15679523348808283,
+              -0.44368839756494827,
+              0.7895972556446648
+            ],
+            "closest_contact_pad_button": [
+              0.15679523348808283,
+              -0.44051316380500793,
+              0.7687729597091675
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031752337599403324,
+              0.020824295935497283
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a4152e286e7d20e2919cfd7ba33cf54b36b7fdbda2b937c8ea9558029b7b1f7",
+    "visual_seed": 8787293751822356386,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..886b2600b1f6ff00fc4f5598220aafc101fe2444
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1696264685511078,
+              0.241028989995146,
+              1.0492820817302535
+            ],
+            "current_z": 1.0492820817302535,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18817551411084255,
+            "gripper_z": 1.0548216081596686,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1662701586647898,
+              0.23713694933581925,
+              1.0548216081596686
+            ],
+            "object_minus_gripper": [
+              0.003356309886317993,
+              0.0038920406593267454,
+              -0.005539526429415131
+            ],
+            "object_to_gripper_xy": 0.005139338142878757,
+            "object_to_gripper_z": -0.005539526429415131,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1696264685511078,
+              0.21759964254687875,
+              1.0492820817302535
+            ],
+            "finger_b": [
+              0.1594200438427782,
+              0.241028989995146,
+              1.0492820817302535
+            ],
+            "finger_midpoint": [
+              0.164523256196943,
+              0.22931431627101237,
+              1.0492820817302535
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051032123541648045,
+              0.011714673724133623,
+              0.0
+            ],
+            "finger_gap": 0.02555592743725862,
+            "fingertip_max_gap": 0.09108096849536965,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01277796371862931,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492820817302535,
+            "object_top_z": 1.09917490764369,
+            "finger_top_clearance": 0.04989282591343658,
+            "fingertip_min_top_clearance": 0.014967847774030957,
+            "object_projection_between_fingers": 0.8404987908662078,
+            "object_to_finger_line_xy": 0.009357119646043471,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048040484247684825,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8167113482039546,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1702282582271496,
+              0.24237152735056916,
+              1.2437583878271634
+            ],
+            "held_position": [
+              0.1737523476618972,
+              0.24597117392968315,
+              1.2381018345057169
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00757451366867832,
+            "max_held_gripper_dist": 0.007589666605535826,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005656553321446545,
+            "max_held_gripper_z_dist": 0.005692193044846805,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860406844620886,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1737523476618972,
+              0.22173831511291375,
+              1.2381018345057169
+            ],
+            "held_grasp_finger_b": [
+              0.16527993233471297,
+              0.24597117392968315,
+              1.2381018345057169
+            ],
+            "held_grasp_midpoint": [
+              0.1695161399983051,
+              0.23385474452129845,
+              1.2381018345057169
+            ],
+            "held_grasp_object_position": [
+              0.1737523476618972,
+              0.24597117392968315,
+              1.2381018345057169
+            ],
+            "held_grasp_finger_gap": 0.025671253726878722,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023797448701948394,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04778091555585463,
+              -0.998737649827039,
+              0.015494867750548976
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003657337727734763,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03741670595781854,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30451947010568114,
+              -0.38007306350038017,
+              0.8515396557471581
+            ],
+            "target_position": [
+              0.29851995170026896,
+              -0.38096728008534736,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006065792973528683,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18391471388019498,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396557471581,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557886988881043,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08565409281455798,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1518445197941655,
+            "release_required_pad_clearance": 0.05282704640727899,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6988526952084417,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008265078067779541,
+            "max_z_decrease": 0.008265078067779541,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350114066129811,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008265078067779541,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02099005848684339,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008265078067779541,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008265133370820554,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1542198807001114,
+              -0.43722873926162725,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1542198807001114,
+              -0.43722873926162725,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15397546406944027,
+              -0.4383400357648444,
+              0.8036070407133936
+            ],
+            "closest_button": [
+              0.15424439311027527,
+              -0.43720695376396185,
+              0.7686150074005127
+            ],
+            "closest_ee_minus_button": [
+              -0.00026892904083500313,
+              -0.0011330820008825793,
+              0.03499203331288092
+            ],
+            "button_min_z_position": [
+              0.15424017608165738,
+              -0.43720632791519165,
+              0.7685437798500061
+            ],
+            "min_active_finger_to_button": 0.1458104863636042,
+            "closest_active_finger": [
+              0.013501517474651337,
+              -0.4202234447002411,
+              0.8107602596282959
+            ],
+            "closest_active_finger_button": [
+              0.15421992540359494,
+              -0.4372299015522003,
+              0.7765578031539917
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1407184079289436,
+              0.01700645685195923,
+              0.0342024564743042
+            ],
+            "min_contact_pad_to_button": 0.02099005848684339,
+            "closest_contact_pad": [
+              0.15424017608165738,
+              -0.43968728043442756,
+              0.7893867026267762
+            ],
+            "closest_contact_pad_button": [
+              0.15424017608165738,
+              -0.43720632791519165,
+              0.7685437798500061
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024809525192359128,
+              0.020842922776770134
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "276028a7c0ce9b78b680b43063d6a12527fd4664b24119c9f99c33346ebe4cd2",
+    "visual_seed": 8472891572681098342,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da371a61120bab56f520eb854d21707b3d47397c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1652811671170802,
+              0.23604149569032612,
+              1.0499747230394334
+            ],
+            "current_z": 1.0499747230394334,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1888680958153779,
+            "gripper_z": 1.0555794113952146,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1622594708959108,
+              0.23246337426247377,
+              1.0555794113952146
+            ],
+            "object_minus_gripper": [
+              0.0030216962211694065,
+              0.0035781214278523543,
+              -0.005604688355781207
+            ],
+            "object_to_gripper_xy": 0.0046833322544408106,
+            "object_to_gripper_z": -0.005604688355781207,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1652811671170802,
+              0.21244799634436395,
+              1.0499747230394334
+            ],
+            "finger_b": [
+              0.15607388327663607,
+              0.23604149569032612,
+              1.0499747230394334
+            ],
+            "finger_midpoint": [
+              0.16067752519685813,
+              0.22424474601734504,
+              1.0499747230394334
+            ],
+            "object_minus_finger_midpoint": [
+              0.004603641920222085,
+              0.011796749672981083,
+              0.0
+            ],
+            "finger_gap": 0.025326414809570284,
+            "fingertip_max_gap": 0.0919622669292417,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012663207404785147,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499747230394334,
+            "object_top_z": 1.1001513935801661,
+            "finger_top_clearance": 0.050176670540732715,
+            "fingertip_min_top_clearance": 0.015053001162219781,
+            "object_projection_between_fingers": 0.867835252065853,
+            "object_to_finger_line_xy": 0.008577291610398798,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848113346462085,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1463543894313348,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16580083936652884,
+              0.23830515004424255,
+              1.2463403815861698
+            ],
+            "held_position": [
+              0.16890098892838587,
+              0.2417185051767958,
+              1.2406560767065153
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007319374463140493,
+            "max_held_gripper_dist": 0.007332952922782097,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005684304879654434,
+            "max_held_gripper_z_dist": 0.005718471413162174,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08601425968255785,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16890098892838587,
+              0.21781250746032174,
+              1.2406560767065153
+            ],
+            "held_grasp_finger_b": [
+              0.1605774748566595,
+              0.2417185051767958,
+              1.2406560767065153
+            ],
+            "held_grasp_midpoint": [
+              0.16473923189252268,
+              0.22976550631855877,
+              1.2406560767065153
+            ],
+            "held_grasp_object_position": [
+              0.16890098892838587,
+              0.2417185051767958,
+              1.2406560767065153
+            ],
+            "held_grasp_finger_gap": 0.025313585548520975,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023804507439573495,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01165094316923528,
+              -0.999811198531177,
+              0.01555065319910476
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00402652089495909,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0377210195608903,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3039771571475055,
+              -0.3866858814706083,
+              0.8515395595980256
+            ],
+            "target_position": [
+              0.29907761905683045,
+              -0.387296168786368,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004937400541758085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18199913410356608,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395595980256,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754225141422146,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08675138563924066,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15034820159231627,
+            "release_required_pad_clearance": 0.05337569281962033,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7671907576880403,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008485138416290283,
+            "max_z_decrease": 0.008485138416290283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498790310609857,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008485138416290283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020869914863747573,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008485138416290283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008485322408784766,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15477754175662992,
+              -0.443557620048523,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15477754175662992,
+              -0.443557620048523,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15483230769956546,
+              -0.44361824609543565,
+              0.8035897319964692
+            ],
+            "closest_button": [
+              0.15481616556644437,
+              -0.44352608919143677,
+              0.7686019539833069
+            ],
+            "closest_ee_minus_button": [
+              1.614213312109425e-05,
+              -9.215690399888565e-05,
+              0.03498777801316233
+            ],
+            "button_min_z_position": [
+              0.15482057631015775,
+              -0.44352197647094727,
+              0.7683237195014954
+            ],
+            "min_active_finger_to_button": 0.14570075901642943,
+            "closest_active_finger": [
+              0.013801664113998413,
+              -0.43008676171302795,
+              0.8107334971427917
+            ],
+            "closest_active_finger_button": [
+              0.15477709472179407,
+              -0.44355735182762146,
+              0.7764817476272583
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14097543060779566,
+              0.013470590114593506,
+              0.03425174951553345
+            ],
+            "min_contact_pad_to_button": 0.020869914863747573,
+            "closest_contact_pad": [
+              0.15482057631015775,
+              -0.44458662470063565,
+              0.7891664609374748
+            ],
+            "closest_contact_pad_button": [
+              0.15482057631015775,
+              -0.44352197647094727,
+              0.7683237195014954
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010646482296883808,
+              0.020842741435979417
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "437e83b39b00a7b8066c3a4f3c5a2b6b71d9961a71a43e7d5b7457d9624e36b1",
+    "visual_seed": 5139856187596240295,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..576ddc11c7e96768884faa7dedc5d336e179de97
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1649044383759349,
+              0.23755919260507893,
+              1.0494316528508576
+            ],
+            "current_z": 1.0494316528508576,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1883250256268022,
+            "gripper_z": 1.0553286178241628,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16176281796291858,
+              0.23386486849357996,
+              1.0553286178241628
+            ],
+            "object_minus_gripper": [
+              0.0031416204130163272,
+              0.0036943241114989755,
+              -0.005896964973305163
+            ],
+            "object_to_gripper_xy": 0.004849516415095795,
+            "object_to_gripper_z": -0.005896964973305163,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1649044383759349,
+              0.21405910488523097,
+              1.0494316528508576
+            ],
+            "finger_b": [
+              0.15527256924681032,
+              0.23755919260507893,
+              1.0494316528508576
+            ],
+            "finger_midpoint": [
+              0.16008850381137263,
+              0.22580914874515495,
+              1.0494316528508576
+            ],
+            "object_minus_finger_midpoint": [
+              0.00481593456456228,
+              0.011750043859923981,
+              0.0
+            ],
+            "finger_gap": 0.02539738226197992,
+            "fingertip_max_gap": 0.09105763956025656,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012698691130989955,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494316528508576,
+            "object_top_z": 1.099204328399718,
+            "finger_top_clearance": 0.049772675548860335,
+            "fingertip_min_top_clearance": 0.014931802664658083,
+            "object_projection_between_fingers": 0.8561720684321542,
+            "object_to_finger_line_xy": 0.008912326755004618,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802881978012828,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.003206608331608,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16565226896140792,
+              0.23903730797780154,
+              1.2422199575198127
+            ],
+            "held_position": [
+              0.16888336292639022,
+              0.24249312637466416,
+              1.2361923215769877
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007662574245113449,
+            "max_held_gripper_dist": 0.00767944646425087,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006027635942825071,
+            "max_held_gripper_z_dist": 0.006061376337614277,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08606761485438899,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16888336292639022,
+              0.21840956054509778,
+              1.2361923215769877
+            ],
+            "held_grasp_finger_b": [
+              0.16074504390013866,
+              0.24249312637466416,
+              1.2361923215769877
+            ],
+            "held_grasp_midpoint": [
+              0.16481420341326444,
+              0.23045134345988097,
+              1.2361923215769877
+            ],
+            "held_grasp_object_position": [
+              0.16888336292639022,
+              0.24249312637466416,
+              1.2361923215769877
+            ],
+            "held_grasp_finger_gap": 0.025421455104696622,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023814266806857984,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03137163606790583,
+              -0.9994192454675812,
+              0.013303843032518414
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036928995937603112,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037557804283969994,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31280915622123284,
+              -0.38391032345480924,
+              0.8515395633941394
+            ],
+            "target_position": [
+              0.3070867325218734,
+              -0.3846387451830971,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0057685987214602125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.182612945245457,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395633941394,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560672789876614,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659734446445792,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15054525407201794,
+            "release_required_pad_clearance": 0.053298672232228964,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6158807203857566,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00873255729675293,
+            "max_z_decrease": 0.00873255729675293,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503486512120208,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00873255729675293,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02105291888912173,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00873255729675293,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00873275953556937,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16278666257858276,
+              -0.44090020656585693,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16278666257858276,
+              -0.44090020656585693,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16294664287989385,
+              -0.4425357252255011,
+              0.8034438249590343
+            ],
+            "closest_button": [
+              0.1627730429172516,
+              -0.4408501386642456,
+              0.7684499621391296
+            ],
+            "closest_ee_minus_button": [
+              0.00017359996264226796,
+              -0.0016855865612555032,
+              0.034993862819904686
+            ],
+            "button_min_z_position": [
+              0.16276700794696808,
+              -0.44084411859512324,
+              0.7680763006210327
+            ],
+            "min_active_finger_to_button": 0.1453732462326107,
+            "closest_active_finger": [
+              0.02229086309671402,
+              -0.426020085811615,
+              0.810956597328186
+            ],
+            "closest_active_finger_button": [
+              0.16279080510139465,
+              -0.44090047478675837,
+              0.7767261862754822
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14049994200468063,
+              0.014880388975143377,
+              0.03423041105270386
+            ],
+            "min_contact_pad_to_button": 0.02105291888912173,
+            "closest_contact_pad": [
+              0.16276700794696808,
+              -0.44373800093162014,
+              0.788929378062371
+            ],
+            "closest_contact_pad_button": [
+              0.16276700794696808,
+              -0.44084411859512324,
+              0.7680763006210327
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028938823364969,
+              0.02085307744133824
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d61e1920ce74265d66734f3a92e6684340c0d3918216abd8cdfc1cfe4cb7e52",
+    "visual_seed": 6759337515706777803,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8254b96b88bf99f98115b2faec38e47a1b3c27e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16434100390761425,
+              0.23863124227165333,
+              1.0473938107250302
+            ],
+            "current_z": 1.0473938107250302,
+            "required_z": 0.8611070444565689,
+            "initial_z": 0.761107044456569,
+            "lift_margin": 0.1862867662684613,
+            "gripper_z": 1.0532625434114267,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16121218050453343,
+              0.23495503466351314,
+              1.0532625434114267
+            ],
+            "object_minus_gripper": [
+              0.0031288234030808215,
+              0.0036762076081401918,
+              -0.005868732686396427
+            ],
+            "object_to_gripper_xy": 0.004827425635451476,
+            "object_to_gripper_z": -0.005868732686396427,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16434100390761425,
+              0.21508149557512551,
+              1.0473938107250302
+            ],
+            "finger_b": [
+              0.1548298456247641,
+              0.23863124227165333,
+              1.0473938107250302
+            ],
+            "finger_midpoint": [
+              0.15958542476618917,
+              0.22685636892338942,
+              1.0473938107250302
+            ],
+            "object_minus_finger_midpoint": [
+              0.004755579141425076,
+              0.011774873348263909,
+              0.0
+            ],
+            "finger_gap": 0.02539788773406269,
+            "fingertip_max_gap": 0.09139753121186353,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012698943867031345,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473938107250302,
+            "object_top_z": 1.0972857163176366,
+            "finger_top_clearance": 0.04989190559260637,
+            "fingertip_min_top_clearance": 0.014967571677781876,
+            "object_projection_between_fingers": 0.8597600913974666,
+            "object_to_finger_line_xy": 0.008819054981934683,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819876560593177,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0342645909608714,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16473279331362536,
+              0.2406441471203712,
+              1.2412966985545528
+            ],
+            "held_position": [
+              0.16793498054775854,
+              0.24412249714611092,
+              1.235316888242913
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076230606285928315,
+            "max_held_gripper_dist": 0.00763752098489254,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005979810311639744,
+            "max_held_gripper_z_dist": 0.006013548236628585,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860694423694186,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16793498054775854,
+              0.22012844239412066,
+              1.235316888242913
+            ],
+            "held_grasp_finger_b": [
+              0.15961281101190508,
+              0.24412249714611092,
+              1.235316888242913
+            ],
+            "held_grasp_midpoint": [
+              0.1637738957798318,
+              0.23212546977011578,
+              1.235316888242913
+            ],
+            "held_grasp_object_position": [
+              0.16793498054775854,
+              0.24412249714611092,
+              1.235316888242913
+            ],
+            "held_grasp_finger_gap": 0.025396321962540047,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023809991506965767,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021232687440825244,
+              -0.9996932064831789,
+              0.012754054077847465
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003908435889930161,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037638552292027845,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3126214053784139,
+              -0.3805619954265959,
+              0.8515395950689653
+            ],
+            "target_position": [
+              0.3067886638965241,
+              -0.38147821022978007,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00590426310051742,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18172096346398356,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395950689653,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513575654222879,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549001557611384,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15081926318595762,
+            "release_required_pad_clearance": 0.05274500778805692,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5410393850977993,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008561134338378906,
+            "max_z_decrease": 0.008561134338378906,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505226339187482,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008561134338378906,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020913610992040022,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008561134338378906,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008561200232283898,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16248859465122217,
+              -0.4377396702766418,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16248859465122217,
+              -0.4377396702766418,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16371342235008626,
+              -0.4363900728104236,
+              0.8032535216545557
+            ],
+            "closest_button": [
+              0.16248027980327603,
+              -0.43770712614059437,
+              0.7682477235794067
+            ],
+            "closest_ee_minus_button": [
+              0.0012331425468102286,
+              0.001317053330170792,
+              0.03500579807514892
+            ],
+            "button_min_z_position": [
+              0.16248027980327603,
+              -0.43770712614059437,
+              0.7682477235794067
+            ],
+            "min_active_finger_to_button": 0.14417579676293563,
+            "closest_active_finger": [
+              0.03580091893672943,
+              -0.497433066368103,
+              0.8105358481407166
+            ],
+            "closest_active_finger_button": [
+              0.1624911874532699,
+              -0.43774253129959095,
+              0.7762827277183533
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12669026851654047,
+              -0.059690535068512074,
+              0.03425312042236328
+            ],
+            "min_contact_pad_to_button": 0.020913610992040022,
+            "closest_contact_pad": [
+              0.16248027980327603,
+              -0.43775423625318693,
+              0.789161281511133
+            ],
+            "closest_contact_pad_button": [
+              0.16248027980327603,
+              -0.43770712614059437,
+              0.7682477235794067
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -4.711011259256326e-05,
+              0.020913557931726223
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "465748954995335dd7f249b725929cf29df1f2ef28370fbe5e55e8714dd43152",
+    "visual_seed": 3664388244999081818,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a0eae80937b6efa1c93338334baeea577320f15
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16878803495545291,
+              0.234629537256932,
+              1.0480924451682259
+            ],
+            "current_z": 1.0480924451682259,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1869857583395257,
+            "gripper_z": 1.0538165381696152,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16574032139905723,
+              0.23099401792938173,
+              1.0538165381696152
+            ],
+            "object_minus_gripper": [
+              0.003047713556395687,
+              0.0036355193275502684,
+              -0.005724093001389319
+            ],
+            "object_to_gripper_xy": 0.00474400239279341,
+            "object_to_gripper_z": -0.005724093001389319,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16878803495545291,
+              0.21116262337277683,
+              1.0480924451682259
+            ],
+            "finger_b": [
+              0.15928552449808767,
+              0.234629537256932,
+              1.0480924451682259
+            ],
+            "finger_midpoint": [
+              0.16403677972677028,
+              0.22289608031485442,
+              1.0480924451682259
+            ],
+            "object_minus_finger_midpoint": [
+              0.004751255228682638,
+              0.011733456942077586,
+              0.0
+            ],
+            "finger_gap": 0.02531785441617616,
+            "fingertip_max_gap": 0.09184666591872287,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012658927208088085,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480924451682259,
+            "object_top_z": 1.0983704295375765,
+            "finger_top_clearance": 0.0502779843693506,
+            "fingertip_min_top_clearance": 0.015083395310805197,
+            "object_projection_between_fingers": 0.8591285723504037,
+            "object_to_finger_line_xy": 0.008807799860157096,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842333295936144,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9982040487707189,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16966026256253475,
+              0.2363166935085387,
+              1.2428286613144397
+            ],
+            "held_position": [
+              0.17281818494392948,
+              0.2397197002828837,
+              1.2370018956219617
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007450109214514241,
+            "max_held_gripper_dist": 0.007463688793151468,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005826765692477975,
+            "max_held_gripper_z_dist": 0.00585942636130965,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08596238597915687,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17281818494392948,
+              0.2156833598720717,
+              1.2370018956219617
+            ],
+            "held_grasp_finger_b": [
+              0.1647052969912727,
+              0.2397197002828837,
+              1.2370018956219617
+            ],
+            "held_grasp_midpoint": [
+              0.1687617409676011,
+              0.2277015300774777,
+              1.2370018956219617
+            ],
+            "held_grasp_object_position": [
+              0.17281818494392948,
+              0.2397197002828837,
+              1.2370018956219617
+            ],
+            "held_grasp_finger_gap": 0.025368575270929124,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02376383279705564,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03155790550154638,
+              -0.9993142940181379,
+              0.01936595908769978
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036825959845342127,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037582307920212665,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3040564473597882,
+              -0.3849350777865186,
+              0.8515395918886337
+            ],
+            "target_position": [
+              0.29921353574340004,
+              -0.38534538599205287,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004860261901140331,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1800111613455197,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395918886337,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539758160963114,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591448783979987,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14834586749859688,
+            "release_required_pad_clearance": 0.052957243919899935,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9503789931723204,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00836193561553955,
+            "max_z_decrease": 0.00836193561553955,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034996289202411636,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00836193561553955,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02086490693213435,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00836193561553955,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008362013237228157,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.154913455247879,
+              -0.4416068494319916,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.154913455247879,
+              -0.4416068494319916,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1546157967317364,
+              -0.4415460119732888,
+              0.8035099900387777
+            ],
+            "closest_button": [
+              0.15494726598262784,
+              -0.4415816962718963,
+              0.7685152888298035
+            ],
+            "closest_ee_minus_button": [
+              -0.0003314692508914474,
+              3.568429860750788e-05,
+              0.03499470120897419
+            ],
+            "button_min_z_position": [
+              0.15494075417518616,
+              -0.4415833353996277,
+              0.7684469223022461
+            ],
+            "min_active_finger_to_button": 0.1460047478639478,
+            "closest_active_finger": [
+              0.013898730278015137,
+              -0.42541664838790894,
+              0.8107548952102661
+            ],
+            "closest_active_finger_button": [
+              0.15491315722465515,
+              -0.4416069686412811,
+              0.776546835899353
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14101442694664001,
+              0.016190320253372137,
+              0.034208059310913086
+            ],
+            "min_contact_pad_to_button": 0.02086490693213435,
+            "closest_contact_pad": [
+              0.15494075417518616,
+              -0.44270842227105,
+              0.7892814734329612
+            ],
+            "closest_contact_pad_button": [
+              0.15494075417518616,
+              -0.4415833353996277,
+              0.7684469223022461
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011250868714223206,
+              0.020834551130715084
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6975c39dc541ad42ad40f1f299a37689c7423f53be462cfe86e3a7737cf3a23a",
+    "visual_seed": 6354616830567785935,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28b196db990cb7dfe07f1d5a502e245a068a5294
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16664429340724185,
+              0.23203722979818028,
+              1.047647600475064
+            ],
+            "current_z": 1.047647600475064,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.18654073483242928,
+            "gripper_z": 1.0536139446870578,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16345458989839792,
+              0.22827011474424347,
+              1.0536139446870578
+            ],
+            "object_minus_gripper": [
+              0.0031897035088439274,
+              0.003767115053936815,
+              -0.005966344211993935
+            ],
+            "object_to_gripper_xy": 0.004936128473199278,
+            "object_to_gripper_z": -0.005966344211993935,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16664429340724185,
+              0.20859328555828874,
+              1.047647600475064
+            ],
+            "finger_b": [
+              0.1568014037415903,
+              0.23203722979818028,
+              1.047647600475064
+            ],
+            "finger_midpoint": [
+              0.16172284857441607,
+              0.2203152576782345,
+              1.047647600475064
+            ],
+            "object_minus_finger_midpoint": [
+              0.004921444832825778,
+              0.011721972119945773,
+              0.0
+            ],
+            "finger_gap": 0.02542638390517484,
+            "fingertip_max_gap": 0.09081133006582215,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01271319195258742,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047647600475064,
+            "object_top_z": 1.0974511991394351,
+            "finger_top_clearance": 0.04980359866437123,
+            "fingertip_min_top_clearance": 0.014941079599311367,
+            "object_projection_between_fingers": 0.8501433451828008,
+            "object_to_finger_line_xy": 0.009075461038483574,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04790566503291108,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8218139059950675,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16715278641345813,
+              0.23401315490329258,
+              1.2410845644649826
+            ],
+            "held_position": [
+              0.17043772491721487,
+              0.23753702510116181,
+              1.2349896548021737
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007768938533847199,
+            "max_held_gripper_dist": 0.007782985904681272,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0060949096628089006,
+            "max_held_gripper_z_dist": 0.006131124472189775,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08593131290978973,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17043772491721487,
+              0.21347671495189172,
+              1.2349896548021737
+            ],
+            "held_grasp_finger_b": [
+              0.16210022727761886,
+              0.23753702510116181,
+              1.2349896548021737
+            ],
+            "held_grasp_midpoint": [
+              0.16626897609741687,
+              0.22550687002652675,
+              1.2349896548021737
+            ],
+            "held_grasp_object_position": [
+              0.17043772491721487,
+              0.23753702510116181,
+              1.2349896548021737
+            ],
+            "held_grasp_finger_gap": 0.025463942965875074,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023744710158670326,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03581163001509646,
+              -0.9992925855995528,
+              0.011482835948600445
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003737840581318749,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03754931561003895,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.310848983662134,
+              -0.37992502114659055,
+              0.8515395589888968
+            ],
+            "target_position": [
+              0.30418540161864105,
+              -0.3813354731517963,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006811218724233594,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18441600832810207,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395589888968,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752324351098801,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496536372245587,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15326463820798028,
+            "release_required_pad_clearance": 0.05248268186122794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956467226667262,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008420407772064209,
+            "max_z_decrease": 0.008420407772064209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498565115249595,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008420407772064209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02086488734083666,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008420407772064209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008420648331297288,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1598853319883346,
+              -0.4375969171524048,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1598853319883346,
+              -0.4375969171524048,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1593149266116624,
+              -0.43779857438234127,
+              0.8035752428963302
+            ],
+            "closest_button": [
+              0.1599349528551101,
+              -0.43757283687591547,
+              0.768595814704895
+            ],
+            "closest_ee_minus_button": [
+              -0.0006200262434477022,
+              -0.00022573750642579382,
+              0.03497942819143518
+            ],
+            "button_min_z_position": [
+              0.1599417924880981,
+              -0.4375675320625305,
+              0.7683884501457214
+            ],
+            "min_active_finger_to_button": 0.14625682520534647,
+            "closest_active_finger": [
+              0.018473148345947266,
+              -0.42265141010284424,
+              0.8106632232666016
+            ],
+            "closest_active_finger_button": [
+              0.15988507866859433,
+              -0.43759781122207636,
+              0.7764531373977661
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14141193032264707,
+              0.014946401119232122,
+              0.03421008586883545
+            ],
+            "min_contact_pad_to_button": 0.02086488734083666,
+            "closest_contact_pad": [
+              0.1599417924880981,
+              -0.43888076315882496,
+              0.789211969248734
+            ],
+            "closest_contact_pad_button": [
+              0.1599417924880981,
+              -0.4375675320625305,
+              0.7683884501457214
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013132310962944427,
+              0.02082351910301261
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c1e1d697694ae45505975a83accbcf39b9bcf121f2e952f68b069b83728cc5de",
+    "visual_seed": 4024419164028104882,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..645956cd7f8ec9ed7257657bda47dcbb9dcd52a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17013564537965728,
+              0.2399193601279732,
+              1.0462084730419734
+            ],
+            "current_z": 1.0462084730419734,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.1851016073993389,
+            "gripper_z": 1.051923551302867,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1667336693205714,
+              0.2359981649727426,
+              1.051923551302867
+            ],
+            "object_minus_gripper": [
+              0.003401976059085876,
+              0.003921195155230622,
+              -0.00571507826089368
+            ],
+            "object_to_gripper_xy": 0.005191263097936529,
+            "object_to_gripper_z": -0.00571507826089368,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17013564537965728,
+              0.21647919061855186,
+              1.0462084730419734
+            ],
+            "finger_b": [
+              0.15987335285877902,
+              0.2399193601279732,
+              1.0462084730419734
+            ],
+            "finger_midpoint": [
+              0.16500449911921816,
+              0.22819927537326254,
+              1.0462084730419734
+            ],
+            "object_minus_finger_midpoint": [
+              0.005131146260439118,
+              0.011720084754710675,
+              0.0
+            ],
+            "finger_gap": 0.02558820420456426,
+            "fingertip_max_gap": 0.09198210499661474,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012794102102282125,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462084730419734,
+            "object_top_z": 1.0966218532608862,
+            "finger_top_clearance": 0.05041338021891284,
+            "fingertip_min_top_clearance": 0.015124014065673834,
+            "object_projection_between_fingers": 0.8391544078811622,
+            "object_to_finger_line_xy": 0.009400811183214869,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048491052498307374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8274468044100249,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17038679967465567,
+              0.24178450704817933,
+              1.2394252917437412
+            ],
+            "held_position": [
+              0.1739324064390151,
+              0.2454303915691404,
+              1.2335925144188478
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007738545896319642,
+            "max_held_gripper_dist": 0.007752166538067877,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005832777324893401,
+            "max_held_gripper_z_dist": 0.0058681473782442595,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612773425707645,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1739324064390151,
+              0.22124941930197495,
+              1.2335925144188478
+            ],
+            "held_grasp_finger_b": [
+              0.16529870104045782,
+              0.2454303915691404,
+              1.2335925144188478
+            ],
+            "held_grasp_midpoint": [
+              0.16961555373973647,
+              0.23333990543555766,
+              1.2335925144188478
+            ],
+            "held_grasp_object_position": [
+              0.1739324064390151,
+              0.2454303915691404,
+              1.2335925144188478
+            ],
+            "held_grasp_finger_gap": 0.02567606450947072,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02377410982952777,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04391818785297177,
+              -0.9988550608399557,
+              0.018967345890227524
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037887510152411277,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037454018459770116,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30510907773475127,
+              -0.38016227502153677,
+              0.8515395694967384
+            ],
+            "target_position": [
+              0.2998517639035613,
+              -0.3810556003266007,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005332670889928341,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18158575888822365,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395694967384,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564658155388071,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856835643425634,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14933478561096752,
+            "release_required_pad_clearance": 0.0528417821712817,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7273890470240302,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008549928665161133,
+            "max_z_decrease": 0.008549928665161133,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498688247067786,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008549928665161133,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020878541601280193,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008549928665161133,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008550151501121967,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15555168688297263,
+              -0.43731707334518427,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15555168688297263,
+              -0.43731707334518427,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15504386699552314,
+              -0.4374801130257673,
+              0.8035586214751667
+            ],
+            "closest_button": [
+              0.15559403598308558,
+              -0.43729355931282043,
+              0.7685765624046326
+            ],
+            "closest_ee_minus_button": [
+              -0.0005501689875624383,
+              -0.00018655371294684642,
+              0.03498205907053409
+            ],
+            "button_min_z_position": [
+              0.15560282766818992,
+              -0.4372825026512146,
+              0.7682589292526245
+            ],
+            "min_active_finger_to_button": 0.14620827665881145,
+            "closest_active_finger": [
+              0.014308854937553406,
+              -0.4212699234485626,
+              0.8108139038085938
+            ],
+            "closest_active_finger_button": [
+              0.15555195510387415,
+              -0.43731749057769775,
+              0.7766126990318298
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14124310016632075,
+              0.016047567129135132,
+              0.034201204776763916
+            ],
+            "min_contact_pad_to_button": 0.020878541601280193,
+            "closest_contact_pad": [
+              0.15560282766818992,
+              -0.43865329365985734,
+              0.7890924222724475
+            ],
+            "closest_contact_pad_button": [
+              0.15560282766818992,
+              -0.4372825026512146,
+              0.7682589292526245
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013707910086427355,
+              0.020833493019822957
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2faab2add908c12086ea074c074c68d5f36e83759588279a7fdc454a6de56c0c",
+    "visual_seed": 212824849554610469,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..61769f522bc53adc8f378d7dfedbc006942f1e43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16075978304122607,
+              0.23281437621945197,
+              1.046190837550483
+            ],
+            "current_z": 1.046190837550483,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1850842699310722,
+            "gripper_z": 1.0521287800530275,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15813119670243048,
+              0.22943088145395235,
+              1.0521287800530275
+            ],
+            "object_minus_gripper": [
+              0.002628586338795591,
+              0.003383494765499623,
+              -0.005937942502544535
+            ],
+            "object_to_gripper_xy": 0.004284565668614049,
+            "object_to_gripper_z": -0.005937942502544535,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16075978304122607,
+              0.20953476773961685,
+              1.046190837550483
+            ],
+            "finger_b": [
+              0.1517853340935018,
+              0.23281437621945197,
+              1.046190837550483
+            ],
+            "finger_midpoint": [
+              0.15627255856736394,
+              0.2211745719795344,
+              1.046190837550483
+            ],
+            "object_minus_finger_midpoint": [
+              0.004487224473862128,
+              0.011639804239917562,
+              0.0
+            ],
+            "finger_gap": 0.024949567228505595,
+            "fingertip_max_gap": 0.0929974281009919,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012474783614252798,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046190837550483,
+            "object_top_z": 1.097041894627392,
+            "finger_top_clearance": 0.05085105707690918,
+            "fingertip_min_top_clearance": 0.01525531712307272,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012474783614252798,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04899871405049595,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2239765309458515,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16173839864546916,
+              0.23498929911139405,
+              1.2385608624140594
+            ],
+            "held_position": [
+              0.1644080446574228,
+              0.2381841643646345,
+              1.2325018263671832
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007351604697809059,
+            "max_held_gripper_dist": 0.007368489691476597,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006059036046876187,
+            "max_held_gripper_z_dist": 0.006089409178606564,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08584858759589542,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1644080446574228,
+              0.2144398762998062,
+              1.2325018263671832
+            ],
+            "held_grasp_finger_b": [
+              0.15671806090620183,
+              0.2381841643646345,
+              1.2325018263671832
+            ],
+            "held_grasp_midpoint": [
+              0.16056305278181232,
+              0.22631202033222036,
+              1.2325018263671832
+            ],
+            "held_grasp_object_position": [
+              0.1644080446574228,
+              0.2381841643646345,
+              1.2325018263671832
+            ],
+            "held_grasp_finger_gap": 0.024958506882415656,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02356717867505505,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021422265598240748,
+              -0.9994789266633457,
+              0.024144599655509857
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036012868788953653,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03777192385820272,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30960150024974953,
+              -0.38266584996152353,
+              0.8515395739211226
+            ],
+            "target_position": [
+              0.30535870531007864,
+              -0.3826210949973806,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042430309811398205,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18039694426443084,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395739211226,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518057244232312,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573536151116894,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14932424936233948,
+            "release_required_pad_clearance": 0.05286768075558447,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7773241539853893,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008526504039764404,
+            "max_z_decrease": 0.008526504039764404,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503497175121602,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008526504039764404,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021097167196445308,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008526504039764404,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008526632522262156,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16105863451957703,
+              -0.4388825595378876,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16105863451957703,
+              -0.4388825595378876,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1598869362773154,
+              -0.44058599526029796,
+              0.8035827826243209
+            ],
+            "closest_button": [
+              0.16108842194080353,
+              -0.4388582110404968,
+              0.7686110734939575
+            ],
+            "closest_ee_minus_button": [
+              -0.0012014856634881277,
+              -0.0017277842198011317,
+              0.034971709130363404
+            ],
+            "button_min_z_position": [
+              0.1610893905162811,
+              -0.43884727358818054,
+              0.7682823538780212
+            ],
+            "min_active_finger_to_button": 0.14671077641761274,
+            "closest_active_finger": [
+              0.019395187497138977,
+              -0.42210012674331665,
+              0.8105944991111755
+            ],
+            "closest_active_finger_button": [
+              0.16105908155441284,
+              -0.43888527154922485,
+              0.7763358950614929
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14166389405727386,
+              0.016785144805908203,
+              0.03425860404968262
+            ],
+            "min_contact_pad_to_button": 0.021097167196445308,
+            "closest_contact_pad": [
+              0.1610893905162811,
+              -0.4419795774594217,
+              0.7891456981970171
+            ],
+            "closest_contact_pad_button": [
+              0.1610893905162811,
+              -0.43884727358818054,
+              0.7682823538780212
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031323038712411377,
+              0.020863344318995836
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "243772d5158266c9638915a1a3aaa2d689ace7669ec6379744b1f56340382330",
+    "visual_seed": 3512970157279858982,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6cfb340ae00a910f6b1d281d7369971a5e60104
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1608071729146228,
+              0.23379239936885232,
+              1.049681564701011
+            ],
+            "current_z": 1.049681564701011,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.1885749374769552,
+            "gripper_z": 1.0554612564975805,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1580914004624815,
+              0.23027661573778302,
+              1.0554612564975805
+            ],
+            "object_minus_gripper": [
+              0.002715772452141302,
+              0.0035157836310693025,
+              -0.005779691796569564
+            ],
+            "object_to_gripper_xy": 0.004442539200986799,
+            "object_to_gripper_z": -0.005779691796569564,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1608071729146228,
+              0.2106685747638355,
+              1.049681564701011
+            ],
+            "finger_b": [
+              0.15134950305605915,
+              0.23379239936885232,
+              1.049681564701011
+            ],
+            "finger_midpoint": [
+              0.156078337985341,
+              0.2222304870663439,
+              1.049681564701011
+            ],
+            "object_minus_finger_midpoint": [
+              0.0047288349292818055,
+              0.011561912302508415,
+              0.0
+            ],
+            "finger_gap": 0.024983170005368913,
+            "fingertip_max_gap": 0.09176863031512916,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012491585002684451,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049681564701011,
+            "object_top_z": 1.0999953956045772,
+            "finger_top_clearance": 0.050313830903566226,
+            "fingertip_min_top_clearance": 0.015094149271069867,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012491585002684451,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048384315157564584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7201775650707478,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16171727811575876,
+              0.23599640119760226,
+              1.2449817688018374
+            ],
+            "held_position": [
+              0.16455007945976707,
+              0.2392938650348266,
+              1.2391046515042778
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007310166820373636,
+            "max_held_gripper_dist": 0.007326220489861177,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005877117297559575,
+            "max_held_gripper_z_dist": 0.0059083423792096745,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08570544567264579,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16455007945976707,
+              0.21549800285766987,
+              1.2391046515042778
+            ],
+            "held_grasp_finger_b": [
+              0.15655831628416633,
+              0.2392938650348266,
+              1.2391046515042778
+            ],
+            "held_grasp_midpoint": [
+              0.1605541978719667,
+              0.22739593394624824,
+              1.2391046515042778
+            ],
+            "held_grasp_object_position": [
+              0.16455007945976707,
+              0.2392938650348266,
+              1.2391046515042778
+            ],
+            "held_grasp_finger_gap": 0.025102018552481523,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023459213643089415,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.039367374167617694,
+              -0.9990740489791705,
+              0.01735668480766794
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003530518522944384,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03767602851735749,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30594952171925593,
+              -0.38356419040921597,
+              0.8515395844225203
+            ],
+            "target_position": [
+              0.3015776924156097,
+              -0.3839788219799913,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004391447460656149,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18060064699614486,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395844225203,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591511815586298,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641517675850273,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14781219252931596,
+            "release_required_pad_clearance": 0.053207588379251367,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4374657008721283,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008458554744720459,
+            "max_z_decrease": 0.008458554744720459,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500006197670489,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008458554744720459,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02089954185463532,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008458554744720459,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008458718369421882,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1572776138782501,
+              -0.4402402937412262,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1572776138782501,
+              -0.4402402937412262,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1579640050113291,
+              -0.44006640853296886,
+              0.8036172886146643
+            ],
+            "closest_button": [
+              0.15731608867645264,
+              -0.4402129054069519,
+              0.7686235308647156
+            ],
+            "closest_ee_minus_button": [
+              0.0006479163348764583,
+              0.00014649687398304856,
+              0.03499375774994873
+            ],
+            "button_min_z_position": [
+              0.15731815993785855,
+              -0.44020676612854004,
+              0.7683503031730652
+            ],
+            "min_active_finger_to_button": 0.14509959869455966,
+            "closest_active_finger": [
+              0.017464622855186462,
+              -0.4219464659690857,
+              0.810643196105957
+            ],
+            "closest_active_finger_button": [
+              0.15727758407592773,
+              -0.4402417242527008,
+              0.7764158248901367
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13981296122074127,
+              0.018295258283615112,
+              0.03422737121582031
+            ],
+            "min_contact_pad_to_button": 0.02089954185463532,
+            "closest_contact_pad": [
+              0.15731815993785855,
+              -0.44143306827480505,
+              0.7892138367371506
+            ],
+            "closest_contact_pad_button": [
+              0.15731815993785855,
+              -0.44020676612854004,
+              0.7683503031730652
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012263021462650125,
+              0.020863533564085435
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "79b2d6e9dc537721dd9b7704e813a3f708be405dd8d746cf8c829d2ef950db0d",
+    "visual_seed": 4912228098516767077,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f90ec661a15c5a9364c506ff8b05297077c23550
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16949827378168536,
+              0.2384276622109871,
+              1.0484069129318372
+            ],
+            "current_z": 1.0484069129318372,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.18730010689384724,
+            "gripper_z": 1.0542902640181795,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16635754532665462,
+              0.23470304853657042,
+              1.0542902640181795
+            ],
+            "object_minus_gripper": [
+              0.0031407284550307446,
+              0.003724613674416677,
+              -0.005883351086342303
+            ],
+            "object_to_gripper_xy": 0.004872055239002479,
+            "object_to_gripper_z": -0.005883351086342303,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16949827378168536,
+              0.21501497861963037,
+              1.0484069129318372
+            ],
+            "finger_b": [
+              0.15971640363309603,
+              0.2384276622109871,
+              1.0484069129318372
+            ],
+            "finger_midpoint": [
+              0.1646073387073907,
+              0.22672132041530874,
+              1.0484069129318372
+            ],
+            "object_minus_finger_midpoint": [
+              0.004890935074294667,
+              0.011706341795678366,
+              0.0
+            ],
+            "finger_gap": 0.025373977546944582,
+            "fingertip_max_gap": 0.093184451510751,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012686988773472291,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484069129318372,
+            "object_top_z": 1.0993685913407003,
+            "finger_top_clearance": 0.05096167840886312,
+            "fingertip_min_top_clearance": 0.015288503522658918,
+            "object_projection_between_fingers": 0.8513836180218569,
+            "object_to_finger_line_xy": 0.009025775730153006,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0490922257553755,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2558587562318184,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1701149083931511,
+              0.24033821618813178,
+              1.2412890814903508
+            ],
+            "held_position": [
+              0.1733698103368388,
+              0.24382435448914996,
+              1.235286937866746
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007666373001310867,
+            "max_held_gripper_dist": 0.007682200184804178,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00600214362360485,
+            "max_held_gripper_z_dist": 0.006035906840258454,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08599310921433836,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1733698103368388,
+              0.21976803513064735,
+              1.235286937866746
+            ],
+            "held_grasp_finger_b": [
+              0.16509837733413366,
+              0.24382435448914996,
+              1.235286937866746
+            ],
+            "held_grasp_midpoint": [
+              0.1692340938354862,
+              0.23179619480989866,
+              1.235286937866746
+            ],
+            "held_grasp_object_position": [
+              0.1733698103368388,
+              0.24382435448914996,
+              1.235286937866746
+            ],
+            "held_grasp_finger_gap": 0.025438614447263183,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02376804080725251,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.032447316222995536,
+              -0.9991730759515806,
+              0.024501754291927906
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00375496999406905,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03756784386421271,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3015277986501427,
+              -0.3834173709536848,
+              0.8515395904273266
+            ],
+            "target_position": [
+              0.2972873771984229,
+              -0.3834819393791296,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004240913011341968,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18335420802297453,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395904273266,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548937062949256,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601326868676899,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15129968071917707,
+            "release_required_pad_clearance": 0.0530066343433845,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0460387462211571,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008642137050628662,
+            "max_z_decrease": 0.008642137050628662,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035057944049382866,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008642137050628662,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020873729997160376,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008642137050628662,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008642238288758234,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15298730134963984,
+              -0.4397433996200562,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15298730134963984,
+              -0.4397433996200562,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15467847578340782,
+              -0.4391224592269493,
+              0.8035474964434586
+            ],
+            "closest_button": [
+              0.15297777950763697,
+              -0.4397049844264984,
+              0.7685356736183167
+            ],
+            "closest_ee_minus_button": [
+              0.0017006962757708521,
+              0.0005825251995490999,
+              0.035011822825141925
+            ],
+            "button_min_z_position": [
+              0.15296886861324305,
+              -0.43970584869384766,
+              0.768166720867157
+            ],
+            "min_active_finger_to_button": 0.1440466040049271,
+            "closest_active_finger": [
+              0.028421983122825623,
+              -0.5035135746002197,
+              0.8108076453208923
+            ],
+            "closest_active_finger_button": [
+              0.15298864245414728,
+              -0.4397423267364502,
+              0.7766638398170471
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12456665933132166,
+              -0.06377124786376953,
+              0.034143805503845215
+            ],
+            "min_contact_pad_to_button": 0.020873729997160376,
+            "closest_contact_pad": [
+              0.15296886861324305,
+              -0.4401584527622578,
+              0.7890355433914781
+            ],
+            "closest_contact_pad_button": [
+              0.15296886861324305,
+              -0.43970584869384766,
+              0.768166720867157
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000452604068410134,
+              0.020868822524321096
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3baa36d2b0f1602b292feca971fec99cbb5ac2b94f48b41c3a9e01873bbc586f",
+    "visual_seed": 6220507936636055277,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d32dece4344af570411d136bc844bdcf8e9dcd62
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16438433992724588,
+              0.23569636821847265,
+              1.0491661337295943
+            ],
+            "current_z": 1.0491661337295943,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.1880592680869596,
+            "gripper_z": 1.055041360119775,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16115269478532182,
+              0.23200211837864324,
+              1.055041360119775
+            ],
+            "object_minus_gripper": [
+              0.003231645141924061,
+              0.003694249839829411,
+              -0.005875226390180677
+            ],
+            "object_to_gripper_xy": 0.004908259589956609,
+            "object_to_gripper_z": -0.005875226390180677,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16438433992724588,
+              0.21198385236937442,
+              1.0491661337295943
+            ],
+            "finger_b": [
+              0.15497022422393217,
+              0.23569636821847265,
+              1.0491661337295943
+            ],
+            "finger_midpoint": [
+              0.159677282075589,
+              0.22384011029392353,
+              1.0491661337295943
+            ],
+            "object_minus_finger_midpoint": [
+              0.004707057851656871,
+              0.011856257924549113,
+              0.0
+            ],
+            "finger_gap": 0.025512917950895237,
+            "fingertip_max_gap": 0.09127156445891385,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012756458975447624,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491661337295943,
+            "object_top_z": 1.0990554191484483,
+            "finger_top_clearance": 0.04988928541885396,
+            "fingertip_min_top_clearance": 0.014966785625656169,
+            "object_projection_between_fingers": 0.8638433684648081,
+            "object_to_finger_line_xy": 0.008749777985008478,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813578222945693,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1270335874776112,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1646703886957011,
+              0.23809618654898085,
+              1.242784620158394
+            ],
+            "held_position": [
+              0.16793235061760717,
+              0.24162098241588004,
+              1.2367914964305426
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007679981347673349,
+            "max_held_gripper_dist": 0.007694557583204771,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005993123727851435,
+            "max_held_gripper_z_dist": 0.006025713199489857,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0858217671702961,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16793235061760717,
+              0.21762728564375822,
+              1.2367914964305426
+            ],
+            "held_grasp_finger_b": [
+              0.1594944996429116,
+              0.24162098241588004,
+              1.2367914964305426
+            ],
+            "held_grasp_midpoint": [
+              0.16371342513025938,
+              0.22962413402981913,
+              1.2367914964305426
+            ],
+            "held_grasp_object_position": [
+              0.16793235061760717,
+              0.24162098241588004,
+              1.2367914964305426
+            ],
+            "held_grasp_finger_gap": 0.025434126953046768,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023904841323411433,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.010256416810524754,
+              -0.999903585839615,
+              0.009360819370562433
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00409720376463488,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03768128729180777,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31107855599682877,
+              -0.3842575399020516,
+              0.851539560741136
+            ],
+            "target_position": [
+              0.30553818391446674,
+              -0.385367835989898,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005650529197668438,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18217720522797412,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539560741136,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582543028652305,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08783460052038848,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1495279320406458,
+            "release_required_pad_clearance": 0.05391730026019424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.844605824943465,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008497893810272217,
+            "max_z_decrease": 0.008497893810272217,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350089444528916,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008497893810272217,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020802767894753143,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008497893810272217,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00849821197648444,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16123810410499573,
+              -0.4416292905807495,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16123810410499573,
+              -0.4416292905807495,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15977941998376377,
+              -0.44097435702080223,
+              0.8035533402048078
+            ],
+            "closest_button": [
+              0.16128963232040405,
+              -0.441603422164917,
+              0.7685826420783997
+            ],
+            "closest_ee_minus_button": [
+              -0.001510212336640282,
+              0.0006290651441147599,
+              0.034970698126408184
+            ],
+            "button_min_z_position": [
+              0.16130460798740387,
+              -0.44159790873527527,
+              0.7683109641075134
+            ],
+            "min_active_finger_to_button": 0.14679641170635319,
+            "closest_active_finger": [
+              0.03396986424922943,
+              -0.5063368082046509,
+              0.8105940222740173
+            ],
+            "closest_active_finger_button": [
+              0.16123788058757782,
+              -0.4416296184062958,
+              0.776461660861969
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272680163383484,
+              -0.0647071897983551,
+              0.03413236141204834
+            ],
+            "min_contact_pad_to_button": 0.020802767894753143,
+            "closest_contact_pad": [
+              0.16130460798740387,
+              -0.4419004158210237,
+              0.7891115324061452
+            ],
+            "closest_contact_pad_button": [
+              0.16130460798740387,
+              -0.44159790873527527,
+              0.7683109641075134
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003025070857484158,
+              0.02080056829863175
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6183aec6eae3be74f631894792da5c353f40f597ae9b1b5bb3318404afe025c",
+    "visual_seed": 2759223229992623707,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..109128979a5f32f73691da52bff0252369f617d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16034227210738988,
+              0.2358888152349671,
+              1.0470457773428257
+            ],
+            "current_z": 1.0470457773428257,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18593920972341482,
+            "gripper_z": 1.0528918855689087,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15771996509472747,
+              0.23243587821643302,
+              1.0528918855689087
+            ],
+            "object_minus_gripper": [
+              0.002622307012662417,
+              0.00345293701853408,
+              -0.005846108226083002
+            ],
+            "object_to_gripper_xy": 0.004335812279449089,
+            "object_to_gripper_z": -0.005846108226083002,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16034227210738988,
+              0.21286516137776573,
+              1.0470457773428257
+            ],
+            "finger_b": [
+              0.15090885429318598,
+              0.2358888152349671,
+              1.0470457773428257
+            ],
+            "finger_midpoint": [
+              0.15562556320028792,
+              0.22437698830636643,
+              1.0470457773428257
+            ],
+            "object_minus_finger_midpoint": [
+              0.004716708907101963,
+              0.011511826928600671,
+              0.0
+            ],
+            "finger_gap": 0.0248812782749111,
+            "fingertip_max_gap": 0.09297378037544551,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012440639137455542,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470457773428257,
+            "object_top_z": 1.0982013762204113,
+            "finger_top_clearance": 0.051155598877585584,
+            "fingertip_min_top_clearance": 0.015346679663275674,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012440639137455542,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04898689018772276,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1744280859413905,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1618071542184092,
+              0.23734578389789496,
+              1.2436320025535474
+            ],
+            "held_position": [
+              0.1645919460009504,
+              0.24053361299294418,
+              1.2376950241080555
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00729143557014576,
+            "max_held_gripper_dist": 0.007306487638939413,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005936978445491903,
+            "max_held_gripper_z_dist": 0.00596971839346172,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08512080154755289,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1645919460009504,
+              0.21666191406350307,
+              1.2376950241080555
+            ],
+            "held_grasp_finger_b": [
+              0.15690980715700273,
+              0.24053361299294418,
+              1.2376950241080555
+            ],
+            "held_grasp_midpoint": [
+              0.16075087657897658,
+              0.22859776352822364,
+              1.2376950241080555
+            ],
+            "held_grasp_object_position": [
+              0.1645919460009504,
+              0.24053361299294418,
+              1.2376950241080555
+            ],
+            "held_grasp_finger_gap": 0.025077345692787526,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02343594731012873,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05112964795178406,
+              -0.9982001044487196,
+              0.031341834325575135
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032477438669009638,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03760949136042293,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3083361533016187,
+              -0.38631743787229744,
+              0.8515395895635333
+            ],
+            "target_position": [
+              0.3045933791262938,
+              -0.3857016740516395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037930889272873637,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18063793062114966,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395895635333,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575564192833224,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550191169594228,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1479586016046408,
+            "release_required_pad_clearance": 0.05275095584797114,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5524912470679793,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008602559566497803,
+            "max_z_decrease": 0.008602559566497803,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500987207329788,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008602559566497803,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020901926317339618,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008602559566497803,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008602637885964439,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.160293310880661,
+              -0.44196313619613636,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.160293310880661,
+              -0.44196313619613636,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1590860614757301,
+              -0.4426705883912712,
+              0.8035570682313732
+            ],
+            "closest_button": [
+              0.16029162704944613,
+              -0.4419248700141906,
+              0.76857590675354
+            ],
+            "closest_ee_minus_button": [
+              -0.0012055655737160387,
+              -0.0007457183770805953,
+              0.034981161477833145
+            ],
+            "button_min_z_position": [
+              0.1602834016084671,
+              -0.4419277906417846,
+              0.7682062983512878
+            ],
+            "min_active_finger_to_button": 0.1467961667626369,
+            "closest_active_finger": [
+              0.01822754740715027,
+              -0.4279309809207916,
+              0.8105014562606812
+            ],
+            "closest_active_finger_button": [
+              0.16029292345047,
+              -0.44196376204490656,
+              0.7763016819953918
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14206537604331973,
+              0.014032781124114935,
+              0.03419977426528931
+            ],
+            "min_contact_pad_to_button": 0.020901926317339618,
+            "closest_contact_pad": [
+              0.1602834016084671,
+              -0.44371376684176006,
+              0.7890317830464544
+            ],
+            "closest_contact_pad_button": [
+              0.1602834016084671,
+              -0.4419277906417846,
+              0.7682062983512878
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017859761999754475,
+              0.02082548469516654
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a56bb23ebc81eb679cd985d2473a1787f8886df3309452747c005ba9a871d9b2",
+    "visual_seed": 1159764500787081162,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..73232a7f3dea31283e1a2900b38cd20392c6b769
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16757995194154301,
+              0.23794082586753662,
+              1.0493872558528228
+            ],
+            "current_z": 1.0493872558528228,
+            "required_z": 0.8611069252472793,
+            "initial_z": 0.7611069252472793,
+            "lift_margin": 0.1882803306055435,
+            "gripper_z": 1.0550973934008434,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1643883404847173,
+              0.2342040305227449,
+              1.0550973934008434
+            ],
+            "object_minus_gripper": [
+              0.003191611456825727,
+              0.00373679534479171,
+              -0.005710137548020633
+            ],
+            "object_to_gripper_xy": 0.004914267304512264,
+            "object_to_gripper_z": -0.005710137548020633,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16757995194154301,
+              0.2144548834009017,
+              1.0493872558528228
+            ],
+            "finger_b": [
+              0.15783174289315238,
+              0.23794082586753662,
+              1.0493872558528228
+            ],
+            "finger_midpoint": [
+              0.1627058474173477,
+              0.22619785463421915,
+              1.0493872558528228
+            ],
+            "object_minus_finger_midpoint": [
+              0.004874104524195316,
+              0.011742971233317467,
+              0.0
+            ],
+            "finger_gap": 0.025428666366862616,
+            "fingertip_max_gap": 0.09119605945890802,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01271433318343132,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493872558528228,
+            "object_top_z": 1.0992086699178192,
+            "finger_top_clearance": 0.049821414064996405,
+            "fingertip_min_top_clearance": 0.014946424219498905,
+            "object_projection_between_fingers": 0.8530388639736044,
+            "object_to_finger_line_xy": 0.009003455924907778,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809802972945401,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0090387175295108,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16806340541574735,
+              0.23995729959659567,
+              1.244118933437836
+            ],
+            "held_position": [
+              0.1713729849432316,
+              0.2434733480225544,
+              1.2383119964042302
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007552246744823179,
+            "max_held_gripper_dist": 0.007566237994811524,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005806937033605797,
+            "max_held_gripper_z_dist": 0.005842051389759906,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08590554719935034,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1713729849432316,
+              0.2194326445892544,
+              1.2383119964042302
+            ],
+            "held_grasp_finger_b": [
+              0.16292608434887645,
+              0.2434733480225544,
+              1.2383119964042302
+            ],
+            "held_grasp_midpoint": [
+              0.16714953464605403,
+              0.2314529963059044,
+              1.2383119964042302
+            ],
+            "held_grasp_object_position": [
+              0.1713729849432316,
+              0.2434733480225544,
+              1.2383119964042302
+            ],
+            "held_grasp_finger_gap": 0.025481474667271516,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02378973618773461,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02836517377530458,
+              -0.9995270753047918,
+              0.011876137812693366
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038834424415827512,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03758578417300615,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30349435836097993,
+              -0.3838465091844034,
+              0.8515396720405511
+            ],
+            "target_position": [
+              0.2978076815366434,
+              -0.3848277720065939,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005770716595940202,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18431038848212533,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396720405511,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526360449554662,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08541576101695995,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15304413917377113,
+            "release_required_pad_clearance": 0.05270788050847998,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4698048938669199,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008387982845306396,
+            "max_z_decrease": 0.008387982845306396,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503940861715497,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008387982845306396,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02087948930548874,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008387982845306396,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008388019641226228,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15350760519504547,
+              -0.4410892426967621,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15350760519504547,
+              -0.4410892426967621,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15498912283037616,
+              -0.440856878007487,
+              0.8035669327848699
+            ],
+            "closest_button": [
+              0.15352757275104523,
+              -0.44106221199035645,
+              0.7685586214065552
+            ],
+            "closest_ee_minus_button": [
+              0.0014615500793309366,
+              0.00020533398286942672,
+              0.03500831137831473
+            ],
+            "button_min_z_position": [
+              0.15351395308971405,
+              -0.4410652220249176,
+              0.7684208750724792
+            ],
+            "min_active_finger_to_button": 0.14433240942814018,
+            "closest_active_finger": [
+              0.01425761729478836,
+              -0.42462268471717834,
+              0.8107202649116516
+            ],
+            "closest_active_finger_button": [
+              0.1535070687532425,
+              -0.44109004735946655,
+              0.7765111923217773
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13924945145845413,
+              0.016467362642288208,
+              0.03420907258987427
+            ],
+            "min_contact_pad_to_button": 0.02087948930548874,
+            "closest_contact_pad": [
+              0.15351395308971405,
+              -0.44203594510328775,
+              0.7892777868851887
+            ],
+            "closest_contact_pad_button": [
+              0.15351395308971405,
+              -0.4410652220249176,
+              0.7684208750724792
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009707230783701504,
+              0.020856911812709433
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e08dbbbadcaf5e8d2f90f0bbf4c38ee38f3a9b49ae990ec4c3bcf5a568a5bf7d",
+    "visual_seed": 2405892588175376934,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6529a1cef8cbca52adef56380a4138d5cfe2f470
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16428363367825255,
+              0.23621067261460937,
+              1.047808204973427
+            ],
+            "current_z": 1.047808204973427,
+            "required_z": 0.8611070444565688,
+            "initial_z": 0.7611070444565688,
+            "lift_margin": 0.18670116051685814,
+            "gripper_z": 1.053872578200539,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16143562183127871,
+              0.23256256355573046,
+              1.053872578200539
+            ],
+            "object_minus_gripper": [
+              0.002848011846973836,
+              0.0036481090588789122,
+              -0.006064373227111952
+            ],
+            "object_to_gripper_xy": 0.004628160669853381,
+            "object_to_gripper_z": -0.006064373227111952,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16428363367825255,
+              0.21314580367616837,
+              1.047808204973427
+            ],
+            "finger_b": [
+              0.15443814146403848,
+              0.23621067261460937,
+              1.047808204973427
+            ],
+            "finger_midpoint": [
+              0.15936088757114553,
+              0.22467823814538887,
+              1.047808204973427
+            ],
+            "object_minus_finger_midpoint": [
+              0.004922746107107023,
+              0.011532434469220504,
+              0.0
+            ],
+            "finger_gap": 0.02507831525616525,
+            "fingertip_max_gap": 0.0931163077884459,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01253915762808262,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047808204973427,
+            "object_top_z": 1.098800602118505,
+            "finger_top_clearance": 0.05099239714507808,
+            "fingertip_min_top_clearance": 0.015297719143523458,
+            "object_projection_between_fingers": 0.845873203742541,
+            "object_to_finger_line_xy": 0.009055033611137898,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905815389422295,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0664301068769262,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1650297857202135,
+              0.23816942917755568,
+              1.242999164722982
+            ],
+            "held_position": [
+              0.16804031341906028,
+              0.24156357597105751,
+              1.2368358187183297
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007653126384323414,
+            "max_held_gripper_dist": 0.007671165706450274,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0061633460046524036,
+            "max_held_gripper_z_dist": 0.00619599209800592,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08595823188387494,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16804031341906028,
+              0.2176565986567623,
+              1.2368358187183297
+            ],
+            "held_grasp_finger_b": [
+              0.15988560799349916,
+              0.24156357597105751,
+              1.2368358187183297
+            ],
+            "held_grasp_midpoint": [
+              0.16396296070627972,
+              0.22961008731390992,
+              1.2368358187183297
+            ],
+            "held_grasp_object_position": [
+              0.16804031341906028,
+              0.24156357597105751,
+              1.2368358187183297
+            ],
+            "held_grasp_finger_gap": 0.025259508801318813,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023499871140480532,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0459927365463088,
+              -0.9986594308789952,
+              0.02374888000355179
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035348615390168293,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037595257281604205,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.307618248127156,
+              -0.38529841900448947,
+              0.8515395585430271
+            ],
+            "target_position": [
+              0.3033125792565806,
+              -0.3855745661636098,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004314515230768348,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1823319729921511,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395585430271,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543117394476015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08512726814009512,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1506471664840453,
+            "release_required_pad_clearance": 0.05256363407004756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.19382658565749827,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008565962314605713,
+            "max_z_decrease": 0.008565962314605713,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501538391314472,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008565962314605713,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020874534663105043,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008565962314605713,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00856614256415932,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15901251137256622,
+              -0.44183602929115295,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15901251137256622,
+              -0.44183602929115295,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16003701361198167,
+              -0.4413885553264699,
+              0.8035666307314678
+            ],
+            "closest_button": [
+              0.15905173122882843,
+              -0.44180771708488464,
+              0.7685676217079163
+            ],
+            "closest_ee_minus_button": [
+              0.0009852823831532354,
+              0.00041916175841472114,
+              0.034999009023551575
+            ],
+            "button_min_z_position": [
+              0.15905286371707916,
+              -0.44179782271385193,
+              0.7682428956031799
+            ],
+            "min_active_finger_to_button": 0.1447153030917682,
+            "closest_active_finger": [
+              0.03279132395982742,
+              -0.5038507580757141,
+              0.8104733228683472
+            ],
+            "closest_active_finger_button": [
+              0.1590123176574707,
+              -0.441837340593338,
+              0.7763395309448242
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12622099369764328,
+              -0.0620134174823761,
+              0.03413379192352295
+            ],
+            "min_contact_pad_to_button": 0.020874534663105043,
+            "closest_contact_pad": [
+              0.15905286371707916,
+              -0.44262063731149,
+              0.7891012074605448
+            ],
+            "closest_contact_pad_button": [
+              0.15905286371707916,
+              -0.44179782271385193,
+              0.7682428956031799
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008228145976380552,
+              0.020858311857364864
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f679e87d59b5a8672ee74997d08fa58259b82a291a0d8847d19e4d6a18cc9214",
+    "visual_seed": 4165476315459061635,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..970bfae7c32936fab34bb067b816bbc2026390ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16955090158600566,
+              0.241318135149647,
+              1.0462781445020974
+            ],
+            "current_z": 1.0462781445020974,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18517151727804193,
+            "gripper_z": 1.0519897641758247,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16608629338456163,
+              0.2374053935034277,
+              1.0519897641758247
+            ],
+            "object_minus_gripper": [
+              0.003464608201444036,
+              0.003912741646219298,
+              -0.005711619673727242
+            ],
+            "object_to_gripper_xy": 0.005226189546846936,
+            "object_to_gripper_z": -0.005711619673727242,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16955090158600566,
+              0.2177303108211852,
+              1.0462781445020974
+            ],
+            "finger_b": [
+              0.15942977074594022,
+              0.241318135149647,
+              1.0462781445020974
+            ],
+            "finger_midpoint": [
+              0.16449033616597294,
+              0.2295242229854161,
+              1.0462781445020974
+            ],
+            "object_minus_finger_midpoint": [
+              0.00506056542003272,
+              0.011793912164230896,
+              0.0
+            ],
+            "finger_gap": 0.02566754265667241,
+            "fingertip_max_gap": 0.0917646608917535,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012833771328336204,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462781445020974,
+            "object_top_z": 1.096593365195767,
+            "finger_top_clearance": 0.05031522069366945,
+            "fingertip_min_top_clearance": 0.015094566208100818,
+            "object_projection_between_fingers": 0.8445146435840681,
+            "object_to_finger_line_xy": 0.00930106397227629,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838233044587675,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9699187610743619,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16980328646000228,
+              0.24300016959987558,
+              1.2387760932071672
+            ],
+            "held_position": [
+              0.17339334727087977,
+              0.24665444070172168,
+              1.2329362214738504
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007768290402217098,
+            "max_held_gripper_dist": 0.0077837578282787655,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005839871733316793,
+            "max_held_gripper_z_dist": 0.005876084744417032,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08610064580989296,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17339334727087977,
+              0.22242061052079182,
+              1.2329362214738504
+            ],
+            "held_grasp_finger_b": [
+              0.16480029492025833,
+              0.24665444070172168,
+              1.2329362214738504
+            ],
+            "held_grasp_midpoint": [
+              0.16909682109556906,
+              0.23453752561125674,
+              1.2329362214738504
+            ],
+            "held_grasp_object_position": [
+              0.17339334727087977,
+              0.24665444070172168,
+              1.2329362214738504
+            ],
+            "held_grasp_finger_gap": 0.02571223587980376,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023900922118208646,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03678078834951564,
+              -0.9993047395805404,
+              0.006100086905636902
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003848668372517312,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03745372977120622,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30678930245709596,
+              -0.38346975109688364,
+              0.851539497007922
+            ],
+            "target_position": [
+              0.300203470765918,
+              -0.3848446342548268,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006727814114741826,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18498641282212575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539497007922,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516744015230525,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499580787624005,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15393884027356916,
+            "release_required_pad_clearance": 0.052497903938120025,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852803144318072,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00851142406463623,
+            "max_z_decrease": 0.00851142406463623,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035051303034362366,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00851142406463623,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02093835140330861,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00851142406463623,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008511491744304801,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1559033989906311,
+              -0.44110608100891113,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1559033989906311,
+              -0.44110608100891113,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.157491632501714,
+              -0.4419756589726715,
+              0.8035719129838224
+            ],
+            "closest_button": [
+              0.15591752529144287,
+              -0.44107717275619507,
+              0.7685675024986267
+            ],
+            "closest_ee_minus_button": [
+              0.001574107210271125,
+              -0.000898486216476424,
+              0.03500441048519565
+            ],
+            "button_min_z_position": [
+              0.15588976442813876,
+              -0.44107499718666077,
+              0.7682974338531494
+            ],
+            "min_active_finger_to_button": 0.14415656628027648,
+            "closest_active_finger": [
+              0.01644318550825119,
+              -0.4284805953502655,
+              0.8107106685638428
+            ],
+            "closest_active_finger_button": [
+              0.1559026837348938,
+              -0.4411060512065888,
+              0.7764650583267212
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1394594982266426,
+              0.012625455856323298,
+              0.03424561023712158
+            ],
+            "min_contact_pad_to_button": 0.02093835140330861,
+            "closest_contact_pad": [
+              0.15588976442813876,
+              -0.4429126520870866,
+              0.7891549884546691
+            ],
+            "closest_contact_pad_button": [
+              0.15588976442813876,
+              -0.44107499718666077,
+              0.7682974338531494
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018376549004258114,
+              0.020857554601519723
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b2c162339bd81317cee251df29e68944c7978bfe22ab548811fcfd24a4dcae73",
+    "visual_seed": 2359212470569228125,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..afcd0012aeae0040dc1b8e349bd6158a1a5d2548
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16203955549725024,
+              0.24214130045145982,
+              1.0475937489540885
+            ],
+            "current_z": 1.0475937489540885,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18648724093932234,
+            "gripper_z": 1.0537014398117168,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15903824960116522,
+              0.23842147424108678,
+              1.0537014398117168
+            ],
+            "object_minus_gripper": [
+              0.0030013058960850214,
+              0.003719826210373034,
+              -0.006107690857628301
+            ],
+            "object_to_gripper_xy": 0.004779638492318527,
+            "object_to_gripper_z": -0.006107690857628301,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16203955549725024,
+              0.21902782379810873,
+              1.0475937489540885
+            ],
+            "finger_b": [
+              0.15199943558857087,
+              0.24214130045145982,
+              1.0475937489540885
+            ],
+            "finger_midpoint": [
+              0.15701949554291056,
+              0.2305845621247843,
+              1.0475937489540885
+            ],
+            "object_minus_finger_midpoint": [
+              0.005020059954339684,
+              0.01155673832667553,
+              0.0
+            ],
+            "finger_gap": 0.025199936721858364,
+            "fingertip_max_gap": 0.09269513866676204,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01259996836092917,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475937489540885,
+            "object_top_z": 1.098321543811195,
+            "finger_top_clearance": 0.050727794857106545,
+            "fingertip_min_top_clearance": 0.015218338457131997,
+            "object_projection_between_fingers": 0.841262733012366,
+            "object_to_finger_line_xy": 0.009208835707306193,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048847569333381025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2146949900942363,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16289986919280275,
+              0.24372124049429317,
+              1.24277667990665
+            ],
+            "held_position": [
+              0.16608286361540014,
+              0.24714686979887548,
+              1.236567306064785
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077732048174955284,
+            "max_held_gripper_dist": 0.00778909220261189,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006209373841864929,
+            "max_held_gripper_z_dist": 0.006245459210494797,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08589022845769725,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16608286361540014,
+              0.22311833722313273,
+              1.236567306064785
+            ],
+            "held_grasp_finger_b": [
+              0.1578883747633248,
+              0.24714686979887548,
+              1.236567306064785
+            ],
+            "held_grasp_midpoint": [
+              0.16198561918936247,
+              0.23513260351100412,
+              1.236567306064785
+            ],
+            "held_grasp_object_position": [
+              0.16608286361540014,
+              0.24714686979887548,
+              1.236567306064785
+            ],
+            "held_grasp_finger_gap": 0.025387398946924787,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023594903916599356,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04859195331994185,
+              -0.9985249852752829,
+              0.024221392477496217
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035208544065218955,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03752461189201455,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3040563637869452,
+              -0.3794365850157083,
+              0.8515395780700218
+            ],
+            "target_position": [
+              0.2996257774561243,
+              -0.379528710875359,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004431544020866061,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18010921521304551,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395780700218,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558169389740325,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08541746346495914,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14792202534447108,
+            "release_required_pad_clearance": 0.05270873173247957,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4714679290917039,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008574426174163818,
+            "max_z_decrease": 0.008574426174163818,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035037074939290945,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008574426174163818,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020875407697753205,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008574426174163818,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008574591626329769,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.155325710773468,
+              -0.43579018115997314,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.155325710773468,
+              -0.43579018115997314,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1568067193017064,
+              -0.4351785545209266,
+              0.803619073001016
+            ],
+            "closest_button": [
+              0.15536317229270935,
+              -0.43576237559318537,
+              0.7686166167259216
+            ],
+            "closest_ee_minus_button": [
+              0.0014435470089970426,
+              0.0005838210722587944,
+              0.03500245627509435
+            ],
+            "button_min_z_position": [
+              0.15536381304264069,
+              -0.4357529580593109,
+              0.7682344317436218
+            ],
+            "min_active_finger_to_button": 0.14423857418151426,
+            "closest_active_finger": [
+              0.029528677463531494,
+              -0.49755698442459106,
+              0.8107993006706238
+            ],
+            "closest_active_finger_button": [
+              0.1553272008895874,
+              -0.4357902407646179,
+              0.7766764760017395
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1257985234260559,
+              -0.061766743659973145,
+              0.03412282466888428
+            ],
+            "min_contact_pad_to_button": 0.020875407697753205,
+            "closest_contact_pad": [
+              0.15536381304264069,
+              -0.43642641599499105,
+              0.789098973458126
+            ],
+            "closest_contact_pad_button": [
+              0.15536381304264069,
+              -0.4357529580593109,
+              0.7682344317436218
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006734579356801329,
+              0.020864541714504137
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5ec0d22fde741abc268bc3b46582223d673116f4734893e3305c215ad6b0c2d9",
+    "visual_seed": 1819898994577639122,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b562fcd2772a56f87ee47b269a11a01511d422f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16421443952817655,
+              0.23385462046620414,
+              1.046244279830261
+            ],
+            "current_z": 1.046244279830261,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.1851374141876262,
+            "gripper_z": 1.0521431602591402,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16132979855903506,
+              0.23020370348574862,
+              1.0521431602591402
+            ],
+            "object_minus_gripper": [
+              0.002884640969141483,
+              0.0036509169804555264,
+              -0.005898880428879316
+            ],
+            "object_to_gripper_xy": 0.004652993479366591,
+            "object_to_gripper_z": -0.005898880428879316,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16421443952817655,
+              0.21081761046922434,
+              1.046244279830261
+            ],
+            "finger_b": [
+              0.1542884111425365,
+              0.23385462046620414,
+              1.046244279830261
+            ],
+            "finger_midpoint": [
+              0.15925142533535652,
+              0.22233611546771426,
+              1.046244279830261
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049630141928200255,
+              0.011518504998489887,
+              0.0
+            ],
+            "finger_gap": 0.025084454730240388,
+            "fingertip_max_gap": 0.09269377459795469,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01254222736512018,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046244279830261,
+            "object_top_z": 1.0970688883440036,
+            "finger_top_clearance": 0.05082460851374271,
+            "fingertip_min_top_clearance": 0.015247382554122828,
+            "object_projection_between_fingers": 0.8434180506221912,
+            "object_to_finger_line_xy": 0.00911584555492166,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884688729897735,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0608536961506931,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1649878010185926,
+              0.2357216360443003,
+              1.241311920792612
+            ],
+            "held_position": [
+              0.16803766097777742,
+              0.23910737121291395,
+              1.235312068048264
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00753412777675592,
+            "max_held_gripper_dist": 0.007548545675180255,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005999852744347889,
+            "max_held_gripper_z_dist": 0.00603328076287224,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0845671995395384,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16803766097777742,
+              0.21519674705670302,
+              1.235312068048264
+            ],
+            "held_grasp_finger_b": [
+              0.1598694963103773,
+              0.23910737121291395,
+              1.235312068048264
+            ],
+            "held_grasp_midpoint": [
+              0.16395357864407736,
+              0.2271520591348085,
+              1.235312068048264
+            ],
+            "held_grasp_object_position": [
+              0.16803766097777742,
+              0.23910737121291395,
+              1.235312068048264
+            ],
+            "held_grasp_finger_gap": 0.025267308158435496,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02347953576117786,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0484904859589739,
+              -0.9985357922616662,
+              0.023977997077091577
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035114745482046996,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03758440391539098,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30323074426025626,
+              -0.38466326070708373,
+              0.8515395013606004
+            ],
+            "target_position": [
+              0.29869937100445965,
+              -0.38493252311934334,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004539366236602269,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18222781581712252,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395013606004,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525140136233412,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08559329489531929,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15097762119436156,
+            "release_required_pad_clearance": 0.05279664744765965,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6404111556537664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008634865283966064,
+            "max_z_decrease": 0.008634865283966064,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499483581678451,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008634865283966064,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020870575772958467,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008634865283966064,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008635060678000309,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15439929068088531,
+              -0.44119396805763245,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15439929068088531,
+              -0.44119396805763245,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15475321115473856,
+              -0.4408757246323061,
+              0.8036180509356935
+            ],
+            "closest_button": [
+              0.15443439781665802,
+              -0.4411640763282776,
+              0.7686258554458618
+            ],
+            "closest_ee_minus_button": [
+              0.0003188133380805369,
+              0.00028835169597146715,
+              0.03499219548983168
+            ],
+            "button_min_z_position": [
+              0.15444061160087585,
+              -0.4411531388759613,
+              0.7681739926338196
+            ],
+            "min_active_finger_to_button": 0.14539352282377915,
+            "closest_active_finger": [
+              0.0287671759724617,
+              -0.5059154033660889,
+              0.8107897639274597
+            ],
+            "closest_active_finger_button": [
+              0.15439939498901367,
+              -0.441193699836731,
+              0.7766295075416565
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12563221901655197,
+              -0.06472170352935785,
+              0.03416025638580322
+            ],
+            "min_contact_pad_to_button": 0.020870575772958467,
+            "closest_contact_pad": [
+              0.15444061160087585,
+              -0.44187086253670965,
+              0.7890322237630789
+            ],
+            "closest_contact_pad_button": [
+              0.15444061160087585,
+              -0.4411531388759613,
+              0.7681739926338196
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007177236607483484,
+              0.02085823112925933
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50388cf024a2fa7f5c960541812b85714faa6c637c89ae082e22bfccbcff99b9",
+    "visual_seed": 2822351950016838434,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec93b0cde33b8c14e8576aef65e563ffab9e78b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16137949514896002,
+              0.24154596811979615,
+              1.0475361240145031
+            ],
+            "current_z": 1.0475361240145031,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18642967560438195,
+            "gripper_z": 1.053488549219615,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1584438611985339,
+              0.2378474582224836,
+              1.053488549219615
+            ],
+            "object_minus_gripper": [
+              0.0029356339504261197,
+              0.0036985098973125463,
+              -0.005952425205111966
+            ],
+            "object_to_gripper_xy": 0.004721961684661717,
+            "object_to_gripper_z": -0.005952425205111966,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16137949514896002,
+              0.21850065241552527,
+              1.0475361240145031
+            ],
+            "finger_b": [
+              0.15134148470272127,
+              0.24154596811979615,
+              1.0475361240145031
+            ],
+            "finger_midpoint": [
+              0.15636048992584065,
+              0.2300233102676607,
+              1.0475361240145031
+            ],
+            "object_minus_finger_midpoint": [
+              0.005019005223119377,
+              0.011522657852135437,
+              0.0
+            ],
+            "finger_gap": 0.025136591448092403,
+            "fingertip_max_gap": 0.09256338365511443,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012568295724046202,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475361240145031,
+            "object_top_z": 1.0984155517511232,
+            "finger_top_clearance": 0.05087942773662002,
+            "fingertip_min_top_clearance": 0.015263828320986005,
+            "object_projection_between_fingers": 0.8405287076960367,
+            "object_to_finger_line_xy": 0.009202883384329997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04878169182755722,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.024161224690675,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16232874411675444,
+              0.24282144838694392,
+              1.2401129732000131
+            ],
+            "held_position": [
+              0.16541397734446095,
+              0.2462107409855735,
+              1.2340222589591585
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076225171926482885,
+            "max_held_gripper_dist": 0.007636702169152253,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006090714240854611,
+            "max_held_gripper_z_dist": 0.0061241545916421725,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08603013490014394,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16541397734446095,
+              0.2221861160110966,
+              1.2340222589591585
+            ],
+            "held_grasp_finger_b": [
+              0.15743914256593905,
+              0.2462107409855735,
+              1.2340222589591585
+            ],
+            "held_grasp_midpoint": [
+              0.1614265599552,
+              0.23419842849833505,
+              1.2340222589591585
+            ],
+            "held_grasp_object_position": [
+              0.16541397734446095,
+              0.2462107409855735,
+              1.2340222589591585
+            ],
+            "held_grasp_finger_gap": 0.02531364444146636,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023509074564369813,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05829622331687011,
+              -0.9978918438478427,
+              0.028520489633633954
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032985502948290127,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0375008100387463,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3073124652607324,
+              -0.38153267080152875,
+              0.8515395591437205
+            ],
+            "target_position": [
+              0.3026315563836366,
+              -0.3817263420851477,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004684913711240913,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18326613635157354,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395591437205,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545655171279357,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516231549714613,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15125600352435714,
+            "release_required_pad_clearance": 0.05258115774857307,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2272818291258035,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008381068706512451,
+            "max_z_decrease": 0.008381068706512451,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035000119820830206,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008381068706512451,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020899586229445377,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008381068706512451,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008381106376141199,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15833148360252386,
+              -0.43798780441284174,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15833148360252386,
+              -0.43798780441284174,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15853939544886955,
+              -0.4384352294142747,
+              0.8035631884761877
+            ],
+            "closest_button": [
+              0.1583508551120758,
+              -0.4379611611366272,
+              0.7685667872428894
+            ],
+            "closest_ee_minus_button": [
+              0.0001885403367937466,
+              -0.00047406827764751025,
+              0.03499640123329828
+            ],
+            "button_min_z_position": [
+              0.1583381444215775,
+              -0.43796357512474055,
+              0.7684277892112732
+            ],
+            "min_active_finger_to_button": 0.1454887336138044,
+            "closest_active_finger": [
+              0.017657101154327393,
+              -0.42359232902526855,
+              0.8107607364654541
+            ],
+            "closest_active_finger_button": [
+              0.15833120048046118,
+              -0.4379884302616119,
+              0.7765478491783142
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14067409932613378,
+              0.014396101236343328,
+              0.03421288728713989
+            ],
+            "min_contact_pad_to_button": 0.020899586229445377,
+            "closest_contact_pad": [
+              0.1583381444215775,
+              -0.4394934848725241,
+              0.7892713033277954
+            ],
+            "closest_contact_pad_button": [
+              0.1583381444215775,
+              -0.43796357512474055,
+              0.7684277892112732
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015299097477835533,
+              0.020843514116522188
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5a4a835fb02dee55103b1c35a880087002e61928d633ff0316fde760c07e7851",
+    "visual_seed": 1225177183715589627,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb83e393c4b81d23b0495431e8541003ff55f530
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16604743907812136,
+              0.23735110815068525,
+              1.0477416122614596
+            ],
+            "current_z": 1.0477416122614596,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1866348658281144,
+            "gripper_z": 1.0537350426882497,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1634917197211674,
+              0.23391054959723467,
+              1.0537350426882497
+            ],
+            "object_minus_gripper": [
+              0.0025557193569539505,
+              0.0034405585534505734,
+              -0.005993430426790125
+            ],
+            "object_to_gripper_xy": 0.004285924006702757,
+            "object_to_gripper_z": -0.005993430426790125,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16604743907812136,
+              0.2144470719734886,
+              1.0477416122614596
+            ],
+            "finger_b": [
+              0.15653660524235066,
+              0.23735110815068525,
+              1.0477416122614596
+            ],
+            "finger_midpoint": [
+              0.16129202216023603,
+              0.22589909006208692,
+              1.0477416122614596
+            ],
+            "object_minus_finger_midpoint": [
+              0.004755416917885336,
+              0.011452018088598331,
+              0.0
+            ],
+            "finger_gap": 0.02480021841552959,
+            "fingertip_max_gap": 0.09661922010063193,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012400109207764803,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477416122614596,
+            "object_top_z": 1.1009221965772584,
+            "finger_top_clearance": 0.05318058431579886,
+            "fingertip_min_top_clearance": 0.015954175294739657,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012400109207764803,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050809610050315965,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.355226369150442,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16756836042738543,
+              0.23890301274686018,
+              1.2429917833409103
+            ],
+            "held_position": [
+              0.1702972684492533,
+              0.24207608028614716,
+              1.2369037773108928
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00738776786466796,
+            "max_held_gripper_dist": 0.007403431476284243,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006088006030017468,
+            "max_held_gripper_z_dist": 0.0061183233580843766,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08512775431353672,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1702972684492533,
+              0.21822250283636946,
+              1.2369037773108928
+            ],
+            "held_grasp_finger_b": [
+              0.16267902266385417,
+              0.24207608028614716,
+              1.2369037773108928
+            ],
+            "held_grasp_midpoint": [
+              0.16648814555655372,
+              0.2301492915612583,
+              1.2369037773108928
+            ],
+            "held_grasp_object_position": [
+              0.1702972684492533,
+              0.24207608028614716,
+              1.2369037773108928
+            ],
+            "held_grasp_finger_gap": 0.02504058357944748,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02339136723992505,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05213494638047312,
+              -0.9972736427290821,
+              0.052222877015464464
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032435216206596743,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03762738961459749,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30488891318030337,
+              -0.38936538394862574,
+              0.8515395719471576
+            ],
+            "target_position": [
+              0.3032905107783788,
+              -0.38769352067991764,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00231301038210673,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18034204057714098,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395719471576,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555134783424254,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555938100815806,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1478931637203285,
+            "release_required_pad_clearance": 0.05277969050407903,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6078048880334809,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008735120296478271,
+            "max_z_decrease": 0.008735120296478271,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035065430166145564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008735120296478271,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020948947893526807,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008735120296478271,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008735318450220752,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15899044275283805,
+              -0.44395497441291815,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15899044275283805,
+              -0.44395497441291815,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1609536794687751,
+              -0.4446232201096213,
+              0.8030782284358482
+            ],
+            "closest_button": [
+              0.1590170413255691,
+              -0.44390249252319336,
+              0.7680737376213074
+            ],
+            "closest_ee_minus_button": [
+              0.0019366381432059931,
+              -0.0007207275864279383,
+              0.03500449081454082
+            ],
+            "button_min_z_position": [
+              0.1590170413255691,
+              -0.44390249252319336,
+              0.7680737376213074
+            ],
+            "min_active_finger_to_button": 0.1437424751047974,
+            "closest_active_finger": [
+              0.02020999789237976,
+              -0.42874741554260254,
+              0.8109753727912903
+            ],
+            "closest_active_finger_button": [
+              0.15899106860160822,
+              -0.4439553618431092,
+              0.7767637968063354
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13878107070922846,
+              0.015207946300506647,
+              0.034211575984954834
+            ],
+            "min_contact_pad_to_button": 0.020948947893526807,
+            "closest_contact_pad": [
+              0.1590170413255691,
+              -0.4457792997638039,
+              0.7889384449623484
+            ],
+            "closest_contact_pad_button": [
+              0.1590170413255691,
+              -0.44390249252319336,
+              0.7680737376213074
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018768072406105674,
+              0.020864707341041067
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ef41e0af5c80035fd5de86e8d00e92b35468f0947ea39b7910e7dae6e429daf4",
+    "visual_seed": 3308756652631533537,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e438e0f4e7e892f2760ae343406a7f156dd994e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16200712462594277,
+              0.23371804856079698,
+              1.0476031065761147
+            ],
+            "current_z": 1.0476031065761147,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18649647935205915,
+            "gripper_z": 1.0535818640691823,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1593931245558598,
+              0.23025535109085254,
+              1.0535818640691823
+            ],
+            "object_minus_gripper": [
+              0.0026140000700829724,
+              0.0034626974699444313,
+              -0.0059787574930676435
+            ],
+            "object_to_gripper_xy": 0.0043385792760710674,
+            "object_to_gripper_z": -0.0059787574930676435,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16200712462594277,
+              0.21072104924110285,
+              1.0476031065761147
+            ],
+            "finger_b": [
+              0.15255308904607381,
+              0.23371804856079698,
+              1.0476031065761147
+            ],
+            "finger_midpoint": [
+              0.1572801068360083,
+              0.22221954890094991,
+              1.0476031065761147
+            ],
+            "object_minus_finger_midpoint": [
+              0.004727017789934479,
+              0.011498499659847061,
+              0.0
+            ],
+            "finger_gap": 0.024864447841354533,
+            "fingertip_max_gap": 0.09306196409173648,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012432223920677266,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476031065761147,
+            "object_top_z": 1.0985993475917113,
+            "finger_top_clearance": 0.05099624101559663,
+            "fingertip_min_top_clearance": 0.015298872304678973,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012432223920677266,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04903098204586824,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0722232915074397,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16308388524589482,
+              0.23599612693773656,
+              1.2434837781226513
+            ],
+            "held_position": [
+              0.16584107455996583,
+              0.2392264352000031,
+              1.2374253785703717
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007398728912317078,
+            "max_held_gripper_dist": 0.007413959323440092,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006058399552279603,
+            "max_held_gripper_z_dist": 0.0060903831072745,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08445161353068506,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16584107455996583,
+              0.2154862908474357,
+              1.2374253785703717
+            ],
+            "held_grasp_finger_b": [
+              0.1579062553364984,
+              0.2392264352000031,
+              1.2374253785703717
+            ],
+            "held_grasp_midpoint": [
+              0.16187366494823213,
+              0.22735636302371942,
+              1.2374253785703717
+            ],
+            "held_grasp_object_position": [
+              0.16584107455996583,
+              0.2392264352000031,
+              1.2374253785703717
+            ],
+            "held_grasp_finger_gap": 0.02503109685950351,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02338840042890125,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04089545549533029,
+              -0.9988523289140654,
+              0.024931641397573527
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003491395797053643,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03770155180922763,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31078449599040214,
+              -0.3871295352028382,
+              0.8515395882356045
+            ],
+            "target_position": [
+              0.3069154568785441,
+              -0.3868841917125389,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003876810167820899,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18007798654823723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395882356045,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551647447115645,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502564637831371,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14798233372195002,
+            "release_required_pad_clearance": 0.05251282318915686,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691327081154445,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008750498294830322,
+            "max_z_decrease": 0.008750498294830322,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498758856367158,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008750498294830322,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.0209012304557574,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008750498294830322,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008750771192582614,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16261538863182068,
+              -0.4431456625461578,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16261538863182068,
+              -0.4431456625461578,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1620951766185521,
+              -0.4435515694504806,
+              0.8030383602069142
+            ],
+            "closest_button": [
+              0.16266541182994843,
+              -0.44309797883033747,
+              0.7680583596229553
+            ],
+            "closest_ee_minus_button": [
+              -0.0005702352113963194,
+              -0.00045359062014310725,
+              0.03498000058395889
+            ],
+            "button_min_z_position": [
+              0.16266541182994843,
+              -0.44309797883033747,
+              0.7680583596229553
+            ],
+            "min_active_finger_to_button": 0.1461620779325378,
+            "closest_active_finger": [
+              0.02148093283176422,
+              -0.4266684055328369,
+              0.8109136819839478
+            ],
+            "closest_active_finger_button": [
+              0.16261740028858185,
+              -0.44314643740653986,
+              0.7766744494438171
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14113646745681763,
+              0.016478031873702947,
+              0.034239232540130615
+            ],
+            "min_contact_pad_to_button": 0.0209012304557574,
+            "closest_contact_pad": [
+              0.16266541182994843,
+              -0.4447938323896488,
+              0.7888906786314107
+            ],
+            "closest_contact_pad_button": [
+              0.16266541182994843,
+              -0.44309797883033747,
+              0.7680583596229553
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016958535593113444,
+              0.02083231900845539
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "044a03f277ba59b9e7eb43ffaaf477fde1071107ccbac6019a3625cf98a5d418",
+    "visual_seed": 4077000310135070609,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad2251752bc40578b60b36af5a63174cf3397630
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16175306445233772,
+              0.237886699267613,
+              1.0487432743747376
+            ],
+            "current_z": 1.0487432743747376,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18763676635997162,
+            "gripper_z": 1.0546507723491039,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15932935059448705,
+              0.23461829074256565,
+              1.0546507723491039
+            ],
+            "object_minus_gripper": [
+              0.0024237138578506734,
+              0.0032684085250473394,
+              -0.005907497974366294
+            ],
+            "object_to_gripper_xy": 0.004069015009967341,
+            "object_to_gripper_z": -0.005907497974366294,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16175306445233772,
+              0.21474223138388068,
+              1.0487432743747376
+            ],
+            "finger_b": [
+              0.15292903122851725,
+              0.237886699267613,
+              1.0487432743747376
+            ],
+            "finger_midpoint": [
+              0.1573410478404275,
+              0.22631446532574684,
+              1.0487432743747376
+            ],
+            "object_minus_finger_midpoint": [
+              0.0044120166119102355,
+              0.011572233941866156,
+              0.0
+            ],
+            "finger_gap": 0.024769536853889777,
+            "fingertip_max_gap": 0.09705400366757483,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012384768426944888,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487432743747376,
+            "object_top_z": 1.101875897122416,
+            "finger_top_clearance": 0.05313262274767849,
+            "fingertip_min_top_clearance": 0.015939786824303564,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012384768426944888,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051027001833787416,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5110769961213832,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16334037449142402,
+              0.2395203178218176,
+              1.2430588217684673
+            ],
+            "held_position": [
+              0.16585272279656998,
+              0.242585023122816,
+              1.2370471117989301
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007200345085214304,
+            "max_held_gripper_dist": 0.007217758062088298,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006011709969537149,
+            "max_held_gripper_z_dist": 0.006041438499408525,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08506194414034446,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16585272279656998,
+              0.21883910086609348,
+              1.2370471117989301
+            ],
+            "held_grasp_finger_b": [
+              0.15848392247822915,
+              0.242585023122816,
+              1.2370471117989301
+            ],
+            "held_grasp_midpoint": [
+              0.16216832263739955,
+              0.23071206199445474,
+              1.2370471117989301
+            ],
+            "held_grasp_object_position": [
+              0.16585272279656998,
+              0.242585023122816,
+              1.2370471117989301
+            ],
+            "held_grasp_finger_gap": 0.02486298537895016,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02353108705099601,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02406754301067928,
+              -0.9984213589717658,
+              0.05074981105779364
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034509897938429786,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037777357625998285,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3001942449768119,
+              -0.3825005475410581,
+              0.8515395990162645
+            ],
+            "target_position": [
+              0.29841127272256573,
+              -0.38095596633849144,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0023589661190305377,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17975696716334724,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395990162645,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527001975650112,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602550474089186,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14803523371620284,
+            "release_required_pad_clearance": 0.053012752370445934,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0579429283051056,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008624076843261719,
+            "max_z_decrease": 0.008624076843261719,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503401153175564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008624076843261719,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020898633021951326,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008624076843261719,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00862422372790708,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15411119163036344,
+              -0.4372174143791199,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15411119163036344,
+              -0.4372174143791199,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15566692022151812,
+              -0.4372631749576224,
+              0.8036295697236443
+            ],
+            "closest_button": [
+              0.15414486825466153,
+              -0.4371883869171142,
+              0.768628716468811
+            ],
+            "closest_ee_minus_button": [
+              0.0015220519668565913,
+              -7.47880405082002e-05,
+              0.035000853254833264
+            ],
+            "button_min_z_position": [
+              0.1541411578655243,
+              -0.4371769726276397,
+              0.7681847810745239
+            ],
+            "min_active_finger_to_button": 0.14425455915209842,
+            "closest_active_finger": [
+              0.014811672270298004,
+              -0.4219130873680115,
+              0.8108444213867188
+            ],
+            "closest_active_finger_button": [
+              0.15411151945590973,
+              -0.43721777200698847,
+              0.7766289710998535
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13929984718561172,
+              0.015304684638976995,
+              0.034215450286865234
+            ],
+            "min_contact_pad_to_button": 0.020898633021951326,
+            "closest_contact_pad": [
+              0.1541411578655243,
+              -0.4383986541022557,
+              0.7890476753262996
+            ],
+            "closest_contact_pad_button": [
+              0.1541411578655243,
+              -0.4371769726276397,
+              0.7681847810745239
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012216814746159876,
+              0.020862894251775677
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "151b337df0769c9e36a998e434c70274e9466c37f8e696f8004063895f59608b",
+    "visual_seed": 8029013924519466664,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d86bf6876794418664af7aad0160237a9e933153
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1686756090970907,
+              0.2343389660004926,
+              1.0470446474388337
+            ],
+            "current_z": 1.0470446474388337,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18593796061013335,
+            "gripper_z": 1.0528251876221575,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16573661425239927,
+              0.23066389530197917,
+              1.0528251876221575
+            ],
+            "object_minus_gripper": [
+              0.0029389948446914282,
+              0.0036750706985134163,
+              -0.005780540183323746
+            ],
+            "object_to_gripper_xy": 0.0047057236782661474,
+            "object_to_gripper_z": -0.005780540183323746,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1686756090970907,
+              0.2112303247548328,
+              1.0470446474388337
+            ],
+            "finger_b": [
+              0.15875844221000676,
+              0.2343389660004926,
+              1.0470446474388337
+            ],
+            "finger_midpoint": [
+              0.16371702565354873,
+              0.22278464537766268,
+              1.0470446474388337
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049585834435419696,
+              0.011554320622829906,
+              0.0
+            ],
+            "finger_gap": 0.025146759220362424,
+            "fingertip_max_gap": 0.09393103708537964,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012573379610181226,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470446474388337,
+            "object_top_z": 1.0986839724690587,
+            "finger_top_clearance": 0.05163932503022495,
+            "fingertip_min_top_clearance": 0.015491797509067484,
+            "object_projection_between_fingers": 0.8444710656245625,
+            "object_to_finger_line_xy": 0.009113391103748609,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049465518542689824,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.318447982166931,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16953145738243322,
+              0.236217202568843,
+              1.2432631408984003
+            ],
+            "held_position": [
+              0.17265391613239234,
+              0.23961835627309958,
+              1.237397313334398
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007464953327100099,
+            "max_held_gripper_dist": 0.0074788959144638754,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005865827564002224,
+            "max_held_gripper_z_dist": 0.005898566944184891,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08586606842426164,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17265391613239234,
+              0.2156487660506021,
+              1.237397313334398
+            ],
+            "held_grasp_finger_b": [
+              0.16443913182902842,
+              0.23961835627309958,
+              1.237397313334398
+            ],
+            "held_grasp_midpoint": [
+              0.16854652398071038,
+              0.22763356116185085,
+              1.237397313334398
+            ],
+            "held_grasp_object_position": [
+              0.17265391613239234,
+              0.23961835627309958,
+              1.237397313334398
+            ],
+            "held_grasp_finger_gap": 0.025338191265069435,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023506840939101874,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.050959098048142484,
+              -0.998158863617338,
+              0.03289457870629309
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035138957970153387,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03754821160178466,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3098211955695922,
+              -0.38605225877044225,
+              0.8515396350832926
+            ],
+            "target_position": [
+              0.3061030843198162,
+              -0.38571745697926385,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003733154631821072,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17897771288572042,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396350832926,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753545743339804,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527575172148626,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14732413064031752,
+            "release_required_pad_clearance": 0.05263787586074313,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3357175776905349,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008682847023010254,
+            "max_z_decrease": 0.008682847023010254,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035020984206587946,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008682847023010254,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020918445658239936,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008682847023010254,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008683044293857937,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1618030071258545,
+              -0.44197890162467957,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1618030071258545,
+              -0.44197890162467957,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16301069097494814,
+              -0.4417275731759853,
+              0.8031267192533714
+            ],
+            "closest_button": [
+              0.16183665394783017,
+              -0.44193100929260254,
+              0.7681260108947754
+            ],
+            "closest_ee_minus_button": [
+              0.0011740370271179634,
+              0.00020343611661721717,
+              0.03500070835859603
+            ],
+            "button_min_z_position": [
+              0.16183665394783017,
+              -0.44193100929260254,
+              0.7681260108947754
+            ],
+            "min_active_finger_to_button": 0.14459205987789192,
+            "closest_active_finger": [
+              0.022512204945087433,
+              -0.4238632321357727,
+              0.8111124634742737
+            ],
+            "closest_active_finger_button": [
+              0.16180238127708432,
+              -0.4419812560081482,
+              0.7768072485923767
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392901763319969,
+              0.01811802387237549,
+              0.03430521488189697
+            ],
+            "min_contact_pad_to_button": 0.020918445658239936,
+            "closest_contact_pad": [
+              0.16183665394783017,
+              -0.4430596126856741,
+              0.7890139888519134
+            ],
+            "closest_contact_pad_button": [
+              0.16183665394783017,
+              -0.44193100929260254,
+              0.7681260108947754
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001128603393071581,
+              0.020887977957138038
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d2671f0fd82a13948fc6561cfb81078fe74c0d6078a9d91fcf9095dc09b12cc6",
+    "visual_seed": 3267406624468596223,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b300de6331431f8d62bfa271ed81a0170cbabcc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.165704799345269,
+              0.23671057120488168,
+              1.0484256647970138
+            ],
+            "current_z": 1.0484256647970138,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18731897796831376,
+            "gripper_z": 1.0542386135762367,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1624823903701963,
+              0.23284137700528248,
+              1.0542386135762367
+            ],
+            "object_minus_gripper": [
+              0.003222408975072699,
+              0.0038691941995991908,
+              -0.005812948779222893
+            ],
+            "object_to_gripper_xy": 0.005035333490131622,
+            "object_to_gripper_z": -0.005812948779222893,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.165704799345269,
+              0.21349797662258202,
+              1.0484256647970138
+            ],
+            "finger_b": [
+              0.15537415455926015,
+              0.23671057120488168,
+              1.0484256647970138
+            ],
+            "finger_midpoint": [
+              0.16053947695226456,
+              0.22510427391373183,
+              1.0484256647970138
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051653223930044345,
+              0.011606297291149842,
+              0.0
+            ],
+            "finger_gap": 0.025407612421022543,
+            "fingertip_max_gap": 0.09114595341411186,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01270380621051129,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484256647970138,
+            "object_top_z": 1.098377469660453,
+            "finger_top_clearance": 0.04995180486343909,
+            "fingertip_min_top_clearance": 0.014985541459031693,
+            "object_projection_between_fingers": 0.834679334124088,
+            "object_to_finger_line_xy": 0.00943815834473912,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807297670705593,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8199647480640081,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16634493747833945,
+              0.23820761853125513,
+              1.2419512610533214
+            ],
+            "held_position": [
+              0.1697410712103576,
+              0.24176244464161362,
+              1.2360117453341513
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007710276258274255,
+            "max_held_gripper_dist": 0.007723765484930918,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005939515719170174,
+            "max_held_gripper_z_dist": 0.005975792554625103,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08586999218059221,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1697410712103576,
+              0.21761743399161598,
+              1.2360117453341513
+            ],
+            "held_grasp_finger_b": [
+              0.16135768469677042,
+              0.24176244464161362,
+              1.2360117453341513
+            ],
+            "held_grasp_midpoint": [
+              0.165549377953564,
+              0.2296899393166148,
+              1.2360117453341513
+            ],
+            "held_grasp_object_position": [
+              0.1697410712103576,
+              0.24176244464161362,
+              1.2360117453341513
+            ],
+            "held_grasp_finger_gap": 0.02555900445488233,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023645097231570118,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.054875183906518014,
+              -0.9983485804867517,
+              0.016994882503679868
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035289796125269773,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037437661577617486,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30843452119975034,
+              -0.3823975887698966,
+              0.8515395768192758
+            ],
+            "target_position": [
+              0.3025488114020885,
+              -0.3833400209915655,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005960684383083236,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18279093482522504,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395768192758,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569570545138052,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529241618057441,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15051728470724657,
+            "release_required_pad_clearance": 0.05264620809028721,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3516587218108341,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008314967155456543,
+            "max_z_decrease": 0.008314967155456543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350347325916078,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008314967155456543,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02081033334618876,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008314967155456543,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0083150243526939,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15824873745441437,
+              -0.43960148096084595,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15824873745441437,
+              -0.43960148096084595,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15672580895429414,
+              -0.4383137164902001,
+              0.8034716408750113
+            ],
+            "closest_button": [
+              0.15827065706253052,
+              -0.4395797848701477,
+              0.7684938907623291
+            ],
+            "closest_ee_minus_button": [
+              -0.0015448481082363796,
+              0.0012660683799475825,
+              0.03497775011268223
+            ],
+            "button_min_z_position": [
+              0.15827065706253052,
+              -0.4395797848701477,
+              0.7684938907623291
+            ],
+            "min_active_finger_to_button": 0.14655110336606375,
+            "closest_active_finger": [
+              0.030514337122440338,
+              -0.5028208494186401,
+              0.8107092976570129
+            ],
+            "closest_active_finger_button": [
+              0.1582486480474472,
+              -0.43960168957710266,
+              0.7765843868255615
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12773431092500687,
+              -0.06321915984153748,
+              0.034124910831451416
+            ],
+            "min_contact_pad_to_button": 0.02081033334618876,
+            "closest_contact_pad": [
+              0.15827065706253052,
+              -0.4395797848701477,
+              0.7893042241085179
+            ],
+            "closest_contact_pad_button": [
+              0.15827065706253052,
+              -0.4395797848701477,
+              0.7684938907623291
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02081033334618876
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "642d1fe8d9ab1ff66e6d2909fbec081f0f264acbc25a8045b17f24c0973f0262",
+    "visual_seed": 4163593740829741474,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a135ef022f57f57c786028196cba78876b1cd94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.169082766513629,
+              0.23658944823823078,
+              1.0484043744431868
+            ],
+            "current_z": 1.0484043744431868,
+            "required_z": 0.8611069252472792,
+            "initial_z": 0.7611069252472792,
+            "lift_margin": 0.18729744919590763,
+            "gripper_z": 1.054226132122379,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16622620939777621,
+              0.23303694332056468,
+              1.054226132122379
+            ],
+            "object_minus_gripper": [
+              0.0028565571158527814,
+              0.003552504917666094,
+              -0.00582175767919213
+            ],
+            "object_to_gripper_xy": 0.004558531533966935,
+            "object_to_gripper_z": -0.00582175767919213,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.169082766513629,
+              0.21323141602237436,
+              1.0484043744431868
+            ],
+            "finger_b": [
+              0.15974862582700405,
+              0.23658944823823078,
+              1.0484043744431868
+            ],
+            "finger_midpoint": [
+              0.16441569617031654,
+              0.22491043213030257,
+              1.0484043744431868
+            ],
+            "object_minus_finger_midpoint": [
+              0.004667070343312457,
+              0.011679016107928208,
+              0.0
+            ],
+            "finger_gap": 0.02515400269052012,
+            "fingertip_max_gap": 0.09508650324341553,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012577001345260054,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484043744431868,
+            "object_top_z": 1.1003101607655177,
+            "finger_top_clearance": 0.051905786322330894,
+            "fingertip_min_top_clearance": 0.015571735896699301,
+            "object_projection_between_fingers": 0.8622998292680675,
+            "object_to_finger_line_xy": 0.008667692436388676,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050043251621707766,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7262698247235695,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16985622723770624,
+              0.2386923983782912,
+              1.2446798987969359
+            ],
+            "held_position": [
+              0.1728327186335817,
+              0.24204573143120162,
+              1.2387809526607625
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074095822494211405,
+            "max_held_gripper_dist": 0.007424377806870372,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005898946136173366,
+            "max_held_gripper_z_dist": 0.00593141188557178,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597176199239359,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1728327186335817,
+              0.21816008725011624,
+              1.2387809526607625
+            ],
+            "held_grasp_finger_b": [
+              0.1646904749674838,
+              0.24204573143120162,
+              1.2387809526607625
+            ],
+            "held_grasp_midpoint": [
+              0.16876159680053276,
+              0.2301029093406589,
+              1.2387809526607625
+            ],
+            "held_grasp_object_position": [
+              0.1728327186335817,
+              0.24204573143120162,
+              1.2387809526607625
+            ],
+            "held_grasp_finger_gap": 0.025235295319522805,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02369299248469508,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021417417344270807,
+              -0.9992352784988231,
+              0.032713184462553
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038345047465601764,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037699367997031955,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.304854096192912,
+              -0.3825338347894393,
+              0.851539499752216
+            ],
+            "target_position": [
+              0.3017553807059719,
+              -0.3821956918484128,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0031171105719188597,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1806664196456387,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539499752216,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562175923928165,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0871101777368156,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14835926411441938,
+            "release_required_pad_clearance": 0.053555088868407805,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1214500196680377,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008373498916625977,
+            "max_z_decrease": 0.008373498916625977,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035096152513075435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008373498916625977,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02086415146978271,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008373498916625977,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008373549707163239,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15745531022548676,
+              -0.4384571611881256,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15745531022548676,
+              -0.4384571611881256,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15892076375831748,
+              -0.4365298985442192,
+              0.8035175220647973
+            ],
+            "closest_button": [
+              0.1574801653623581,
+              -0.4384301602840424,
+              0.7685024738311768
+            ],
+            "closest_ee_minus_button": [
+              0.0014405983959593915,
+              0.0019002617398232169,
+              0.03501504823362056
+            ],
+            "button_min_z_position": [
+              0.15747292339801788,
+              -0.4384339153766632,
+              0.7684353590011597
+            ],
+            "min_active_finger_to_button": 0.14365676287716342,
+            "closest_active_finger": [
+              0.03213704377412796,
+              -0.4998464584350586,
+              0.8106303215026855
+            ],
+            "closest_active_finger_button": [
+              0.157454714179039,
+              -0.4384579360485077,
+              0.7765100002288818
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12531767040491104,
+              -0.0613885223865509,
+              0.03412032127380371
+            ],
+            "min_contact_pad_to_button": 0.02086415146978271,
+            "closest_contact_pad": [
+              0.15747292339801788,
+              -0.4384339153766632,
+              0.7892995104709424
+            ],
+            "closest_contact_pad_button": [
+              0.15747292339801788,
+              -0.4384339153766632,
+              0.7684353590011597
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02086415146978271
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca1dcedd05b35462eb29cf3b7ca8cc55bd5c99dc9d71dd6bf560585715411c77",
+    "visual_seed": 960971890187196746,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0746750e6bc029fffe62c523cba8bf61e2c32769
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16594084120120972,
+              0.23412576123501364,
+              1.0469876199100114
+            ],
+            "current_z": 1.0469876199100114,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18588093308131104,
+            "gripper_z": 1.0527814594384979,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16282015690982257,
+              0.2304478860722622,
+              1.0527814594384979
+            ],
+            "object_minus_gripper": [
+              0.003120684291387149,
+              0.0036778751627514483,
+              -0.005793839528486444
+            ],
+            "object_to_gripper_xy": 0.004823425770061617,
+            "object_to_gripper_z": -0.005793839528486444,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16594084120120972,
+              0.21059501532527716,
+              1.0469876199100114
+            ],
+            "finger_b": [
+              0.15641084064633792,
+              0.23412576123501364,
+              1.0469876199100114
+            ],
+            "finger_midpoint": [
+              0.16117584092377382,
+              0.2223603882801454,
+              1.0469876199100114
+            ],
+            "object_minus_finger_midpoint": [
+              0.004765000277435899,
+              0.011765372954868236,
+              0.0
+            ],
+            "finger_gap": 0.025387337663576235,
+            "fingertip_max_gap": 0.09158282403842938,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012693668831788118,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469876199100114,
+            "object_top_z": 1.096829941207782,
+            "finger_top_clearance": 0.04984232129777055,
+            "fingertip_min_top_clearance": 0.014952696389331166,
+            "object_projection_between_fingers": 0.8590868468256204,
+            "object_to_finger_line_xy": 0.008833065701807294,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829141201921469,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3197352034822474,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16636934901597833,
+              0.23648720748125485,
+              1.240925850631163
+            ],
+            "held_position": [
+              0.16955986329393863,
+              0.23996917776724952,
+              1.2350190203991054
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007562680862020226,
+            "max_held_gripper_dist": 0.0075770453173034215,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005906830232057514,
+            "max_held_gripper_z_dist": 0.005939386569574712,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08605937597869215,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16955986329393863,
+              0.21599716899738403,
+              1.2350190203991054
+            ],
+            "held_grasp_finger_b": [
+              0.16121845398200815,
+              0.23996917776724952,
+              1.2350190203991054
+            ],
+            "held_grasp_midpoint": [
+              0.16538915863797338,
+              0.22798317338231677,
+              1.2350190203991054
+            ],
+            "held_grasp_object_position": [
+              0.16955986329393863,
+              0.23996917776724952,
+              1.2350190203991054
+            ],
+            "held_grasp_finger_gap": 0.025381810687412916,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02383406249434433,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01596203228950033,
+              -0.999799748498748,
+              0.01206964900191032
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003981496012252354,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037670072978145924,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3034777054927785,
+              -0.3798602208353503,
+              0.8515395905918003
+            ],
+            "target_position": [
+              0.29796689292879563,
+              -0.38065612667745796,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005567990770902263,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18263764122292706,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395905918003,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516878739827466,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08581017265136158,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1516962877586764,
+            "release_required_pad_clearance": 0.05290508632568079,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8494916885069461,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008452296257019043,
+            "max_z_decrease": 0.008452296257019043,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499453026840381,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008452296257019043,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020899258807507433,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008452296257019043,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008452349387069128,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15366682410240173,
+              -0.4369175732135773,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15366682410240173,
+              -0.4369175732135773,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15313787844149296,
+              -0.4371042398402123,
+              0.8037123866532939
+            ],
+            "closest_button": [
+              0.15368184447288513,
+              -0.4368847906589508,
+              0.7687227725982666
+            ],
+            "closest_ee_minus_button": [
+              -0.0005439660313921735,
+              -0.0002194491812614885,
+              0.03498961405502732
+            ],
+            "button_min_z_position": [
+              0.15368083119392395,
+              -0.4368910789489746,
+              0.7683565616607666
+            ],
+            "min_active_finger_to_button": 0.1461821807679353,
+            "closest_active_finger": [
+              0.012623697519302368,
+              -0.41943657398223877,
+              0.8110243082046509
+            ],
+            "closest_active_finger_button": [
+              0.15366573631763458,
+              -0.43691912293434143,
+              0.7768083214759827
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14104203879833221,
+              0.01748254895210266,
+              0.03421598672866821
+            ],
+            "min_contact_pad_to_button": 0.020899258807507433,
+            "closest_contact_pad": [
+              0.15368083119392395,
+              -0.43840937089537924,
+              0.7892005969771025
+            ],
+            "closest_contact_pad_button": [
+              0.15368083119392395,
+              -0.4368910789489746,
+              0.7683565616607666
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015182919464046263,
+              0.02084403531633594
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aeaee40673acccb4f32310ecc41327e79ac2b777e400b1e7595dcd089a8005bf",
+    "visual_seed": 3536185817693278056,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7dc0c2a0d76c95529456b5cf045e378cf326bf1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16489197267090785,
+              0.234321104763674,
+              1.0495077933822836
+            ],
+            "current_z": 1.0495077933822836,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.18840098734429367,
+            "gripper_z": 1.055389454925952,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1616775570926155,
+              0.2305248422334232,
+              1.055389454925952
+            ],
+            "object_minus_gripper": [
+              0.0032144155782923567,
+              0.0037962625302507824,
+              -0.005881661543668315
+            ],
+            "object_to_gripper_xy": 0.004974341836721181,
+            "object_to_gripper_z": -0.005881661543668315,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16489197267090785,
+              0.21087204800523812,
+              1.0495077933822836
+            ],
+            "finger_b": [
+              0.1549954790657102,
+              0.234321104763674,
+              1.0495077933822836
+            ],
+            "finger_midpoint": [
+              0.15994372586830902,
+              0.22259657638445607,
+              1.0495077933822836
+            ],
+            "object_minus_finger_midpoint": [
+              0.004948246802598838,
+              0.011724528379217919,
+              0.0
+            ],
+            "finger_gap": 0.02545189282819776,
+            "fingertip_max_gap": 0.09163845991387273,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012725946414098873,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495077933822836,
+            "object_top_z": 1.0998770781776157,
+            "finger_top_clearance": 0.05036928479533209,
+            "fingertip_min_top_clearance": 0.01511078543859961,
+            "object_projection_between_fingers": 0.848810188689363,
+            "object_to_finger_line_xy": 0.009117728171504707,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04831922995693637,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9034332066458702,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16528596064667292,
+              0.23624919946249753,
+              1.2437250495537049
+            ],
+            "held_position": [
+              0.16861658794012974,
+              0.23980297603746756,
+              1.2377167294650837
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007734488761389078,
+            "max_held_gripper_dist": 0.007752533901915012,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006008320088621177,
+            "max_held_gripper_z_dist": 0.006043749700934464,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08471564601823692,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16861658794012974,
+              0.21573058768862793,
+              1.2377167294650837
+            ],
+            "held_grasp_finger_b": [
+              0.16017826294285925,
+              0.23980297603746756,
+              1.2377167294650837
+            ],
+            "held_grasp_midpoint": [
+              0.1643974254414945,
+              0.22776678186304775,
+              1.2377167294650837
+            ],
+            "held_grasp_object_position": [
+              0.16861658794012974,
+              0.23980297603746756,
+              1.2377167294650837
+            ],
+            "held_grasp_finger_gap": 0.0255085320937311,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023736964120657237,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.037676136248443876,
+              -0.9992729950338551,
+              0.005830107499668391
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037633525405781783,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03753384452746063,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30447464024393833,
+              -0.3780429861548912,
+              0.8515395236476592
+            ],
+            "target_position": [
+              0.2987574983503103,
+              -0.3792798905925165,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005849413989426121,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18244091144121108,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395236476592,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758118454883716,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624712388561799,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14990092065090674,
+            "release_required_pad_clearance": 0.053123561942809,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2734731429328987,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008514404296875,
+            "max_z_decrease": 0.008514404296875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502205627154184,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008514404296875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021032492365956904,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008514404296875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008514620621816443,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15445742011070251,
+              -0.4355413615703583,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15445742011070251,
+              -0.4355413615703583,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15409720729797052,
+              -0.437253968056988,
+              0.8036023305328078
+            ],
+            "closest_button": [
+              0.15449824929237366,
+              -0.4355145394802093,
+              0.768625795841217
+            ],
+            "closest_ee_minus_button": [
+              -0.00040104199440313404,
+              -0.0017394285767787232,
+              0.03497653469159079
+            ],
+            "button_min_z_position": [
+              0.15450416505336767,
+              -0.4355026483535766,
+              0.7682944536209106
+            ],
+            "min_active_finger_to_button": 0.14591382592457286,
+            "closest_active_finger": [
+              0.01330748200416565,
+              -0.4214942753314972,
+              0.8109654188156128
+            ],
+            "closest_active_finger_button": [
+              0.15446123480796817,
+              -0.4355404376983642,
+              0.7767723202705383
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14115375280380252,
+              0.01404616236686701,
+              0.03419309854507446
+            ],
+            "min_contact_pad_to_button": 0.021032492365956904,
+            "closest_contact_pad": [
+              0.15450416505336767,
+              -0.43841183925686333,
+              0.7891247763119366
+            ],
+            "closest_contact_pad_button": [
+              0.15450416505336767,
+              -0.4355026483535766,
+              0.7682944536209106
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002909190903286729,
+              0.020830322691025915
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "12246130afff88f1efa34f72b468f1697752ec2edd46311f0cda5ae91d4c942e",
+    "visual_seed": 7480713156797810141,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6797228aec64c3bd373f21a6de7ac90a14b90ad
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1665595259819549,
+              0.23657828856063046,
+              1.0465007054792212
+            ],
+            "current_z": 1.0465007054792212,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.18539395904587597,
+            "gripper_z": 1.0522125305029855,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16369928966365055,
+              0.23307489460462938,
+              1.0522125305029855
+            ],
+            "object_minus_gripper": [
+              0.0028602363183043433,
+              0.0035033939560010774,
+              -0.0057118250237642165
+            ],
+            "object_to_gripper_xy": 0.004522689576733303,
+            "object_to_gripper_z": -0.0057118250237642165,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1665595259819549,
+              0.21313985093580828,
+              1.0465007054792212
+            ],
+            "finger_b": [
+              0.1574472808709289,
+              0.23657828856063046,
+              1.0465007054792212
+            ],
+            "finger_midpoint": [
+              0.1620034034264419,
+              0.22485906974821937,
+              1.0465007054792212
+            ],
+            "object_minus_finger_midpoint": [
+              0.0045561225555129925,
+              0.011719218812411086,
+              0.0
+            ],
+            "finger_gap": 0.02514743265735285,
+            "fingertip_max_gap": 0.09483648893062196,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012573716328676425,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465007054792212,
+            "object_top_z": 1.0983146797271788,
+            "finger_top_clearance": 0.05181397424795753,
+            "fingertip_min_top_clearance": 0.015544192274387225,
+            "object_projection_between_fingers": 0.868700377012031,
+            "object_to_finger_line_xy": 0.008492985807615856,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049918244465310985,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7803378340273643,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 204,
+            "max_stable_success_frames": 204,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1669738702536088,
+              0.23942735432861462,
+              1.2423516257255103
+            ],
+            "held_position": [
+              0.1698928971802124,
+              0.24277409447424073,
+              1.2365495736272036
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00730651738874594,
+            "max_held_gripper_dist": 0.007321115166542286,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005802052098306643,
+            "max_held_gripper_z_dist": 0.005833799197830336,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08585417159738107,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1698928971802124,
+              0.219008731795792,
+              1.2365495736272036
+            ],
+            "held_grasp_finger_b": [
+              0.16164240030312438,
+              0.24277409447424073,
+              1.2365495736272036
+            ],
+            "held_grasp_midpoint": [
+              0.16576764874166838,
+              0.23089141313501638,
+              1.2365495736272036
+            ],
+            "held_grasp_object_position": [
+              0.1698928971802124,
+              0.24277409447424073,
+              1.2365495736272036
+            ],
+            "held_grasp_finger_gap": 0.025156771691873397,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023691943939368906,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007213822090165446,
+              -0.999415067944002,
+              0.03342877110121578
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004058954077037028,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03781476048378383,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30020516798270436,
+              -0.3789970866114687,
+              0.8515395476611151
+            ],
+            "target_position": [
+              0.2972179295509502,
+              -0.3786828587079303,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0030037197977692684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17923470366592542,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395476611151,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555526818349266,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08688535467669171,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14717548775632086,
+            "release_required_pad_clearance": 0.05344267733834586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8991264626236477,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008499324321746826,
+            "max_z_decrease": 0.008499324321746826,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505171706086732,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008499324321746826,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02100396698771509,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008499324321746826,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008499458731206208,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15291786193847656,
+              -0.4349443316459655,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15291786193847656,
+              -0.4349443316459655,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15435706386105552,
+              -0.4363073442753361,
+              0.8034965774209823
+            ],
+            "closest_button": [
+              0.1529465466737747,
+              -0.4349108934402465,
+              0.7685011029243469
+            ],
+            "closest_ee_minus_button": [
+              0.0014105171872808298,
+              -0.0013964508350895466,
+              0.034995474496635426
+            ],
+            "button_min_z_position": [
+              0.1529431045055389,
+              -0.4349037408828735,
+              0.7683095335960388
+            ],
+            "min_active_finger_to_button": 0.1442118187410077,
+            "closest_active_finger": [
+              0.013465739786624908,
+              -0.4215850830078125,
+              0.8110325932502747
+            ],
+            "closest_active_finger_button": [
+              0.15291601419448853,
+              -0.43494561314582825,
+              0.7767956852912903
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13945027440786362,
+              0.013360530138015747,
+              0.034236907958984375
+            ],
+            "min_contact_pad_to_button": 0.02100396698771509,
+            "closest_contact_pad": [
+              0.1529431045055389,
+              -0.43738221476464906,
+              0.7891667576787968
+            ],
+            "closest_contact_pad_button": [
+              0.1529431045055389,
+              -0.4349037408828735,
+              0.7683095335960388
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002478473881775578,
+              0.02085722408275803
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3aed00d14250d58648caef69f9c8a0f39f46a325eb9df1b0986b6788a64c484d",
+    "visual_seed": 6126941815242190962,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bcb470bf9184b774bef6450f2812f6b7985758e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1614646526506181,
+              0.23552413776842535,
+              1.0490638148643527
+            ],
+            "current_z": 1.0490638148643527,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18795712803565257,
+            "gripper_z": 1.0550430944660774,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15934384368935797,
+              0.23239995925275406,
+              1.0550430944660774
+            ],
+            "object_minus_gripper": [
+              0.002120808961260129,
+              0.0031241785156712887,
+              -0.005979279601724619
+            ],
+            "object_to_gripper_xy": 0.0037760193389260238,
+            "object_to_gripper_z": -0.005979279601724619,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1614646526506181,
+              0.2126247472940361,
+              1.0490638148643527
+            ],
+            "finger_b": [
+              0.1528240156109147,
+              0.23552413776842535,
+              1.0490638148643527
+            ],
+            "finger_midpoint": [
+              0.1571443341307664,
+              0.2240744425312307,
+              1.0490638148643527
+            ],
+            "object_minus_finger_midpoint": [
+              0.004320318519851707,
+              0.011449695237194635,
+              0.0
+            ],
+            "finger_gap": 0.02447534867066133,
+            "fingertip_max_gap": 0.0968890545840084,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012237674335330677,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490638148643527,
+            "object_top_z": 1.102153825181046,
+            "finger_top_clearance": 0.05309001031669336,
+            "fingertip_min_top_clearance": 0.015927003095007972,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012237674335330677,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0509445272920042,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2239333229824303,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16304786376593922,
+              0.23804388077039978,
+              1.2433546826101103
+            ],
+            "held_position": [
+              0.16524170390401935,
+              0.2409927107744858,
+              1.2372808425587203
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007099300382031931,
+            "max_held_gripper_dist": 0.0071164371300301375,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00607384005139,
+            "max_held_gripper_z_dist": 0.00610111644051492,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08566320886130133,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16524170390401935,
+              0.21750238040056347,
+              1.2372808425587203
+            ],
+            "held_grasp_finger_b": [
+              0.15798259588245372,
+              0.2409927107744858,
+              1.2372808425587203
+            ],
+            "held_grasp_midpoint": [
+              0.16161214989323652,
+              0.22924754558752464,
+              1.2372808425587203
+            ],
+            "held_grasp_object_position": [
+              0.16524170390401935,
+              0.2409927107744858,
+              1.2372808425587203
+            ],
+            "held_grasp_finger_gap": 0.024586383840344984,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023267341591326776,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0260651179951084,
+              -0.9985619923203924,
+              0.04684610033961855
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00336779882597209,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03789736976731033,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30636126192668667,
+              -0.3838251783489769,
+              0.8515395600056951
+            ],
+            "target_position": [
+              0.30508690253613,
+              -0.38225271338638056,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0020240152951232823,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17844788091525804,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395600056951,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554576732746916,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621580483036671,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14623934215092646,
+            "release_required_pad_clearance": 0.05310790241518336,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2429921425735424,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00862431526184082,
+            "max_z_decrease": 0.00862431526184082,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507910030716212,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00862431526184082,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021008470902187316,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00862431526184082,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008624484539315063,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16078682243824002,
+              -0.4385141730308533,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16078682243824002,
+              -0.4385141730308533,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1628048828249222,
+              -0.4397478635519332,
+              0.8035625265000877
+            ],
+            "closest_button": [
+              0.16082042455673215,
+              -0.4384817481040955,
+              0.7685624957084656
+            ],
+            "closest_ee_minus_button": [
+              0.001984458268190048,
+              -0.001266115447837668,
+              0.03500003079162217
+            ],
+            "button_min_z_position": [
+              0.16080935299396512,
+              -0.4384650588035584,
+              0.7681845426559448
+            ],
+            "min_active_finger_to_button": 0.14368489489293865,
+            "closest_active_finger": [
+              0.021984204649925232,
+              -0.424083411693573,
+              0.8104724884033203
+            ],
+            "closest_active_finger_button": [
+              0.16078655421733853,
+              -0.4385155439376832,
+              0.7762530446052551
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1388023495674133,
+              0.014432132244110218,
+              0.034219443798065186
+            ],
+            "min_contact_pad_to_button": 0.021008470902187316,
+            "closest_contact_pad": [
+              0.16080935299396512,
+              -0.44091306595287566,
+              0.7890498993661701
+            ],
+            "closest_contact_pad_button": [
+              0.16080935299396512,
+              -0.4384650588035584,
+              0.7681845426559448
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002448007149317255,
+              0.02086535671022527
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99c8f6cb8abd35169352c0ac6298f09a54d62b450afeda3a4353a4a7a75d853c",
+    "visual_seed": 3895752506212403039,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..965dbe81163bf5f28155cd8b4650d6240f6d8f34
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16063533704044805,
+              0.23938299967757845,
+              1.0473846981241208
+            ],
+            "current_z": 1.0473846981241208,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18627819010935465,
+            "gripper_z": 1.0531405185046083,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15789014649467747,
+              0.23592927017475895,
+              1.0531405185046083
+            ],
+            "object_minus_gripper": [
+              0.002745190545770576,
+              0.003453729502819497,
+              -0.0057558203804874974
+            ],
+            "object_to_gripper_xy": 0.004411838461597836,
+            "object_to_gripper_z": -0.0057558203804874974,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16063533704044805,
+              0.21606515354783565,
+              1.0473846981241208
+            ],
+            "finger_b": [
+              0.1514989731956229,
+              0.23938299967757845,
+              1.0473846981241208
+            ],
+            "finger_midpoint": [
+              0.15606715511803548,
+              0.22772407661270705,
+              1.0473846981241208
+            ],
+            "object_minus_finger_midpoint": [
+              0.0045681819224125675,
+              0.011658923064871402,
+              0.0
+            ],
+            "finger_gap": 0.025043863368805337,
+            "fingertip_max_gap": 0.09240266565065894,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012521931684402663,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473846981241208,
+            "object_top_z": 1.0978557066522978,
+            "finger_top_clearance": 0.050471008528176986,
+            "fingertip_min_top_clearance": 0.015141302558453095,
+            "object_projection_between_fingers": 0.8669103994725096,
+            "object_to_finger_line_xy": 0.008506687773434407,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870133282532947,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1768261074244732,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16153875155633435,
+              0.24168360145351334,
+              1.2427168197711405
+            ],
+            "held_position": [
+              0.16437057538475466,
+              0.24494982887418942,
+              1.2368674547879892
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007273413123486215,
+            "max_held_gripper_dist": 0.007290305042057622,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005849364983151251,
+            "max_held_gripper_z_dist": 0.005882886165083923,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08450566540796023,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16437057538475466,
+              0.22115852479863515,
+              1.2368674547879892
+            ],
+            "held_grasp_finger_b": [
+              0.1564044547753486,
+              0.24494982887418942,
+              1.2368674547879892
+            ],
+            "held_grasp_midpoint": [
+              0.1603875150800516,
+              0.23305417683641227,
+              1.2368674547879892
+            ],
+            "held_grasp_object_position": [
+              0.16437057538475466,
+              0.24494982887418942,
+              1.2368674547879892
+            ],
+            "held_grasp_finger_gap": 0.025089544180377003,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02361550080788747,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.020833493500199925,
+              -0.9995863553465721,
+              0.019826339892516916
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037418598507050357,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037746537544213456,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31093901706703,
+              -0.38536797981561804,
+              0.8515395539967527
+            ],
+            "target_position": [
+              0.3061628336407661,
+              -0.38558705753059497,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004781205200210246,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18095529563776033,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395539967527,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525351017702694,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587094014273126,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14966556693412414,
+            "release_required_pad_clearance": 0.052935470071365634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.908268226865551,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0086708664894104,
+            "max_z_decrease": 0.0086708664894104,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498643190992947,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0086708664894104,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02088338140522919,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0086708664894104,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008671130644532779,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16186276078224182,
+              -0.4418485164642334,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16186276078224182,
+              -0.4418485164642334,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16165085876594,
+              -0.4421581485868317,
+              0.8034859119813145
+            ],
+            "closest_button": [
+              0.1619100868701935,
+              -0.4418218731880188,
+              0.7685020565986633
+            ],
+            "closest_ee_minus_button": [
+              -0.0002592281042535227,
+              -0.0003362753988129241,
+              0.03498385538265114
+            ],
+            "button_min_z_position": [
+              0.16191607713699344,
+              -0.441806823015213,
+              0.7681379914283752
+            ],
+            "min_active_finger_to_button": 0.14593204120768455,
+            "closest_active_finger": [
+              0.020848318934440613,
+              -0.42635977268218994,
+              0.8110333681106567
+            ],
+            "closest_active_finger_button": [
+              0.161861851811409,
+              -0.441849946975708,
+              0.7768076658248901
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14101353287696838,
+              0.015490174293518066,
+              0.0342257022857666
+            ],
+            "min_contact_pad_to_button": 0.02088338140522919,
+            "closest_contact_pad": [
+              0.16191607713699344,
+              -0.4432790691810887,
+              0.788969412650734
+            ],
+            "closest_contact_pad_button": [
+              0.16191607713699344,
+              -0.441806823015213,
+              0.7681379914283752
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014722461658757124,
+              0.020831421222358704
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "666c38ae1d118f2b4a4cbc6b64c704ba34811f1a14153ad8bbf2ec5683919afc",
+    "visual_seed": 6457199025046860102,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ef1573f1019d1509e1719d3f94c0442063557fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1615363653433544,
+              0.23906612963957616,
+              1.0467673621876985
+            ],
+            "current_z": 1.0467673621876985,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.18566097338222232,
+            "gripper_z": 1.0528932796138726,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15797080581258868,
+              0.23518694047031635,
+              1.0528932796138726
+            ],
+            "object_minus_gripper": [
+              0.003565559530765705,
+              0.0038791891692598057,
+              -0.006125917426174077
+            ],
+            "object_to_gripper_xy": 0.0052689015343178255,
+            "object_to_gripper_z": -0.006125917426174077,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1615363653433544,
+              0.21541221711645608,
+              1.0467673621876985
+            ],
+            "finger_b": [
+              0.1514842425988837,
+              0.23906612963957616,
+              1.0467673621876985
+            ],
+            "finger_midpoint": [
+              0.15651030397111904,
+              0.22723917337801613,
+              1.0467673621876985
+            ],
+            "object_minus_finger_midpoint": [
+              0.005026061372235352,
+              0.011826956261560023,
+              0.0
+            ],
+            "finger_gap": 0.02570122077492276,
+            "fingertip_max_gap": 0.10754357926275998,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012850610387461374,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467673621876985,
+            "object_top_z": 1.103796176776082,
+            "finger_top_clearance": 0.05702881458838349,
+            "fingertip_min_top_clearance": 0.017108644376515065,
+            "object_projection_between_fingers": 0.8470293677927727,
+            "object_to_finger_line_xy": 0.00925139059158521,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05627178963137999,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 6.490463860251764,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16103071358235246,
+              0.24176097534555385,
+              1.239953212536595
+            ],
+            "held_position": [
+              0.16465079442108008,
+              0.24545810818173563,
+              1.2337104194582267
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008108405632836869,
+            "max_held_gripper_dist": 0.008122728397937203,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006242793078368392,
+            "max_held_gripper_z_dist": 0.0062842253855450725,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08592021238447112,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16465079442108008,
+              0.22143575572907212,
+              1.2337104194582267
+            ],
+            "held_grasp_finger_b": [
+              0.1556121304003778,
+              0.24545810818173563,
+              1.2337104194582267
+            ],
+            "held_grasp_midpoint": [
+              0.16013146241072895,
+              0.2334469319554039,
+              1.2337104194582267
+            ],
+            "held_grasp_object_position": [
+              0.16465079442108008,
+              0.24545810818173563,
+              1.2337104194582267
+            ],
+            "held_grasp_finger_gap": 0.02566653199478119,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02437748565112003,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.05247398358675408,
+              -0.9950395570439319,
+              0.08451485647123293
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005240650861135877,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038005801952003565,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3043608420854029,
+              -0.383888176192292,
+              0.8515395601777479
+            ],
+            "target_position": [
+              0.30573431695243586,
+              -0.3806960840859415,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0034750374423588686,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1751914452943738,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395601777479,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546523283742225,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0911674524336774,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14287521797989666,
+            "release_required_pad_clearance": 0.0555837262168387,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.324471708302871,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008409202098846436,
+            "max_z_decrease": 0.008409202098846436,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504846894473124,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008409202098846436,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02086274652238662,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008409202098846436,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008409393862449252,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1614342480897904,
+              -0.4369575381278991,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1614342480897904,
+              -0.4369575381278991,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16093144649268581,
+              -0.43497218183773595,
+              0.8035907593978532
+            ],
+            "closest_button": [
+              0.1614780873060227,
+              -0.43693342804908747,
+              0.7686014771461487
+            ],
+            "closest_ee_minus_button": [
+              -0.000546640813336885,
+              0.0019612462113515194,
+              0.0349892822517045
+            ],
+            "button_min_z_position": [
+              0.161485105752945,
+              -0.4369322657585143,
+              0.7683996558189392
+            ],
+            "min_active_finger_to_button": 0.14540414462240067,
+            "closest_active_finger": [
+              0.03330451250076294,
+              -0.4966057240962982,
+              0.8105831146240234
+            ],
+            "closest_active_finger_button": [
+              0.16143439710140234,
+              -0.43695917725563044,
+              0.7764160633087158
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281298846006394,
+              -0.05964654684066778,
+              0.03416705131530762
+            ],
+            "min_contact_pad_to_button": 0.02086274652238662,
+            "closest_contact_pad": [
+              0.161485105752945,
+              -0.4369322657585143,
+              0.7892624023413258
+            ],
+            "closest_contact_pad_button": [
+              0.161485105752945,
+              -0.4369322657585143,
+              0.7683996558189392
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02086274652238662
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d492f72c80082a4fb386c8a89253e8251ba867a917d9da552af035a8ef318eb",
+    "visual_seed": 4738448751984741454,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ddd162f5206ec7fb294addbe617f0ba5b4036e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16537406818191427,
+              0.24296022097304684,
+              1.0474450389656915
+            ],
+            "current_z": 1.0474450389656915,
+            "required_z": 0.8611069252472795,
+            "initial_z": 0.7611069252472795,
+            "lift_margin": 0.18633811371841202,
+            "gripper_z": 1.053126569866108,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1621843476192364,
+              0.23915021317972796,
+              1.053126569866108
+            ],
+            "object_minus_gripper": [
+              0.0031897205626778835,
+              0.003810007793318887,
+              -0.005681530900416565
+            ],
+            "object_to_gripper_xy": 0.004968951262904554,
+            "object_to_gripper_z": -0.005681530900416565,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16537406818191427,
+              0.21966303858572078,
+              1.0474450389656915
+            ],
+            "finger_b": [
+              0.155279570051455,
+              0.24296022097304684,
+              1.0474450389656915
+            ],
+            "finger_midpoint": [
+              0.16032681911668464,
+              0.2313116297793838,
+              1.0474450389656915
+            ],
+            "object_minus_finger_midpoint": [
+              0.005047249065229631,
+              0.011648591193663044,
+              0.0
+            ],
+            "finger_gap": 0.02539010830410499,
+            "fingertip_max_gap": 0.09203547215652463,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012695054152052507,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474450389656915,
+            "object_top_z": 1.0978700487112785,
+            "finger_top_clearance": 0.050425009745586946,
+            "fingertip_min_top_clearance": 0.015127502923676083,
+            "object_projection_between_fingers": 0.8419333107153544,
+            "object_to_finger_line_xy": 0.009262400980613738,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851773607826232,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8650003242881419,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16578045645783773,
+              0.24480455493541636,
+              1.2434151996670695
+            ],
+            "held_position": [
+              0.16915590177872916,
+              0.2483560020856284,
+              1.2376541502853058
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007562810188957342,
+            "max_held_gripper_dist": 0.0075764684406365666,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005761049381763694,
+            "max_held_gripper_z_dist": 0.005802920821470492,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860864577238668,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16915590177872916,
+              0.22428670861357974,
+              1.2376541502853058
+            ],
+            "held_grasp_finger_b": [
+              0.16058921678169966,
+              0.2483560020856284,
+              1.2376541502853058
+            ],
+            "held_grasp_midpoint": [
+              0.1648725592802144,
+              0.23632135534960408,
+              1.2376541502853058
+            ],
+            "held_grasp_object_position": [
+              0.16915590177872916,
+              0.2483560020856284,
+              1.2376541502853058
+            ],
+            "held_grasp_finger_gap": 0.02554836550705221,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023665112843528537,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04399544877308866,
+              -0.9988663781257302,
+              0.018175784363825494
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003756199850144322,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037510798497388795,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30735402890289976,
+              -0.3781264581303657,
+              0.8515395935301724
+            ],
+            "target_position": [
+              0.3029682661748653,
+              -0.3785569954317232,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0044068443442532275,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1819479900752631,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395935301724,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579943079202549,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08571856961079237,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14924365053781566,
+            "release_required_pad_clearance": 0.05285928480539619,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7610432466315831,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008348941802978516,
+            "max_z_decrease": 0.008348941802978516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035008529608296965,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008348941802978516,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020972512436345247,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008348941802978516,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008348994713903745,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15866819024085993,
+              -0.43481844663619995,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15866819024085993,
+              -0.43481844663619995,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1587195436932637,
+              -0.43567874683267394,
+              0.8035250558455496
+            ],
+            "closest_button": [
+              0.15869429707527155,
+              -0.4347952008247375,
+              0.7685276865959167
+            ],
+            "closest_ee_minus_button": [
+              2.5246617992136233e-05,
+              -0.0008835460079364421,
+              0.034997369249632815
+            ],
+            "button_min_z_position": [
+              0.1586873680353164,
+              -0.4347957372665405,
+              0.7684599161148071
+            ],
+            "min_active_finger_to_button": 0.14556502282368486,
+            "closest_active_finger": [
+              0.018170051276683807,
+              -0.41814738512039185,
+              0.8107178211212158
+            ],
+            "closest_active_finger_button": [
+              0.15866838395595545,
+              -0.43481960892677307,
+              0.776491641998291
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14049833267927164,
+              0.016672223806381226,
+              0.034226179122924805
+            ],
+            "min_contact_pad_to_button": 0.020972512436345247,
+            "closest_contact_pad": [
+              0.1586873680353164,
+              -0.43696841956818455,
+              0.7893195836459251
+            ],
+            "closest_contact_pad_button": [
+              0.1586873680353164,
+              -0.4347957372665405,
+              0.7684599161148071
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021726823016440244,
+              0.02085966753111801
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62796acc3c293a88001f58ac002b6b71c47896ec4dcdc7f80094678d76ba9530",
+    "visual_seed": 5213768197219616624,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4579852184b7b212ac51043ea39f856b41ff64cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16193092258338357,
+              0.2381548701423498,
+              1.0461180081133516
+            ],
+            "current_z": 1.0461180081133516,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18501138088929592,
+            "gripper_z": 1.0518108194643971,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1589887813796798,
+              0.23455095881572924,
+              1.0518108194643971
+            ],
+            "object_minus_gripper": [
+              0.0029421412037037575,
+              0.0036039113266205514,
+              -0.00569281135104549
+            ],
+            "object_to_gripper_xy": 0.004652351202636716,
+            "object_to_gripper_z": -0.00569281135104549,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16193092258338357,
+              0.21483570006597794,
+              1.0461180081133516
+            ],
+            "finger_b": [
+              0.1523859738311784,
+              0.2381548701423498,
+              1.0461180081133516
+            ],
+            "finger_midpoint": [
+              0.15715844820728098,
+              0.22649528510416386,
+              1.0461180081133516
+            ],
+            "object_minus_finger_midpoint": [
+              0.004772474376102592,
+              0.011659585038185927,
+              0.0
+            ],
+            "finger_gap": 0.025197018469116126,
+            "fingertip_max_gap": 0.09095966977023154,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012598509234558068,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461180081133516,
+            "object_top_z": 1.0959091053765322,
+            "finger_top_clearance": 0.04979109726318054,
+            "fingertip_min_top_clearance": 0.014937329178954144,
+            "object_projection_between_fingers": 0.8565009938252586,
+            "object_to_finger_line_xy": 0.00883359606993744,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797983488511577,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9249019730422048,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16272347430959758,
+              0.2398223702959652,
+              1.24154495521328
+            ],
+            "held_position": [
+              0.1657885546665701,
+              0.24318754324066738,
+              1.2357516294834716
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007367613558956141,
+            "max_held_gripper_dist": 0.007383969214903017,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005793325729808396,
+            "max_held_gripper_z_dist": 0.005828015416973864,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08625738967997051,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1657885546665701,
+              0.21922832929383462,
+              1.2357516294834716
+            ],
+            "held_grasp_finger_b": [
+              0.15769671574452487,
+              0.24318754324066738,
+              1.2357516294834716
+            ],
+            "held_grasp_midpoint": [
+              0.1617426352055475,
+              0.231207936267251,
+              1.2357516294834716
+            ],
+            "held_grasp_object_position": [
+              0.1657885546665701,
+              0.24318754324066738,
+              1.2357516294834716
+            ],
+            "held_grasp_finger_gap": 0.025288768061936737,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02365542254856046,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.035430217006588244,
+              -0.9992864628480794,
+              0.013086821288622486
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036223739990747282,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03760584318682441,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3051145850351207,
+              -0.3860277816849256,
+              0.8515396072514777
+            ],
+            "target_position": [
+              0.2998075096157283,
+              -0.3869170292772278,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0053810603776146574,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18257628531440967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396072514777,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582575204165942,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663595891481372,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14983674535975242,
+            "release_required_pad_clearance": 0.053317979457406864,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.653704464199715,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008442997932434082,
+            "max_z_decrease": 0.008442997932434082,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035010492912545314,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008442997932434082,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020849498471427766,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008442997932434082,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008443029034776842,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.155507430434227,
+              -0.4431784749031067,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.155507430434227,
+              -0.4431784749031067,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1553778346178396,
+              -0.44219746115638764,
+              0.8033629716941759
+            ],
+            "closest_button": [
+              0.15551193058490753,
+              -0.44315600395202637,
+              0.7683658599853516
+            ],
+            "closest_ee_minus_button": [
+              -0.00013409596706792648,
+              0.0009585427956387282,
+              0.03499711170882436
+            ],
+            "button_min_z_position": [
+              0.15551193058490753,
+              -0.44315600395202637,
+              0.7683658599853516
+            ],
+            "min_active_finger_to_button": 0.14546649485145322,
+            "closest_active_finger": [
+              0.02777695655822754,
+              -0.503852367401123,
+              0.8105611205101013
+            ],
+            "closest_active_finger_button": [
+              0.15550693869590765,
+              -0.443179190158844,
+              0.7764390110969543
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277299821376801,
+              -0.06067317724227905,
+              0.03412210941314697
+            ],
+            "min_contact_pad_to_button": 0.020849498471427766,
+            "closest_contact_pad": [
+              0.15551193058490753,
+              -0.4435013417674689,
+              0.7892124982827676
+            ],
+            "closest_contact_pad_button": [
+              0.15551193058490753,
+              -0.44315600395202637,
+              0.7683658599853516
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00034533781544254794,
+              0.020846638297416065
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c9927bbca8d8fa23b7e794daacebe238f5c30f9691410048e7ebf9b0bf9d604",
+    "visual_seed": 65689511842577241,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0afc8ad057f4042fe0c415bbf670b46e7a51b0e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1675777063973383,
+              0.23090449907808078,
+              1.0490500268878458
+            ],
+            "current_z": 1.0490500268878458,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1879432804545007,
+            "gripper_z": 1.0549597559255137,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16490907113113812,
+              0.22748569862440066,
+              1.0549597559255137
+            ],
+            "object_minus_gripper": [
+              0.0026686352662001755,
+              0.003418800453680121,
+              -0.0059097290376679545
+            ],
+            "object_to_gripper_xy": 0.004337027867801944,
+            "object_to_gripper_z": -0.0059097290376679545,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1675777063973383,
+              0.20764276600595374,
+              1.0490500268878458
+            ],
+            "finger_b": [
+              0.15847828355633384,
+              0.23090449907808078,
+              1.0490500268878458
+            ],
+            "finger_midpoint": [
+              0.16302799497683607,
+              0.21927363254201726,
+              1.0490500268878458
+            ],
+            "object_minus_finger_midpoint": [
+              0.004549711420502228,
+              0.011630866536063517,
+              0.0
+            ],
+            "finger_gap": 0.0249781448782387,
+            "fingertip_max_gap": 0.0946734913689955,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01248907243911935,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490500268878458,
+            "object_top_z": 1.1008791270749025,
+            "finger_top_clearance": 0.051829100187056776,
+            "fingertip_min_top_clearance": 0.015548730056117031,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.01248907243911935,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04983674568449775,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6221854305454184,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16870743065589747,
+              0.23289473756210854,
+              1.2450115584128771
+            ],
+            "held_position": [
+              0.1714779084286158,
+              0.23610993099011,
+              1.2390129982705822
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007348179342484741,
+            "max_held_gripper_dist": 0.007364309260834359,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00599856014229494,
+            "max_held_gripper_z_dist": 0.006029103678134584,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08616619799437605,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1714779084286158,
+              0.2123069941645298,
+              1.2390129982705822
+            ],
+            "held_grasp_finger_b": [
+              0.16366650951950684,
+              0.23610993099011,
+              1.2390129982705822
+            ],
+            "held_grasp_midpoint": [
+              0.16757220897406133,
+              0.2242084625773199,
+              1.2390129982705822
+            ],
+            "held_grasp_object_position": [
+              0.1714779084286158,
+              0.23610993099011,
+              1.2390129982705822
+            ],
+            "held_grasp_finger_gap": 0.025051901214075346,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023578493730198418,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.025905744622058732,
+              -0.9990722577527648,
+              0.03440227004675422
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036195028495486104,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03772864309971545,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3003623037916955,
+              -0.3831755020368348,
+              0.8515395842667485
+            ],
+            "target_position": [
+              0.29750880560495646,
+              -0.3824382290032821,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0029472060375424877,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18216282987876356,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395842667485,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575758713464069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08714051085658335,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14934035195903472,
+            "release_required_pad_clearance": 0.05357025542829168,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.151491918239396,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008567988872528076,
+            "max_z_decrease": 0.008567988872528076,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500736729632868,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008567988872528076,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020856977890098265,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008567988872528076,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008568165366441994,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15320873260498052,
+              -0.4386996924877167,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15320873260498052,
+              -0.4386996924877167,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15373878666582558,
+              -0.4378848107403185,
+              0.8036294206849924
+            ],
+            "closest_button": [
+              0.15324403345584875,
+              -0.43867096304893494,
+              0.7686343789100647
+            ],
+            "closest_ee_minus_button": [
+              0.0004947532099768281,
+              0.0007861523086164501,
+              0.03499504177492774
+            ],
+            "button_min_z_position": [
+              0.15325048565864569,
+              -0.43866389989852905,
+              0.7682408690452576
+            ],
+            "min_active_finger_to_button": 0.14500902805318502,
+            "closest_active_finger": [
+              0.027404196560382843,
+              -0.5022156238555908,
+              0.8108684420585632
+            ],
+            "closest_active_finger_button": [
+              0.15321214497089392,
+              -0.438697874546051,
+              0.7767294049263
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12580794841051107,
+              -0.0635177493095398,
+              0.034139037132263184
+            ],
+            "min_contact_pad_to_button": 0.020856977890098265,
+            "closest_contact_pad": [
+              0.15325048565864569,
+              -0.4389468602280479,
+              0.7890959274282966
+            ],
+            "closest_contact_pad_button": [
+              0.15325048565864569,
+              -0.43866389989852905,
+              0.7682408690452576
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002829603295188554,
+              0.020855058383039027
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c3932b2332f80a53884ea72ccf75f2c83fd160983d1ccf866a6f6eebeb2ed257",
+    "visual_seed": 3229652177391965547,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8efc53b3bfbf8716b5eae299712baafa8ed653d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16660365945700145,
+              0.2346889913575624,
+              1.0499572308145364
+            ],
+            "current_z": 1.0499572308145364,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18885060359048067,
+            "gripper_z": 1.0558290942113484,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16393509782739074,
+              0.23126495113189638,
+              1.0558290942113484
+            ],
+            "object_minus_gripper": [
+              0.0026685616296107106,
+              0.0034240402256660307,
+              -0.005871863396812005
+            ],
+            "object_to_gripper_xy": 0.004341114216190315,
+            "object_to_gripper_z": -0.005871863396812005,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16660365945700145,
+              0.21144960568314408,
+              1.0499572308145364
+            ],
+            "finger_b": [
+              0.15746881689959763,
+              0.2346889913575624,
+              1.0499572308145364
+            ],
+            "finger_midpoint": [
+              0.16203623817829954,
+              0.22306929852035323,
+              1.0499572308145364
+            ],
+            "object_minus_finger_midpoint": [
+              0.004567421278701911,
+              0.011619692837209178,
+              0.0
+            ],
+            "finger_gap": 0.024970270224267014,
+            "fingertip_max_gap": 0.09591846617292407,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012485135112133519,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499572308145364,
+            "object_top_z": 1.1023368855642306,
+            "finger_top_clearance": 0.05237965474969419,
+            "fingertip_min_top_clearance": 0.015713896424908273,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012485135112133519,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05045923308646204,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.003408931064965,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16763736165279258,
+              0.23676721132433026,
+              1.2439267549514015
+            ],
+            "held_position": [
+              0.1703876449320964,
+              0.23999565777791887,
+              1.2379532702687635
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007325943207111165,
+            "max_held_gripper_dist": 0.007341009078724503,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0059734846826380306,
+            "max_held_gripper_z_dist": 0.006003415053652539,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08573962700642304,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1703876449320964,
+              0.21621257292337726,
+              1.2379532702687635
+            ],
+            "held_grasp_finger_b": [
+              0.16258532775124565,
+              0.23999565777791887,
+              1.2379532702687635
+            ],
+            "held_grasp_midpoint": [
+              0.16648648634167101,
+              0.22810411535064806,
+              1.2379532702687635
+            ],
+            "held_grasp_object_position": [
+              0.1703876449320964,
+              0.23999565777791887,
+              1.2379532702687635
+            ],
+            "held_grasp_finger_gap": 0.025030207322132302,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023601171926706167,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.020406761259670298,
+              -0.9990458385027682,
+              0.03861316699251671
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036865784126394237,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037760444082760136,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3081080950608403,
+              -0.38262065281323887,
+              0.8515395659084851
+            ],
+            "target_position": [
+              0.30519287067917034,
+              -0.38191113866773785,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003000323902206075,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18098697537704383,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395659084851,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521229571476455,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577803326419874,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1496267087235049,
+            "release_required_pad_clearance": 0.05288901663209937,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8185222430126236,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008553862571716309,
+            "max_z_decrease": 0.008553862571716309,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350216677458599,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008553862571716309,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020888247010475633,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008553862571716309,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008554036916653514,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1608927994966507,
+              -0.43817260861396784,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1608927994966507,
+              -0.43817260861396784,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16178739589780966,
+              -0.4372442337574719,
+              0.8035732194652646
+            ],
+            "closest_button": [
+              0.16093167662620542,
+              -0.4381467401981353,
+              0.7685736417770386
+            ],
+            "closest_ee_minus_button": [
+              0.0008557192716042439,
+              0.0009025064406634198,
+              0.034999577688226036
+            ],
+            "button_min_z_position": [
+              0.16093376278877258,
+              -0.43813648819923395,
+              0.7682549953460693
+            ],
+            "min_active_finger_to_button": 0.14463828129215947,
+            "closest_active_finger": [
+              0.03408157825469971,
+              -0.49875515699386597,
+              0.8104578256607056
+            ],
+            "closest_active_finger_button": [
+              0.1608942300081253,
+              -0.4381751120090484,
+              0.7762694954872131
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1268126517534256,
+              -0.06058004498481756,
+              0.03418833017349243
+            ],
+            "min_contact_pad_to_button": 0.020888247010475633,
+            "closest_contact_pad": [
+              0.16093376278877258,
+              -0.4385604115058114,
+              0.7891389401889572
+            ],
+            "closest_contact_pad_button": [
+              0.16093376278877258,
+              -0.43813648819923395,
+              0.7682549953460693
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00042392330657742283,
+              0.020883944842887914
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8dc59e2787c5393c6881d966bc51d4cd2e2d869b35d07610a3f822b9dcaaaddc",
+    "visual_seed": 6124995209811495320,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4bdf000b196d657bc6fed29bc3a504b48e3dce7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1667123748199773,
+              0.23239037546852467,
+              1.0488831831511933
+            ],
+            "current_z": 1.0488831831511933,
+            "required_z": 0.8611071040612138,
+            "initial_z": 0.7611071040612138,
+            "lift_margin": 0.1877760790899795,
+            "gripper_z": 1.0547972891803388,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16356263988214936,
+              0.22863722559053112,
+              1.0547972891803388
+            ],
+            "object_minus_gripper": [
+              0.0031497349378279416,
+              0.00375314987799355,
+              -0.005914106029145438
+            ],
+            "object_to_gripper_xy": 0.004899690213192767,
+            "object_to_gripper_z": -0.005914106029145438,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1667123748199773,
+              0.20892515733636963,
+              1.0488831831511933
+            ],
+            "finger_b": [
+              0.15695762544283726,
+              0.23239037546852467,
+              1.0488831831511933
+            ],
+            "finger_midpoint": [
+              0.16183500013140728,
+              0.22065776640244716,
+              1.0488831831511933
+            ],
+            "object_minus_finger_midpoint": [
+              0.004877374688570024,
+              0.01173260906607751,
+              0.0
+            ],
+            "finger_gap": 0.02541203646700579,
+            "fingertip_max_gap": 0.09108606137661379,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012706018233502883,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488831831511933,
+            "object_top_z": 1.0987656578869853,
+            "finger_top_clearance": 0.04988247473579199,
+            "fingertip_min_top_clearance": 0.01496474242073758,
+            "object_projection_between_fingers": 0.8526489306840634,
+            "object_to_finger_line_xy": 0.009007437174753307,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480430306883069,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8869780493496524,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16724540830064552,
+              0.2342179212287604,
+              1.245067927746187
+            ],
+            "held_position": [
+              0.1705295239743738,
+              0.23774114815888972,
+              1.2390612152688496
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007699294678411516,
+            "max_held_gripper_dist": 0.0077153625226681006,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006006712477337306,
+            "max_held_gripper_z_dist": 0.0060409359074027336,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08465255481524811,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1705295239743738,
+              0.21369117245839167,
+              1.2390612152688496
+            ],
+            "held_grasp_finger_b": [
+              0.16210014846939075,
+              0.23774114815888972,
+              1.2390612152688496
+            ],
+            "held_grasp_midpoint": [
+              0.16631483622188226,
+              0.2257161603086407,
+              1.2390612152688496
+            ],
+            "held_grasp_object_position": [
+              0.1705295239743738,
+              0.23774114815888972,
+              1.2390612152688496
+            ],
+            "held_grasp_finger_gap": 0.025484420782088707,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02376112077762708,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03258238692780934,
+              -0.9994093237854075,
+              0.010926646003298401
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038229316142624854,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037565040507018366,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3089646444492687,
+              -0.38067860451585867,
+              0.8515395017228032
+            ],
+            "target_position": [
+              0.30341851357678135,
+              -0.3816754039865854,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005634995726670811,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18165508019734738,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395017228032,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568641865517922,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863565700474863,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1493393420305469,
+            "release_required_pad_clearance": 0.05317828502374315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.380243124073063,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00832509994506836,
+            "max_z_decrease": 0.00832509994506836,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035023218910317115,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00832509994506836,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020806301639689884,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00832509994506836,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008325298676886547,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15911844372749326,
+              -0.4379368722438811,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15911844372749326,
+              -0.4379368722438811,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15767148852060237,
+              -0.4366804072929577,
+              0.8034530723999913
+            ],
+            "closest_button": [
+              0.1591714471578598,
+              -0.4379145205020904,
+              0.7684837579727173
+            ],
+            "closest_ee_minus_button": [
+              -0.001499958637257437,
+              0.0012341132091326923,
+              0.03496931442727402
+            ],
+            "button_min_z_position": [
+              0.1591714471578598,
+              -0.4379145205020904,
+              0.7684837579727173
+            ],
+            "min_active_finger_to_button": 0.1464966429180042,
+            "closest_active_finger": [
+              0.030881747603416443,
+              -0.5000079274177551,
+              0.8106231689453125
+            ],
+            "closest_active_finger_button": [
+              0.15911835432052607,
+              -0.43793761730194086,
+              0.7765069603919983
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12823660671710962,
+              -0.062070310115814264,
+              0.03411620855331421
+            ],
+            "min_contact_pad_to_button": 0.020806301639689884,
+            "closest_contact_pad": [
+              0.1591714471578598,
+              -0.4379145205020904,
+              0.7892900596124072
+            ],
+            "closest_contact_pad_button": [
+              0.1591714471578598,
+              -0.4379145205020904,
+              0.7684837579727173
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020806301639689884
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29ce31097f9822b23accfd67c201028ca607e5f7a7ab0b1b7298660b08bddf01",
+    "visual_seed": 3127363625951739015,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e8a42af5b7427f98c493a86d35cc6a95ae1481c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16322649836399228,
+              0.23447269449746055,
+              1.0463205741442803
+            ],
+            "current_z": 1.0463205741442803,
+            "required_z": 0.8611068656426344,
+            "initial_z": 0.7611068656426344,
+            "lift_margin": 0.18521370850164587,
+            "gripper_z": 1.0521464486379308,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1606317813320568,
+              0.23097096832498915,
+              1.0521464486379308
+            ],
+            "object_minus_gripper": [
+              0.0025947170319354784,
+              0.003501726172471409,
+              -0.0058258744936505735
+            ],
+            "object_to_gripper_xy": 0.00435828437149153,
+            "object_to_gripper_z": -0.0058258744936505735,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16322649836399228,
+              0.21165091131207217,
+              1.0463205741442803
+            ],
+            "finger_b": [
+              0.15349903387695835,
+              0.23447269449746055,
+              1.0463205741442803
+            ],
+            "finger_midpoint": [
+              0.1583627661204753,
+              0.22306180290476635,
+              1.0463205741442803
+            ],
+            "object_minus_finger_midpoint": [
+              0.004863732243516966,
+              0.011410891592694206,
+              0.0
+            ],
+            "finger_gap": 0.02480841295019458,
+            "fingertip_max_gap": 0.09366629691708933,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012404206475097304,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463205741442803,
+            "object_top_z": 1.0977807949117977,
+            "finger_top_clearance": 0.05146022076751744,
+            "fingertip_min_top_clearance": 0.015438066230255214,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012404206475097304,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04933314845854467,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3108576090114472,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16449194523391064,
+              0.23624853661453118,
+              1.2409152947539321
+            ],
+            "held_position": [
+              0.16725596526801786,
+              0.23947374927160503,
+              1.2349840131538845
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007295334457813366,
+            "max_held_gripper_dist": 0.007310399267982286,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005931281600047633,
+            "max_held_gripper_z_dist": 0.005962450289946242,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.085898544333259,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16725596526801786,
+              0.21564348693903343,
+              1.2349840131538845
+            ],
+            "held_grasp_finger_b": [
+              0.15951633713595026,
+              0.23947374927160503,
+              1.2349840131538845
+            ],
+            "held_grasp_midpoint": [
+              0.16338615120198408,
+              0.22755861810531924,
+              1.2349840131538845
+            ],
+            "held_grasp_object_position": [
+              0.16725596526801786,
+              0.23947374927160503,
+              1.2349840131538845
+            ],
+            "held_grasp_finger_gap": 0.025055603095153648,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023339863705217418,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05677561748256135,
+              -0.9978608518714892,
+              0.03240755408511953
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032108187212308375,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03761089605120281,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3040332032654419,
+              -0.38829607026705815,
+              0.8515395824808927
+            ],
+            "target_position": [
+              0.3006636222741788,
+              -0.3876719626806145,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003426891643477834,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18168671632343053,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395824808927,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754287739411696,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854411357622029,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1498097345531211,
+            "release_required_pad_clearance": 0.05272056788110145,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.494163099559283,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008462667465209961,
+            "max_z_decrease": 0.008462667465209961,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035009350089438965,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008462667465209961,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02081737216667079,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008462667465209961,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00846290736631982,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15636354684829712,
+              -0.44393342733383184,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15636354684829712,
+              -0.44393342733383184,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15546098651668594,
+              -0.4427844902488694,
+              0.8034562819013036
+            ],
+            "closest_button": [
+              0.15641470253467557,
+              -0.4439083933830262,
+              0.7684779763221741
+            ],
+            "closest_ee_minus_button": [
+              -0.0009537160179896309,
+              0.0011239031341567784,
+              0.03497830557912951
+            ],
+            "button_min_z_position": [
+              0.15642066299915314,
+              -0.4439051747322083,
+              0.7683461904525757
+            ],
+            "min_active_finger_to_button": 0.14609657932416997,
+            "closest_active_finger": [
+              0.02965804934501648,
+              -0.5081446170806885,
+              0.8106474280357361
+            ],
+            "closest_active_finger_button": [
+              0.15636315941810605,
+              -0.4439330697059632,
+              0.7764874696731567
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12670511007308957,
+              -0.06421154737472529,
+              0.034159958362579346
+            ],
+            "min_contact_pad_to_button": 0.02081737216667079,
+            "closest_contact_pad": [
+              0.15642066299915314,
+              -0.4439051747322083,
+              0.7891635626192465
+            ],
+            "closest_contact_pad_button": [
+              0.15642066299915314,
+              -0.4439051747322083,
+              0.7683461904525757
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02081737216667079
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c6d0600851d9a1bae04ad3813eb97116e4ae7de2871022360db7c5fcc6acda7",
+    "visual_seed": 2335642659433798601,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a0b5a09262a65872359e5a792a1473934aa0643
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16734751495876593,
+              0.24339943751701582,
+              1.046638724119283
+            ],
+            "current_z": 1.046638724119283,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.18553185847664833,
+            "gripper_z": 1.0523721593678277,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1640301302630276,
+              0.23956616360813976,
+              1.0523721593678277
+            ],
+            "object_minus_gripper": [
+              0.0033173846957383346,
+              0.003833273908876056,
+              -0.005733435248544749
+            ],
+            "object_to_gripper_xy": 0.005069421079372756,
+            "object_to_gripper_z": -0.005733435248544749,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16734751495876593,
+              0.21989990515576333,
+              1.046638724119283
+            ],
+            "finger_b": [
+              0.1573536502040868,
+              0.24339943751701582,
+              1.046638724119283
+            ],
+            "finger_midpoint": [
+              0.16235058258142637,
+              0.23164967133638958,
+              1.046638724119283
+            ],
+            "object_minus_finger_midpoint": [
+              0.004996932377339558,
+              0.011749766180626231,
+              0.0
+            ],
+            "finger_gap": 0.025536353575488634,
+            "fingertip_max_gap": 0.09091281020432077,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012768176787744298,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046638724119283,
+            "object_top_z": 1.0963870253832824,
+            "finger_top_clearance": 0.04974830126399943,
+            "fingertip_min_top_clearance": 0.01492449037919981,
+            "object_projection_between_fingers": 0.8468386555446434,
+            "object_to_finger_line_xy": 0.009196737800575732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047956405102160385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8891234852340602,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16789135080263182,
+              0.24490922051960073,
+              1.2412572239305584
+            ],
+            "held_position": [
+              0.17135019526515166,
+              0.2484776263821145,
+              1.235408586674913
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007674873494960729,
+            "max_held_gripper_dist": 0.007691274926767017,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005848637255645439,
+            "max_held_gripper_z_dist": 0.005884698059265503,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08598703296983179,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17135019526515166,
+              0.22428677861073093,
+              1.235408586674913
+            ],
+            "held_grasp_finger_b": [
+              0.1629250394650295,
+              0.2484776263821145,
+              1.235408586674913
+            ],
+            "held_grasp_midpoint": [
+              0.16713761736509058,
+              0.23638220249642272,
+              1.235408586674913
+            ],
+            "held_grasp_object_position": [
+              0.17135019526515166,
+              0.2484776263821145,
+              1.235408586674913
+            ],
+            "held_grasp_finger_gap": 0.025616017765347252,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023836151176345903,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03958163189539604,
+              -0.9991230080195461,
+              0.013656839402709453
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003734225826510045,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037468693066380315,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3055447653895863,
+              -0.37823063383721117,
+              0.8515395419539495
+            ],
+            "target_position": [
+              0.2995358393353334,
+              -0.37909980403790705,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006071461863773593,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18127269022466233,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395419539495,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513749399505053,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518967253181385,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15034483024860268,
+            "release_required_pad_clearance": 0.05259483626590693,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2533376138102025,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008391380310058594,
+            "max_z_decrease": 0.008391380310058594,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035042875026356286,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008391380310058594,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020842454516764253,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008391380310058594,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0083915550429406,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15523576736450193,
+              -0.43536126613616943,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15523576736450193,
+              -0.43536126613616943,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1543852876143974,
+              -0.4335119454040071,
+              0.8036006904721454
+            ],
+            "closest_button": [
+              0.1552786529064178,
+              -0.4353362023830414,
+              0.7686167359352112
+            ],
+            "closest_ee_minus_button": [
+              -0.0008933652920203872,
+              0.0018242569790342666,
+              0.03498395453693426
+            ],
+            "button_min_z_position": [
+              0.15528362989425656,
+              -0.4353359341621399,
+              0.768417477607727
+            ],
+            "min_active_finger_to_button": 0.1457604288719047,
+            "closest_active_finger": [
+              0.026628203690052032,
+              -0.49487143754959106,
+              0.810344398021698
+            ],
+            "closest_active_finger_button": [
+              0.15523596107959745,
+              -0.4353621006011963,
+              0.7762154340744019
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1286077573895454,
+              -0.059509336948394775,
+              0.03412896394729614
+            ],
+            "min_contact_pad_to_button": 0.020842454516764253,
+            "closest_contact_pad": [
+              0.15528362989425656,
+              -0.4353359341621399,
+              0.7892599321244913
+            ],
+            "closest_contact_pad_button": [
+              0.15528362989425656,
+              -0.4353359341621399,
+              0.768417477607727
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020842454516764253
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7528bf5409c8030330d067dd2e4d7c979df500e96f595b55b9281b6aadf46b83",
+    "visual_seed": 4510720087218773699,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3658f6ce8d0b0844a9288e4460c58bf1943fe3d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16858956396553001,
+              0.24287981138241105,
+              1.0497921364669778
+            ],
+            "current_z": 1.0497921364669778,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1886853900336326,
+            "gripper_z": 1.0555790254267088,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1651673121452934,
+              0.23891388656286427,
+              1.0555790254267088
+            ],
+            "object_minus_gripper": [
+              0.003422251820236616,
+              0.003965924819546773,
+              -0.005786888959731007
+            ],
+            "object_to_gripper_xy": 0.005238355390331009,
+            "object_to_gripper_z": -0.005786888959731007,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16858956396553001,
+              0.21951845951923582,
+              1.0497921364669778
+            ],
+            "finger_b": [
+              0.15813881283669562,
+              0.24287981138241105,
+              1.0497921364669778
+            ],
+            "finger_midpoint": [
+              0.16336418840111283,
+              0.23119913545082343,
+              1.0497921364669778
+            ],
+            "object_minus_finger_midpoint": [
+              0.005225375564417184,
+              0.011680675931587614,
+              0.0
+            ],
+            "finger_gap": 0.025592400435127498,
+            "fingertip_max_gap": 0.09234760164139733,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012796200217563742,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497921364669778,
+            "object_top_z": 1.1003568180932002,
+            "finger_top_clearance": 0.05056468162622241,
+            "fingertip_min_top_clearance": 0.015169404487866738,
+            "object_projection_between_fingers": 0.8332472646550442,
+            "object_to_finger_line_xy": 0.009539694214071071,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048673800820698665,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9942634328135898,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16887498959450803,
+              0.24440466290963564,
+              1.244832962988198
+            ],
+            "held_position": [
+              0.1724919445204605,
+              0.2480750812946131,
+              1.238941274864385
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007827280690343889,
+            "max_held_gripper_dist": 0.007842575830094747,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00589168812381291,
+            "max_held_gripper_z_dist": 0.005927900868213154,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08619359446785138,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1724919445204605,
+              0.22385762900756537,
+              1.238941274864385
+            ],
+            "held_grasp_finger_b": [
+              0.1637758599659202,
+              0.2480750812946131,
+              1.238941274864385
+            ],
+            "held_grasp_midpoint": [
+              0.16813390224319036,
+              0.2359663551510892,
+              1.238941274864385
+            ],
+            "held_grasp_object_position": [
+              0.1724919445204605,
+              0.2480750812946131,
+              1.238941274864385
+            ],
+            "held_grasp_finger_gap": 0.025738203613254143,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02376560770392539,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04806980342214644,
+              -0.9986429575008455,
+              0.020038398961012335
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037788733475747683,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037418465746984805,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3094195410160314,
+              -0.38366990984334415,
+              0.8515395799519859
+            ],
+            "target_position": [
+              0.3045219709435738,
+              -0.3843820407830503,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004949072952575995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.180773210115635,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395799519859,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587043040354641,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594458701346218,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14810445025244226,
+            "release_required_pad_clearance": 0.05297229350673109,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9795784837154937,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008561015129089355,
+            "max_z_decrease": 0.008561015129089355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034998152085078046,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008561015129089355,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020883685420823625,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008561015129089355,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008561084391923298,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1602218896150589,
+              -0.4406434893608094,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1602218896150589,
+              -0.4406434893608094,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16042850197493974,
+              -0.4403913754852807,
+              0.803612320048741
+            ],
+            "closest_button": [
+              0.1602167934179306,
+              -0.44060888886451727,
+              0.7686154842376709
+            ],
+            "closest_ee_minus_button": [
+              0.00021170855700913815,
+              0.0002175133792365891,
+              0.03499683581107005
+            ],
+            "button_min_z_position": [
+              0.16021020710468292,
+              -0.44061109423637396,
+              0.7682478427886963
+            ],
+            "min_active_finger_to_button": 0.14548138474182457,
+            "closest_active_finger": [
+              0.03300800174474716,
+              -0.5024164915084839,
+              0.8104584217071533
+            ],
+            "closest_active_finger_button": [
+              0.16022178530693054,
+              -0.4406443536281586,
+              0.776316225528717
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12721378356218338,
+              -0.06177213788032526,
+              0.03414219617843628
+            ],
+            "min_contact_pad_to_button": 0.020883685420823625,
+            "closest_contact_pad": [
+              0.16021020710468292,
+              -0.44165561256498864,
+              0.7891053905404601
+            ],
+            "closest_contact_pad_button": [
+              0.16021020710468292,
+              -0.44061109423637396,
+              0.7682478427886963
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010445183286146853,
+              0.02085754775176385
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c55724c1ab91526c1d44169e169046a2941350651acbee4225c2288b54a979d0",
+    "visual_seed": 9132913261133947857,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26844cd036d9919af50fb11c2eb2dc385b4be1f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1682867905505818,
+              0.24314542587061588,
+              1.049708041388875
+            ],
+            "current_z": 1.049708041388875,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18860123535088524,
+            "gripper_z": 1.0556254685883926,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1649482478218002,
+              0.23924122245472898,
+              1.0556254685883926
+            ],
+            "object_minus_gripper": [
+              0.0033385427287815905,
+              0.0039042034158869032,
+              -0.005917427199517489
+            ],
+            "object_to_gripper_xy": 0.0051369905454967885,
+            "object_to_gripper_z": -0.005917427199517489,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1682867905505818,
+              0.219778854401603,
+              1.049708041388875
+            ],
+            "finger_b": [
+              0.1579975033846423,
+              0.24314542587061588,
+              1.049708041388875
+            ],
+            "finger_midpoint": [
+              0.16314214696761203,
+              0.23146214013610944,
+              1.049708041388875
+            ],
+            "object_minus_finger_midpoint": [
+              0.00514464358296976,
+              0.011683285734506443,
+              0.0
+            ],
+            "finger_gap": 0.025531668425695455,
+            "fingertip_max_gap": 0.09259482767621982,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012765834212847733,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049708041388875,
+            "object_top_z": 1.1004112017270584,
+            "finger_top_clearance": 0.05070316033818334,
+            "fingertip_min_top_clearance": 0.015210948101455,
+            "object_projection_between_fingers": 0.83759021740039,
+            "object_to_finger_line_xy": 0.009416750990160705,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879741383810991,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1973924581764155,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16892835274530668,
+              0.24423876219947407,
+              1.2449804474149802
+            ],
+            "held_position": [
+              0.17245241176765033,
+              0.24782866966951145,
+              1.238952615251008
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007851190243103866,
+            "max_held_gripper_dist": 0.007868369466126006,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00602783216397218,
+            "max_held_gripper_z_dist": 0.006063812871031304,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08610736027836999,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17245241176765033,
+              0.22358277898974846,
+              1.238952615251008
+            ],
+            "held_grasp_finger_b": [
+              0.1639984361312291,
+              0.24782866966951145,
+              1.238952615251008
+            ],
+            "held_grasp_midpoint": [
+              0.16822542394943973,
+              0.23570572432962994,
+              1.238952615251008
+            ],
+            "held_grasp_object_position": [
+              0.17245241176765033,
+              0.24782866966951145,
+              1.238952615251008
+            ],
+            "held_grasp_finger_gap": 0.025677478827101023,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023797814964517154,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048722192076284455,
+              -0.9985078093868465,
+              0.024663791127131688
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036438086964283196,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037409446363070545,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3122528049896257,
+              -0.3848961230403414,
+              0.8515395874041147
+            ],
+            "target_position": [
+              0.3064941182690236,
+              -0.38561998143300524,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005804002387893098,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1839355786910521,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395874041147,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528857085238011,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853702147729921,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15256291317003187,
+            "release_required_pad_clearance": 0.05268510738649605,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4261249072018707,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008709311485290527,
+            "max_z_decrease": 0.008709311485290527,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035025379462732174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008709311485290527,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021011444451369328,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008709311485290527,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008709555438035664,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16219404339790344,
+              -0.4418814480304718,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16219404339790344,
+              -0.4418814480304718,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16190940204824827,
+              -0.44365054155477207,
+              0.8035824059227877
+            ],
+            "closest_button": [
+              0.16223400831222534,
+              -0.441852867603302,
+              0.7686046957969666
+            ],
+            "closest_ee_minus_button": [
+              -0.0003246062639770675,
+              -0.001797673951470069,
+              0.03497771012582118
+            ],
+            "button_min_z_position": [
+              0.16223663091659546,
+              -0.4418320953845978,
+              0.7680995464324951
+            ],
+            "min_active_finger_to_button": 0.14589692106767377,
+            "closest_active_finger": [
+              0.020909227430820465,
+              -0.42950573563575745,
+              0.8110365271568298
+            ],
+            "closest_active_finger_button": [
+              0.162193164229393,
+              -0.4418827593326568,
+              0.7768083214759827
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14128393679857254,
+              0.012377023696899359,
+              0.03422820568084717
+            ],
+            "min_contact_pad_to_button": 0.021011444451369328,
+            "closest_contact_pad": [
+              0.16223663091659546,
+              -0.44465126580124037,
+              0.788921003540366
+            ],
+            "closest_contact_pad_button": [
+              0.16223663091659546,
+              -0.4418320953845978,
+              0.7680995464324951
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028191704166425913,
+              0.020821457107870867
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "509e8858cfc9274616575ae7c27362817db084947f9401eafff3088fc0eaee47",
+    "visual_seed": 8910504753124768352,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b06cfb86036a44c22f577c21ee9ce8b1176eb488
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1694077933160402,
+              0.2370762792134708,
+              1.0491117235157001
+            ],
+            "current_z": 1.0491117235157001,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18800503668699975,
+            "gripper_z": 1.0547202139153826,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1660659456721039,
+              0.23324977358116505,
+              1.0547202139153826
+            ],
+            "object_minus_gripper": [
+              0.003341847643936302,
+              0.0038265056323057434,
+              -0.005608490399682475
+            ],
+            "object_to_gripper_xy": 0.00508036327730116,
+            "object_to_gripper_z": -0.005608490399682475,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1694077933160402,
+              0.21349767293707772,
+              1.0491117235157001
+            ],
+            "finger_b": [
+              0.15951903122497976,
+              0.2370762792134708,
+              1.0491117235157001
+            ],
+            "finger_midpoint": [
+              0.16446341227050998,
+              0.22528697607527426,
+              1.0491117235157001
+            ],
+            "object_minus_finger_midpoint": [
+              0.004944381045530216,
+              0.011789303138196539,
+              0.0
+            ],
+            "finger_gap": 0.02556830635045577,
+            "fingertip_max_gap": 0.09232344863843539,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012784153175227886,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491117235157001,
+            "object_top_z": 1.0994807260515587,
+            "finger_top_clearance": 0.05036900253585852,
+            "fingertip_min_top_clearance": 0.015110700760757573,
+            "object_projection_between_fingers": 0.8504177937186054,
+            "object_to_finger_line_xy": 0.009119228497584035,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486617243192177,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1904262019814407,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16967032818661248,
+              0.23890598820507214,
+              1.2425287496541038
+            ],
+            "held_position": [
+              0.17311546761738336,
+              0.2425085898782965,
+              1.236805027485968
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007590040841219415,
+            "max_held_gripper_dist": 0.007604538107289995,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005723722168135659,
+            "max_held_gripper_z_dist": 0.005757574686187317,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617118220570041,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17311546761738336,
+              0.2183776524201577,
+              1.236805027485968
+            ],
+            "held_grasp_finger_b": [
+              0.16456709084779642,
+              0.2425085898782965,
+              1.236805027485968
+            ],
+            "held_grasp_midpoint": [
+              0.1688412792325899,
+              0.2304431211492271,
+              1.236805027485968
+            ],
+            "held_grasp_object_position": [
+              0.17311546761738336,
+              0.2425085898782965,
+              1.236805027485968
+            ],
+            "held_grasp_finger_gap": 0.02560032984169188,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023900865227695293,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02555739189835484,
+              -0.9995193715425066,
+              0.01754553021788796
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003970129542840025,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03755134324105229,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30499689660437446,
+              -0.38334292918148244,
+              0.8515396096720735
+            ],
+            "target_position": [
+              0.30000924879443724,
+              -0.3841124130888801,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005046655938313554,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18013044531674938,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396096720735,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576719191304569,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08701609803868536,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1476795031134054,
+            "release_required_pad_clearance": 0.05350804901934268,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0282712158506437,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00838381052017212,
+            "max_z_decrease": 0.00838381052017212,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508139746737423,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00838381052017212,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020860524870744968,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00838381052017212,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008383865813696323,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1557091772556305,
+              -0.44037386775016785,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1557091772556305,
+              -0.44037386775016785,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15722429139446947,
+              -0.4387795879904605,
+              0.8035069265171949
+            ],
+            "closest_button": [
+              0.15573514997959137,
+              -0.4403458535671234,
+              0.7684921622276306
+            ],
+            "closest_ee_minus_button": [
+              0.0014891414148781035,
+              0.0015662655766628952,
+              0.03501476428956429
+            ],
+            "button_min_z_position": [
+              0.1557274609804153,
+              -0.4403495192527771,
+              0.7684250473976135
+            ],
+            "min_active_finger_to_button": 0.14375899988688573,
+            "closest_active_finger": [
+              0.03057170659303665,
+              -0.5023680329322815,
+              0.8106469511985779
+            ],
+            "closest_active_finger_button": [
+              0.15570843219757077,
+              -0.44037431478500366,
+              0.776526153087616
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12513672560453412,
+              -0.06199371814727783,
+              0.034120798110961914
+            ],
+            "min_contact_pad_to_button": 0.020860524870744968,
+            "closest_contact_pad": [
+              0.1557274609804153,
+              -0.4403495192527771,
+              0.7892855722683585
+            ],
+            "closest_contact_pad_button": [
+              0.1557274609804153,
+              -0.4403495192527771,
+              0.7684250473976135
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020860524870744968
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce3c617d7d1e1114a3d4ecd3ccddd5349d6429ee176c36218b7c11413a4ae0c1",
+    "visual_seed": 3733123322095475115,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..db39eb8da726ba99b5aec8bfe5baa7841479798f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17050564902110932,
+              0.23612848842791365,
+              1.0482681842130694
+            ],
+            "current_z": 1.0482681842130694,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.18716131857043494,
+            "gripper_z": 1.0544018091186071,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16678679409055136,
+              0.23220100977583666,
+              1.0544018091186071
+            ],
+            "object_minus_gripper": [
+              0.0037188549305579577,
+              0.003927478652076988,
+              -0.0061336249055377046
+            ],
+            "object_to_gripper_xy": 0.005408786421837685,
+            "object_to_gripper_z": -0.0061336249055377046,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17050564902110932,
+              0.21231566154365725,
+              1.0482681842130694
+            ],
+            "finger_b": [
+              0.16043732918144482,
+              0.23612848842791365,
+              1.0482681842130694
+            ],
+            "finger_midpoint": [
+              0.16547148910127707,
+              0.22422207498578545,
+              1.0482681842130694
+            ],
+            "object_minus_finger_midpoint": [
+              0.005034159919832248,
+              0.0119064134421282,
+              0.0
+            ],
+            "finger_gap": 0.02585385442469548,
+            "fingertip_max_gap": 0.11070896317206319,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01292692721234774,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482681842130694,
+            "object_top_z": 1.1068181629037253,
+            "finger_top_clearance": 0.05854997869065581,
+            "fingertip_min_top_clearance": 0.017564993607196728,
+            "object_projection_between_fingers": 0.8483426690741516,
+            "object_to_finger_line_xy": 0.009273478275960341,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0578544815860316,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 7.328411873916071,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16988127476961165,
+              0.23888920861076435,
+              1.2424168228152692
+            ],
+            "held_position": [
+              0.1736533310443604,
+              0.24265043744045584,
+              1.2361860521724561
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008197423598455498,
+            "max_held_gripper_dist": 0.008210296836264787,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006230770642813077,
+            "max_held_gripper_z_dist": 0.006267745949894987,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618772293012752,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1736533310443604,
+              0.21857032347794045,
+              1.2361860521724561
+            ],
+            "held_grasp_finger_b": [
+              0.16441170615558678,
+              0.24265043744045584,
+              1.2361860521724561
+            ],
+            "held_grasp_midpoint": [
+              0.1690325185999736,
+              0.23061038045919813,
+              1.2361860521724561
+            ],
+            "held_grasp_object_position": [
+              0.1736533310443604,
+              0.24265043744045584,
+              1.2361860521724561
+            ],
+            "held_grasp_finger_gap": 0.025792625283838952,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02448670264254869,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0625551536505668,
+              -0.9928770027778177,
+              0.10140074016836198
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005498822981806933,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03805501001371885,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29794657732845264,
+              -0.386597016948778,
+              0.8515395717078468
+            ],
+            "target_position": [
+              0.3016164624330254,
+              -0.3824792469367891,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005515803346059436,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17433134163426436,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395717078468,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573748312145757,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09058083796823334,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14116483166039476,
+            "release_required_pad_clearance": 0.05529041898411667,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.6919890391036345,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008371591567993164,
+            "max_z_decrease": 0.008371591567993164,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501255562705776,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008371591567993164,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020861884625077078,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008371591567993164,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008371617933931649,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15731638669967646,
+              -0.43874070048332214,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15731638669967646,
+              -0.43874070048332214,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15728033432892252,
+              -0.4377398913733346,
+              0.8035715942997913
+            ],
+            "closest_button": [
+              0.15733504295349118,
+              -0.4387180507183075,
+              0.7685727477073669
+            ],
+            "closest_ee_minus_button": [
+              -5.470862456866121e-05,
+              0.0009781593449729176,
+              0.03499884659242436
+            ],
+            "button_min_z_position": [
+              0.15732452273368835,
+              -0.4387213289737702,
+              0.7684372663497925
+            ],
+            "min_active_finger_to_button": 0.14538457557939724,
+            "closest_active_finger": [
+              0.029557228088378906,
+              -0.49914875626564026,
+              0.8106148838996887
+            ],
+            "closest_active_finger_button": [
+              0.15731610357761383,
+              -0.43874186277389526,
+              0.7764776349067688
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12775887548923492,
+              -0.060406893491744995,
+              0.03413724899291992
+            ],
+            "min_contact_pad_to_button": 0.020861884625077078,
+            "closest_contact_pad": [
+              0.15732452273368835,
+              -0.4390554529785846,
+              0.7892964751377459
+            ],
+            "closest_contact_pad_button": [
+              0.15732452273368835,
+              -0.4387213289737702,
+              0.7684372663497925
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00033412400481441784,
+              0.020859208787953443
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "acdb8310ae7535de1dca11db6c5156437e868d5ffc749bc879ea7917da2e1719",
+    "visual_seed": 4000138995562513399,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7539a172c6376a170a86468fa56788cf85ed9880
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1614144307647739,
+              0.23767266940896384,
+              1.0470720981189667
+            ],
+            "current_z": 1.0470720981189667,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1859655304995559,
+            "gripper_z": 1.0528980474690168,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15828860560020536,
+              0.23395437074971598,
+              1.0528980474690168
+            ],
+            "object_minus_gripper": [
+              0.003125825164568552,
+              0.0037182986592478595,
+              -0.005825949350050097
+            ],
+            "object_to_gripper_xy": 0.004857625745033724,
+            "object_to_gripper_z": -0.005825949350050097,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1614144307647739,
+              0.21426837101623833,
+              1.0470720981189667
+            ],
+            "finger_b": [
+              0.15164591835146835,
+              0.23767266940896384,
+              1.0470720981189667
+            ],
+            "finger_midpoint": [
+              0.15653017455812113,
+              0.22597052021260108,
+              1.0470720981189667
+            ],
+            "object_minus_finger_midpoint": [
+              0.004884256206652782,
+              0.011702149196362754,
+              0.0
+            ],
+            "finger_gap": 0.025361092603132043,
+            "fingertip_max_gap": 0.09185024562094074,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012680546301566021,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470720981189667,
+            "object_top_z": 1.0974212115594704,
+            "finger_top_clearance": 0.050349113440503634,
+            "fingertip_min_top_clearance": 0.015104734032151106,
+            "object_projection_between_fingers": 0.8516385921706132,
+            "object_to_finger_line_xy": 0.009014800070002185,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842512281047037,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9810771043655729,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16204335577633852,
+              0.23951756376457822,
+              1.2413941464343836
+            ],
+            "held_position": [
+              0.1652824591761707,
+              0.2429887429490476,
+              1.235452536865505
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007605498013574694,
+            "max_held_gripper_dist": 0.007620838905279427,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005941609568878681,
+            "max_held_gripper_z_dist": 0.005976470739956774,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622094143335185,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1652824591761707,
+              0.21894936752574318,
+              1.235452536865505
+            ],
+            "held_grasp_finger_b": [
+              0.15701266227364158,
+              0.2429887429490476,
+              1.235452536865505
+            ],
+            "held_grasp_midpoint": [
+              0.16114756072490616,
+              0.2309690552373954,
+              1.235452536865505
+            ],
+            "held_grasp_object_position": [
+              0.1652824591761707,
+              0.2429887429490476,
+              1.235452536865505
+            ],
+            "held_grasp_finger_gap": 0.02542205954582856,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02372553873056992,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.035996873565069386,
+              -0.9993281913967823,
+              0.006884110194959268
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003700484147395214,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037559793871300956,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3083682665813807,
+              -0.3826425671896155,
+              0.8515395995271112
+            ],
+            "target_position": [
+              0.3023726635086096,
+              -0.3836854120820856,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006085620894861409,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18441258503704705,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395995271112,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574870373490149,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651274295448218,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519304573826448,
+            "release_required_pad_clearance": 0.05325637147724109,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5328556584535538,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008529365062713623,
+            "max_z_decrease": 0.008529365062713623,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035029037633695755,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008529365062713623,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020972253431789444,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008529365062713623,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008529528703343435,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1580725908279419,
+              -0.43994686007499695,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1580725908279419,
+              -0.43994686007499695,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1593571789545351,
+              -0.44082700067056296,
+              0.8036088338210585
+            ],
+            "closest_button": [
+              0.15810865163803103,
+              -0.43991732597351074,
+              0.768613874912262
+            ],
+            "closest_ee_minus_button": [
+              0.0012485273165040722,
+              -0.0009096746970522207,
+              0.03499495890879656
+            ],
+            "button_min_z_position": [
+              0.1581051200628281,
+              -0.43990522623062134,
+              0.768279492855072
+            ],
+            "min_active_finger_to_button": 0.14441178623120118,
+            "closest_active_finger": [
+              0.018681220710277557,
+              -0.4240085780620575,
+              0.8105823993682861
+            ],
+            "closest_active_finger_button": [
+              0.15807269513607025,
+              -0.4399482011795044,
+              0.7763667702674866
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1393914744257927,
+              0.0159396231174469,
+              0.03421562910079956
+            ],
+            "min_contact_pad_to_button": 0.020972253431789444,
+            "closest_contact_pad": [
+              0.1581051200628281,
+              -0.4420894281264778,
+              0.7891376969025288
+            ],
+            "closest_contact_pad_button": [
+              0.1581051200628281,
+              -0.43990522623062134,
+              0.768279492855072
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021842018958564413,
+              0.020858204047456752
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7814c92f4b54f7c96f18a058f62dfaee9a65c05237136bd938d7561a701c46c5",
+    "visual_seed": 861088547498914207,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b36b6f18257387ae9c3a8ad53bb0fc2921d54db1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1652029623043629,
+              0.2387491715239296,
+              1.0482646311648924
+            ],
+            "current_z": 1.0482646311648924,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18715794433619204,
+            "gripper_z": 1.0540070397517185,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16215032005576932,
+              0.235096669072819,
+              1.0540070397517185
+            ],
+            "object_minus_gripper": [
+              0.0030526422485935845,
+              0.0036525024511105952,
+              -0.005742408586826064
+            ],
+            "object_to_gripper_xy": 0.00476018895142487,
+            "object_to_gripper_z": -0.005742408586826064,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1652029623043629,
+              0.2153169942272614,
+              1.0482646311648924
+            ],
+            "finger_b": [
+              0.15562514626488277,
+              0.2387491715239296,
+              1.0482646311648924
+            ],
+            "finger_midpoint": [
+              0.16041405428462285,
+              0.22703308287559548,
+              1.0482646311648924
+            ],
+            "object_minus_finger_midpoint": [
+              0.004788908019740051,
+              0.011716088648334122,
+              0.0
+            ],
+            "finger_gap": 0.025314057220220867,
+            "fingertip_max_gap": 0.09106862968659002,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012657028610110442,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482646311648924,
+            "object_top_z": 1.098116062849099,
+            "finger_top_clearance": 0.04985143168420647,
+            "fingertip_min_top_clearance": 0.014955429505261908,
+            "object_projection_between_fingers": 0.856844028774011,
+            "object_to_finger_line_xy": 0.00886578874336655,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803431484329501,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8844964111737112,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16605792799874233,
+              0.24044657756841137,
+              1.243747971533135
+            ],
+            "held_position": [
+              0.16923601536650115,
+              0.24385869386648895,
+              1.237908496980048
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00747276655629394,
+            "max_held_gripper_dist": 0.007488434334522928,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005839474553086976,
+            "max_held_gripper_z_dist": 0.00587364548239222,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08595806474935486,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16923601536650115,
+              0.21982248016061695,
+              1.237908496980048
+            ],
+            "held_grasp_finger_b": [
+              0.1610668022450516,
+              0.24385869386648895,
+              1.237908496980048
+            ],
+            "held_grasp_midpoint": [
+              0.1651514088057764,
+              0.23184058701355295,
+              1.237908496980048
+            ],
+            "held_grasp_object_position": [
+              0.16923601536650115,
+              0.24385869386648895,
+              1.237908496980048
+            ],
+            "held_grasp_finger_gap": 0.02538652422719606,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023734849555491273,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03475736581584254,
+              -0.9992751012408136,
+              0.015530536426845876
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036692273205330126,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03756888496345962,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3104139219208717,
+              -0.38549745546962305,
+              0.8515395652439213
+            ],
+            "target_position": [
+              0.3048934804008953,
+              -0.38607321118551113,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005550384601075582,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.183379651813547,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395652439213,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755134743885686,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622544642273276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513917121909045,
+            "release_required_pad_clearance": 0.05311272321136638,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2524018491740476,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00863027572631836,
+            "max_z_decrease": 0.00863027572631836,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034993615174244916,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00863027572631836,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02086970307479884,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00863027572631836,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008630348732727866,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16059340536594385,
+              -0.44233468174934387,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16059340536594385,
+              -0.44233468174934387,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16006243591670122,
+              -0.44265985681935605,
+              0.8035376332767945
+            ],
+            "closest_button": [
+              0.16059707105159757,
+              -0.442291796207428,
+              0.7685500383377075
+            ],
+            "closest_ee_minus_button": [
+              -0.0005346351348963496,
+              -0.00036806061192806716,
+              0.034987594939086986
+            ],
+            "button_min_z_position": [
+              0.16059392690658567,
+              -0.4422991871833801,
+              0.7681785821914673
+            ],
+            "min_active_finger_to_button": 0.14618951162500163,
+            "closest_active_finger": [
+              0.019098803400993347,
+              -0.42892634868621826,
+              0.8105171322822571
+            ],
+            "closest_active_finger_button": [
+              0.16059315204620356,
+              -0.4423348903656006,
+              0.7762982249259949
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1414943486452102,
+              0.013408541679382324,
+              0.03421890735626221
+            ],
+            "min_contact_pad_to_button": 0.02086970307479884,
+            "closest_contact_pad": [
+              0.16059392690658567,
+              -0.4436169104828455,
+              0.7890066428725848
+            ],
+            "closest_contact_pad_button": [
+              0.16059392690658567,
+              -0.4422991871833801,
+              0.7681785821914673
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013177232994653898,
+              0.020828060681117533
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8c4171ec70d87160e5d957cd77f653e799dda5b5ac22b07d9aadedd4b0e188e9",
+    "visual_seed": 5716995737861828543,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e1e413ffcf6fca06865bece8e60a27b1b7956dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1598800199913473,
+              0.2357655062066342,
+              1.0459972388560148
+            ],
+            "current_z": 1.0459972388560148,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18489055202731441,
+            "gripper_z": 1.0519415950576294,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1574092863928926,
+              0.23247857570227193,
+              1.0519415950576294
+            ],
+            "object_minus_gripper": [
+              0.002470733598454705,
+              0.0032869305043622676,
+              -0.005944356201614598
+            ],
+            "object_to_gripper_xy": 0.004111986947333384,
+            "object_to_gripper_z": -0.005944356201614598,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1598800199913473,
+              0.21254817527133213,
+              1.0459972388560148
+            ],
+            "finger_b": [
+              0.15110833767869328,
+              0.2357655062066342,
+              1.0459972388560148
+            ],
+            "finger_midpoint": [
+              0.15549417883502029,
+              0.22415684073898318,
+              1.0459972388560148
+            ],
+            "object_minus_finger_midpoint": [
+              0.004385841156327008,
+              0.01160866546765102,
+              0.0
+            ],
+            "finger_gap": 0.024819082705721855,
+            "fingertip_max_gap": 0.09377834365359525,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012409541352860914,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459972388560148,
+            "object_top_z": 1.0973304715053156,
+            "finger_top_clearance": 0.051333232649300786,
+            "fingertip_min_top_clearance": 0.015399969794790268,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012409541352860914,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049389171826797626,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3608170301821074,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16103018401456673,
+              0.23805555411868046,
+              1.2398344618134434
+            ],
+            "held_position": [
+              0.163559853257463,
+              0.24116583372972927,
+              1.2337893537710345
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007253716080862128,
+            "max_held_gripper_dist": 0.007271394071746906,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0060451080424088754,
+            "max_held_gripper_z_dist": 0.006075526263006559,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08586190274259828,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.163559853257463,
+              0.2175049237112471,
+              1.2337893537710345
+            ],
+            "held_grasp_finger_b": [
+              0.15596784170669967,
+              0.24116583372972927,
+              1.2337893537710345
+            ],
+            "held_grasp_midpoint": [
+              0.15976384748208133,
+              0.2293353787204882,
+              1.2337893537710345
+            ],
+            "held_grasp_object_position": [
+              0.163559853257463,
+              0.24116583372972927,
+              1.2337893537710345
+            ],
+            "held_grasp_finger_gap": 0.024849090572687638,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02349071431818945,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.020448106254907495,
+              -0.9993680107230642,
+              0.02907669331291695
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003570022277989859,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03781965065212184,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3106646128292456,
+              -0.38036361536244145,
+              0.851539555571689
+            ],
+            "target_position": [
+              0.30696230036951716,
+              -0.3800234107562141,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003717910262978241,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18281515927736516,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539555571689,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752438507220029,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860739023217577,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513774665239107,
+            "release_required_pad_clearance": 0.05303695116087885,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1049857099675782,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008415281772613525,
+            "max_z_decrease": 0.008415281772613525,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502789442746823,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008415281772613525,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02089877244038302,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008415281772613525,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00841533496806575,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16266222298145294,
+              -0.43628486990928644,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16266222298145294,
+              -0.43628486990928644,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16084702842208437,
+              -0.43686699782640936,
+              0.8037322027229441
+            ],
+            "closest_button": [
+              0.1626753062009811,
+              -0.43625190854072565,
+              0.7687574625015259
+            ],
+            "closest_ee_minus_button": [
+              -0.001828277778896742,
+              -0.000615089285683712,
+              0.03497474022141822
+            ],
+            "button_min_z_position": [
+              0.16267640888690946,
+              -0.4362585246562957,
+              0.7683935761451721
+            ],
+            "min_active_finger_to_button": 0.14740158345580576,
+            "closest_active_finger": [
+              0.020077921450138092,
+              -0.42118921875953674,
+              0.8106741309165955
+            ],
+            "closest_active_finger_button": [
+              0.1626612395048141,
+              -0.4362871050834656,
+              0.7764794230461121
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.142583318054676,
+              0.015097886323928833,
+              0.0341947078704834
+            ],
+            "min_contact_pad_to_button": 0.02089877244038302,
+            "closest_contact_pad": [
+              0.16267640888690946,
+              -0.4379907978401215,
+              0.7892204318639673
+            ],
+            "closest_contact_pad_button": [
+              0.16267640888690946,
+              -0.4362585246562957,
+              0.7683935761451721
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017322731838257943,
+              0.020826855718795168
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6501189019b24e036432e3d2e14be90ba8990e9b6160e33357d0d201c5c21efb",
+    "visual_seed": 2728338598442865779,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddf2259411bbb0a3492f2af3320894c1b9ec5d13
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16097323930053412,
+              0.232272442434414,
+              1.046135329719325
+            ],
+            "current_z": 1.046135329719325,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18502864289062482,
+            "gripper_z": 1.0518532613241025,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15834660468867032,
+              0.22885280965876217,
+              1.0518532613241025
+            ],
+            "object_minus_gripper": [
+              0.0026266346118637984,
+              0.0034196327756518263,
+              -0.005717931604777515
+            ],
+            "object_to_gripper_xy": 0.004311971440600355,
+            "object_to_gripper_z": -0.005717931604777515,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16097323930053412,
+              0.2091267834494627,
+              1.046135329719325
+            ],
+            "finger_b": [
+              0.15175080426407872,
+              0.232272442434414,
+              1.046135329719325
+            ],
+            "finger_midpoint": [
+              0.1563620217823064,
+              0.22069961294193835,
+              1.046135329719325
+            ],
+            "object_minus_finger_midpoint": [
+              0.0046112175182277115,
+              0.01157282949247565,
+              0.0
+            ],
+            "finger_gap": 0.024915353456238524,
+            "fingertip_max_gap": 0.09236455431321969,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012457676728119265,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046135329719325,
+            "object_top_z": 1.096759296549129,
+            "finger_top_clearance": 0.05062396682980408,
+            "fingertip_min_top_clearance": 0.015187190048941207,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012457676728119265,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048682277156609846,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.103912464649496,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16231404389172127,
+              0.23373970761926016,
+              1.2416998113586608
+            ],
+            "held_position": [
+              0.16505952519251196,
+              0.23692036303185357,
+              1.2358783168361442
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007179417448675171,
+            "max_held_gripper_dist": 0.007194247768963424,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005821494522516568,
+            "max_held_gripper_z_dist": 0.005853047919974985,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08502137177781208,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16505952519251196,
+              0.21307164490955344,
+              1.2358783168361442
+            ],
+            "held_grasp_finger_b": [
+              0.157425621644793,
+              0.23692036303185357,
+              1.2358783168361442
+            ],
+            "held_grasp_midpoint": [
+              0.1612425734186525,
+              0.22499600397070352,
+              1.2358783168361442
+            ],
+            "held_grasp_object_position": [
+              0.16505952519251196,
+              0.23692036303185357,
+              1.2358783168361442
+            ],
+            "held_grasp_finger_gap": 0.02504072362079025,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023526788145608178,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.038834663160459804,
+              -0.9989320221034004,
+              0.025033660412037695
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033644283092592515,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03766039592441587,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3075386801138087,
+              -0.3833448416487951,
+              0.8515395577345338
+            ],
+            "target_position": [
+              0.3034737617683623,
+              -0.3830649030530162,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004074546204493586,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18230253438161798,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395577345338,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591271370902697,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646121778609604,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1493416527510757,
+            "release_required_pad_clearance": 0.05323060889304802,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4824984924991393,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008430421352386475,
+            "max_z_decrease": 0.008430421352386475,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350534763411072,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008430421352386475,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020976137688137993,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008430421352386475,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008430472630921672,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15917368233203888,
+              -0.43932637572288513,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15917368233203888,
+              -0.43932637572288513,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15744450023317103,
+              -0.44092772950465264,
+              0.8037151990788436
+            ],
+            "closest_button": [
+              0.1591798961162567,
+              -0.43929880857467657,
+              0.7687426209449768
+            ],
+            "closest_ee_minus_button": [
+              -0.0017353958830856886,
+              -0.0016289209299760743,
+              0.03497257813386678
+            ],
+            "button_min_z_position": [
+              0.15917980670928955,
+              -0.439297616481781,
+              0.7683784365653992
+            ],
+            "min_active_finger_to_button": 0.1472506678544032,
+            "closest_active_finger": [
+              0.016454637050628662,
+              -0.42730194330215454,
+              0.8107547760009766
+            ],
+            "closest_active_finger_button": [
+              0.1591721475124359,
+              -0.4393276870250702,
+              0.7765516638755798
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14271751046180725,
+              0.01202574372291565,
+              0.03420311212539673
+            ],
+            "min_contact_pad_to_button": 0.020976137688137993,
+            "closest_contact_pad": [
+              0.15917980670928955,
+              -0.44187586280724445,
+              0.7891955208520364
+            ],
+            "closest_contact_pad_button": [
+              0.15917980670928955,
+              -0.439297616481781,
+              0.7683784365653992
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025782463254634402,
+              0.0208170842866372
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1a27242eb1f2b3ce9322f1a3056aab7d43c5e6415d1deb7068b1a2efb42335f4",
+    "visual_seed": 2580159514581175088,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..453800e7f3e142451eb0ccf3f030473aa36aeec1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16626007209311544,
+              0.2358335175648962,
+              1.0464423309270012
+            ],
+            "current_z": 1.0464423309270012,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.18533558449365606,
+            "gripper_z": 1.052548536247294,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1636405939252619,
+              0.232488631092467,
+              1.052548536247294
+            ],
+            "object_minus_gripper": [
+              0.002619478167853545,
+              0.0033448864724291982,
+              -0.0061062053202927125
+            ],
+            "object_to_gripper_xy": 0.004248521082129781,
+            "object_to_gripper_z": -0.0061062053202927125,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16626007209311544,
+              0.2124812138439127,
+              1.0464423309270012
+            ],
+            "finger_b": [
+              0.15744725563482154,
+              0.2358335175648962,
+              1.0464423309270012
+            ],
+            "finger_midpoint": [
+              0.1618536638639685,
+              0.22415736570440445,
+              1.0464423309270012
+            ],
+            "object_minus_finger_midpoint": [
+              0.004406408229146952,
+              0.011676151860491757,
+              0.0
+            ],
+            "finger_gap": 0.02495988427466434,
+            "fingertip_max_gap": 0.09900765632904529,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01247994213733217,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464423309270012,
+            "object_top_z": 1.1003310544294977,
+            "finger_top_clearance": 0.053888723502496516,
+            "fingertip_min_top_clearance": 0.016166617050748955,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.01247994213733217,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05200382816452265,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9846894825356864,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16708402367990066,
+              0.23842929827189183,
+              1.239020617365966
+            ],
+            "held_position": [
+              0.16972957003389116,
+              0.24162163785781127,
+              1.2328089934202002
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007468213948900395,
+            "max_held_gripper_dist": 0.007483876295076612,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0062116239457656874,
+            "max_held_gripper_z_dist": 0.006241545948336702,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08570558291621022,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16972957003389116,
+              0.21794940770249174,
+              1.2328089934202002
+            ],
+            "held_grasp_finger_b": [
+              0.16192457462395224,
+              0.24162163785781127,
+              1.2328089934202002
+            ],
+            "held_grasp_midpoint": [
+              0.1658270723289217,
+              0.22978552278015152,
+              1.2328089934202002
+            ],
+            "held_grasp_object_position": [
+              0.16972957003389116,
+              0.24162163785781127,
+              1.2328089934202002
+            ],
+            "held_grasp_finger_gap": 0.02492573838175284,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02364651307388856,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0010155480967538114,
+              -0.9985787807298274,
+              0.05328590187089266
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003964981841149079,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037904919881384516,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3017401626817648,
+              -0.38889411169110455,
+              0.8515396007612474
+            ],
+            "target_position": [
+              0.3008432373270902,
+              -0.3873784772869446,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0017611424527651182,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17783999812793758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396007612474,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754419758441084,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08736639367972342,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1457392270460766,
+            "release_required_pad_clearance": 0.05368319683986171,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.3759008772240184,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008647263050079346,
+            "max_z_decrease": 0.008647263050079346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035029093570988955,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008647263050079346,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020967953806013937,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008647263050079346,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00864743140932729,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1565431654453277,
+              -0.44363993406295776,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1565431654453277,
+              -0.44363993406295776,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.157920839688561,
+              -0.44422639517068274,
+              0.8035983327812372
+            ],
+            "closest_button": [
+              0.15657579898834223,
+              -0.4436120390892028,
+              0.7686004638671875
+            ],
+            "closest_ee_minus_button": [
+              0.0013450407002187637,
+              -0.0006143560814799165,
+              0.03499786891404966
+            ],
+            "button_min_z_position": [
+              0.1565711051225662,
+              -0.4435937702655792,
+              0.7681615948677063
+            ],
+            "min_active_finger_to_button": 0.14437649528579935,
+            "closest_active_finger": [
+              0.017406925559043884,
+              -0.4259535074234009,
+              0.8104352951049805
+            ],
+            "closest_active_finger_button": [
+              0.15654377639293668,
+              -0.44364163279533386,
+              0.7761914730072021
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1391368508338928,
+              0.017688125371932983,
+              0.03424382209777832
+            ],
+            "min_contact_pad_to_button": 0.020967953806013937,
+            "closest_contact_pad": [
+              0.1565711051225662,
+              -0.4456071076730239,
+              0.7890326647802651
+            ],
+            "closest_contact_pad_button": [
+              0.1565711051225662,
+              -0.4435937702655792,
+              0.7681615948677063
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002013337407444693,
+              0.020871069912558826
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dded38946f7b989de249cef4b61f3ab786f20bcfb6db3a8b3c1ff49f86764b0d",
+    "visual_seed": 1593713604045908273,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5648d918f8612edfd9a3680d115c81585582050f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16156013355972385,
+              0.23815015482661325,
+              1.0475882022767353
+            ],
+            "current_z": 1.0475882022767353,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18648145584339026,
+            "gripper_z": 1.0534827109521745,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15896497053462413,
+              0.2347895540079044,
+              1.0534827109521745
+            ],
+            "object_minus_gripper": [
+              0.0025951630250997115,
+              0.003360600818708842,
+              -0.0058945086754391696
+            ],
+            "object_to_gripper_xy": 0.004245999174464265,
+            "object_to_gripper_z": -0.0058945086754391696,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16156013355972385,
+              0.21488195998467935,
+              1.0475882022767353
+            ],
+            "finger_b": [
+              0.1526193362832927,
+              0.23815015482661325,
+              1.0475882022767353
+            ],
+            "finger_midpoint": [
+              0.15708973492150827,
+              0.2265160574056463,
+              1.0475882022767353
+            ],
+            "object_minus_finger_midpoint": [
+              0.004470398638215578,
+              0.011634097420966966,
+              0.0
+            ],
+            "finger_gap": 0.024926827859566052,
+            "fingertip_max_gap": 0.09521514916490445,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01246341392978304,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475882022767353,
+            "object_top_z": 1.0997980465336787,
+            "finger_top_clearance": 0.052209844256943416,
+            "fingertip_min_top_clearance": 0.015662953277083023,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.01246341392978304,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05010757458245223,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.836796970308255,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16280651775677935,
+              0.24018893105266637,
+              1.2438535245397306
+            ],
+            "held_position": [
+              0.16549869479413626,
+              0.24335274852540748,
+              1.2378731888709802
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007281618838707684,
+            "max_held_gripper_dist": 0.0072976812767369574,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005980335668750447,
+            "max_held_gripper_z_dist": 0.006011592854978209,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08581164761218504,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16549869479413626,
+              0.21957856007479254,
+              1.2378731888709802
+            ],
+            "held_grasp_finger_b": [
+              0.1577857164749873,
+              0.24335274852540748,
+              1.2378731888709802
+            ],
+            "held_grasp_midpoint": [
+              0.16164220563456178,
+              0.23146565430010002,
+              1.2378731888709802
+            ],
+            "held_grasp_object_position": [
+              0.16549869479413626,
+              0.24335274852540748,
+              1.2378731888709802
+            ],
+            "held_grasp_finger_gap": 0.024994040710477658,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023560221391126016,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02438486784739974,
+              -0.9989111257143273,
+              0.03977362372478
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003596933452626438,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03775205941750975,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30823372144926336,
+              -0.38422280655127683,
+              0.8515396200540845
+            ],
+            "target_position": [
+              0.3055750146937513,
+              -0.38324830130156107,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0028316747859754316,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18190476133090755,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396200540845,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558518971412824,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678482920374174,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1494284689725861,
+            "release_required_pad_clearance": 0.05339241460187087,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.800102835695949,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008632004261016846,
+            "max_z_decrease": 0.008632004261016846,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505099535372204,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008632004261016846,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02091428673422457,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008632004261016846,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008632183640854501,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16127493977546697,
+              -0.4395097494125366,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16127493977546697,
+              -0.4395097494125366,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1629448153653707,
+              -0.43878525848127287,
+              0.8031830539625178
+            ],
+            "closest_button": [
+              0.16130933165550237,
+              -0.4394659996032715,
+              0.7681768536567688
+            ],
+            "closest_ee_minus_button": [
+              0.001635483709868324,
+              0.0006807411219986181,
+              0.03500620030574897
+            ],
+            "button_min_z_position": [
+              0.16130933165550237,
+              -0.4394659996032715,
+              0.7681768536567688
+            ],
+            "min_active_finger_to_button": 0.1440159830031728,
+            "closest_active_finger": [
+              0.03509145230054855,
+              -0.49989941716194153,
+              0.8104175329208374
+            ],
+            "closest_active_finger_button": [
+              0.16127760708332067,
+              -0.4395125210285187,
+              0.7761964797973633
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12618615478277212,
+              -0.06038689613342285,
+              0.03422105312347412
+            ],
+            "min_contact_pad_to_button": 0.02091428673422457,
+            "closest_contact_pad": [
+              0.16130933165550237,
+              -0.4401451504314473,
+              0.7890801104306294
+            ],
+            "closest_contact_pad_button": [
+              0.16130933165550237,
+              -0.4394659996032715,
+              0.7681768536567688
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000679150828175823,
+              0.020903256773860623
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1d97b2162fd5fcc7c6101e1104960346d1e91a971e26e771a863bd296265a532",
+    "visual_seed": 117644791248477867,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f1d8af97f2e423c95c4fd0b485c2ea916160cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16195254291683278,
+              0.23531861150793132,
+              1.0492822016015135
+            ],
+            "current_z": 1.0492822016015135,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18817569358674746,
+            "gripper_z": 1.0551280886487904,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1589779831175174,
+              0.23169799272054287,
+              1.0551280886487904
+            ],
+            "object_minus_gripper": [
+              0.0029745597993153794,
+              0.003620618787388452,
+              -0.005845887047276843
+            ],
+            "object_to_gripper_xy": 0.0046858175810944,
+            "object_to_gripper_z": -0.005845887047276843,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16195254291683278,
+              0.21197170029288998,
+              1.0492822016015135
+            ],
+            "finger_b": [
+              0.15238374675995922,
+              0.23531861150793132,
+              1.0492822016015135
+            ],
+            "finger_midpoint": [
+              0.157168144838396,
+              0.22364515590041065,
+              1.0492822016015135
+            ],
+            "object_minus_finger_midpoint": [
+              0.00478439807843678,
+              0.011673455607520672,
+              0.0
+            ],
+            "finger_gap": 0.025231728501528022,
+            "fingertip_max_gap": 0.09094192927165734,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012615864250764011,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492822016015135,
+            "object_top_z": 1.099022623736082,
+            "finger_top_clearance": 0.04974042213456853,
+            "fingertip_min_top_clearance": 0.01492212664037059,
+            "object_projection_between_fingers": 0.8561795643114762,
+            "object_to_finger_line_xy": 0.008854004365805804,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04797096463582867,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9384384800911239,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16283633206253958,
+              0.23689488934084224,
+              1.243280262646701
+            ],
+            "held_position": [
+              0.16591638741277767,
+              0.2402750305192118,
+              1.2373149663972804
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007516438963338342,
+            "max_held_gripper_dist": 0.007533763605279292,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005965296249420549,
+            "max_held_gripper_z_dist": 0.005998741918141315,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08599051102277064,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16591638741277767,
+              0.2162864047037528,
+              1.2373149663972804
+            ],
+            "held_grasp_finger_b": [
+              0.1578822492016279,
+              0.2402750305192118,
+              1.2373149663972804
+            ],
+            "held_grasp_midpoint": [
+              0.16189931830720278,
+              0.2282807176114823,
+              1.2373149663972804
+            ],
+            "held_grasp_object_position": [
+              0.16591638741277767,
+              0.2402750305192118,
+              1.2373149663972804
+            ],
+            "held_grasp_finger_gap": 0.025298251823198448,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023686957330631215,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03538507582212041,
+              -0.999275494344921,
+              0.014013665144304466
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035941129272796498,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037592482815012526,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3070332080740603,
+              -0.3827170868046405,
+              0.8515395604797666
+            ],
+            "target_position": [
+              0.30170021724532753,
+              -0.3833049149206017,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005365289654181077,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18309790116500252,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395604797666,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075618411665783,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08630647061676498,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15090928132769102,
+            "release_required_pad_clearance": 0.05315323530838249,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3311694155973335,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008483052253723145,
+            "max_z_decrease": 0.008483052253723145,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501491663628174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008483052253723145,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020941837188732854,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008483052253723145,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008483197066505532,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15740014612674713,
+              -0.43956637382507324,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15740014612674713,
+              -0.43956637382507324,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15842936114507403,
+              -0.4401817652248898,
+              0.803590632546813
+            ],
+            "closest_button": [
+              0.15743383765220642,
+              -0.4395367503166198,
+              0.768595814704895
+            ],
+            "closest_ee_minus_button": [
+              0.000995523492867606,
+              -0.0006450149082699586,
+              0.034994817841917936
+            ],
+            "button_min_z_position": [
+              0.15743236243724823,
+              -0.43952870368957514,
+              0.7683258056640625
+            ],
+            "min_active_finger_to_button": 0.1446747574808554,
+            "closest_active_finger": [
+              0.017760172486305237,
+              -0.4234057366847992,
+              0.8106124401092529
+            ],
+            "closest_active_finger_button": [
+              0.15739989280700684,
+              -0.43956741690635676,
+              0.7764022946357727
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396397203207016,
+              0.01616168022155756,
+              0.034210145473480225
+            ],
+            "min_contact_pad_to_button": 0.020941837188732854,
+            "closest_contact_pad": [
+              0.15743236243724823,
+              -0.4414389404609219,
+              0.7891803385122658
+            ],
+            "closest_contact_pad_button": [
+              0.15743236243724823,
+              -0.43952870368957514,
+              0.7683258056640625
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019102367713467738,
+              0.020854532848203267
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "23ed84ccb016c784eb18eb02fc03ba9786cd614cba5720162e28a8a08cd5d8ba",
+    "visual_seed": 7240255608769023264,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c4f83976585c351b20c3c6ff035859cc6507439
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1687649075313154,
+              0.23582194554017202,
+              1.0486551683721794
+            ],
+            "current_z": 1.0486551683721794,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18754848154347903,
+            "gripper_z": 1.0546169453460632,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16574578024130057,
+              0.23214614615001755,
+              1.0546169453460632
+            ],
+            "object_minus_gripper": [
+              0.003019127290014828,
+              0.0036757993901544717,
+              -0.005961776973883781
+            ],
+            "object_to_gripper_xy": 0.004756745815152652,
+            "object_to_gripper_z": -0.005961776973883781,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1687649075313154,
+              0.21247686763685208,
+              1.0486551683721794
+            ],
+            "finger_b": [
+              0.1590863494449043,
+              0.23582194554017202,
+              1.0486551683721794
+            ],
+            "finger_midpoint": [
+              0.16392562848810985,
+              0.22414940658851207,
+              1.0486551683721794
+            ],
+            "object_minus_finger_midpoint": [
+              0.004839279043205552,
+              0.011672538951659955,
+              0.0
+            ],
+            "finger_gap": 0.025271864769820816,
+            "fingertip_max_gap": 0.09412380829979217,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012635932384910396,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486551683721794,
+            "object_top_z": 1.1001717740102053,
+            "finger_top_clearance": 0.05151660563802585,
+            "fingertip_min_top_clearance": 0.015454981691407787,
+            "object_projection_between_fingers": 0.8533281588274847,
+            "object_to_finger_line_xy": 0.00894064187890464,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049561904149896086,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3817379135328056,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1693865762717702,
+              0.23803587153774614,
+              1.2421017994872048
+            ],
+            "held_position": [
+              0.17250763092307655,
+              0.24148634353130133,
+              1.2360251752872609
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007653241194558938,
+            "max_held_gripper_dist": 0.007668310171593554,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006076624199943925,
+            "max_held_gripper_z_dist": 0.006108411852329132,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08605922056931847,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17250763092307655,
+              0.21752139146997407,
+              1.2360251752872609
+            ],
+            "held_grasp_finger_b": [
+              0.16427696472929257,
+              0.24148634353130133,
+              1.2360251752872609
+            ],
+            "held_grasp_midpoint": [
+              0.16839229782618456,
+              0.2295038675006377,
+              1.2360251752872609
+            ],
+            "held_grasp_object_position": [
+              0.17250763092307655,
+              0.24148634353130133,
+              1.2360251752872609
+            ],
+            "held_grasp_finger_gap": 0.025338958015183106,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023684170197044645,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03143888671411595,
+              -0.9990812048286937,
+              0.0291263207464093
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037530219896449676,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03761940198952466,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31076726264317467,
+              -0.3861206296171982,
+              0.8515395890027792
+            ],
+            "target_position": [
+              0.3065407126692141,
+              -0.38608767025657503,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004226678483376585,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18178053333303995,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395890027792,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518797643711413,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529478706061998,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15067022984414166,
+            "release_required_pad_clearance": 0.05264739353030999,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.35387740902695725,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008681416511535645,
+            "max_z_decrease": 0.008681416511535645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035047818142955635,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008681416511535645,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020860450756554516,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008681416511535645,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00868160900089341,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1622406393289566,
+              -0.4423491358757019,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1622406393289566,
+              -0.4423491358757019,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16334396510156782,
+              -0.4408900673320868,
+              0.8031304196723442
+            ],
+            "closest_button": [
+              0.16228277981281283,
+              -0.44230955839157104,
+              0.76812744140625
+            ],
+            "closest_ee_minus_button": [
+              0.0010611852887549844,
+              0.0014194910594842458,
+              0.03500297826609422
+            ],
+            "button_min_z_position": [
+              0.16228277981281283,
+              -0.44230955839157104,
+              0.76812744140625
+            ],
+            "min_active_finger_to_button": 0.14418168494074676,
+            "closest_active_finger": [
+              0.03642561286687851,
+              -0.5039249658584595,
+              0.8109754920005798
+            ],
+            "closest_active_finger_button": [
+              0.16223940253257751,
+              -0.4423510432243347,
+              0.7768009305000305
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.125813789665699,
+              -0.061573922634124756,
+              0.034174561500549316
+            ],
+            "min_contact_pad_to_button": 0.020860450756554516,
+            "closest_contact_pad": [
+              0.16228277981281283,
+              -0.44230955839157104,
+              0.7889878921628045
+            ],
+            "closest_contact_pad_button": [
+              0.16228277981281283,
+              -0.44230955839157104,
+              0.76812744140625
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020860450756554516
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10760bd5dff4986919c051f9d1e89022c30082e34c4a7df82b41a3c44fdc5714",
+    "visual_seed": 3476723898311365718,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0089b76515119711496c48f8c92fd92ba2d2821a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16546481184227643,
+              0.23670149368831989,
+              1.0470618435285453
+            ],
+            "current_z": 1.0470618435285453,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18595515669984497,
+            "gripper_z": 1.0529290484450282,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16213984615447616,
+              0.23287828193322702,
+              1.0529290484450282
+            ],
+            "object_minus_gripper": [
+              0.0033249656878002742,
+              0.00382321175509287,
+              -0.00586720491648296
+            ],
+            "object_to_gripper_xy": 0.005066788425554145,
+            "object_to_gripper_z": -0.00586720491648296,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16546481184227643,
+              0.2131693913790375,
+              1.0470618435285453
+            ],
+            "finger_b": [
+              0.1555356872578657,
+              0.23670149368831989,
+              1.0470618435285453
+            ],
+            "finger_midpoint": [
+              0.16050024955007108,
+              0.2249354425336787,
+              1.0470618435285453
+            ],
+            "object_minus_finger_midpoint": [
+              0.004964562292205349,
+              0.011766051154641188,
+              0.0
+            ],
+            "finger_gap": 0.025541091482301267,
+            "fingertip_max_gap": 0.09195421556354161,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012770545741150628,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470618435285453,
+            "object_top_z": 1.0974832367965035,
+            "finger_top_clearance": 0.05042139326795825,
+            "fingertip_min_top_clearance": 0.015126417980387474,
+            "object_projection_between_fingers": 0.8488726682310783,
+            "object_to_finger_line_xy": 0.00914812805568135,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048477107781770806,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0138692351996204,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16585178543139817,
+              0.23851957231142862,
+              1.242714058224257
+            ],
+            "held_position": [
+              0.16931075305985913,
+              0.2420980977060795,
+              1.2367451211818392
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007771647860733923,
+            "max_held_gripper_dist": 0.007787559981360135,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0059689370424178545,
+            "max_held_gripper_z_dist": 0.006005007664242834,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08475055078540697,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16931075305985913,
+              0.21797582782812291,
+              1.2367451211818392
+            ],
+            "held_grasp_finger_b": [
+              0.16073964263489968,
+              0.2420980977060795,
+              1.2367451211818392
+            ],
+            "held_grasp_midpoint": [
+              0.1650251978473794,
+              0.23003696276710123,
+              1.2367451211818392
+            ],
+            "held_grasp_object_position": [
+              0.16931075305985913,
+              0.2420980977060795,
+              1.2367451211818392
+            ],
+            "held_grasp_finger_gap": 0.025599762459480375,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023824325776379388,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03317344763995914,
+              -0.9994357571344914,
+              0.005262103446816991
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003883611803988829,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03752375389900667,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3114651288502348,
+              -0.38511743306725277,
+              0.8515395759347487
+            ],
+            "target_position": [
+              0.3051688359541016,
+              -0.38644440534752833,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00643460641115812,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18533218686943506,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395759347487,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564822801065957,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613492616444372,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15314893005514799,
+            "release_required_pad_clearance": 0.053067463082221863,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1643096366800763,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008515477180480957,
+            "max_z_decrease": 0.008515477180480957,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035034833973312474,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008515477180480957,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020813629952082247,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008515477180480957,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008515750838663672,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16086876392364502,
+              -0.44270586967468256,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16086876392364502,
+              -0.44270586967468256,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15953977420858334,
+              -0.4410958688503823,
+              0.803264816827907
+            ],
+            "closest_button": [
+              0.16093102097511292,
+              -0.44267785549163813,
+              0.7682933807373047
+            ],
+            "closest_ee_minus_button": [
+              -0.0013912467665295747,
+              0.001581986641255806,
+              0.03497143609060227
+            ],
+            "button_min_z_position": [
+              0.16093102097511292,
+              -0.44267785549163813,
+              0.7682933807373047
+            ],
+            "min_active_finger_to_button": 0.14623763144740662,
+            "closest_active_finger": [
+              0.03254106640815735,
+              -0.5039710402488708,
+              0.810484766960144
+            ],
+            "closest_active_finger_button": [
+              0.1608688086271286,
+              -0.4427065253257751,
+              0.7763659358024597
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12832774221897125,
+              -0.06126451492309576,
+              0.034118831157684326
+            ],
+            "min_contact_pad_to_button": 0.020813629952082247,
+            "closest_contact_pad": [
+              0.16093102097511292,
+              -0.44267785549163813,
+              0.7891070106893869
+            ],
+            "closest_contact_pad_button": [
+              0.16093102097511292,
+              -0.44267785549163813,
+              0.7682933807373047
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020813629952082247
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "54b31a1cb56bbaeb886c025e7ea825600187ab0b68601c2434f3293b74731138",
+    "visual_seed": 8601544008896784688,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..404f55281342d4b36ebbf2b222349d90f8a10d2c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16162106116899974,
+              0.23715953472685528,
+              1.0490469221855387
+            ],
+            "current_z": 1.0490469221855387,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18794047377541734,
+            "gripper_z": 1.0547256094494692,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1589550489654338,
+              0.23361916187588733,
+              1.0547256094494692
+            ],
+            "object_minus_gripper": [
+              0.0026660122035659373,
+              0.003540372850967949,
+              -0.005678687263930504
+            ],
+            "object_to_gripper_xy": 0.00443191391990339,
+            "object_to_gripper_z": -0.005678687263930504,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16162106116899974,
+              0.21421781568585616,
+              1.0490469221855387
+            ],
+            "finger_b": [
+              0.15193957849348863,
+              0.23715953472685528,
+              1.0490469221855387
+            ],
+            "finger_midpoint": [
+              0.15678031983124419,
+              0.22568867520635572,
+              1.0490469221855387
+            ],
+            "object_minus_finger_midpoint": [
+              0.004840741337755555,
+              0.01147085952049956,
+              0.0
+            ],
+            "finger_gap": 0.024900875072020327,
+            "fingertip_max_gap": 0.09374034728714417,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012450437536010163,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490469221855387,
+            "object_top_z": 1.1004068682394625,
+            "finger_top_clearance": 0.0513599460539238,
+            "fingertip_min_top_clearance": 0.015407983816177173,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012450437536010163,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04937017364357209,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2561653851848984,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16236136476148746,
+              0.2396945991792652,
+              1.2447841653831992
+            ],
+            "held_position": [
+              0.16517368201072463,
+              0.24300725158819209,
+              1.239021255118009
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007217612418061816,
+            "max_held_gripper_dist": 0.007235194414057706,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005762910265190158,
+            "max_held_gripper_z_dist": 0.005794572651903085,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0857990283457726,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16517368201072463,
+              0.21927860130208413,
+              1.239021255118009
+            ],
+            "held_grasp_finger_b": [
+              0.1570399541852361,
+              0.24300725158819209,
+              1.239021255118009
+            ],
+            "held_grasp_midpoint": [
+              0.1611068180979804,
+              0.23114292644513812,
+              1.239021255118009
+            ],
+            "held_grasp_object_position": [
+              0.16517368201072463,
+              0.24300725158819209,
+              1.239021255118009
+            ],
+            "held_grasp_finger_gap": 0.025083986380548397,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023369640998031432,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.040602959180953094,
+              -0.9987881371741539,
+              0.02781468579605828
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035971644294098175,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03770517615219206,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30942497440419314,
+              -0.3855812631019924,
+              0.8515395898215282
+            ],
+            "target_position": [
+              0.30594345745970936,
+              -0.38543577691883,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0034845554184456426,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17952247960757356,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395898215282,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583111884129502,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08536053559363709,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14673913969883337,
+            "release_required_pad_clearance": 0.052680267796818545,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.41684001492819706,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008650243282318115,
+            "max_z_decrease": 0.008650243282318115,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035072213789014255,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008650243282318115,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020850436827879903,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008650243282318115,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008650333193846178,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.161643385887146,
+              -0.44169723987579346,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.161643385887146,
+              -0.44169723987579346,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16275372531258236,
+              -0.4397725783229279,
+              0.8031625894629256
+            ],
+            "closest_button": [
+              0.1616457551717758,
+              -0.44165787100791937,
+              0.7681586146354675
+            ],
+            "closest_ee_minus_button": [
+              0.0011079701408065745,
+              0.0018852926849914908,
+              0.035003974827458095
+            ],
+            "button_min_z_position": [
+              0.1616457551717758,
+              -0.44165787100791937,
+              0.7681586146354675
+            ],
+            "min_active_finger_to_button": 0.14397922379794048,
+            "closest_active_finger": [
+              0.03629181534051895,
+              -0.5037685632705688,
+              0.8103300333023071
+            ],
+            "closest_active_finger_button": [
+              0.16164262592792505,
+              -0.4416978359222412,
+              0.7762064933776855
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1253508105874061,
+              -0.06207072734832764,
+              0.03412353992462158
+            ],
+            "min_contact_pad_to_button": 0.020850436827879903,
+            "closest_contact_pad": [
+              0.1616457551717758,
+              -0.44165787100791937,
+              0.7890090514633474
+            ],
+            "closest_contact_pad_button": [
+              0.1616457551717758,
+              -0.44165787100791937,
+              0.7681586146354675
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020850436827879903
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9f7a26abad3fff2b8fa5303876213dcf0fa8c0724a789fc3df664ecadab4161f",
+    "visual_seed": 8724690188030441768,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8f2a0f9d58ba203de75e1519460ff728a9964a7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16868879312649765,
+              0.24021380187180827,
+              1.048044851415159
+            ],
+            "current_z": 1.048044851415159,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.18693792616787963,
+            "gripper_z": 1.0538231355685446,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1655766000020288,
+              0.23656433123474685,
+              1.0538231355685446
+            ],
+            "object_minus_gripper": [
+              0.0031121931244688372,
+              0.0036494706370614194,
+              -0.005778284153385549
+            ],
+            "object_to_gripper_xy": 0.0047962883540050615,
+            "object_to_gripper_z": -0.005778284153385549,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16868879312649765,
+              0.21656076465478552,
+              1.048044851415159
+            ],
+            "finger_b": [
+              0.15938955539301614,
+              0.24021380187180827,
+              1.048044851415159
+            ],
+            "finger_midpoint": [
+              0.1640391742597569,
+              0.22838728326329688,
+              1.048044851415159
+            ],
+            "object_minus_finger_midpoint": [
+              0.004649618866740757,
+              0.011826518608511388,
+              0.0
+            ],
+            "finger_gap": 0.025415388881810753,
+            "fingertip_max_gap": 0.09488745245315425,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01270769444090539,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048044851415159,
+            "object_top_z": 1.0998458492740837,
+            "finger_top_clearance": 0.05180099785892467,
+            "fingertip_min_top_clearance": 0.015540299357677416,
+            "object_projection_between_fingers": 0.8661244763570405,
+            "object_to_finger_line_xy": 0.008654410806887067,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049943726226577126,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7076459664340575,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16893802699835592,
+              0.24294243887422007,
+              1.2418254668874698
+            ],
+            "held_position": [
+              0.17208167157307586,
+              0.24640234627133129,
+              1.2359266136486793
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007526614773026439,
+            "max_held_gripper_dist": 0.007540963720842828,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005898853238790469,
+            "max_held_gripper_z_dist": 0.00593304651276827,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08570755734171326,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17208167157307586,
+              0.2224954654315871,
+              1.2359266136486793
+            ],
+            "held_grasp_finger_b": [
+              0.1636935782549693,
+              0.24640234627133129,
+              1.2359266136486793
+            ],
+            "held_grasp_midpoint": [
+              0.1678876249140226,
+              0.2344489058514592,
+              1.2359266136486793
+            ],
+            "held_grasp_object_position": [
+              0.17208167157307586,
+              0.24640234627133129,
+              1.2359266136486793
+            ],
+            "held_grasp_finger_gap": 0.02533572696803846,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02385822110216887,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004066009310195309,
+              -0.9993912350110973,
+              0.03465006423202066
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004166078903933391,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03775703345348442,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3032103465087399,
+              -0.38731264335117077,
+              0.851539593254208
+            ],
+            "target_position": [
+              0.3004567339442212,
+              -0.38660686816357565,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002842622164639601,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18089281580904332,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539593254208,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550754456598184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08764667308615053,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14862339858167092,
+            "release_required_pad_clearance": 0.053823336543075265,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6559077862952765,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008472919464111328,
+            "max_z_decrease": 0.008472919464111328,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501923078164981,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008472919464111328,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02088456357758035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008472919464111328,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008473129377670077,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15615665912628163,
+              -0.4428683221340179,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15615665912628163,
+              -0.4428683221340179,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15440059023950906,
+              -0.4435723555229458,
+              0.8035798538595152
+            ],
+            "closest_button": [
+              0.15619476139545432,
+              -0.442842423915863,
+              0.7686142325401306
+            ],
+            "closest_ee_minus_button": [
+              -0.0017941711559452678,
+              -0.0007299316070828454,
+              0.03496562131938463
+            ],
+            "button_min_z_position": [
+              0.1562065035104751,
+              -0.4428355693817138,
+              0.7683359384536743
+            ],
+            "min_active_finger_to_button": 0.14740501644836382,
+            "closest_active_finger": [
+              0.01337258517742157,
+              -0.4298645257949829,
+              0.8107178807258606
+            ],
+            "closest_active_finger_button": [
+              0.1561558246612548,
+              -0.4428695142269134,
+              0.7764825820922852
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14278323948383323,
+              0.013004988431930486,
+              0.03423529863357544
+            ],
+            "min_contact_pad_to_button": 0.02088456357758035,
+            "closest_contact_pad": [
+              0.1562065035104751,
+              -0.44453756194463556,
+              0.7891510343492438
+            ],
+            "closest_contact_pad_button": [
+              0.1562065035104751,
+              -0.4428355693817138,
+              0.7683359384536743
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017019925629217503,
+              0.020815095895569513
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddd018d189e38471a3d550747018b9392a7610f8d1083346729b65303ed67764",
+    "visual_seed": 1495313829959217947,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..479bc0846b79e15919de43d1431a3b0461fa11cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16773918782564642,
+              0.23760365379785794,
+              1.046942834080172
+            ],
+            "current_z": 1.046942834080172,
+            "required_z": 0.8611068656426348,
+            "initial_z": 0.7611068656426349,
+            "lift_margin": 0.18583596843753725,
+            "gripper_z": 1.0529795798159847,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16475812132100706,
+              0.2340565180792712,
+              1.0529795798159847
+            ],
+            "object_minus_gripper": [
+              0.0029810665046393625,
+              0.0035471357185867525,
+              -0.0060367457358125876
+            ],
+            "object_to_gripper_xy": 0.0046334575978589365,
+            "object_to_gripper_z": -0.0060367457358125876,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16773918782564642,
+              0.21404888125021787,
+              1.046942834080172
+            ],
+            "finger_b": [
+              0.15856326197427076,
+              0.23760365379785794,
+              1.046942834080172
+            ],
+            "finger_midpoint": [
+              0.1631512248999586,
+              0.2258262675240379,
+              1.046942834080172
+            ],
+            "object_minus_finger_midpoint": [
+              0.004587962925687833,
+              0.01177738627382005,
+              0.0
+            ],
+            "finger_gap": 0.025278942323621902,
+            "fingertip_max_gap": 0.0958225785566843,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012639471161810965,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046942834080172,
+            "object_top_z": 1.0989261489276674,
+            "finger_top_clearance": 0.0519833148474953,
+            "fingertip_min_top_clearance": 0.015594994454248572,
+            "object_projection_between_fingers": 0.8682404833742405,
+            "object_to_finger_line_xy": 0.008550074745065393,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05041128927834215,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3415149365691423,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16810824441225242,
+              0.24029671558357765,
+              1.242201848431878
+            ],
+            "held_position": [
+              0.17113951621729034,
+              0.24369301598583762,
+              1.2360780636822386
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076304786768802944,
+            "max_held_gripper_dist": 0.007645055037045856,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006123784749639372,
+            "max_held_gripper_z_dist": 0.006158291198876897,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0858953842341163,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17113951621729034,
+              0.21986830511084784,
+              1.2360780636822386
+            ],
+            "held_grasp_finger_b": [
+              0.16280856989762885,
+              0.24369301598583762,
+              1.2360780636822386
+            ],
+            "held_grasp_midpoint": [
+              0.1669740430574596,
+              0.23178066054834273,
+              1.2360780636822386
+            ],
+            "held_grasp_object_position": [
+              0.17113951621729034,
+              0.24369301598583762,
+              1.2360780636822386
+            ],
+            "held_grasp_finger_gap": 0.025239285149503292,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02386594507329396,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0065925142867339845,
+              -0.9994254837172205,
+              0.03324516885171813
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004262310567661076,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03784219941608247,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30276399595656867,
+              -0.3877253800004888,
+              0.851539555467072
+            ],
+            "target_position": [
+              0.29955661553583,
+              -0.387538551822375,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0032128171332142354,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18143388726953252,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539555467072,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552921057336238,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08790803033320636,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14921559854578129,
+            "release_required_pad_clearance": 0.053954015166603184,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9184938244751377,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00840383768081665,
+            "max_z_decrease": 0.00840383768081665,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035055289027792466,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00840383768081665,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02083366915585949,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00840383768081665,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008404045147858754,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15525653958320612,
+              -0.4438000023365021,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15525653958320612,
+              -0.4438000023365021,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15366229486884173,
+              -0.4421207580564262,
+              0.8035882808070066
+            ],
+            "closest_button": [
+              0.15529979765415186,
+              -0.44377508759498596,
+              0.7686103582382202
+            ],
+            "closest_ee_minus_button": [
+              -0.0016375027853101354,
+              0.0016543295385597623,
+              0.0349779225687864
+            ],
+            "button_min_z_position": [
+              0.15530979633331293,
+              -0.4437744915485382,
+              0.768405020236969
+            ],
+            "min_active_finger_to_button": 0.14648438790126056,
+            "closest_active_finger": [
+              0.025716885924339294,
+              -0.5030704140663147,
+              0.8105464577674866
+            ],
+            "closest_active_finger_button": [
+              0.15525652468204493,
+              -0.4438013732433319,
+              0.7764240503311157
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12953963875770563,
+              -0.05926904082298279,
+              0.03412240743637085
+            ],
+            "min_contact_pad_to_button": 0.02083366915585949,
+            "closest_contact_pad": [
+              0.15530979633331293,
+              -0.4437744915485382,
+              0.7892386893928285
+            ],
+            "closest_contact_pad_button": [
+              0.15530979633331293,
+              -0.4437744915485382,
+              0.768405020236969
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02083366915585949
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9ea833e194088aecb94218a78dbbd6fecbaecb6436c280107247db458b50c60d",
+    "visual_seed": 2627250479377639777,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a94052dde2c366363ff1424d7aa9fe6384355018
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16424276307652302,
+              0.23620484456125343,
+              1.0468229789490306
+            ],
+            "current_z": 1.0468229789490306,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18571629212033036,
+            "gripper_z": 1.0527844587551158,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16160902378165934,
+              0.23284985094207827,
+              1.0527844587551158
+            ],
+            "object_minus_gripper": [
+              0.002633739294863685,
+              0.003354993619175156,
+              -0.00596147980608519
+            ],
+            "object_to_gripper_xy": 0.0042652743004424785,
+            "object_to_gripper_z": -0.00596147980608519,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16424276307652302,
+              0.21281818118742526,
+              1.0468229789490306
+            ],
+            "finger_b": [
+              0.15545457430446005,
+              0.23620484456125343,
+              1.0468229789490306
+            ],
+            "finger_midpoint": [
+              0.15984866869049152,
+              0.22451151287433935,
+              1.0468229789490306
+            ],
+            "object_minus_finger_midpoint": [
+              0.0043940943860315,
+              0.011693331686914082,
+              0.0
+            ],
+            "finger_gap": 0.02498336017540814,
+            "fingertip_max_gap": 0.09548860339030033,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012491680087704075,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468229789490306,
+            "object_top_z": 1.0988924963597253,
+            "finger_top_clearance": 0.052069517410694655,
+            "fingertip_min_top_clearance": 0.015620855223208378,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012491680087704075,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050244301695150165,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8829817020538488,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16507901703026354,
+              0.23897691958739514,
+              1.2399960985671403
+            ],
+            "held_position": [
+              0.16772603097572006,
+              0.2421826729694818,
+              1.2339234366197425
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007359399479684145,
+            "max_held_gripper_dist": 0.0073745388767873345,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006072661947397862,
+            "max_held_gripper_z_dist": 0.006102635640477194,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08567015376391537,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16772603097572006,
+              0.2185077036614888,
+              1.2339234366197425
+            ],
+            "held_grasp_finger_b": [
+              0.1599179727438866,
+              0.2421826729694818,
+              1.2339234366197425
+            ],
+            "held_grasp_midpoint": [
+              0.16382200185980333,
+              0.23034518831548528,
+              1.2339234366197425
+            ],
+            "held_grasp_object_position": [
+              0.16772603097572006,
+              0.2421826729694818,
+              1.2339234366197425
+            ],
+            "held_grasp_finger_gap": 0.024929298928893125,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023627482808902242,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004287647517602939,
+              -0.9994083076766233,
+              0.03412697797509679
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038743869037582324,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03787303046414892,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3068144699033051,
+              -0.3884361986728714,
+              0.8515395747776264
+            ],
+            "target_position": [
+              0.3040682846547923,
+              -0.3878177599226673,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0028149600187042005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1814649691191817,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395747776264,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540266409504084,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08721224784575375,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1494826710799701,
+            "release_required_pad_clearance": 0.05360612392287688,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.222710921410052,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008626699447631836,
+            "max_z_decrease": 0.008626699447631836,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502261113536346,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008626699447631836,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.02102456965141946,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008626699447631836,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008626865655270844,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.159768208861351,
+              -0.44407922029495234,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.159768208861351,
+              -0.44407922029495234,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15887989030093827,
+              -0.44569353714229587,
+              0.8036162537288338
+            ],
+            "closest_button": [
+              0.1598002016544342,
+              -0.44405004382133484,
+              0.7686443328857422
+            ],
+            "closest_ee_minus_button": [
+              -0.000920311353495934,
+              -0.0016434933209610314,
+              0.03497192084309164
+            ],
+            "button_min_z_position": [
+              0.15979892015457153,
+              -0.44403535127639765,
+              0.7681821584701538
+            ],
+            "min_active_finger_to_button": 0.14645900544431764,
+            "closest_active_finger": [
+              0.018111519515514374,
+              -0.42947259545326233,
+              0.810512125492096
+            ],
+            "closest_active_finger_button": [
+              0.15976804494857788,
+              -0.4440802633762359,
+              0.776302695274353
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1416565254330635,
+              0.014607667922973577,
+              0.03420943021774292
+            ],
+            "min_contact_pad_to_button": 0.02102456965141946,
+            "closest_contact_pad": [
+              0.15979892015457153,
+              -0.4469096923935269,
+              0.7890093208349545
+            ],
+            "closest_contact_pad_button": [
+              0.15979892015457153,
+              -0.44403535127639765,
+              0.7681821584701538
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028743411171292532,
+              0.020827162364800644
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "585b6f76146b070b171a5dfce80693d9ee4ff9188a7e12ee720be766aa613645",
+    "visual_seed": 2736092480554147166,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9e33b3eddba91052a316421e32b856c8ee77369
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16539998060290675,
+              0.23301249626535564,
+              1.0478740570820233
+            ],
+            "current_z": 1.0478740570820233,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.18676725104403336,
+            "gripper_z": 1.0538026386668249,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16280762431061876,
+              0.229614337782365,
+              1.0538026386668249
+            ],
+            "object_minus_gripper": [
+              0.0025923562922879895,
+              0.003398158482990632,
+              -0.005928581584801584
+            ],
+            "object_to_gripper_xy": 0.004274083787396584,
+            "object_to_gripper_z": -0.005928581584801584,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16539998060290675,
+              0.20986768693688174,
+              1.0478740570820233
+            ],
+            "finger_b": [
+              0.15624428886242722,
+              0.23301249626535564,
+              1.0478740570820233
+            ],
+            "finger_midpoint": [
+              0.160822134732667,
+              0.2214400916011187,
+              1.0478740570820233
+            ],
+            "object_minus_finger_midpoint": [
+              0.004577845870239766,
+              0.011572404664236952,
+              0.0
+            ],
+            "finger_gap": 0.024889935518158695,
+            "fingertip_max_gap": 0.09457949058291934,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012444967759079347,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478740570820233,
+            "object_top_z": 1.099783950405938,
+            "finger_top_clearance": 0.0519098933239146,
+            "fingertip_min_top_clearance": 0.01557296799717438,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012444967759079347,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04978974529145967,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5741879104119352,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16670077787352142,
+              0.23489047963902102,
+              1.2435102764588255
+            ],
+            "held_position": [
+              0.16940820777017634,
+              0.23806702808028382,
+              1.2374874696373728
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00732767621101858,
+            "max_held_gripper_dist": 0.007343620780558352,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006022806821452731,
+            "max_held_gripper_z_dist": 0.00605300287044197,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08582392366166508,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16940820777017634,
+              0.21426840482353357,
+              1.2374874696373728
+            ],
+            "held_grasp_finger_b": [
+              0.16172494675250615,
+              0.23806702808028382,
+              1.2374874696373728
+            ],
+            "held_grasp_midpoint": [
+              0.16556657726134125,
+              0.2261677164519087,
+              1.2374874696373728
+            ],
+            "held_grasp_object_position": [
+              0.16940820777017634,
+              0.23806702808028382,
+              1.2374874696373728
+            ],
+            "held_grasp_finger_gap": 0.025008138051090176,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023493958696644626,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03562008846750298,
+              -0.9986979867447372,
+              0.03651767475587952
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034431858212590435,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037699592284604413,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3057108172829248,
+              -0.38829009814086646,
+              0.8515395609267654
+            ],
+            "target_position": [
+              0.30277182550956255,
+              -0.3874938993043282,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003044931071665817,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18080723444262162,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395609267654,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547244485685746,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573328489209579,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14881883314626565,
+            "release_required_pad_clearance": 0.0528666424460479,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7753077376189151,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008691549301147461,
+            "max_z_decrease": 0.008691549301147461,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501695432574947,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008691549301147461,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.0209641394477267,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008691549301147461,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008691706486692253,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1584717482328415,
+              -0.44375535845756525,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1584717482328415,
+              -0.44375535845756525,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15918059783181704,
+              -0.44491492708685904,
+              0.8036235360152695
+            ],
+            "closest_button": [
+              0.15850229561328888,
+              -0.44372364878654474,
+              0.7686334252357483
+            ],
+            "closest_ee_minus_button": [
+              0.0006783022185281595,
+              -0.0011912783003142913,
+              0.03499011077952119
+            ],
+            "button_min_z_position": [
+              0.158493623137474,
+              -0.44370788335800165,
+              0.7681173086166382
+            ],
+            "min_active_finger_to_button": 0.1449905633005139,
+            "closest_active_finger": [
+              0.01816672831773758,
+              -0.43087828159332275,
+              0.8104397058486938
+            ],
+            "closest_active_finger_button": [
+              0.158470943570137,
+              -0.44375556707382197,
+              0.7762174010276794
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14030421525239942,
+              0.012877285480499212,
+              0.034222304821014404
+            ],
+            "min_contact_pad_to_button": 0.0209641394477267,
+            "closest_contact_pad": [
+              0.158493623137474,
+              -0.44594524615530934,
+              0.7889617167516022
+            ],
+            "closest_contact_pad_button": [
+              0.158493623137474,
+              -0.44370788335800165,
+              0.7681173086166382
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002237362797307685,
+              0.02084440813496402
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c3eee0e606e33f841a83e41939f75fd92e72a0614fca35b178baad2fdf3ec708",
+    "visual_seed": 7551259926670423808,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..900d5bee137b59262c7bd24ee1eb9f8cdaebfe60
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1609650117719117,
+              0.23327655900442473,
+              1.046601116018084
+            ],
+            "current_z": 1.046601116018084,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.18549436958473864,
+            "gripper_z": 1.0524946513279054,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15858460599595564,
+              0.22995941318665025,
+              1.0524946513279054
+            ],
+            "object_minus_gripper": [
+              0.0023804057759560515,
+              0.0033171458177744806,
+              -0.005893535309821507
+            ],
+            "object_to_gripper_xy": 0.0040828651746761925,
+            "object_to_gripper_z": -0.005893535309821507,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1609650117719117,
+              0.2103003671748149,
+              1.046601116018084
+            ],
+            "finger_b": [
+              0.1519144869417957,
+              0.23327655900442473,
+              1.046601116018084
+            ],
+            "finger_midpoint": [
+              0.1564397493568537,
+              0.2217884630896198,
+              1.046601116018084
+            ],
+            "object_minus_finger_midpoint": [
+              0.00452526241505799,
+              0.01148809591480493,
+              0.0
+            ],
+            "finger_gap": 0.024694480976355335,
+            "fingertip_max_gap": 0.09492693291571597,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01234724048817768,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046601116018084,
+            "object_top_z": 1.098670092050497,
+            "finger_top_clearance": 0.05206897603241312,
+            "fingertip_min_top_clearance": 0.015620692809723934,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.01234724048817768,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049963466457857986,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5183110160125917,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16215632384555956,
+              0.23568912700195419,
+              1.2417666295002983
+            ],
+            "held_position": [
+              0.16464447785957892,
+              0.2388058939561431,
+              1.2357889825410204
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007185917465012255,
+            "max_held_gripper_dist": 0.007201377383293904,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005977646959277827,
+            "max_held_gripper_z_dist": 0.006008048324003479,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08562416692722846,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16464447785957892,
+              0.2151887909315092,
+              1.2357889825410204
+            ],
+            "held_grasp_finger_b": [
+              0.15698100493937656,
+              0.2388058939561431,
+              1.2357889825410204
+            ],
+            "held_grasp_midpoint": [
+              0.16081274139947774,
+              0.22699734244382613,
+              1.2357889825410204
+            ],
+            "held_grasp_object_position": [
+              0.16464447785957892,
+              0.2388058939561431,
+              1.2357889825410204
+            ],
+            "held_grasp_finger_gap": 0.024829344986826516,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02332452425192714,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03440304507844482,
+              -0.9987749569307708,
+              0.03556706197125958
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034491722637508306,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037794341139800326,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3040488035953184,
+              -0.3876144153445201,
+              0.8515395730013958
+            ],
+            "target_position": [
+              0.3018385394459481,
+              -0.3866599467630573,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00240754602925703,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17958063450818407,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395730013958,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565758046827112,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611468681824468,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14706831649037308,
+            "release_required_pad_clearance": 0.05305734340912234,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1446486818282433,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008530795574188232,
+            "max_z_decrease": 0.008530795574188232,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035005359289409524,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008530795574188232,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02086445824073085,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008530795574188232,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00853096606486953,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15753845870494843,
+              -0.44292140007019043,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15753845870494843,
+              -0.44292140007019043,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15766587341823785,
+              -0.44196104565024785,
+              0.8035997769578958
+            ],
+            "closest_button": [
+              0.15757544338703156,
+              -0.44289591908454895,
+              0.7686070203781128
+            ],
+            "closest_ee_minus_button": [
+              9.043003120629001e-05,
+              0.0009348734343010978,
+              0.03499275657978296
+            ],
+            "button_min_z_position": [
+              0.15758098661899567,
+              -0.4428882300853729,
+              0.7682780623435974
+            ],
+            "min_active_finger_to_button": 0.14529060356144521,
+            "closest_active_finger": [
+              0.029708482325077057,
+              -0.5029441118240356,
+              0.8104843497276306
+            ],
+            "closest_active_finger_button": [
+              0.15753853321075437,
+              -0.44292280077934265,
+              0.7763335108757019
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1278300508856773,
+              -0.06002131104469299,
+              0.03415083885192871
+            ],
+            "min_contact_pad_to_button": 0.02086445824073085,
+            "closest_contact_pad": [
+              0.15758098661899567,
+              -0.443333195100124,
+              0.7891377752806167
+            ],
+            "closest_contact_pad_button": [
+              0.15758098661899567,
+              -0.4428882300853729,
+              0.7682780623435974
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004449650147510531,
+              0.02085971293701927
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a79eef3a760c641823f749009d6128aa3f9f554c8ce87c722ce87c4eac30319",
+    "visual_seed": 1481890462872825349,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aaaf6d62d231c2c4285f9036b74277dec2f754bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16554710096663058,
+              0.23407063696799785,
+              1.0475128126456386
+            ],
+            "current_z": 1.0475128126456386,
+            "required_z": 0.8611071636658585,
+            "initial_z": 0.7611071636658585,
+            "lift_margin": 0.18640564897978007,
+            "gripper_z": 1.0534613211670592,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16310815243618812,
+              0.2307784961446283,
+              1.0534613211670592
+            ],
+            "object_minus_gripper": [
+              0.002438948530442464,
+              0.003292140823369538,
+              -0.005948508521420592
+            ],
+            "object_to_gripper_xy": 0.00409715280835896,
+            "object_to_gripper_z": -0.005948508521420592,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16554710096663058,
+              0.2109554160897343,
+              1.0475128126456386
+            ],
+            "finger_b": [
+              0.15666154074003227,
+              0.23407063696799785,
+              1.0475128126456386
+            ],
+            "finger_midpoint": [
+              0.16110432085333143,
+              0.22251302652886606,
+              1.0475128126456386
+            ],
+            "object_minus_finger_midpoint": [
+              0.004442780113299155,
+              0.011557610439131782,
+              0.0
+            ],
+            "finger_gap": 0.024764220496341416,
+            "fingertip_max_gap": 0.09730095742402095,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012382110248170722,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475128126456386,
+            "object_top_z": 1.1005790145681928,
+            "finger_top_clearance": 0.05306620192255429,
+            "fingertip_min_top_clearance": 0.015919860576766302,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012382110248170722,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05115047871201048,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.452846586603202,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16669789938278756,
+              0.2367241575947645,
+              1.2434189300252434
+            ],
+            "held_position": [
+              0.16922437545729488,
+              0.23983968366611647,
+              1.237388312176261
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007242785078738481,
+            "max_held_gripper_dist": 0.007258497701308059,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0060306178489824,
+            "max_held_gripper_z_dist": 0.006060170769773832,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08584626975857954,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16922437545729488,
+              0.2162229173763455,
+              1.237388312176261
+            ],
+            "held_grasp_finger_b": [
+              0.1615173183004791,
+              0.23983968366611647,
+              1.237388312176261
+            ],
+            "held_grasp_midpoint": [
+              0.16537084687888698,
+              0.228031300521231,
+              1.237388312176261
+            ],
+            "held_grasp_object_position": [
+              0.16922437545729488,
+              0.23983968366611647,
+              1.237388312176261
+            ],
+            "held_grasp_finger_gap": 0.024842511547830414,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023481404251333663,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.014056295537806452,
+              -0.9988555010037067,
+              0.04571770631153926
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037266565897718946,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03787121527130526,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3006928954611976,
+              -0.3819419662107183,
+              0.8515396683652048
+            ],
+            "target_position": [
+              0.2988998579566249,
+              -0.3807686909786549,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002142792165138226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1791724111381442,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396683652048,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519728200912978,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590343842021707,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1477086056955414,
+            "release_required_pad_clearance": 0.052951719210108536,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9396117599205226,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008554995059967041,
+            "max_z_decrease": 0.008554995059967041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500316256370789,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008554995059967041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020990565964023197,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008554995059967041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00855514316614274,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1545997858047485,
+              -0.43703013658523554,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1545997858047485,
+              -0.43703013658523554,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15386526201853779,
+              -0.4381350864491465,
+              0.8036177316380179
+            ],
+            "closest_button": [
+              0.1546334773302078,
+              -0.437001883983612,
+              0.7686413526535034
+            ],
+            "closest_ee_minus_button": [
+              -0.0007682153116700119,
+              -0.0011332024655344997,
+              0.034976378984514445
+            ],
+            "button_min_z_position": [
+              0.15463249385356898,
+              -0.43699187040328974,
+              0.7682538628578186
+            ],
+            "min_active_finger_to_button": 0.14633124055501565,
+            "closest_active_finger": [
+              0.013296350836753845,
+              -0.42043066024780273,
+              0.810883641242981
+            ],
+            "closest_active_finger_button": [
+              0.15460158884525294,
+              -0.4370310306549072,
+              0.7766770720481873
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1413052380084991,
+              0.016600370407104492,
+              0.0342065691947937
+            ],
+            "min_contact_pad_to_button": 0.020990565964023197,
+            "closest_contact_pad": [
+              0.15463249385356898,
+              -0.43948499391785145,
+              0.7890958444006362
+            ],
+            "closest_contact_pad_button": [
+              0.15463249385356898,
+              -0.43699187040328974,
+              0.7682538628578186
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024931235145617126,
+              0.020841981542817578
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37779bc158c3eb8b70059e0e7cae96d5a510067db42382def3bc9442cd84b3e2",
+    "visual_seed": 8918192107267591052,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4abf60f4779260c1a7429e89833a6d3b127ae2c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1635805234934792,
+              0.2361307852676327,
+              1.0470517234182957
+            ],
+            "current_z": 1.0470517234182957,
+            "required_z": 0.8611070444565687,
+            "initial_z": 0.7611070444565687,
+            "lift_margin": 0.18594467896172695,
+            "gripper_z": 1.053114803342459,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16056511253868855,
+              0.23244134109147485,
+              1.053114803342459
+            ],
+            "object_minus_gripper": [
+              0.0030154109547906593,
+              0.0036894441761578523,
+              -0.006063079924163439
+            ],
+            "object_to_gripper_xy": 0.004764945073687273,
+            "object_to_gripper_z": -0.006063079924163439,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1635805234934792,
+              0.2128374177280322,
+              1.0470517234182957
+            ],
+            "finger_b": [
+              0.1538192709449978,
+              0.2361307852676327,
+              1.0470517234182957
+            ],
+            "finger_midpoint": [
+              0.1586998972192385,
+              0.22448410149783243,
+              1.0470517234182957
+            ],
+            "object_minus_finger_midpoint": [
+              0.0048806262742407125,
+              0.01164668376980027,
+              0.0
+            ],
+            "finger_gap": 0.02525595024247057,
+            "fingertip_max_gap": 0.09158413398585255,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012627975121235304,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470517234182957,
+            "object_top_z": 1.0971845538704188,
+            "finger_top_clearance": 0.050132830452123134,
+            "fingertip_min_top_clearance": 0.01503984913563694,
+            "object_projection_between_fingers": 0.8506230210377093,
+            "object_to_finger_line_xy": 0.009002727716666478,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04829206699292628,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8075985439906256,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1641566037090488,
+              0.23820170823468845,
+              1.2416692474476918
+            ],
+            "held_position": [
+              0.16728811341547098,
+              0.24165323832619376,
+              1.2354973398413915
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007733812547165209,
+            "max_held_gripper_dist": 0.007748893661897213,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006171907606300264,
+            "max_held_gripper_z_dist": 0.006204808494665981,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08582799393132806,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16728811341547098,
+              0.21769479457645455,
+              1.2354973398413915
+            ],
+            "held_grasp_finger_b": [
+              0.15902180913438746,
+              0.24165323832619376,
+              1.2354973398413915
+            ],
+            "held_grasp_midpoint": [
+              0.16315496127492923,
+              0.22967401645132415,
+              1.2354973398413915
+            ],
+            "held_grasp_object_position": [
+              0.16728811341547098,
+              0.24165323832619376,
+              1.2354973398413915
+            ],
+            "held_grasp_finger_gap": 0.025344403985433896,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023626425828605507,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.037755549005012705,
+              -0.9991685993895524,
+              0.015382734257940123
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003682596612186556,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03759493829941751,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3027624259589798,
+              -0.37821573439767,
+              0.8515395330771571
+            ],
+            "target_position": [
+              0.2975994142367719,
+              -0.37891304488541655,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005209887902822626,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18220408647775937,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395330771571,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515353345626993,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08533427579150919,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15116216943476143,
+            "release_required_pad_clearance": 0.0526671378957546,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3916705530910347,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008378744125366211,
+            "max_z_decrease": 0.008378744125366211,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0349988636348086,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008378744125366211,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020889200179421818,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008378744125366211,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008378793835101128,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1532993465662002,
+              -0.43517449498176575,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1532993465662002,
+              -0.43517449498176575,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15252136933713797,
+              -0.43545828771322076,
+              0.8036211874895016
+            ],
+            "closest_button": [
+              0.15332749485969538,
+              -0.43515211343765253,
+              0.7686329483985901
+            ],
+            "closest_ee_minus_button": [
+              -0.0008061255225574049,
+              -0.0003061742755682273,
+              0.03498823909091153
+            ],
+            "button_min_z_position": [
+              0.1533148437738418,
+              -0.43515014648437494,
+              0.7684301137924194
+            ],
+            "min_active_finger_to_button": 0.14645646641526222,
+            "closest_active_finger": [
+              0.011801689863204956,
+              -0.4191223382949829,
+              0.8104740977287292
+            ],
+            "closest_active_finger_button": [
+              0.1532995700836181,
+              -0.4351751208305359,
+              0.7762665748596191
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14149788022041315,
+              0.01605278253555298,
+              0.03420752286911011
+            ],
+            "min_contact_pad_to_button": 0.020889200179421818,
+            "closest_contact_pad": [
+              0.1533148437738418,
+              -0.4366305195723806,
+              0.7892667925022394
+            ],
+            "closest_contact_pad_button": [
+              0.1533148437738418,
+              -0.43515014648437494,
+              0.7684301137924194
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014803730880056376,
+              0.020836678709819978
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44280be75c612daa1ca1bdbb548d4b8555aca4000f2a8137d8e4db86a41d72cb",
+    "visual_seed": 2627604448166795063,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6f0ebaca07e2ec921c22746705befc9935b0b36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16813666751398987,
+              0.23397091680572063,
+              1.048469269544788
+            ],
+            "current_z": 1.048469269544788,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.1873624039021533,
+            "gripper_z": 1.0543557611527767,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16509944236325722,
+              0.23023696708295444,
+              1.0543557611527767
+            ],
+            "object_minus_gripper": [
+              0.003037225150732653,
+              0.0037339497227661944,
+              -0.00588649160798882
+            ],
+            "object_to_gripper_xy": 0.0048132231558892765,
+            "object_to_gripper_z": -0.00588649160798882,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16813666751398987,
+              0.2107629503630332,
+              1.048469269544788
+            ],
+            "finger_b": [
+              0.15818588922543578,
+              0.23397091680572063,
+              1.048469269544788
+            ],
+            "finger_midpoint": [
+              0.16316127836971284,
+              0.22236693358437692,
+              1.048469269544788
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049753891442770315,
+              0.011603983221343706,
+              0.0
+            ],
+            "finger_gap": 0.025251290956164317,
+            "fingertip_max_gap": 0.09242160760988294,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01262564547808214,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048469269544788,
+            "object_top_z": 1.0992088716867254,
+            "finger_top_clearance": 0.05073960214193751,
+            "fingertip_min_top_clearance": 0.015221880642581237,
+            "object_projection_between_fingers": 0.844708770758022,
+            "object_to_finger_line_xy": 0.00914556523071587,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871080380494147,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7425433545796662,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1686907069083806,
+              0.2361227408677516,
+              1.2452905811525037
+            ],
+            "held_position": [
+              0.17190323505625105,
+              0.23960400923054473,
+              1.239325686523112
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076170554976572845,
+            "max_held_gripper_dist": 0.007630688105970605,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005964894629391759,
+            "max_held_gripper_z_dist": 0.005999522654693612,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08574732155369963,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17190323505625105,
+              0.2156412771187846,
+              1.239325686523112
+            ],
+            "held_grasp_finger_b": [
+              0.16344954525717786,
+              0.23960400923054473,
+              1.239325686523112
+            ],
+            "held_grasp_midpoint": [
+              0.16767639015671446,
+              0.22762264317466468,
+              1.239325686523112
+            ],
+            "held_grasp_object_position": [
+              0.17190323505625105,
+              0.23960400923054473,
+              1.239325686523112
+            ],
+            "held_grasp_finger_gap": 0.0254101830272616,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023537919951013866,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04655304374380272,
+              -0.9986951750915701,
+              0.020994317493210346
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003673257860417148,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03755774510357534,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30480954737710564,
+              -0.384208081228376,
+              0.8515395672877397
+            ],
+            "target_position": [
+              0.30085799121550255,
+              -0.3845628327786787,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0039674481421620965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18135810564726376,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395672877397,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588671761665089,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614523206521761,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14845118552886805,
+            "release_required_pad_clearance": 0.05307261603260881,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1743499472651278,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008362948894500732,
+            "max_z_decrease": 0.008362948894500732,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035042453558828554,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008362948894500732,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020837182649265817,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008362948894500732,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008363005335563434,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15655791759490967,
+              -0.4408243000507355,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15655791759490967,
+              -0.4408243000507355,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15596434711530113,
+              -0.43907794782857584,
+              0.8035086729199807
+            ],
+            "closest_button": [
+              0.15658614039421082,
+              -0.4407978951930999,
+              0.7685139775276184
+            ],
+            "closest_ee_minus_button": [
+              -0.0006217932789096825,
+              0.001719947364524077,
+              0.03499469539236233
+            ],
+            "button_min_z_position": [
+              0.1565796136856079,
+              -0.4408025443553924,
+              0.7684459090232849
+            ],
+            "min_active_finger_to_button": 0.14553792373381336,
+            "closest_active_finger": [
+              0.02939821034669876,
+              -0.5028518438339233,
+              0.8106421828269958
+            ],
+            "closest_active_finger_button": [
+              0.15655750036239624,
+              -0.4408241808414459,
+              0.7765192985534668
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12715929001569748,
+              -0.06202766299247742,
+              0.03412288427352905
+            ],
+            "min_contact_pad_to_button": 0.020837182649265817,
+            "closest_contact_pad": [
+              0.1565796136856079,
+              -0.4408025443553924,
+              0.7892830916725507
+            ],
+            "closest_contact_pad_button": [
+              0.1565796136856079,
+              -0.4408025443553924,
+              0.7684459090232849
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020837182649265817
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4a47da86db28241a09b0d60aef551731adfaae8fef14dce69d0146757b5156f",
+    "visual_seed": 8439025874872273607,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0826a1cf284e49a6fb5232def107705403028b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16024628400996788,
+              0.23657322201183112,
+              1.0494501981425757
+            ],
+            "current_z": 1.0494501981425757,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18834357091852016,
+            "gripper_z": 1.0552338022898582,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15738869455474408,
+              0.23306501215098163,
+              1.0552338022898582
+            ],
+            "object_minus_gripper": [
+              0.002857589455223797,
+              0.003508209860849487,
+              -0.005783604147282517
+            ],
+            "object_to_gripper_xy": 0.004524749045236411,
+            "object_to_gripper_z": -0.005783604147282517,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16024628400996788,
+              0.21316054832816375,
+              1.0494501981425757
+            ],
+            "finger_b": [
+              0.1510348805234527,
+              0.23657322201183112,
+              1.0494501981425757
+            ],
+            "finger_midpoint": [
+              0.1556405822667103,
+              0.22486688516999742,
+              1.0494501981425757
+            ],
+            "object_minus_finger_midpoint": [
+              0.004605701743257584,
+              0.011706336841833698,
+              0.0
+            ],
+            "finger_gap": 0.025159555703733606,
+            "fingertip_max_gap": 0.09105302050373654,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012579777851866817,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494501981425757,
+            "object_top_z": 1.0992169341396443,
+            "finger_top_clearance": 0.0497667359970686,
+            "fingertip_min_top_clearance": 0.014930020799120564,
+            "object_projection_between_fingers": 0.8659565253391096,
+            "object_to_finger_line_xy": 0.008571835947260837,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802651025186827,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0193457682510008,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1612474329161679,
+              0.23850404229004535,
+              1.2448941279355945
+            ],
+            "held_position": [
+              0.16419514714568156,
+              0.2418075783254633,
+              1.239010065480783
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007363732782244693,
+            "max_held_gripper_dist": 0.007380040446124031,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005884062454811545,
+            "max_held_gripper_z_dist": 0.005917069220543247,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08585382371379213,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16419514714568156,
+              0.21791246582519957,
+              1.239010065480783
+            ],
+            "held_grasp_finger_b": [
+              0.15622781450074444,
+              0.2418075783254633,
+              1.239010065480783
+            ],
+            "held_grasp_midpoint": [
+              0.16021148082321301,
+              0.22986002207533143,
+              1.239010065480783
+            ],
+            "held_grasp_object_position": [
+              0.16419514714568156,
+              0.2418075783254633,
+              1.239010065480783
+            ],
+            "held_grasp_finger_gap": 0.025188386031568994,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023688984322213544,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02464593325294992,
+              -0.9995913043104989,
+              0.014484554564316517
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003692088893242332,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03767939556041712,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30866332620735415,
+              -0.38053440158322055,
+              0.8515395673556774
+            ],
+            "target_position": [
+              0.3033898063468833,
+              -0.3810363953724533,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005297358727064737,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18361429896822618,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395673556774,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558651479570015,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08684429660076574,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15134536769871276,
+            "release_required_pad_clearance": 0.053422148300382874,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8587184313357679,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008497536182403564,
+            "max_z_decrease": 0.008497536182403564,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035046533420682494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008497536182403564,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020944424880050955,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008497536182403564,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008497595255558314,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15908972918987274,
+              -0.4372978508472442,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15908972918987274,
+              -0.4372978508472442,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16068486406153457,
+              -0.4377099662204068,
+              0.8036837133730227
+            ],
+            "closest_button": [
+              0.15909396111965182,
+              -0.43727234005928034,
+              0.7686760425567627
+            ],
+            "closest_ee_minus_button": [
+              0.0015909029418827436,
+              -0.0004376261611264698,
+              0.035007670816259995
+            ],
+            "button_min_z_position": [
+              0.15908153355121613,
+              -0.43726724386215204,
+              0.7683113217353821
+            ],
+            "min_active_finger_to_button": 0.1441311466935653,
+            "closest_active_finger": [
+              0.020083874464035034,
+              -0.42059633135795593,
+              0.8106077909469604
+            ],
+            "closest_active_finger_button": [
+              0.1590898782014847,
+              -0.43729966878890986,
+              0.7763715982437134
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13900600373744967,
+              0.016703337430953924,
+              0.03423619270324707
+            ],
+            "min_contact_pad_to_button": 0.020944424880050955,
+            "closest_contact_pad": [
+              0.15908153355121613,
+              -0.4389680456203284,
+              0.7891865751933759
+            ],
+            "closest_contact_pad_button": [
+              0.15908153355121613,
+              -0.43726724386215204,
+              0.7683113217353821
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001700801758176329,
+              0.020875253457993792
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "629d65755a9c41ffaa3451a87491efab4eeba7bd8571c96fc7454d6b955899e0",
+    "visual_seed": 1712317005492395840,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba6763664451a79e6f81d562e6f2f62afe426624
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1680045083828149,
+              0.23350658063737176,
+              1.0492904281681386
+            ],
+            "current_z": 1.0492904281681386,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18818374133943838,
+            "gripper_z": 1.0553113538842502,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1656280234584159,
+              0.23027643095526873,
+              1.0553113538842502
+            ],
+            "object_minus_gripper": [
+              0.002376484924398986,
+              0.0032301496821030284,
+              -0.00602092571611168
+            ],
+            "object_to_gripper_xy": 0.004010180490287931,
+            "object_to_gripper_z": -0.00602092571611168,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1680045083828149,
+              0.2103480855675842,
+              1.0492904281681386
+            ],
+            "finger_b": [
+              0.15930713238776184,
+              0.23350658063737176,
+              1.0492904281681386
+            ],
+            "finger_midpoint": [
+              0.16365582038528836,
+              0.22192733310247797,
+              1.0492904281681386
+            ],
+            "object_minus_finger_midpoint": [
+              0.004348687997526524,
+              0.011579247534893783,
+              0.0
+            ],
+            "finger_gap": 0.024737830201873,
+            "fingertip_max_gap": 0.09851253267357646,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0123689151009365,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492904281681386,
+            "object_top_z": 1.1030458796478189,
+            "finger_top_clearance": 0.053755451479680305,
+            "fingertip_min_top_clearance": 0.01612663544390409,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.0123689151009365,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05175626633678823,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.911794775678293,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16952155982073003,
+              0.23577866534296305,
+              1.2458184242374652
+            ],
+            "held_position": [
+              0.17199350279852152,
+              0.23882637618808936,
+              1.2397218763414244
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007250306181788011,
+            "max_held_gripper_dist": 0.007266149713063621,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00609654789604086,
+            "max_held_gripper_z_dist": 0.006124849612803462,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08629888440033931,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17199350279852152,
+              0.2151741618038318,
+              1.2397218763414244
+            ],
+            "held_grasp_finger_b": [
+              0.1644840631033278,
+              0.23882637618808936,
+              1.2397218763414244
+            ],
+            "held_grasp_midpoint": [
+              0.16823878295092465,
+              0.2270002689959606,
+              1.2397218763414244
+            ],
+            "held_grasp_object_position": [
+              0.17199350279852152,
+              0.23882637618808936,
+              1.2397218763414244
+            ],
+            "held_grasp_finger_gap": 0.02481569926104503,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023516674837178196,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.012995087935969929,
+              -0.9983953418790374,
+              0.05511686678119765
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036594830777658682,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03786432682231706,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29902102167639777,
+              -0.3855522187248346,
+              0.8515395823378051
+            ],
+            "target_position": [
+              0.29829083717299315,
+              -0.3837251141539493,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0019676078171125037,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17820825499906162,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395823378051,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569094522777538,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08757288263327305,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1454461771879749,
+            "release_required_pad_clearance": 0.05378644131663653,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.582085897498201,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008634448051452637,
+            "max_z_decrease": 0.008634448051452637,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035036822682696686,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008634448051452637,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02085601759739064,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008634448051452637,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008634511811756064,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1539907604455948,
+              -0.43998658657073975,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1539907604455948,
+              -0.43998658657073975,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15432720158935295,
+              -0.438361229957154,
+              0.8035430736842606
+            ],
+            "closest_button": [
+              0.15399399399757385,
+              -0.43994125723838806,
+              0.7685434818267822
+            ],
+            "closest_ee_minus_button": [
+              0.0003332075917791,
+              0.0015800272812340754,
+              0.03499959185747836
+            ],
+            "button_min_z_position": [
+              0.15398985147476196,
+              -0.4399534165859222,
+              0.768174409866333
+            ],
+            "min_active_finger_to_button": 0.14478983120804206,
+            "closest_active_finger": [
+              0.028451114892959595,
+              -0.5035228729248047,
+              0.8108133673667908
+            ],
+            "closest_active_finger_button": [
+              0.15399140119552612,
+              -0.4399859309196472,
+              0.7766550779342651
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12554028630256653,
+              -0.06353694200515747,
+              0.034158289432525635
+            ],
+            "min_contact_pad_to_button": 0.02085601759739064,
+            "closest_contact_pad": [
+              0.15398985147476196,
+              -0.4399534165859222,
+              0.7890304274637236
+            ],
+            "closest_contact_pad_button": [
+              0.15398985147476196,
+              -0.4399534165859222,
+              0.768174409866333
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02085601759739064
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a098fe8a7f969e8804ffc5e45c46dfcd819a6766585a918c132be8f32047134b",
+    "visual_seed": 9078737662925719947,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b16e3f577c2cd9241e9f421e91347f7c1f49b5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16414992069687143,
+              0.24291270520633357,
+              1.0466991227242217
+            ],
+            "current_z": 1.0466991227242217,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1855924955001661,
+            "gripper_z": 1.0528219867517503,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16042918126652475,
+              0.239016392138655,
+              1.0528219867517503
+            ],
+            "object_minus_gripper": [
+              0.0037207394303466756,
+              0.0038963130676785696,
+              -0.006122864027528596
+            ],
+            "object_to_gripper_xy": 0.005387500109503413,
+            "object_to_gripper_z": -0.006122864027528596,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16414992069687143,
+              0.2191258522784567,
+              1.0466991227242217
+            ],
+            "finger_b": [
+              0.1541220290768214,
+              0.24291270520633357,
+              1.0466991227242217
+            ],
+            "finger_midpoint": [
+              0.15913597488684642,
+              0.23101927874239514,
+              1.0466991227242217
+            ],
+            "object_minus_finger_midpoint": [
+              0.005013945810025011,
+              0.011893426463938428,
+              0.0
+            ],
+            "finger_gap": 0.025814201179891527,
+            "fingertip_max_gap": 0.11032913191910232,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012907100589945764,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466991227242217,
+            "object_top_z": 1.1049127496915014,
+            "finger_top_clearance": 0.05821362696727972,
+            "fingertip_min_top_clearance": 0.01746408809018388,
+            "object_projection_between_fingers": 0.8490956071511621,
+            "object_to_finger_line_xy": 0.009240339512369937,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.057664565959551155,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 7.427794662505848,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16343619206890195,
+              0.24576237626107997,
+              1.243141201581278
+            ],
+            "held_position": [
+              0.16721349698166899,
+              0.24949359093991197,
+              1.236926059427936
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008174227019712146,
+            "max_held_gripper_dist": 0.00818789391747325,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006215142153341846,
+            "max_held_gripper_z_dist": 0.006254795134657654,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0861656664524662,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16721349698166899,
+              0.2254512623992673,
+              1.236926059427936
+            ],
+            "held_grasp_finger_b": [
+              0.15791065772840351,
+              0.24949359093991197,
+              1.236926059427936
+            ],
+            "held_grasp_midpoint": [
+              0.16256207735503625,
+              0.23747242666958962,
+              1.236926059427936
+            ],
+            "held_grasp_object_position": [
+              0.16721349698166899,
+              0.24949359093991197,
+              1.236926059427936
+            ],
+            "held_grasp_finger_gap": 0.025779378965141774,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024513539198612946,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06918906669424675,
+              -0.9928274789490443,
+              0.09750112867892377
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0055928220796707465,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03810713523632863,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29511396818777536,
+              -0.3871764147524427,
+              0.8515395880957113
+            ],
+            "target_position": [
+              0.29850594707864353,
+              -0.38311790422410935,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005289331574470241,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1762985486549187,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395880957113,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574475775207624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0910663016781617,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14322056188351767,
+            "release_required_pad_clearance": 0.05553315083908085,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.214684273515232,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008575081825256348,
+            "max_z_decrease": 0.008575081825256348,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503351495246325,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008575081825256348,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021035571496161795,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008575081825256348,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00857517106075412,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15420587360858914,
+              -0.43937936425209045,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15420587360858914,
+              -0.43937936425209045,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15307497581834556,
+              -0.4410670710369624,
+              0.803577122729729
+            ],
+            "closest_button": [
+              0.15419591963291168,
+              -0.4393424987792969,
+              0.768604040145874
+            ],
+            "closest_ee_minus_button": [
+              -0.0011209438145661221,
+              -0.0017245722576655353,
+              0.03497308258385501
+            ],
+            "button_min_z_position": [
+              0.15418796241283417,
+              -0.43934458494186407,
+              0.7682337760925293
+            ],
+            "min_active_finger_to_button": 0.14659237069307857,
+            "closest_active_finger": [
+              0.012503460049629211,
+              -0.42383870482444763,
+              0.8107959628105164
+            ],
+            "closest_active_finger_button": [
+              0.15420480072498322,
+              -0.43938109278678894,
+              0.7766128182411194
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141701340675354,
+              0.015542387962341309,
+              0.03418314456939697
+            ],
+            "min_contact_pad_to_button": 0.021035571496161795,
+            "closest_contact_pad": [
+              0.15418796241283417,
+              -0.44233406249172474,
+              0.789055838722082
+            ],
+            "closest_contact_pad_button": [
+              0.15418796241283417,
+              -0.43934458494186407,
+              0.7682337760925293
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002989477549860675,
+              0.020822062629552662
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f85b302be1d6681ece5899f90de9b23881f7fe4d95c860f95b94c0931dae2f37",
+    "visual_seed": 7359298698197994076,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f75c33c6dc2afd6999c03d720992829900aa2ef9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16611002126740948,
+              0.24140792234750952,
+              1.0495970214898742
+            ],
+            "current_z": 1.0495970214898742,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.18849051347510848,
+            "gripper_z": 1.0553812899375878,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16300977199886524,
+              0.2377072942638981,
+              1.0553812899375878
+            ],
+            "object_minus_gripper": [
+              0.0031002492685442418,
+              0.003700628083611407,
+              -0.005784268447713625
+            ],
+            "object_to_gripper_xy": 0.0048276488832891045,
+            "object_to_gripper_z": -0.005784268447713625,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16611002126740948,
+              0.21799919386849345,
+              1.0495970214898742
+            ],
+            "finger_b": [
+              0.15638959575066655,
+              0.24140792234750952,
+              1.0495970214898742
+            ],
+            "finger_midpoint": [
+              0.16124980850903803,
+              0.22970355810800147,
+              1.0495970214898742
+            ],
+            "object_minus_finger_midpoint": [
+              0.004860212758371452,
+              0.011704364239508047,
+              0.0
+            ],
+            "finger_gap": 0.025346700795780996,
+            "fingertip_max_gap": 0.09176777390924168,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012673350397890505,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495970214898742,
+            "object_top_z": 1.0999401186958169,
+            "finger_top_clearance": 0.050343097205942655,
+            "fingertip_min_top_clearance": 0.015102929161782797,
+            "object_projection_between_fingers": 0.8529287860652747,
+            "object_to_finger_line_xy": 0.008977215751085416,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838388695462084,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8357118749535103,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16687722487813003,
+              0.24303007100825125,
+              1.244662084832612
+            ],
+            "held_position": [
+              0.17011661165143838,
+              0.246483875468811,
+              1.238782924970315
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007548967651626992,
+            "max_held_gripper_dist": 0.007562354783347749,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005879159862296923,
+            "max_held_gripper_z_dist": 0.0059135877676945725,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597490131563745,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17011661165143838,
+              0.22242009959721756,
+              1.238782924970315
+            ],
+            "held_grasp_finger_b": [
+              0.16185956509547078,
+              0.246483875468811,
+              1.238782924970315
+            ],
+            "held_grasp_midpoint": [
+              0.16598808837345458,
+              0.23445198753301427,
+              1.238782924970315
+            ],
+            "held_grasp_object_position": [
+              0.17011661165143838,
+              0.246483875468811,
+              1.238782924970315
+            ],
+            "held_grasp_finger_gap": 0.02544099304323043,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02371484998809458,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03943162849943936,
+              -0.9990301982811881,
+              0.01959105908654446
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036585798936415045,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03753723628375028,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3078928420693645,
+              -0.377816083390505,
+              0.8515395215580509
+            ],
+            "target_position": [
+              0.30226095599029895,
+              -0.3785743969145358,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005682708879425421,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18247877779163435,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395215580509,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530688788607406,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510005317472273,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15099172387179247,
+            "release_required_pad_clearance": 0.05255002658736137,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1678587408191396,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008550643920898438,
+            "max_z_decrease": 0.008550643920898438,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499957049544454,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008550643920898438,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020904423255131706,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008550643920898438,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008550802814001526,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15796087682247162,
+              -0.43483585119247437,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15796087682247162,
+              -0.43483585119247437,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15676900698787474,
+              -0.4353222143373113,
+              0.8036216500055068
+            ],
+            "closest_button": [
+              0.15799391269683838,
+              -0.43481120467185974,
+              0.7686472535133362
+            ],
+            "closest_ee_minus_button": [
+              -0.0012249057089636362,
+              -0.0005110096654515339,
+              0.0349743964921706
+            ],
+            "button_min_z_position": [
+              0.15800084173679352,
+              -0.434802383184433,
+              0.7682582139968872
+            ],
+            "min_active_finger_to_button": 0.14685005627889566,
+            "closest_active_finger": [
+              0.01603899896144867,
+              -0.41893893480300903,
+              0.8108901381492615
+            ],
+            "closest_active_finger_button": [
+              0.15796318650245667,
+              -0.43483665585517883,
+              0.7766888737678528
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141924187541008,
+              0.0158977210521698,
+              0.03420126438140869
+            ],
+            "min_contact_pad_to_button": 0.020904423255131706,
+            "closest_contact_pad": [
+              0.15800084173679352,
+              -0.43653216626517816,
+              0.789090946945861
+            ],
+            "closest_contact_pad_button": [
+              0.15800084173679352,
+              -0.434802383184433,
+              0.7682582139968872
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001729783080745173,
+              0.02083273294897381
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "218bb5c5528bb8da5fe36288083ab4b08e9c46e7ad2249218748104d260dc95a",
+    "visual_seed": 2749154478373961733,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..068a489030d74e9dd2c56218ea125ad4221902d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16140402301246295,
+              0.23264111882964028,
+              1.046231484544223
+            ],
+            "current_z": 1.046231484544223,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18512473811087804,
+            "gripper_z": 1.0519328010880251,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15839488551601283,
+              0.22890568814271955,
+              1.0519328010880251
+            ],
+            "object_minus_gripper": [
+              0.003009137496450126,
+              0.0037354306869207266,
+              -0.005701316543802015
+            ],
+            "object_to_gripper_xy": 0.004796702084696442,
+            "object_to_gripper_z": -0.005701316543802015,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16140402301246295,
+              0.20954898654136664,
+              1.046231484544223
+            ],
+            "finger_b": [
+              0.15131836663446496,
+              0.23264111882964028,
+              1.046231484544223
+            ],
+            "finger_midpoint": [
+              0.15636119482346394,
+              0.22109505268550345,
+              1.046231484544223
+            ],
+            "object_minus_finger_midpoint": [
+              0.00504282818899901,
+              0.011546066144136835,
+              0.0
+            ],
+            "finger_gap": 0.02519855230353882,
+            "fingertip_max_gap": 0.09170628461823727,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01259927615176943,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046231484544223,
+            "object_top_z": 1.0965538391551584,
+            "finger_top_clearance": 0.05032235461093526,
+            "fingertip_min_top_clearance": 0.015096706383280594,
+            "object_projection_between_fingers": 0.8398019763918138,
+            "object_to_finger_line_xy": 0.009242567132005153,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048353142309118635,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9075806096514171,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16212718528660078,
+              0.23441532181922525,
+              1.23983587521843
+            ],
+            "held_position": [
+              0.1652879179906566,
+              0.2378616499765948,
+              1.2340073264189326
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007472575867991452,
+            "max_held_gripper_dist": 0.0074864795844539625,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005828548799497346,
+            "max_held_gripper_z_dist": 0.005861772594950354,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08572648986576911,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1652879179906566,
+              0.21386296270200894,
+              1.2340073264189326
+            ],
+            "held_grasp_finger_b": [
+              0.1571033078026014,
+              0.2378616499765948,
+              1.2340073264189326
+            ],
+            "held_grasp_midpoint": [
+              0.16119561289662898,
+              0.22586230633930188,
+              1.2340073264189326
+            ],
+            "held_grasp_object_position": [
+              0.1652879179906566,
+              0.2378616499765948,
+              1.2340073264189326
+            ],
+            "held_grasp_finger_gap": 0.025355962510498133,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023539321339761242,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.052070954174668636,
+              -0.9986171963322333,
+              0.007232628905829653
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003463043140563801,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03752440893817469,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3093601628409256,
+              -0.3872005511570902,
+              0.8515395795453374
+            ],
+            "target_position": [
+              0.30354707792288976,
+              -0.38830528048283447,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005917126257521903,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18256709454733755,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395795453374,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569894335085453,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517632960732534,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15026687918631346,
+            "release_required_pad_clearance": 0.05258816480366267,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24066260689019375,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008653759956359863,
+            "max_z_decrease": 0.008653759956359863,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508069173230634,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008653759956359863,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020873351220422,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008653759956359863,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00865396396581452,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1592470109462738,
+              -0.44456672668457026,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1592470109462738,
+              -0.44456672668457026,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1603920924205319,
+              -0.44247973198906837,
+              0.8032108958126609
+            ],
+            "closest_button": [
+              0.15929175913333893,
+              -0.44453257322311396,
+              0.7682076096534729
+            ],
+            "closest_ee_minus_button": [
+              0.0011003332871929727,
+              0.002052841234045588,
+              0.03500328615918802
+            ],
+            "button_min_z_position": [
+              0.15929396450519562,
+              -0.4445303082466125,
+              0.7681550979614258
+            ],
+            "min_active_finger_to_button": 0.14390709587191178,
+            "closest_active_finger": [
+              0.03255137801170349,
+              -0.5036430954933167,
+              0.8103675842285156
+            ],
+            "closest_active_finger_button": [
+              0.15924713015556338,
+              -0.44456833600997914,
+              0.7761972546577454
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1266957521438599,
+              -0.05907475948333751,
+              0.034170329570770264
+            ],
+            "min_contact_pad_to_button": 0.020873351220422,
+            "closest_contact_pad": [
+              0.15929396450519562,
+              -0.4445303082466125,
+              0.7890284491818478
+            ],
+            "closest_contact_pad_button": [
+              0.15929396450519562,
+              -0.4445303082466125,
+              0.7681550979614258
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020873351220422
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e925a61a7f778b5ed24126a40e5163986c0c0c8fa3ed2ab6b191a737b7e2768",
+    "visual_seed": 5634244566839451732,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1609d7d4451accdd7e9d87862557c6cdcd285e2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16690076800794074,
+              0.2326364907160595,
+              1.0490608313688743
+            ],
+            "current_z": 1.0490608313688743,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18795402533088446,
+            "gripper_z": 1.0547994614827394,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16412618857619565,
+              0.2291469730640464,
+              1.0547994614827394
+            ],
+            "object_minus_gripper": [
+              0.0027745794317450834,
+              0.00348951765201308,
+              -0.005738630113865106
+            ],
+            "object_to_gripper_xy": 0.004458141369087992,
+            "object_to_gripper_z": -0.005738630113865106,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16690076800794074,
+              0.20924819517138743,
+              1.0490608313688743
+            ],
+            "finger_b": [
+              0.15778252190135086,
+              0.2326364907160595,
+              1.0490608313688743
+            ],
+            "finger_midpoint": [
+              0.16234164495464581,
+              0.22094234294372345,
+              1.0490608313688743
+            ],
+            "object_minus_finger_midpoint": [
+              0.004559123053294922,
+              0.011694147772336044,
+              0.0
+            ],
+            "finger_gap": 0.025102883908931027,
+            "fingertip_max_gap": 0.09451506475732363,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012551441954465522,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490608313688743,
+            "object_top_z": 1.1005085735923494,
+            "finger_top_clearance": 0.051447742223475146,
+            "fingertip_min_top_clearance": 0.01543432266704256,
+            "object_projection_between_fingers": 0.8680603327512665,
+            "object_to_finger_line_xy": 0.008495447597321923,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04975753237866182,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.705118065263833,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16769326343895838,
+              0.2352309541999634,
+              1.2454639281428643
+            ],
+            "held_position": [
+              0.17054820061489173,
+              0.23854506401233974,
+              1.239644503034563
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00728008919712818,
+            "max_held_gripper_dist": 0.007293594803802198,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005819425108301246,
+            "max_held_gripper_z_dist": 0.005850958277277218,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08571575055367972,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17054820061489173,
+              0.21475825088435233,
+              1.239644503034563
+            ],
+            "held_grasp_finger_b": [
+              0.16244965079159587,
+              0.23854506401233974,
+              1.239644503034563
+            ],
+            "held_grasp_midpoint": [
+              0.16649892570324382,
+              0.22665165744834603,
+              1.239644503034563
+            ],
+            "held_grasp_object_position": [
+              0.17054820061489173,
+              0.23854506401233974,
+              1.239644503034563
+            ],
+            "held_grasp_finger_gap": 0.02512765385041349,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02369199669591804,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.010380479004661387,
+              -0.9995480855042409,
+              0.028211175453011217
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00393996090613639,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037790184895727115,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30837912924999095,
+              -0.37858192748420294,
+              0.8515395593477175
+            ],
+            "target_position": [
+              0.30447518564659065,
+              -0.3785747103337462,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003903950274502839,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1809206438848626,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395593477175,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532676066131463,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618834819041331,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14952114910112055,
+            "release_required_pad_clearance": 0.053094174095206656,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2162577500168934,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008341670036315918,
+            "max_z_decrease": 0.008341670036315918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035087757205874155,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008341670036315918,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020873708226374688,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008341670036315918,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008341729030717495,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16017511487007136,
+              -0.43483617901802063,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16017511487007136,
+              -0.43483617901802063,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16154536845461268,
+              -0.43297842515206153,
+              0.803549403649603
+            ],
+            "closest_button": [
+              0.1602038592100143,
+              -0.43480932712554926,
+              0.7685351371765137
+            ],
+            "closest_ee_minus_button": [
+              0.0013415092445983878,
+              0.0018309019734877308,
+              0.03501426647308936
+            ],
+            "button_min_z_position": [
+              0.16019691526889795,
+              -0.43481361865997314,
+              0.7684671878814697
+            ],
+            "min_active_finger_to_button": 0.1437744656203218,
+            "closest_active_finger": [
+              0.03457086533308029,
+              -0.4959072768688202,
+              0.8106632232666016
+            ],
+            "closest_active_finger_button": [
+              0.16017489135265345,
+              -0.4348378777503967,
+              0.7765274047851562
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12560402601957316,
+              -0.06106939911842352,
+              0.03413581848144531
+            ],
+            "min_contact_pad_to_button": 0.020873708226374688,
+            "closest_contact_pad": [
+              0.16019691526889795,
+              -0.43481361865997314,
+              0.7893408961078444
+            ],
+            "closest_contact_pad_button": [
+              0.16019691526889795,
+              -0.43481361865997314,
+              0.7684671878814697
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020873708226374688
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f02b73d6530a0862dafbb8514a0f55f0a6d1e9d3426c35584dc5ea2eaef96ff7",
+    "visual_seed": 7155920185964567657,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04652ab7a1b990234ea8c96bc89eb66fcc936a53
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16633298823410947,
+              0.23743430302007398,
+              1.0469124833988142
+            ],
+            "current_z": 1.0469124833988142,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18580567736082432,
+            "gripper_z": 1.052784595370906,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1631713519441938,
+              0.23373118088836964,
+              1.052784595370906
+            ],
+            "object_minus_gripper": [
+              0.0031616362899156703,
+              0.003703122131704345,
+              -0.00587211197209192
+            ],
+            "object_to_gripper_xy": 0.0048691947539639705,
+            "object_to_gripper_z": -0.00587211197209192,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16633298823410947,
+              0.21392513815265612,
+              1.0469124833988142
+            ],
+            "finger_b": [
+              0.1566860292134981,
+              0.23743430302007398,
+              1.0469124833988142
+            ],
+            "finger_midpoint": [
+              0.1615095087238038,
+              0.22567972058636504,
+              1.0469124833988142
+            ],
+            "object_minus_finger_midpoint": [
+              0.004823479510305678,
+              0.011754582433708943,
+              0.0
+            ],
+            "finger_gap": 0.02541150627390649,
+            "fingertip_max_gap": 0.09085144449937149,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01270575313695326,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469124833988142,
+            "object_top_z": 1.0966414446107178,
+            "finger_top_clearance": 0.04972896121190362,
+            "fingertip_min_top_clearance": 0.014918688363571086,
+            "object_projection_between_fingers": 0.855881394935974,
+            "object_to_finger_line_xy": 0.008924773983888355,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04792572224968575,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8712414963059039,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16701374693659773,
+              0.23910659556800662,
+              1.2404046328905658
+            ],
+            "held_position": [
+              0.17027368203743876,
+              0.2425730339473702,
+              1.2344102615922452
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007653486732316837,
+            "max_held_gripper_dist": 0.007670486675016461,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005994371298320589,
+            "max_held_gripper_z_dist": 0.006028064876420158,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612465643872622,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17027368203743876,
+              0.21848982052290405,
+              1.2344102615922452
+            ],
+            "held_grasp_finger_b": [
+              0.16206839138716203,
+              0.2425730339473702,
+              1.2344102615922452
+            ],
+            "held_grasp_midpoint": [
+              0.16617103671230038,
+              0.23053142723513714,
+              1.2344102615922452
+            ],
+            "held_grasp_object_position": [
+              0.17027368203743876,
+              0.2425730339473702,
+              1.2344102615922452
+            ],
+            "held_grasp_finger_gap": 0.02544264065508738,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023796723383552203,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03303127885154927,
+              -0.9993581090233191,
+              0.013867391491091396
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037064627965438905,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03755085713479166,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30686933612102124,
+              -0.38664278854716627,
+              0.8515395644937453
+            ],
+            "target_position": [
+              0.30116010408747645,
+              -0.38730385482669827,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005747376709316018,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845596752685432,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395644937453,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530701587482937,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856802273056304,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15312805192290876,
+            "release_required_pad_clearance": 0.0528401136528152,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7241537834107715,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008513987064361572,
+            "max_z_decrease": 0.008513987064361572,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501721260377611,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008513987064361572,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020972234681398045,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008513987064361572,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008514209333624356,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15686002373695368,
+              -0.44356530904769903,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15686002373695368,
+              -0.44356530904769903,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15560592367576925,
+              -0.4448647809374339,
+              0.8036052779043348
+            ],
+            "closest_button": [
+              0.15690007805824277,
+              -0.44354033470153814,
+              0.7686370611190796
+            ],
+            "closest_ee_minus_button": [
+              -0.0012941543824735169,
+              -0.001324446235895782,
+              0.03496821678525519
+            ],
+            "button_min_z_position": [
+              0.15690986812114713,
+              -0.4435292482376099,
+              0.7682948708534241
+            ],
+            "min_active_finger_to_button": 0.14683025417210843,
+            "closest_active_finger": [
+              0.014890708029270172,
+              -0.4282485842704773,
+              0.8105971217155457
+            ],
+            "closest_active_finger_button": [
+              0.1568595319986343,
+              -0.4435671269893647,
+              0.7764018177986145
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14196882396936414,
+              0.015318542718887385,
+              0.03419530391693115
+            ],
+            "min_contact_pad_to_button": 0.020972234681398045,
+            "closest_contact_pad": [
+              0.15690986812114713,
+              -0.4460854724294293,
+              0.7891107384887832
+            ],
+            "closest_contact_pad_button": [
+              0.15690986812114713,
+              -0.4435292482376099,
+              0.7682948708534241
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025562241918193895,
+              0.020815867635359142
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2da5388486da7774d196f1e187ee901c4b3c7943f39cbf4e0c3067e451499efa",
+    "visual_seed": 3860757722035234278,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d29f5fcc0aa2c384ccade31c4cb02fc5d3c0ed9f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16133101365662295,
+              0.23107630488953038,
+              1.0487824052959875
+            ],
+            "current_z": 1.0487824052959875,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18767577807193192,
+            "gripper_z": 1.054775831164887,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15817167453549597,
+              0.22727234122687845,
+              1.054775831164887
+            ],
+            "object_minus_gripper": [
+              0.0031593391211269806,
+              0.003803963662651927,
+              -0.0059934258688993935
+            ],
+            "object_to_gripper_xy": 0.004944852194864844,
+            "object_to_gripper_z": -0.0059934258688993935,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16133101365662295,
+              0.2078717767591076,
+              1.0487824052959875
+            ],
+            "finger_b": [
+              0.15115019846462713,
+              0.23107630488953038,
+              1.0487824052959875
+            ],
+            "finger_midpoint": [
+              0.15624060606062504,
+              0.21947404082431898,
+              1.0487824052959875
+            ],
+            "object_minus_finger_midpoint": [
+              0.005090407595997909,
+              0.011602264065211393,
+              0.0
+            ],
+            "finger_gap": 0.02533967489391202,
+            "fingertip_max_gap": 0.09163175251536004,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01266983744695601,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487824052959875,
+            "object_top_z": 1.0987530960026326,
+            "finger_top_clearance": 0.04997069070664506,
+            "fingertip_min_top_clearance": 0.0149912072119935,
+            "object_projection_between_fingers": 0.8385778859631443,
+            "object_to_finger_line_xy": 0.009322969355461638,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048315876257680024,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1881064906857886,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1618743822114291,
+              0.23292300101021723,
+              1.2426717414745332
+            ],
+            "held_position": [
+              0.16518670281774409,
+              0.23643844055203228,
+              1.2365614522092852
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00778880079833738,
+            "max_held_gripper_dist": 0.0078024572397501065,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006110289265248037,
+            "max_held_gripper_z_dist": 0.006145305258745015,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08591382551487464,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16518670281774409,
+              0.2124041391475842,
+              1.2365614522092852
+            ],
+            "held_grasp_finger_b": [
+              0.156774352216898,
+              0.23643844055203228,
+              1.2365614522092852
+            ],
+            "held_grasp_midpoint": [
+              0.16098052751732106,
+              0.22442128984980825,
+              1.2365614522092852
+            ],
+            "held_grasp_object_position": [
+              0.16518670281774409,
+              0.23643844055203228,
+              1.2365614522092852
+            ],
+            "held_grasp_finger_gap": 0.02546399981604247,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02365902891867911,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.041761735354707105,
+              -0.9990031694342901,
+              0.015767844507306394
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003705567560292778,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03753942125125196,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3088038259339351,
+              -0.38431685648555514,
+              0.8515396380437565
+            ],
+            "target_position": [
+              0.30327534320650734,
+              -0.38525712717949395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0056078721673507815,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825730582467679,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396380437565,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569313523532437,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574695368614459,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15013845812251655,
+            "release_required_pad_clearance": 0.052873476843072295,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7883222438187698,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008629560470581055,
+            "max_z_decrease": 0.008629560470581055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504528945673238,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008629560470581055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02090850426443722,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008629560470581055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008629731829660358,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15897527337074285,
+              -0.4415185749530792,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15897527337074285,
+              -0.4415185749530792,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16068197517129332,
+              -0.4414428376271355,
+              0.8031844723344082
+            ],
+            "closest_button": [
+              0.15900593996047976,
+              -0.44147366285324097,
+              0.7681792974472046
+            ],
+            "closest_ee_minus_button": [
+              0.0016760352108135534,
+              3.0825226105479775e-05,
+              0.03500517488720356
+            ],
+            "button_min_z_position": [
+              0.15900593996047976,
+              -0.44147366285324097,
+              0.7681792974472046
+            ],
+            "min_active_finger_to_button": 0.1440784382059182,
+            "closest_active_finger": [
+              0.02007906883955002,
+              -0.4243631958961487,
+              0.810468316078186
+            ],
+            "closest_active_finger_button": [
+              0.15897563099861148,
+              -0.4415198564529419,
+              0.776233971118927
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13889656215906146,
+              0.017156660556793213,
+              0.03423434495925903
+            ],
+            "min_contact_pad_to_button": 0.02090850426443722,
+            "closest_contact_pad": [
+              0.15900593996047976,
+              -0.4427056511677467,
+              0.7890514740315695
+            ],
+            "closest_contact_pad_button": [
+              0.15900593996047976,
+              -0.44147366285324097,
+              0.7681792974472046
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012319883145057164,
+              0.02087217658436491
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d66beca3ba3371a61d45fd30e2c8f82da4cd93e885530dac9d86f01ad20b7fcc",
+    "visual_seed": 3741148544229465716,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f561bb7867fd71dfc0ad8dc4ed994d77bd0505e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16683350684279988,
+              0.23553688231536304,
+              1.0468195019484408
+            ],
+            "current_z": 1.0468195019484408,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.1857126959104507,
+            "gripper_z": 1.0526646458381148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16384066501692027,
+              0.23186608372450218,
+              1.0526646458381148
+            ],
+            "object_minus_gripper": [
+              0.002992841825879611,
+              0.003670798590860863,
+              -0.005845143889674054
+            ],
+            "object_to_gripper_xy": 0.004736228931270162,
+            "object_to_gripper_z": -0.005845143889674054,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16683350684279988,
+              0.21225085981953146,
+              1.0468195019484408
+            ],
+            "finger_b": [
+              0.1571046060841152,
+              0.23553688231536304,
+              1.0468195019484408
+            ],
+            "finger_midpoint": [
+              0.16196905646345755,
+              0.22389387106744724,
+              1.0468195019484408
+            ],
+            "object_minus_finger_midpoint": [
+              0.004864450379342328,
+              0.011643011247915808,
+              0.0
+            ],
+            "finger_gap": 0.02523668666145994,
+            "fingertip_max_gap": 0.0923243481415473,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012618343330729979,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468195019484408,
+            "object_top_z": 1.0972562402255202,
+            "finger_top_clearance": 0.050436738277079396,
+            "fingertip_min_top_clearance": 0.015131021483123801,
+            "object_projection_between_fingers": 0.851384921391756,
+            "object_to_finger_line_xy": 0.00897690750634135,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866217407077365,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.084023374592482,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1674859355004164,
+              0.23755355457627692,
+              1.2421995963082155
+            ],
+            "held_position": [
+              0.17062314770541906,
+              0.24099210985855193,
+              1.2362597071538026
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007546392914180329,
+            "max_held_gripper_dist": 0.007562026001658305,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005939889154412903,
+            "max_held_gripper_z_dist": 0.005973374965862588,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08584252408347234,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17062314770541906,
+              0.2170266780450212,
+              1.2362597071538026
+            ],
+            "held_grasp_finger_b": [
+              0.16234879136195982,
+              0.24099210985855193,
+              1.2362597071538026
+            ],
+            "held_grasp_midpoint": [
+              0.16648596953368944,
+              0.22900939395178657,
+              1.2362597071538026
+            ],
+            "held_grasp_object_position": [
+              0.17062314770541906,
+              0.24099210985855193,
+              1.2362597071538026
+            ],
+            "held_grasp_finger_gap": 0.025353636719562242,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023662351430210463,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034425471599217064,
+              -0.9992392474227646,
+              0.018325209825779898
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003728763609415028,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037604225735686274,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3071160901122566,
+              -0.3781301453354847,
+              0.8515395584541989
+            ],
+            "target_position": [
+              0.3023861879214604,
+              -0.37853892382454307,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004747533526750044,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1835772421481019,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395584541989,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553604344706741,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588330885558047,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15144948156149105,
+            "release_required_pad_clearance": 0.05294165442779024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9202534987832034,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008577585220336914,
+            "max_z_decrease": 0.008577585220336914,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035019574695926765,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008577585220336914,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02088547400327232,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008577585220336914,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008577660558907858,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1580861210823059,
+              -0.434800386428833,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1580861210823059,
+              -0.434800386428833,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15905239321694026,
+              -0.43446097212935053,
+              0.8036044928611665
+            ],
+            "closest_button": [
+              0.158083975315094,
+              -0.4347648024559021,
+              0.7685996294021606
+            ],
+            "closest_ee_minus_button": [
+              0.0009684179018462635,
+              0.0003038303265515685,
+              0.035004863459005886
+            ],
+            "button_min_z_position": [
+              0.15807615220546722,
+              -0.4347658455371856,
+              0.7682312726974487
+            ],
+            "min_active_finger_to_button": 0.14477794884094625,
+            "closest_active_finger": [
+              0.03205283731222153,
+              -0.4973433017730713,
+              0.8107271194458008
+            ],
+            "closest_active_finger_button": [
+              0.15808629989624023,
+              -0.43480157852172846,
+              0.7765986323356628
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260334625840187,
+              -0.06254172325134283,
+              0.03412848711013794
+            ],
+            "min_contact_pad_to_button": 0.02088547400327232,
+            "closest_contact_pad": [
+              0.15807615220546722,
+              -0.4356422864717204,
+              0.7890983490530294
+            ],
+            "closest_contact_pad_button": [
+              0.15807615220546722,
+              -0.4347658455371856,
+              0.7682312726974487
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008764409345347612,
+              0.020867076355580716
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad369f2d91f32ee45ab8c91296805a81b3502b414143931791733099a432057d",
+    "visual_seed": 6874011398862170002,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df0a968f885a104738abd93272ce4f215473a6c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16330262467550877,
+              0.235262921151233,
+              1.0471171284622258
+            ],
+            "current_z": 1.0471171284622258,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18601068005210442,
+            "gripper_z": 1.0528475760236058,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16026829281473268,
+              0.23156216009849712,
+              1.0528475760236058
+            ],
+            "object_minus_gripper": [
+              0.0030343318607760905,
+              0.003700761052735896,
+              -0.00573044756137997
+            ],
+            "object_to_gripper_xy": 0.004785687224502641,
+            "object_to_gripper_z": -0.00573044756137997,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16330262467550877,
+              0.21196191336906667,
+              1.0471171284622258
+            ],
+            "finger_b": [
+              0.1535188067374545,
+              0.235262921151233,
+              1.0471171284622258
+            ],
+            "finger_midpoint": [
+              0.15841071570648163,
+              0.22361241726014985,
+              1.0471171284622258
+            ],
+            "object_minus_finger_midpoint": [
+              0.004891908969027137,
+              0.011650503891083158,
+              0.0
+            ],
+            "finger_gap": 0.02527172445856375,
+            "fingertip_max_gap": 0.09108954232269348,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01263586222928186,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471171284622258,
+            "object_top_z": 1.0971211295685546,
+            "finger_top_clearance": 0.050004001106328744,
+            "fingertip_min_top_clearance": 0.015001200331898655,
+            "object_projection_between_fingers": 0.8501188662428435,
+            "object_to_finger_line_xy": 0.009020865128839628,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04804477116134674,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8512724913495294,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1638521642517949,
+              0.23727643811407412,
+              1.2410106479447165
+            ],
+            "held_position": [
+              0.16700041269076002,
+              0.24074095465462234,
+              1.2351640457794675
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007489799728422176,
+            "max_held_gripper_dist": 0.00750519585725074,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005846602165249015,
+            "max_held_gripper_z_dist": 0.005879834144226104,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08581687140371844,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16700041269076002,
+              0.216766208235816,
+              1.2351640457794675
+            ],
+            "held_grasp_finger_b": [
+              0.15873652786657874,
+              0.24074095465462234,
+              1.2351640457794675
+            ],
+            "held_grasp_midpoint": [
+              0.16286847027866938,
+              0.22875358144521918,
+              1.2351640457794675
+            ],
+            "held_grasp_object_position": [
+              0.16700041269076002,
+              0.24074095465462234,
+              1.2351640457794675
+            ],
+            "held_grasp_finger_gap": 0.025359027154711614,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023643462705946625,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03790241848790799,
+              -0.9992466034216921,
+              0.008344592439364251
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036760019841094583,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03758529749617976,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30419491322622383,
+              -0.38546086077885056,
+              0.8515396176613607
+            ],
+            "target_position": [
+              0.2986761150173228,
+              -0.3864789468852735,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005611918833221034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1839255002957515,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396176613607,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584938403897476,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635134633775192,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.151268425468095,
+            "release_required_pad_clearance": 0.05317567316887596,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3751299812116724,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008319258689880371,
+            "max_z_decrease": 0.008319258689880371,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503796259721645,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008319258689880371,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020817444716236762,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008319258689880371,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008319329037126434,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15437604486942288,
+              -0.44274041056632996,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15437604486942288,
+              -0.44274041056632996,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1527572593001429,
+              -0.4415499293768833,
+              0.8035370541264768
+            ],
+            "closest_button": [
+              0.15440936386585236,
+              -0.442719429731369,
+              0.768557608127594
+            ],
+            "closest_ee_minus_button": [
+              -0.0016521045657094668,
+              0.0011695003544857085,
+              0.03497944599888281
+            ],
+            "button_min_z_position": [
+              0.1544046252965927,
+              -0.4427216053009033,
+              0.7684895992279053
+            ],
+            "min_active_finger_to_button": 0.1467051685715866,
+            "closest_active_finger": [
+              0.024863213300704956,
+              -0.5026206970214844,
+              0.8106337785720825
+            ],
+            "closest_active_finger_button": [
+              0.15437591075897214,
+              -0.4427413046360016,
+              0.7765262126922607
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12951269745826718,
+              -0.05987939238548279,
+              0.03410756587982178
+            ],
+            "min_contact_pad_to_button": 0.020817444716236762,
+            "closest_contact_pad": [
+              0.1544046252965927,
+              -0.44289577596200336,
+              0.7893063153256568
+            ],
+            "closest_contact_pad_button": [
+              0.1544046252965927,
+              -0.4427216053009033,
+              0.7684895992279053
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001741706611000371,
+              0.020816716097751486
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "13573a38f531283637d44576f08ff323a2d5105dfb1a5220a7d3d268f54c37da",
+    "visual_seed": 9023332256624861836,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..02a0eb7dbb67e81bf1f812fd882313a258d3886d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1601806291252517,
+              0.23484901220273738,
+              1.0481676053681155
+            ],
+            "current_z": 1.0481676053681155,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18706097814405998,
+            "gripper_z": 1.0541353833026537,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15734592964646604,
+              0.2312634696135687,
+              1.0541353833026537
+            ],
+            "object_minus_gripper": [
+              0.002834699478785646,
+              0.003585542589168683,
+              -0.0059677779345381765
+            ],
+            "object_to_gripper_xy": 0.004570737007723161,
+            "object_to_gripper_z": -0.0059677779345381765,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1601806291252517,
+              0.21163436166656435,
+              1.0481676053681155
+            ],
+            "finger_b": [
+              0.1506368656040444,
+              0.23484901220273738,
+              1.0481676053681155
+            ],
+            "finger_midpoint": [
+              0.15540874736464805,
+              0.22324168693465085,
+              1.0481676053681155
+            ],
+            "object_minus_finger_midpoint": [
+              0.004771881760603641,
+              0.011607325268086527,
+              0.0
+            ],
+            "finger_gap": 0.02509986895713532,
+            "fingertip_max_gap": 0.09300992196740179,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012549934478567674,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481676053681155,
+            "object_top_z": 1.0990439009029787,
+            "finger_top_clearance": 0.05087629553486317,
+            "fingertip_min_top_clearance": 0.01526288866045895,
+            "object_projection_between_fingers": 0.8554239246701949,
+            "object_to_finger_line_xy": 0.008826943890546505,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0490049609837009,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1034019677924443,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16094009162391001,
+              0.23705299357537218,
+              1.2443190155944672
+            ],
+            "held_position": [
+              0.1639153863989393,
+              0.24041509937639963,
+              1.2382701649921817
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007532909665221611,
+            "max_held_gripper_dist": 0.007548338773022864,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006048850602285549,
+            "max_held_gripper_z_dist": 0.006083609157168324,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08575384497214589,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1639153863989393,
+              0.21655626594426555,
+              1.2382701649921817
+            ],
+            "held_grasp_finger_b": [
+              0.1557345486374557,
+              0.24041509937639963,
+              1.2382701649921817
+            ],
+            "held_grasp_midpoint": [
+              0.1598249675181975,
+              0.2284856826603326,
+              1.2382701649921817
+            ],
+            "held_grasp_object_position": [
+              0.1639153863989393,
+              0.24041509937639963,
+              1.2382701649921817
+            ],
+            "held_grasp_finger_gap": 0.02522241144740198,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023564642767719034,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03356611415566797,
+              -0.9991788479399124,
+              0.02269241745513262
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003697726632633932,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03766332975204459,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3099192276693621,
+              -0.37949028280809105,
+              0.8515395679771999
+            ],
+            "target_position": [
+              0.30535695612022246,
+              -0.3796781628533379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004566138477914448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18376532365974693,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395679771999,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527394414165475,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528534300147587,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15235632793727144,
+            "release_required_pad_clearance": 0.05264267150073794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3449170300315163,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008498311042785645,
+            "max_z_decrease": 0.008498311042785645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035029922369161665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008498311042785645,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02091078066233913,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008498311042785645,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008498482625672923,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1610568761825562,
+              -0.4359396100044251,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1610568761825562,
+              -0.4359396100044251,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16254631122562044,
+              -0.4360967060918784,
+              0.8035755565568568
+            ],
+            "closest_button": [
+              0.161096602678299,
+              -0.43590959906578064,
+              0.7685761451721191
+            ],
+            "closest_ee_minus_button": [
+              0.0014497085473214322,
+              -0.00018710702609775476,
+              0.03499941138473761
+            ],
+            "button_min_z_position": [
+              0.161094680428505,
+              -0.4359010457992554,
+              0.768310546875
+            ],
+            "min_active_finger_to_button": 0.1442907446805667,
+            "closest_active_finger": [
+              0.021783053874969482,
+              -0.42010095715522766,
+              0.8106054663658142
+            ],
+            "closest_active_finger_button": [
+              0.161057397723198,
+              -0.43594148755073553,
+              0.7763774991035461
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392743438482285,
+              0.015840530395507868,
+              0.034227967262268066
+            ],
+            "min_contact_pad_to_button": 0.02091078066233913,
+            "closest_contact_pad": [
+              0.161094680428505,
+              -0.4372753750991302,
+              0.789176115807669
+            ],
+            "closest_contact_pad_button": [
+              0.161094680428505,
+              -0.4359010457992554,
+              0.768310546875
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013743292998747991,
+              0.020865568932669
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f6ced277429a821cd2df777fac87770cfb82cfac316a71a67f966973df1dfa98",
+    "visual_seed": 4308771942367956672,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd65f13602de1fbdfaa7aaa1a6490e3e2716a5cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1647927789419417,
+              0.23601742920791363,
+              1.0463174753395474
+            ],
+            "current_z": 1.0463174753395474,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18521084811549193,
+            "gripper_z": 1.0521372227408174,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16162662358036903,
+              0.23223550092650477,
+              1.0521372227408174
+            ],
+            "object_minus_gripper": [
+              0.0031661553615726645,
+              0.0037819282814088584,
+              -0.0058197474012700035
+            ],
+            "object_to_gripper_xy": 0.0049322937158421025,
+            "object_to_gripper_z": -0.0058197474012700035,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1647927789419417,
+              0.21263091935731762,
+              1.0463174753395474
+            ],
+            "finger_b": [
+              0.15488256066884812,
+              0.23601742920791363,
+              1.0463174753395474
+            ],
+            "finger_midpoint": [
+              0.1598376698053949,
+              0.22432417428261564,
+              1.0463174753395474
+            ],
+            "object_minus_finger_midpoint": [
+              0.004955109136546787,
+              0.011693254925297991,
+              0.0
+            ],
+            "finger_gap": 0.025399631281032054,
+            "fingertip_max_gap": 0.09150827624940575,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012699815640516013,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463174753395474,
+            "object_top_z": 1.0966380601462222,
+            "finger_top_clearance": 0.050320584806674784,
+            "fingertip_min_top_clearance": 0.015096175442002467,
+            "object_projection_between_fingers": 0.8477660151236952,
+            "object_to_finger_line_xy": 0.009124755186439956,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048254138124702875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8640520467887575,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16521120680683607,
+              0.238006160634544,
+              1.2417406669496276
+            ],
+            "held_position": [
+              0.16851400587325915,
+              0.2415437989221479,
+              1.2358210670109786
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007646242852587102,
+            "max_held_gripper_dist": 0.007661018824891165,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0059195999386489895,
+            "max_held_gripper_z_dist": 0.005953670746100315,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08587935554174841,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16851400587325915,
+              0.21749732641474437,
+              1.2358210670109786
+            ],
+            "held_grasp_finger_b": [
+              0.160049838082282,
+              0.2415437989221479,
+              1.2358210670109786
+            ],
+            "held_grasp_midpoint": [
+              0.16428192197777058,
+              0.22952056266844612,
+              1.2358210670109786
+            ],
+            "held_grasp_object_position": [
+              0.16851400587325915,
+              0.2415437989221479,
+              1.2358210670109786
+            ],
+            "held_grasp_finger_gap": 0.02549264553637242,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02369628728786442,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03916090812814877,
+              -0.9992214774000784,
+              0.004781461804036379
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003758442448433107,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037540641928919156,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3069634793769699,
+              -0.38188591776042524,
+              0.8515395531885567
+            ],
+            "target_position": [
+              0.3010301034638298,
+              -0.38316476877828576,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006069630108376768,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18332263747871844,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395531885567,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584241100450927,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633730304797858,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15074371647868534,
+            "release_required_pad_clearance": 0.053168651523989294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3614010556259066,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008452296257019043,
+            "max_z_decrease": 0.008452296257019043,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350626192859987,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008452296257019043,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02095717529712244,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008452296257019043,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008452353510853394,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1567300260066986,
+              -0.4394262135028839,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1567300260066986,
+              -0.4394262135028839,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15841289790932556,
+              -0.44051886575788496,
+              0.8035669588054712
+            ],
+            "closest_button": [
+              0.156742200255394,
+              -0.43939700722694397,
+              0.7685621380805969
+            ],
+            "closest_ee_minus_button": [
+              0.0016706976539315466,
+              -0.001121858530940989,
+              0.03500482072487432
+            ],
+            "button_min_z_position": [
+              0.15671914815902716,
+              -0.43939706683158875,
+              0.7683565616607666
+            ],
+            "min_active_finger_to_button": 0.14402482259908275,
+            "closest_active_finger": [
+              0.017408564686775208,
+              -0.42670750617980957,
+              0.8107516765594482
+            ],
+            "closest_active_finger_button": [
+              0.1567292213439942,
+              -0.43942609429359436,
+              0.7765297293663025
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139320656657219,
+              0.01271858811378479,
+              0.03422194719314575
+            ],
+            "min_contact_pad_to_button": 0.02095717529712244,
+            "closest_contact_pad": [
+              0.15671914815902716,
+              -0.4414893920845011,
+              0.7892090284565763
+            ],
+            "closest_contact_pad_button": [
+              0.15671914815902716,
+              -0.43939706683158875,
+              0.7683565616607666
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020923252529123637,
+              0.020852466795809654
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c0fc697318dda0fb4ca8cc0481b7e46f28df76ff2b7b65654987939bea5951da",
+    "visual_seed": 7975341256699559585,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0384ee6efdafd8345ddcaaaeb2703728e9f375a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16519892698614164,
+              0.24072720913358048,
+              1.0493242874744118
+            ],
+            "current_z": 1.0493242874744118,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.18821742183177714,
+            "gripper_z": 1.0552108402069151,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1622352406515414,
+              0.23714996977051894,
+              1.0552108402069151
+            ],
+            "object_minus_gripper": [
+              0.0029636863346002296,
+              0.003577239363061535,
+              -0.005886552732503381
+            ],
+            "object_to_gripper_xy": 0.004645436271280992,
+            "object_to_gripper_z": -0.005886552732503381,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16519892698614164,
+              0.21722261583866814,
+              1.0493242874744118
+            ],
+            "finger_b": [
+              0.15593241922724646,
+              0.24072720913358048,
+              1.0493242874744118
+            ],
+            "finger_midpoint": [
+              0.16056567310669406,
+              0.2289749124861243,
+              1.0493242874744118
+            ],
+            "object_minus_finger_midpoint": [
+              0.004633253879447574,
+              0.011752296647456167,
+              0.0
+            ],
+            "finger_gap": 0.02526527403383748,
+            "fingertip_max_gap": 0.0942225738511834,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012632637016918734,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493242874744118,
+            "object_top_z": 1.1009406369346872,
+            "finger_top_clearance": 0.05161634946027549,
+            "fingertip_min_top_clearance": 0.01548490483808263,
+            "object_projection_between_fingers": 0.8654808354879652,
+            "object_to_finger_line_xy": 0.00862074544868487,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049611286925591705,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4513793682598306,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16566755153357338,
+              0.24337224977066818,
+              1.2427782637114906
+            ],
+            "held_position": [
+              0.1686887316176559,
+              0.24679033554512164,
+              1.236795229778744
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007523797877559996,
+            "max_held_gripper_dist": 0.007549768652084467,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005983033932746684,
+            "max_held_gripper_z_dist": 0.006025057773147546,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08559587983065609,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1686887316176559,
+              0.22293424449162522,
+              1.236795229778744
+            ],
+            "held_grasp_finger_b": [
+              0.16042723866501485,
+              0.24679033554512164,
+              1.236795229778744
+            ],
+            "held_grasp_midpoint": [
+              0.16455798514133538,
+              0.23486229001837344,
+              1.236795229778744
+            ],
+            "held_grasp_object_position": [
+              0.1686887316176559,
+              0.24679033554512164,
+              1.236795229778744
+            ],
+            "held_grasp_finger_gap": 0.02524609566169094,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023714790853941646,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.015444520126101858,
+              -0.9994254966018812,
+              0.030168585319135133
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003962492389741908,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037735259848945525,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3058531991054747,
+              -0.3839568071942953,
+              0.8515395647988544
+            ],
+            "target_position": [
+              0.3021572049732565,
+              -0.3836794104394269,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037063892921552406,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18104212329001895,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395647988544,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755286541817807,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08630505996751396,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1490396752120351,
+            "release_required_pad_clearance": 0.05315252998375698,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.329992945127142,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008471012115478516,
+            "max_z_decrease": 0.008471012115478516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035017014061442836,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008471012115478516,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021022283723604155,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008471012115478516,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008471211092975064,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15785713493824,
+              -0.439940869808197,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15785713493824,
+              -0.439940869808197,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15699731414670076,
+              -0.44142803048752777,
+              0.8035828680322931
+            ],
+            "closest_button": [
+              0.15789522230625147,
+              -0.43991687893867487,
+              0.7686100006103516
+            ],
+            "closest_ee_minus_button": [
+              -0.0008979081595507088,
+              -0.001511151548852896,
+              0.0349728674219415
+            ],
+            "button_min_z_position": [
+              0.15790306031703943,
+              -0.43990534543991083,
+              0.7683378458023071
+            ],
+            "min_active_finger_to_button": 0.14638725854103707,
+            "closest_active_finger": [
+              0.01647355407476425,
+              -0.4235266149044037,
+              0.8106116652488708
+            ],
+            "closest_active_finger_button": [
+              0.15785670280456537,
+              -0.4399425983428955,
+              0.7763983607292175
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14138314872980112,
+              0.01641598343849182,
+              0.03421330451965332
+            ],
+            "min_contact_pad_to_button": 0.021022283723604155,
+            "closest_contact_pad": [
+              0.15790306031703943,
+              -0.4427636152163354,
+              0.789164912490655
+            ],
+            "closest_contact_pad_button": [
+              0.15790306031703943,
+              -0.43990534543991083,
+              0.7683378458023071
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00285826977642456,
+              0.020827066688347884
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f2e6f0b4b2d4cb9a28aab7d52429bc018af2917c85c1bea718449941e0c96029",
+    "visual_seed": 7002567250043849173,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bef938776c8bf9b449766c82d18b7aa40c76a17d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16749894137506965,
+              0.232145673886378,
+              1.0477527563497075
+            ],
+            "current_z": 1.0477527563497075,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1866461887302967,
+            "gripper_z": 1.0536442610083971,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1643459518572997,
+              0.2284802327930351,
+              1.0536442610083971
+            ],
+            "object_minus_gripper": [
+              0.0031529895177699607,
+              0.0036654410933429082,
+              -0.005891504658689595
+            ],
+            "object_to_gripper_xy": 0.004834956184696414,
+            "object_to_gripper_z": -0.005891504658689595,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16749894137506965,
+              0.20853745745978491,
+              1.0477527563497075
+            ],
+            "finger_b": [
+              0.15804708943157447,
+              0.232145673886378,
+              1.0477527563497075
+            ],
+            "finger_midpoint": [
+              0.16277301540332206,
+              0.22034156567308144,
+              1.0477527563497075
+            ],
+            "object_minus_finger_midpoint": [
+              0.004725925971747591,
+              0.011804108213296555,
+              0.0
+            ],
+            "finger_gap": 0.02543000959509479,
+            "fingertip_max_gap": 0.09087828597341754,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012715004797547409,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477527563497075,
+            "object_top_z": 1.0975029479422658,
+            "finger_top_clearance": 0.049750191592558224,
+            "fingertip_min_top_clearance": 0.014925057477767484,
+            "object_projection_between_fingers": 0.8618532182439846,
+            "object_to_finger_line_xy": 0.008774725997633548,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047939142986708774,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8790276028501472,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16821084772591197,
+              0.2336607548445171,
+              1.242362190486185
+            ],
+            "held_position": [
+              0.17144364344351443,
+              0.2371022955044452,
+              1.2363535987645078
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007641880968943135,
+            "max_held_gripper_dist": 0.007659637673981851,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0060085917216772256,
+            "max_held_gripper_z_dist": 0.006042200718335833,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608858661737037,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17144364344351443,
+              0.21302716686636125,
+              1.2363535987645078
+            ],
+            "held_grasp_finger_b": [
+              0.16327614149541153,
+              0.2371022955044452,
+              1.2363535987645078
+            ],
+            "held_grasp_midpoint": [
+              0.16735989246946298,
+              0.2250647311854032,
+              1.2363535987645078
+            ],
+            "held_grasp_object_position": [
+              0.17144364344351443,
+              0.2371022955044452,
+              1.2363535987645078
+            ],
+            "held_grasp_finger_gap": 0.02542282256187449,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023840019470840856,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.027355900564877605,
+              -0.9995148604909687,
+              0.014889538676666533
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003757241463895426,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037576810963518885,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3096542148924938,
+              -0.3864067050257668,
+              0.8515395664173419
+            ],
+            "target_position": [
+              0.3043150596797732,
+              -0.38706369945483343,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005379425625970322,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18252909399022021,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395664173419,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581598056901115,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08740203861053956,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15000286160417137,
+            "release_required_pad_clearance": 0.053701019305269784,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4115435051923853,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008675932884216309,
+            "max_z_decrease": 0.008675932884216309,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500499917005376,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008675932884216309,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.0210171101584605,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008675932884216309,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008675983116958342,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16001498699188232,
+              -0.443325161933899,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16001498699188232,
+              -0.443325161933899,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15913751257426825,
+              -0.4452158781522331,
+              0.8032255295680015
+            ],
+            "closest_button": [
+              0.16006918251514435,
+              -0.4433102607727051,
+              0.7682848572731018
+            ],
+            "closest_ee_minus_button": [
+              -0.0009316699408760953,
+              -0.0019056173795280462,
+              0.03494067229489972
+            ],
+            "button_min_z_position": [
+              0.1600324809551239,
+              -0.44330137968063354,
+              0.7681329250335693
+            ],
+            "min_active_finger_to_button": 0.14637853531903716,
+            "closest_active_finger": [
+              0.01842983067035675,
+              -0.42881011962890625,
+              0.810421347618103
+            ],
+            "closest_active_finger_button": [
+              0.16001541912555692,
+              -0.44332557916641235,
+              0.7762234210968018
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14158558845520017,
+              0.014515459537506104,
+              0.03419792652130127
+            ],
+            "min_contact_pad_to_button": 0.0210171101584605,
+            "closest_contact_pad": [
+              0.16006918251514435,
+              -0.4464179196435634,
+              0.7890709433826906
+            ],
+            "closest_contact_pad_button": [
+              0.16006918251514435,
+              -0.4433102607727051,
+              0.7682848572731018
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003107658870858343,
+              0.020786086109588764
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df136ac19b76ed88de0fe957f71c5398a19ee30fedc0a511560a9f26284f685c",
+    "visual_seed": 5225598860245240455,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3ab751b51fcaec880b1ce803bf5868aa9dca552
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16447033483092993,
+              0.23871574313801638,
+              1.0496823174313672
+            ],
+            "current_z": 1.0496823174313672,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.18857557099802236,
+            "gripper_z": 1.0554214058588915,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1615339814016902,
+              0.23506618608407392,
+              1.0554214058588915
+            ],
+            "object_minus_gripper": [
+              0.0029363534292397298,
+              0.0036495570539424593,
+              -0.0057390884275243526
+            ],
+            "object_to_gripper_xy": 0.004684168885873895,
+            "object_to_gripper_z": -0.0057390884275243526,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16447033483092993,
+              0.21555494920211749,
+              1.0496823174313672
+            ],
+            "finger_b": [
+              0.15465408997303662,
+              0.23871574313801638,
+              1.0496823174313672
+            ],
+            "finger_midpoint": [
+              0.15956221240198326,
+              0.22713534617006692,
+              1.0496823174313672
+            ],
+            "object_minus_finger_midpoint": [
+              0.004908122428946671,
+              0.011580396967949463,
+              0.0
+            ],
+            "finger_gap": 0.025155139412280904,
+            "fingertip_max_gap": 0.09313160047174385,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012577569706140471,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496823174313672,
+            "object_top_z": 1.1007198436046923,
+            "finger_top_clearance": 0.05103752617332513,
+            "fingertip_min_top_clearance": 0.015311257851997556,
+            "object_projection_between_fingers": 0.8477219493096055,
+            "object_to_finger_line_xy": 0.009037995005783978,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049065800235871926,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2324716213033928,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16542787720244273,
+              0.2404819934144083,
+              1.2451149915959108
+            ],
+            "held_position": [
+              0.1685362165434149,
+              0.2438667845466348,
+              1.239280946618932
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007426618696341223,
+            "max_held_gripper_dist": 0.007443522515649952,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005834044976978703,
+            "max_held_gripper_z_dist": 0.005868689981016306,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08641938920950726,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1685362165434149,
+              0.21988288107538517,
+              1.239280946618932
+            ],
+            "held_grasp_finger_b": [
+              0.1604001194892035,
+              0.2438667845466348,
+              1.239280946618932
+            ],
+            "held_grasp_midpoint": [
+              0.1644681680163092,
+              0.23187483281100998,
+              1.239280946618932
+            ],
+            "held_grasp_object_position": [
+              0.1685362165434149,
+              0.2438667845466348,
+              1.239280946618932
+            ],
+            "held_grasp_finger_gap": 0.02532634401159724,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023587690614142974,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0446636278806318,
+              -0.9986313634927695,
+              0.0272132356237269
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035436722504498747,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03756301715179357,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3098434131331911,
+              -0.38336263947197224,
+              0.8515395807253666
+            ],
+            "target_position": [
+              0.30517827357843097,
+              -0.38330155861336396,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004665539404685775,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18267833848030443,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395807253666,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521214238567976,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595116719485767,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513128855543304,
+            "release_required_pad_clearance": 0.052975583597428835,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.985949832160703,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008483707904815674,
+            "max_z_decrease": 0.008483707904815674,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505881275279524,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008483707904815674,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020861851246034346,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008483707904815674,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008483918954544156,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16087819635868073,
+              -0.43956300616264343,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16087819635868073,
+              -0.43956300616264343,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16088370619061904,
+              -0.43740179685712477,
+              0.8035815699118493
+            ],
+            "closest_button": [
+              0.16092300415039065,
+              -0.43953841924667364,
+              0.7685879468917847
+            ],
+            "closest_ee_minus_button": [
+              -3.9297959771616986e-05,
+              0.00213662238954887,
+              0.03499362302006459
+            ],
+            "button_min_z_position": [
+              0.16093116998672488,
+              -0.4395351707935333,
+              0.76832515001297
+            ],
+            "min_active_finger_to_button": 0.14489838373925237,
+            "closest_active_finger": [
+              0.033315882086753845,
+              -0.49919646978378296,
+              0.8105364441871643
+            ],
+            "closest_active_finger_button": [
+              0.16087877750396729,
+              -0.43956494331359863,
+              0.7763702273368835
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12756289541721344,
+              -0.059631526470184326,
+              0.03416621685028076
+            ],
+            "min_contact_pad_to_button": 0.020861851246034346,
+            "closest_contact_pad": [
+              0.16093116998672488,
+              -0.4395351707935333,
+              0.7891870012590043
+            ],
+            "closest_contact_pad_button": [
+              0.16093116998672488,
+              -0.4395351707935333,
+              0.76832515001297
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020861851246034346
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d04605fa9b1018227aed8b9430e5da69f48b9e2e65d9431659bd462585f575da",
+    "visual_seed": 6715844480007798503,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3c0f9b9012415eb2e6490a4348f944e1649a365
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16272063156853397,
+              0.23450330864160635,
+              1.0463301940815783
+            ],
+            "current_z": 1.0463301940815783,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18522356685752273,
+            "gripper_z": 1.0522542877319947,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.15984015431575355,
+              0.2308744968547979,
+              1.0522542877319947
+            ],
+            "object_minus_gripper": [
+              0.002880477252780428,
+              0.0036288117868084335,
+              -0.005924093650416351
+            ],
+            "object_to_gripper_xy": 0.0046330793418487125,
+            "object_to_gripper_z": -0.005924093650416351,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16272063156853397,
+              0.21133799344863297,
+              1.0463301940815783
+            ],
+            "finger_b": [
+              0.1530047521944648,
+              0.23450330864160635,
+              1.0463301940815783
+            ],
+            "finger_midpoint": [
+              0.15786269188149937,
+              0.22292065104511966,
+              1.0463301940815783
+            ],
+            "object_minus_finger_midpoint": [
+              0.0048579396870346014,
+              0.01158265759648669,
+              0.0
+            ],
+            "finger_gap": 0.025120313294249855,
+            "fingertip_max_gap": 0.09173249217049731,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012560156647124935,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463301940815783,
+            "object_top_z": 1.0965560376424157,
+            "finger_top_clearance": 0.05022584356083737,
+            "fingertip_min_top_clearance": 0.01506775306825121,
+            "object_projection_between_fingers": 0.850406017038626,
+            "object_to_finger_line_xy": 0.008959737302668969,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836624608524866,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8037177300665178,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16340059127910708,
+              0.23665444878447267,
+              1.2392491148034133
+            ],
+            "held_position": [
+              0.16639815704922556,
+              0.24004727815268373,
+              1.2332105920948018
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007547214596816372,
+            "max_held_gripper_dist": 0.0075625416303960235,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006038522708611493,
+            "max_held_gripper_z_dist": 0.006071413344521215,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08577918130565498,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16639815704922556,
+              0.2161551044849474,
+              1.2332105920948018
+            ],
+            "held_grasp_finger_b": [
+              0.15827535700357448,
+              0.24004727815268373,
+              1.2332105920948018
+            ],
+            "held_grasp_midpoint": [
+              0.16233675702640002,
+              0.22810119131881557,
+              1.2332105920948018
+            ],
+            "held_grasp_object_position": [
+              0.16639815704922556,
+              0.24004727815268373,
+              1.2332105920948018
+            ],
+            "held_grasp_finger_gap": 0.025235210384518342,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023538288155940855,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04074316500940711,
+              -0.9990399814802926,
+              0.016096891279774313
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003576551187020038,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037620157409526254,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3103720852675693,
+              -0.3838507213439175,
+              0.8515395827132204
+            ],
+            "target_position": [
+              0.30551027648346857,
+              -0.3844694057012657,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004901015709746967,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1814682240954444,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395827132204,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556466830286823,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548694134694239,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14938292393368713,
+            "release_required_pad_clearance": 0.052743470673471196,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5381383467606513,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008519530296325684,
+            "max_z_decrease": 0.008519530296325684,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503983121165356,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008519530296325684,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020830693506379783,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008519530296325684,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008519578826033698,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1612102091312408,
+              -0.44073086977005005,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1612102091312408,
+              -0.44073086977005005,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16022113382307301,
+              -0.43910540548396937,
+              0.80364358732827
+            ],
+            "closest_button": [
+              0.1612240076065063,
+              -0.4406903386116028,
+              0.7686539888381958
+            ],
+            "closest_ee_minus_button": [
+              -0.001002873783433278,
+              0.0015849331276334144,
+              0.034989598490074214
+            ],
+            "button_min_z_position": [
+              0.1612236499786376,
+              -0.44070544838905334,
+              0.76828932762146
+            ],
+            "min_active_finger_to_button": 0.145929592969018,
+            "closest_active_finger": [
+              0.033897608518600464,
+              -0.5033633708953857,
+              0.8104889988899231
+            ],
+            "closest_active_finger_button": [
+              0.16120952367782587,
+              -0.44073143601417536,
+              0.7763662338256836
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1273119151592254,
+              -0.06263193488121038,
+              0.0341227650642395
+            ],
+            "min_contact_pad_to_button": 0.020830693506379783,
+            "closest_contact_pad": [
+              0.1612236499786376,
+              -0.44070544838905334,
+              0.7891200211278397
+            ],
+            "closest_contact_pad_button": [
+              0.1612236499786376,
+              -0.44070544838905334,
+              0.76828932762146
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020830693506379783
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bfffe265a733cc36497265d6cabec17122d946f000180cd15b05d389cc974013",
+    "visual_seed": 1531396267052702873,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19d78fdb52a20c9df975d823dac79214b9b4f096
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16250143267346154,
+              0.23880410776116562,
+              1.0467716072220519
+            ],
+            "current_z": 1.0467716072220519,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1856650992072859,
+            "gripper_z": 1.0524229495774369,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1595548070359733,
+              0.23524211868579242,
+              1.0524229495774369
+            ],
+            "object_minus_gripper": [
+              0.002946625637488237,
+              0.0035619890753731953,
+              -0.005651342355385003
+            ],
+            "object_to_gripper_xy": 0.004622809624090197,
+            "object_to_gripper_z": -0.005651342355385003,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16250143267346154,
+              0.2153528149385736,
+              1.0467716072220519
+            ],
+            "finger_b": [
+              0.15319417927418955,
+              0.23880410776116562,
+              1.0467716072220519
+            ],
+            "finger_midpoint": [
+              0.15784780597382553,
+              0.22707846134986961,
+              1.0467716072220519
+            ],
+            "object_minus_finger_midpoint": [
+              0.00465362669963601,
+              0.011725646411296003,
+              0.0
+            ],
+            "finger_gap": 0.025230697590221625,
+            "fingertip_max_gap": 0.09104363128039131,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01261534879511082,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467716072220519,
+            "object_top_z": 1.0965469053199586,
+            "finger_top_clearance": 0.049775298097906706,
+            "fingertip_min_top_clearance": 0.014932589429371979,
+            "object_projection_between_fingers": 0.8639230521003167,
+            "object_to_finger_line_xy": 0.00865085573079769,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048021815640195656,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9914904932236035,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1633019788454232,
+              0.2408049763686823,
+              1.242735259753653
+            ],
+            "held_position": [
+              0.16634728073010574,
+              0.24415671579323814,
+              1.2369883305114855
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007316776370332253,
+            "max_held_gripper_dist": 0.007333940273748374,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0057469292421674645,
+            "max_held_gripper_z_dist": 0.005780866670803242,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08626324485537687,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16634728073010574,
+              0.22022114604390672,
+              1.2369883305114855
+            ],
+            "held_grasp_finger_b": [
+              0.15823915290714516,
+              0.24415671579323814,
+              1.2369883305114855
+            ],
+            "held_grasp_midpoint": [
+              0.16229321681862546,
+              0.23218893091857243,
+              1.2369883305114855
+            ],
+            "held_grasp_object_position": [
+              0.16634728073010574,
+              0.24415671579323814,
+              1.2369883305114855
+            ],
+            "held_grasp_finger_gap": 0.025271589503206498,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023721459566290546,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.025196848108750357,
+              -0.9995901113722317,
+              0.013591471304977731
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037547813607710268,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03765522102174832,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31206583313117453,
+              -0.3838702274563155,
+              0.8515395804441799
+            ],
+            "target_position": [
+              0.3065705350677808,
+              -0.384527644511143,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005534482630699714,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18526754223527042,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395804441799,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555135997784111,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651994667761691,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15316041452166165,
+            "release_required_pad_clearance": 0.053259973338808456,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5399877365270724,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008615434169769287,
+            "max_z_decrease": 0.008615434169769287,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035037590494489054,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008615434169769287,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02088079121602393,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008615434169769287,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008615622340775933,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16227045655250555,
+              -0.44078910350799566,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16227045655250555,
+              -0.44078910350799566,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16284430480438986,
+              -0.4391775063668928,
+              0.8031915622399484
+            ],
+            "closest_button": [
+              0.16231454908847814,
+              -0.4407530725002289,
+              0.7681934237480164
+            ],
+            "closest_ee_minus_button": [
+              0.0005297557159117117,
+              0.0015755661333360926,
+              0.03499813849193201
+            ],
+            "button_min_z_position": [
+              0.16231454908847814,
+              -0.4407530725002289,
+              0.7681934237480164
+            ],
+            "min_active_finger_to_button": 0.14460627270543144,
+            "closest_active_finger": [
+              0.03514088690280914,
+              -0.5006179809570312,
+              0.8104326128959656
+            ],
+            "closest_active_finger_button": [
+              0.1622722893953324,
+              -0.44079193472862244,
+              0.7762357592582703
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12713140249252325,
+              -0.059826046228408813,
+              0.03419685363769531
+            ],
+            "min_contact_pad_to_button": 0.02088079121602393,
+            "closest_contact_pad": [
+              0.16231454908847814,
+              -0.4407530725002289,
+              0.7890742149640403
+            ],
+            "closest_contact_pad_button": [
+              0.16231454908847814,
+              -0.4407530725002289,
+              0.7681934237480164
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02088079121602393
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "254b523746ea152c9cf7fda2c3e4f13591c77eda0b4bf1a79ec9a3e35b514b54",
+    "visual_seed": 5538057903932156084,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..980310a6df6a9baa7eed94f94bfa2c63fb4b1d37
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16606751773005324,
+              0.24063439730625294,
+              1.0466748924363165
+            ],
+            "current_z": 1.0466748924363165,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.18556796718903712,
+            "gripper_z": 1.0523194169609305,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16277651651968655,
+              0.23689844784497002,
+              1.0523194169609305
+            ],
+            "object_minus_gripper": [
+              0.003291001210366684,
+              0.003735949461282917,
+              -0.0056445245246139475
+            ],
+            "object_to_gripper_xy": 0.004978755601944636,
+            "object_to_gripper_z": -0.0056445245246139475,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16606751773005324,
+              0.21691582498521925,
+              1.0466748924363165
+            ],
+            "finger_b": [
+              0.15654704501630462,
+              0.24063439730625294,
+              1.0466748924363165
+            ],
+            "finger_midpoint": [
+              0.16130728137317893,
+              0.2287751111457361,
+              1.0466748924363165
+            ],
+            "object_minus_finger_midpoint": [
+              0.004760236356874309,
+              0.011859286160516846,
+              0.0
+            ],
+            "finger_gap": 0.025557974756254407,
+            "fingertip_max_gap": 0.09128649417837265,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012778987378127203,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0466748924363165,
+            "object_top_z": 1.0965461382594615,
+            "finger_top_clearance": 0.04987124582314495,
+            "fingertip_min_top_clearance": 0.014961373746943467,
+            "object_projection_between_fingers": 0.8612400445878611,
+            "object_to_finger_line_xy": 0.008835286158040162,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048143247089186325,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1691383549247791,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1662672018219543,
+              0.2429387970978778,
+              1.242534429586392
+            ],
+            "held_position": [
+              0.16964046304144886,
+              0.24649812054229664,
+              1.236806010959024
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007540719767191511,
+            "max_held_gripper_dist": 0.007554455119836436,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005728418627368059,
+            "max_held_gripper_z_dist": 0.005763659488884576,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08614256015031041,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16964046304144886,
+              0.22244999440098548,
+              1.236806010959024
+            ],
+            "held_grasp_finger_b": [
+              0.16103521546193017,
+              0.24649812054229664,
+              1.236806010959024
+            ],
+            "held_grasp_midpoint": [
+              0.16533783925168952,
+              0.23447405747164107,
+              1.236806010959024
+            ],
+            "held_grasp_object_position": [
+              0.16964046304144886,
+              0.24649812054229664,
+              1.236806010959024
+            ],
+            "held_grasp_finger_gap": 0.025541391050865368,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023939421551701687,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.012297299444850734,
+              -0.9998801036176327,
+              0.009410356845293786
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004155982331131441,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0376447179879618,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30473528593765314,
+              -0.38724941931176066,
+              0.8515395916710997
+            ],
+            "target_position": [
+              0.2990299093994736,
+              -0.3883316862578157,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0058071183202112325,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18295855151560295,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395916710997,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532582670552192,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086472554370413,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15151703873284844,
+            "release_required_pad_clearance": 0.0532362771852065,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4935445578832394,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008559763431549072,
+            "max_z_decrease": 0.008559763431549072,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502527231824483,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008559763431549072,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021032435876090015,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008559763431549072,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008559832339440483,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15472982823848724,
+              -0.44459313154220576,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15472982823848724,
+              -0.44459313154220576,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15470211349251656,
+              -0.44607906665283914,
+              0.8036103394422893
+            ],
+            "closest_button": [
+              0.1547316610813141,
+              -0.44455975294113154,
+              0.7686180472373962
+            ],
+            "closest_ee_minus_button": [
+              -2.954758879752939e-05,
+              -0.0015193137117076039,
+              0.03499229220489308
+            ],
+            "button_min_z_position": [
+              0.15472567081451416,
+              -0.44455903768539423,
+              0.7682490944862366
+            ],
+            "min_active_finger_to_button": 0.14556935148565261,
+            "closest_active_finger": [
+              0.014151513576507568,
+              -0.42853718996047974,
+              0.8105455636978149
+            ],
+            "closest_active_finger_button": [
+              0.15472960472106934,
+              -0.44459411501884455,
+              0.776334285736084
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14057809114456177,
+              0.016056925058364813,
+              0.03421127796173096
+            ],
+            "min_contact_pad_to_button": 0.021032435876090015,
+            "closest_contact_pad": [
+              0.15472567081451416,
+              -0.4473744213434358,
+              0.7890922462090416
+            ],
+            "closest_contact_pad_button": [
+              0.15472567081451416,
+              -0.44455903768539423,
+              0.7682490944862366
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028153836580415703,
+              0.020843151722805042
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3eb468ac565e4062880203feff30cc0fa74291aafdedee43c40e0027600b9618",
+    "visual_seed": 2217923262349240028,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36be67bccdccb76e3b14ae332f3af6631dea6c4b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1638881294452171,
+              0.2389445858986485,
+              1.0470110423203156
+            ],
+            "current_z": 1.0470110423203156,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.18590429588697077,
+            "gripper_z": 1.0530657273887654,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16122182102203075,
+              0.23554932626567013,
+              1.0530657273887654
+            ],
+            "object_minus_gripper": [
+              0.002666308423186353,
+              0.0033952596329783757,
+              -0.00605468506844975
+            ],
+            "object_to_gripper_xy": 0.004317057861887763,
+            "object_to_gripper_z": -0.00605468506844975,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1638881294452171,
+              0.21562618723329602,
+              1.0470110423203156
+            ],
+            "finger_b": [
+              0.15490114522427537,
+              0.2389445858986485,
+              1.0470110423203156
+            ],
+            "finger_midpoint": [
+              0.15939463733474624,
+              0.22728538656597225,
+              1.0470110423203156
+            ],
+            "object_minus_finger_midpoint": [
+              0.00449349211047087,
+              0.011659199332676257,
+              0.0
+            ],
+            "finger_gap": 0.024990270140672118,
+            "fingertip_max_gap": 0.09564467599995982,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012495135070336071,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470110423203156,
+            "object_top_z": 1.099423229762184,
+            "finger_top_clearance": 0.052412187441868374,
+            "fingertip_min_top_clearance": 0.01572365623256053,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012495135070336071,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05032233799997991,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9107116361300067,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1649297959148693,
+              0.24089242992964915,
+              1.240813805364838
+            ],
+            "held_position": [
+              0.167657950305204,
+              0.24409512599699654,
+              1.2346506891914433
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007462177258955035,
+            "max_held_gripper_dist": 0.007478327454618313,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0061631161733948225,
+            "max_held_gripper_z_dist": 0.006194729478472993,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08601487962752408,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.167657950305204,
+              0.22029680513316738,
+              1.2346506891914433
+            ],
+            "held_grasp_finger_b": [
+              0.15994533124160631,
+              0.24409512599699654,
+              1.2346506891914433
+            ],
+            "held_grasp_midpoint": [
+              0.16380164077340514,
+              0.23219596556508196,
+              1.2346506891914433
+            ],
+            "held_grasp_object_position": [
+              0.167657950305204,
+              0.24409512599699654,
+              1.2346506891914433
+            ],
+            "held_grasp_finger_gap": 0.025016885672639922,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02360328381470926,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021996847960756086,
+              -0.9989333810421351,
+              0.04059850883369686
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003626187120689705,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03774895485381924,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3071498453816366,
+              -0.3797755918596445,
+              0.8515395711324679
+            ],
+            "target_position": [
+              0.3046962860009124,
+              -0.3787999360401252,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00264042760039003,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17908523798820242,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395711324679,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758584240960737,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08748551385862378,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14612472734125112,
+            "release_required_pad_clearance": 0.053742756929311894,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4948212987980356,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008519470691680908,
+            "max_z_decrease": 0.008519470691680908,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035072785548904944,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008519470691680908,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020844638656401737,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008519470691680908,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008519546383859912,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16039621829986572,
+              -0.4350613951683044,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16039621829986572,
+              -0.4350613951683044,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1589458055314254,
+              -0.4329039860302182,
+              0.8032662276933967
+            ],
+            "closest_button": [
+              0.1604212522506714,
+              -0.4350356459617614,
+              0.7682893872261047
+            ],
+            "closest_ee_minus_button": [
+              -0.0014754467192459875,
+              0.0021316599315432394,
+              0.03497684046729199
+            ],
+            "button_min_z_position": [
+              0.1604212522506714,
+              -0.4350356459617614,
+              0.7682893872261047
+            ],
+            "min_active_finger_to_button": 0.14617683267516912,
+            "closest_active_finger": [
+              0.031130068004131317,
+              -0.4941483438014984,
+              0.8107566237449646
+            ],
+            "closest_active_finger_button": [
+              0.1603964269161224,
+              -0.43506237864494324,
+              0.7765992879867554
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1292663589119911,
+              -0.059085965156555176,
+              0.03415733575820923
+            ],
+            "min_contact_pad_to_button": 0.020844638656401737,
+            "closest_contact_pad": [
+              0.1604212522506714,
+              -0.4350356459617614,
+              0.7891340258825065
+            ],
+            "closest_contact_pad_button": [
+              0.1604212522506714,
+              -0.4350356459617614,
+              0.7682893872261047
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020844638656401737
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "070ae07997233629386bf942e8ac2dd4875a60eb9d3db4bc20f743e0468e4b8d",
+    "visual_seed": 2374077310589527482,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaf253e71e188b84113d2cb831b91beca46b4866
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.16825592747372856,
+              0.23864693805446288,
+              1.0479576391292744
+            ],
+            "current_z": 1.0479576391292744,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1868510715098637,
+            "gripper_z": 1.0538781379779787,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1649239018222395,
+              0.23481094802546199,
+              1.0538781379779787
+            ],
+            "object_minus_gripper": [
+              0.0033320256514890456,
+              0.0038359900290008964,
+              -0.00592049884870427
+            ],
+            "object_to_gripper_xy": 0.005081064302365725,
+            "object_to_gripper_z": -0.00592049884870427,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.16825592747372856,
+              0.2151199739226303,
+              1.0479576391292744
+            ],
+            "finger_b": [
+              0.15828382461846938,
+              0.23864693805446288,
+              1.0479576391292744
+            ],
+            "finger_midpoint": [
+              0.16326987604609897,
+              0.2268834559885466,
+              1.0479576391292744
+            ],
+            "object_minus_finger_midpoint": [
+              0.00498605142762959,
+              0.011763482065916292,
+              0.0
+            ],
+            "finger_gap": 0.025553099158740124,
+            "fingertip_max_gap": 0.09091712552651143,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012776549579370062,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479576391292744,
+            "object_top_z": 1.0977481244728855,
+            "finger_top_clearance": 0.04979048534361108,
+            "fingertip_min_top_clearance": 0.014937145603083323,
+            "object_projection_between_fingers": 0.8477047570274444,
+            "object_to_finger_line_xy": 0.009181403192511843,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04795856276325572,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8842526810835813,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16879484672847145,
+              0.2402045809595567,
+              1.2421088537568767
+            ],
+            "held_position": [
+              0.1722535098617591,
+              0.24377394548066775,
+              1.2360717675694626
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007819790495172892,
+            "max_held_gripper_dist": 0.007835462655207459,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006037086187414165,
+            "max_held_gripper_z_dist": 0.006072398429805892,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597740091351727,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1722535098617591,
+              0.21959530854788598,
+              1.2360717675694626
+            ],
+            "held_grasp_finger_b": [
+              0.1638124741445725,
+              0.24377394548066775,
+              1.2360717675694626
+            ],
+            "held_grasp_midpoint": [
+              0.1680329920031658,
+              0.23168462701427686,
+              1.2360717675694626
+            ],
+            "held_grasp_object_position": [
+              0.1722535098617591,
+              0.24377394548066775,
+              1.2360717675694626
+            ],
+            "held_grasp_finger_gap": 0.025609716279297173,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023838902423849995,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03794571585353069,
+              -0.9991962588233598,
+              0.012921261616600122
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037620279465601426,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037480497715336195,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3073069031865425,
+              -0.38583195255010483,
+              0.8515396100310149
+            ],
+            "target_position": [
+              0.30116279117049555,
+              -0.3867898421860685,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006218332977608986,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18143945766553818,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396100310149,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536886217801693,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554864351594292,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14995486880368125,
+            "release_required_pad_clearance": 0.05277432175797146,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5974142694366188,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008523225784301758,
+            "max_z_decrease": 0.008523225784301758,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035045013075092876,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008523225784301758,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020861830525864322,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008523225784301758,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008523279247778633,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15686272084712982,
+              -0.4430513083934784,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15686272084712982,
+              -0.4430513083934784,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15782016864022433,
+              -0.4417085630750559,
+              0.8032930654653586
+            ],
+            "closest_button": [
+              0.156866729259491,
+              -0.4430213868618011,
+              0.7682856321334839
+            ],
+            "closest_ee_minus_button": [
+              0.0009534393807333341,
+              0.0013128237867451875,
+              0.03500743333187473
+            ],
+            "button_min_z_position": [
+              0.156866729259491,
+              -0.4430213868618011,
+              0.7682856321334839
+            ],
+            "min_active_finger_to_button": 0.14436654317513087,
+            "closest_active_finger": [
+              0.030372880399227142,
+              -0.5036906003952026,
+              0.8104962706565857
+            ],
+            "closest_active_finger_button": [
+              0.15686237812042236,
+              -0.4430524110794067,
+              0.7763624787330627
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12648949772119522,
+              -0.060638189315795954,
+              0.03413379192352295
+            ],
+            "min_contact_pad_to_button": 0.020861830525864322,
+            "closest_contact_pad": [
+              0.156866729259491,
+              -0.4430213868618011,
+              0.7891474626593482
+            ],
+            "closest_contact_pad_button": [
+              0.156866729259491,
+              -0.4430213868618011,
+              0.7682856321334839
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020861830525864322
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "90ff1984bd4dce8f74ee15a8283db7136f520d8f195b5e7740ac63c10c4e5252",
+    "visual_seed": 2632409366908316721,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..365729acf50a85c0d50f195d15acfcf7e4b5696c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1603694296141414,
+              0.23920476142580785,
+              1.0483284293243236
+            ],
+            "current_z": 1.0483284293243236,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18722180210026795,
+            "gripper_z": 1.0544251220080778,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1576851501028297,
+              0.23568309838692522,
+              1.0544251220080778
+            ],
+            "object_minus_gripper": [
+              0.002684279511311699,
+              0.0035216630388826275,
+              -0.0060966926837542346
+            ],
+            "object_to_gripper_xy": 0.0044280319617500275,
+            "object_to_gripper_z": -0.0060966926837542346,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1603694296141414,
+              0.2162214254852947,
+              1.0483284293243236
+            ],
+            "finger_b": [
+              0.1507475151908215,
+              0.23920476142580785,
+              1.0483284293243236
+            ],
+            "finger_midpoint": [
+              0.15555847240248144,
+              0.22771309345555127,
+              1.0483284293243236
+            ],
+            "object_minus_finger_midpoint": [
+              0.004810957211659972,
+              0.01149166797025658,
+              0.0
+            ],
+            "finger_gap": 0.024916158775464884,
+            "fingertip_max_gap": 0.09335306521446551,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012458079387732447,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483284293243236,
+            "object_top_z": 1.0995541174031238,
+            "finger_top_clearance": 0.051225688078800236,
+            "fingertip_min_top_clearance": 0.01536770642364007,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012458079387732447,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04917653260723276,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0828710245537456,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16129745529741918,
+              0.24154357529660989,
+              1.2439047895338236
+            ],
+            "held_position": [
+              0.16412464212301445,
+              0.24482663225336918,
+              1.2377177808451734
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007553179783480459,
+            "max_held_gripper_dist": 0.007568403959668406,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006187008688650186,
+            "max_held_gripper_z_dist": 0.00621928877684641,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08592173402245665,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.16412464212301445,
+              0.22105291279981057,
+              1.2377177808451734
+            ],
+            "held_grasp_finger_b": [
+              0.15611359819880824,
+              0.24482663225336918,
+              1.2377177808451734
+            ],
+            "held_grasp_midpoint": [
+              0.16011912016091134,
+              0.23293977252658987,
+              1.2377177808451734
+            ],
+            "held_grasp_object_position": [
+              0.16412464212301445,
+              0.24482663225336918,
+              1.2377177808451734
+            ],
+            "held_grasp_finger_gap": 0.025087179223899848,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023381137855597013,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044944356383956,
+              -0.9986316661602703,
+              0.026735747066327642
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034819814146397152,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03766962992915951,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30265272716274777,
+              -0.3795268609030539,
+              0.851539575924219
+            ],
+            "target_position": [
+              0.29900475208959326,
+              -0.3793344558925956,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0036530455543841876,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18180570626015688,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539575924219,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547462082125055,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08540872251351482,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14969877282287974,
+            "release_required_pad_clearance": 0.05270436125675741,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4630930430053849,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008516967296600342,
+            "max_z_decrease": 0.008516967296600342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508938132594225,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008516967296600342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020867050349344107,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008516967296600342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008517014636602035,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15470467507839197,
+              -0.43559589982032776,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15470467507839197,
+              -0.43559589982032776,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15604089532719262,
+              -0.4336618603675616,
+              0.8036707030289507
+            ],
+            "closest_button": [
+              0.15471823513507837,
+              -0.43555802106857294,
+              0.7686575651168823
+            ],
+            "closest_ee_minus_button": [
+              0.0013226601921142445,
+              0.0018961607010113402,
+              0.03501313791206839
+            ],
+            "button_min_z_position": [
+              0.15471337735652918,
+              -0.4355688691139221,
+              0.7682918906211853
+            ],
+            "min_active_finger_to_button": 0.14376135256926678,
+            "closest_active_finger": [
+              0.029851950705051422,
+              -0.4981595277786255,
+              0.81089848279953
+            ],
+            "closest_active_finger_button": [
+              0.15470446646213526,
+              -0.43559616804122925,
+              0.7767663598060608
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12485251575708384,
+              -0.06256335973739624,
+              0.03413212299346924
+            ],
+            "min_contact_pad_to_button": 0.020867050349344107,
+            "closest_contact_pad": [
+              0.15471337735652918,
+              -0.4355688691139221,
+              0.7891589409705294
+            ],
+            "closest_contact_pad_button": [
+              0.15471337735652918,
+              -0.4355688691139221,
+              0.7682918906211853
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020867050349344107
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8965520104066671838,
+    "physical_seed": 3697495222794957137,
+    "layout_id": "layout_00032",
+    "step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "workflow_spec_digest": "840eace1ac20c1b2ef40dfbdee1099ae65f7a4f1367c357b912374a123861786",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cfb52529e5142069b53c34362cc7ff869001d5111746e68b2fa5ce5ccff06bad",
+    "visual_seed": 370610653073605263,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      5868908299052723470,
+      1147186024122430536,
+      7048677080094423649,
+      1480185638166204106
+    ],
+    "runtime_workflow_digest": "33e652b2542de79f68aa8e27aae9dbd583c96891ef37bef535140ed15940a762"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..421ed5f403a42239e4cfde5cafd13e560b596f2e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00032/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s04_pslr_htb_00032",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ce9d8ba4280edf2f27cc0c538a312ac6d3a1d466
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:702b6b12a7667055899ceadb75d21d2c5fe9681ae9d1524746c598323653107f
+size 6517507
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f9fae46991aef330c7d17c1f5b5db44f1cd68f64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:336e5cf936ec3fb6633a15168a901d917ec4b9b6985305a4e73919f5ef59b44d
+size 6801964
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a079c4e6d5c32b3b308439d32ec374482e7547da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:286e9232282684914bc33185eafdf8a61a60874b3c797e6bdfb5ba82a1327f39
+size 5767216
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..522ff016a870ffadbd953026953ce9a682b27ff3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e676a82e3ef8f716d9a5dbb9288c3f5958275bbec198cf43a24568ca6bfa95ef
+size 6456645
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d47a60b535e5ecd0fd0090b3a45c7fe5d0c9eebe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb8033d35485ae7c39267f68313f1c70841a59c3bf242752443e08d3e5795a77
+size 7047564
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d97f886f00c7ea4ebda7a311dd8a140a54829b86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6acaf36d5b97acacf049b2159130f84d333703eaaf851288d3f1aa9d761a015d
+size 8014070
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e4fbafdac53d44a0ba644eac12230e9816d02c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff4f0e14b16e9894ab28ec8aee7a1cb7a1bc3f8ee719db2ca517f6d8e9b39457
+size 5125538
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1e478dd41a4e9c5837e43e4a98540d1cce81a4a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bace254e174ee2c59c0850d54300cee3cefb4f91be7bcabee95272e42d037bf
+size 8256881
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e78dcb1efb6b5240cc5c62a86f0112fd9fa32c09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3941352f02b8f3151c3488e41f2268b223c6f02997024d68acfd379a155b57b0
+size 6514269
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fa0e2dfccf560ed6642273f36faa2314728f82cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a84c23de91d69404bc2c1a436119a41a45da5b430356ab04289f5535534f3b6
+size 6442829
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..63ef801b1965f3261e30b97ca75a1c21c0cd25ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a671f6bb4c8fca15fd7f124f86c95f5e579fa345543cec1961b15fe3fdc8d21
+size 6695651
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d1568339c4779a9c248915376def95cffe70a250
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9ab91e0e9b79e05120e158ee65d48e56d8a05ff524e2432e02064c0c3928fb5
+size 6242673
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..12fdcb9b5c061c4f15d3d87fd1ca01c11876baf9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7335a33b164639fe51221ae720131abb2559a9c92e06375d413aaa4300c5530
+size 8229211
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..00434ff0a14f4b3362bbdb35ed6f4840f1eef90d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:495199eb5ac4f97db4156f6409f5f32f9a48d73dcb579f55739cef855a27caf6
+size 8043257
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fb8e4aefe1976a164b36c08fb00d99dc9ecdc0a0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a823f558c38bb5a7ef84dee0e1119f3b736a15a05974bec2c5499fa6e57e12e
+size 6482296
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..838b2e8f42d723e980bcfba5e669e695581bd709
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b4e8e2b6749d5be566ef98fb18a266214eb95acf58976c4f804f035b40eb2ff
+size 6394213
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..65e893c74c3e31a6d1dab4983dcb3a954256229d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa0f1e82b563b0e74a02d8631381111a9c4b80c6bd515149d24e25c5b68d63e0
+size 7458382
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2d3ae25383aec39cf84bbc4f69f6dc704c0d1d86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53a5ee31e52a4d21515a6b060af76fb5329d190d13a0600a3ceb9c8cd1f2a1f8
+size 5937089
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9a9973a1110b4462958619a4baed2e022547cad4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7e73914c480cee50d91a1f9bb080bfba62dcd976f70969fb31f12806ef1f9f1
+size 6486047
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..40c9683863f8c8d37bd2f5a1b77bdc933a1d2c45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee5bd1aab12fad2898d3e7e795c456e1b8562c38fc575ad4ac639c63a6eb54a5
+size 8122681
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b47fb6d83c6d1e41fe02e80436b2280d38280e06
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04408d9cb96ddcc9b6b12ae64f17131b0a4590dd66da8459a61374090f6202ca
+size 5868919
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7a4c67d8fa6c103807a17097700f8a039cc06335
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98abbe46483719b5a13f4645b79fd6dcc478702d9f08e286ae6c4f60187b129c
+size 5908467
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6fc9ecfda39d6a2f9c41d318ddcdd534ab2d1f63
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98a76a2b60fa7f4b3a42b0cb27649584c50490f8975b875766b89fbac4015c0d
+size 5714337
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3d81c2776055cc1a2a3276684fb21a135cfdfac5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c4e85fd55cd6a673eae4441de4cf28fe2b8b6d5307d7a931522a40f5c607809
+size 6525753
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d6d022607af69e14a8e5608d07fa750e0b406497
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b795af333e6947d87620468a1e41e882e12c131edd04d4cd424fad506286e5f1
+size 6511597
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2df4d20122373b1fd17afd79e6da78d281825abc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aeab3b47338a09a35ed0d4eeffb669e9c04bbd2aae8e22715a1f986f0256c4aa
+size 6615334
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d1cc01cf3b3b4fc8a895d76ae533ad2e6ec04a7b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:824fb7728d4b37930b98e25fb0544ed315a830e81a610af6e3a9d5e17bb8b1ae
+size 6282514
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b53f27fee14977fb53dec05280f611396e83bcbf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5cdd5fd2effb80e3f13e0cf63680a2ec24786be89c50f821eed9c9cb1d48f33
+size 5174672
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a48c8c3479f1eb1e6d37ebf1c19cb0e4cad5aae6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62a0aea15aabfff5e5aa4f2f4d61fbf122e0594965d42602d1bf8367031e3b1e
+size 6850596
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..079eb631e71e861041ba647864900fa35983f357
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63c2d051a94d1749f16c8399918a82208c2577fa910f22ee0dde24a55324736c
+size 6160228
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..35a216bc4b5ae4adb0524c075d1f73929b26e3de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b6b7ca3b0380824ff402ed06f16a8687544aed8dd30c2a41acf1d91db52b375
+size 6606637
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9a90dfb48c7a85c44aa80e519755f222816f00e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c836529733c23430bbb260a73a55e126507d427e8824fc88a22367b8c3099b8
+size 6835602
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..265b64651e7ea8608314d4fd31038149d7015fab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d3c741578b52b5322bb91071729c99fdeb5da095765af99cb2bd3aced7fede5
+size 7006507
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..feeb7fb8756c53aa6eeb025042587e06f3bc27ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50d75f36080f666bc366be3e61722fabe84b198f13a93793513b330da4fe5a74
+size 7082912
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e066783120249d94cb87776215f90b31e9bc92e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:603445f04be248bf8f65b970cb3b250dc3d014514d2678484032ff0671c40d6f
+size 8412524
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dab6cb518cb711cd6dcb1dc7d4eb664792826de3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e075f0de76bdcca9dd9f1da91b35d4500a766fb7f07cdbb2302ceee6badb4f9
+size 5840468
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..01c5b5e81644d2b54307949f21ace643028ea3fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c083da09919861028dad5a17b2f4ba0fcd7977ee4d2fc7d8b8bf554e1afe00e8
+size 6815135
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..17146a7fae0374f5a78b5e0b9ec305deed2c5eb1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9d35f33ab3ec30bb94838df2666d76cbdb2a6b0f7d5b10e6b273506a68360da
+size 8472656
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3232e3bef3f3cc31046fa5629875aa301f43a005
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:302e3bb4fffc7d080496fa7ea56529e03b8e1e841b0c8e80b29382267aaa15e2
+size 7131032
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..41d6d5dbfcf70e17f5d669cf52fb6dbc403244c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:519b685f712ef1bba653230bb66eac4c66d4c0e6ecf5275697fa1d9ee773c98e
+size 5584762
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a596986d4cddb145e5ea3df799b7f8e49e5ec83c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec9ca649287cc910975686e34f6ff0dc5957650e6e89b3be8054f27c8aa3778e
+size 6319105
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eb713d7512130f30790c277540c3ec76d92f28c0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:866bba2ff881ba968cc56823db9e90d2a70b1cc52fb437eb683e26a099df38dc
+size 6141002
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..23441e97332d40bf135ff4868a8631efae1e8697
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d4ee7b81b3133795c1aa95ad7da3d56644b5c25e1821ae48e4ba6a1db0b16c4
+size 7389183
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3e1dc8b0f4e74b30b887956c1b03044e0ed7cc46
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b6573feb8e72fe102916af5b731fa585a32d8a565e94c6ddb9707d0e62ff0c0
+size 5924152
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..95af448b7a158f96df941a0593aa39748f08cc59
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555f220b6f3aaffa9102b6ae2f2ffb543d95261499a33c02d0ccd89b04f37350
+size 7802756
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cff7c4b2656c636fbb6e9e8cf0ce41913391abfc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4524af6fc634aaed0fa7517fe84d3085b3c38067a0b741118d92afee74fca3a
+size 8385710
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d483bcc3d09619e3beec7f8c732f14b503e46e7a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71c669e550b12382ad6995b4a8b9e73535a481c998f676d630a3e5ee3042a9fe
+size 5381776
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c07431f98d2232e904af40d4a0f72f68c2fdf9ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:415f2db385027e2018c1ab7a256a2f71a42665889305e0dc4aae4b8a2da9d7d8
+size 7305665
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..acde484e291f5bc55165b995279c9c6fd4029e03
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee1541a86ea801726e0555f6be25667f3bed9336cba78b31c3a2230142cc06bb
+size 7659600
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..48df120dea71589bb3b152f71afc74d8359d7c5c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:608dacd0bcb10855465f852c48f187dc2f5620137b2293d38291fd3555ef5f6f
+size 5346615
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..529a3bf4fdcded3e766000f3b559605572a08f7b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a53d7d85b3fc604304c6a7bb4b2f0fad3102eecc37b92a6f790454271553cd10
+size 7904573
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a69ab89bf1775e471c91c9a56c34b26845d1c38c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac15330d15998f3f4127b3f1ea2b5223485b34c95dcc69271a894cad1e211135
+size 6760353
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a7f42816c1fb4c7697bc2d2a6a60e4da48103153
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9a11921717d9c8c421186eb58f6870ad4b2de4d619d1d2195e62e4e173d2221
+size 6502003
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ab26e57b5fb68358d6feb7b1ad2529b64ca5549f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:741501296da7c2652656b29dbb9bd0ce4dfb25f1a51e0c94f6651ed7170a5813
+size 6580571
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60925c69a919ff04a9208761b39f8f4f1bd3c788
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f65278bc2eef4ec89ac3a4c32719f3084701505c65494ba42cee844fe60fc01
+size 6602295
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a564723b023f26b05ff2459fcb8c79b3454c3991
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bb92a9801599c5f00427fc17fbed3b6b346cd5c07a0b9167a295d24d7d17a1e
+size 6305211
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0a21017e4d5b241f0cbac35d704267c4eabc1357
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f38cad2547d2839606329a985477caee8622f1f9c1f7987d4791fe600dc4a3e
+size 6329664
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..93031090e62715199c7ea093011f2f4fbbe9feeb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cbc63dcacf94bfc57c4a29da3b89f22a10745f6de0c6ee12a95473338b6832b
+size 5892594
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b2ac83f2861ac7c31c27badbe3afc6850f9ea11f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d3f6050ee2af58f5686d79f78dddd8c75317ad0fc54eb9c478741f44d0e3c3
+size 6420546
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..da115bf1c12a4c6e9e66cd3744d02a3bfeb39edb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0cbeb849c244d59edae32117d0ef9a2a19f70c63d97e93b4a3e2fd169660182
+size 5740159
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ae6610789dee53318a924f5ed53d2225efdd321b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c04471c427cbc69557ca3589a87bede87361018c7608f5c1dd87c71e42c0f7
+size 6450359
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cddb3c107cf02e10a4e4b27119b025505f388310
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d7348add2b34ff3ddc594039c4f5e8712d0fdb10f83a56fb458086f70ea90bc
+size 8156862
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1f11e191709ee765ad3581eec33c4efaae50657b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0fd5d3f007f810914eef671c2245c4c24778ad23667e6049dff13372c58e70e
+size 7857572
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3f05bcaa9016631a5e2af0843e3686bdfe023e11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14766fea01c770333a6bc960db7a93f542429562d2c4b78629a082e6f79e1c72
+size 6141130
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0101.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6ea58a301d6a440d9c64dcf641d012c2dfb277e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0101.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b6cae74323737c8ae16bbed383fe0528c663b79cc74c4c42d2a4d74b3757ab
+size 5776561
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0102.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0102.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fe3d068a8cdeb949fce05cb2570288c8d416ea05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0102.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a83998179085375c3aeba7b6cc0da514866429041f2e59aa67e957a5f86754
+size 7820191
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0103.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0103.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a8c1a861480db7609779fffc827405ac32b05d5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0103.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c366f7a99c9dd059ec49d25e835245b0a54329f4ec70e0953ef87a1c683049b
+size 6728379
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0104.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0104.h5
new file mode 100644
index 0000000000000000000000000000000000000000..59f8aff44226f967ad76472e82d2eefb43f93928
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0104.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ff8c77cd154f23f00e57d47316399d160ff45d2dd189615045c25c681048227
+size 4968827
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0105.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0105.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cedfd74b3871f9f0f42cfb08efd1bf6c81202492
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0105.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24a443e00d56603c557122f13f712b95f0e175e7487ef2c9df26e70ef3e30956
+size 8485976
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0106.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0106.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d14ace178b845d7701be7cec61bbb46c94180824
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0106.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff712ad76ac1aafd07c9e95254a25f86052a076db5355201d58b46163c80d795
+size 7691951
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0108.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0108.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21fab2ad138f66f03fe7834930b0db32e8eca309
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0108.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77a422eb46d5c871a828a4959f8d3714f5d4998e39c8435aca8c29a8210450de
+size 7144806
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0109.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0109.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5bc2b300ba1e32ab954f43d531017875957df3f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0109.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cacf368b9427cb857c511aa726dfcec1aed6289c96780afb730fb43995c0f51
+size 6939620
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0111.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0111.h5
new file mode 100644
index 0000000000000000000000000000000000000000..28fe49bf66fdca96dcaf2722524e943575fdad35
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0111.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dd99a2eaf158a2257efdeb07e8f40ee3142f4cb9d56986a6a84d10382e10cba
+size 7854513
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0112.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0112.h5
new file mode 100644
index 0000000000000000000000000000000000000000..da44a2093a93ef9aafae0b79b0d687d2c40a309a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0112.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a10e7629360ad4c74d681cc1f0b43986d8d25a4312ca10f5423763a1ac20351a
+size 5443238
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0113.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0113.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f5f89e3614aa96d106115362ef85eeeb6684c420
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0113.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae21d09bba4e8b11558592e3d7b58db2fb7c9ce93fe3baa445f5139fbc43a64d
+size 7098111
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0114.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0114.h5
new file mode 100644
index 0000000000000000000000000000000000000000..92d1444d4f5cde742ce0028fa793bea23e277c1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0114.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff4510b50c6b1ea039e6790215ab6cda84dee0ee8117e380b6f3ab839bb2a805
+size 6786657
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0115.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0115.h5
new file mode 100644
index 0000000000000000000000000000000000000000..54456e8bdf72ee2e0b295b3d2e5faa9e09eb4e29
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0115.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5af9607ee8ab853ede76e1b60dd1fe470d54c472fd1d0ba891bbdfe12eb2e25a
+size 7254101
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0116.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0116.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9943f37f56f2f8a866012ad00594b49fda78ff84
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0116.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d57e15d74d35a20272e98f550d4661fa0cce8698dbb28ec2e604ab7b305a5719
+size 6956634
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0118.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0118.h5
new file mode 100644
index 0000000000000000000000000000000000000000..45a5e2cdb8095283ead886c1db9e35106ecdde65
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0118.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efea2f3a833dce4e4a1dec016493eed148da3dfbc0e7147cf3750818811e5fc9
+size 9528581
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0121.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0121.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f0359188e1091c57c10ba990cde24339997c1abe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0121.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba01a43f6188d81a68d00aa0ff4696a7658523f56464bb5b5a69fe057874c816
+size 8201184
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0123.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0123.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5582199cb323931568539f4f5eb1d12ef63f2d81
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0123.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4347bfebd1d97614802ddca598bcd07c45d913d631036ccf1961884bd23a6133
+size 5821607
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0124.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0124.h5
new file mode 100644
index 0000000000000000000000000000000000000000..251b385577372701bc191d27053ae9d8ac6d032c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0124.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e20a0dd3d814a330405f8cfc0b9a480e3419c6d18a15c77d3b5037066d7afd60
+size 5742708
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0126.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0126.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ec80329f9c89a9cc74832fd40f8eb1620615075d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0126.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0b5ef1f03a62a96c6d4d4348c798f24fb4a0283922545baa8e9c6b28d7b7528
+size 6446417
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0130.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0130.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3bf5cfc64ccae6222843425024e67eeff453d3dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0130.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ea3e77dae197e2a45a7be2aa7587ede2bee4168a3cdcfd2a57c63575213abd4
+size 6358164
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0132.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0132.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4c6f1360cc23070c28a846c5791d30efe929c95b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0132.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c0826286f3d2ee03b6e3c056ee26617bfcfdc8955a2981d997c42bc4901879b
+size 9197839
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0136.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0136.h5
new file mode 100644
index 0000000000000000000000000000000000000000..089d8adf4d6289e53ef7b4aef2a4474944803252
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0136.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:571191ffac74f59b8b178a91adf48398dcec09b2bf7ef0638e3a0e8e9d139f0f
+size 7466704
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0140.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0140.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fce5aa4c66280f4906ef932fb5114848308e55ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0140.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cda5c7a8f841870d525acd957d2c03aa221acbc81e51024aecc5b2cd52ca558b
+size 8902263
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0142.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0142.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6f1cafe0d402fc39972fc0bd244f0ea2a94a2933
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0142.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6196aa5c6a1f428bef5b58fcc329e5a92571de6df411edcfbce5d8324d0df250
+size 6871102
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0144.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0144.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5ac5187c07ae217bae3931b75ee78fd6b2d6cb43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0144.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a452a2e097c5bbba0c081cf0c3fd676b68fdc18e87209f9c99b8457f6848f6c0
+size 8659730
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0146.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0146.h5
new file mode 100644
index 0000000000000000000000000000000000000000..de7ca272d6224186a4e6ab60b21d49e0b7e2268a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0146.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35d3e52d80cf7eb14384dceb8d752d544cf0f5e277f623a899948ff9978436c1
+size 7620845
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0147.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0147.h5
new file mode 100644
index 0000000000000000000000000000000000000000..347901154a0eb4e03d553bf0d95add581fd19025
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0147.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:616e9b913b16fc72c5cf2b1eb9a438a4dcd50544f16f6f3cadec3679cf582229
+size 6058014
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0148.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0148.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4b042bb91be29f1c38786d0f9bcbf8d6a347a115
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0148.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04e4aab977e043d6b4f873218c058f03a688685c90dac1d74994b40f80a6d2e8
+size 7590632
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0149.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0149.h5
new file mode 100644
index 0000000000000000000000000000000000000000..24705f67df86bb9d2b00021fa4c85b9aaec434e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0149.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d720e540414fa786e79d930b1c3d3a9615dbb197303e5d149766baaa1974981
+size 6345627
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0150.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0150.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dfe5263e394a6603b26ad91a20106e7c5a9918c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0150.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e567646ee0faee8211e79fb9fa9c0c29733736a1ce16b2f56c8ddacfaffa053a
+size 6300042
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0151.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0151.h5
new file mode 100644
index 0000000000000000000000000000000000000000..862feeb288c5f57fda86afea0d9c863cc3e84090
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0151.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc91bdedb6a003192ddba12d34f2aa13990eadb22a014b971f6c728079f0dfeb
+size 8207155
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0152.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0152.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c6bf1984fad4ff0c5ecb4ceaad7dcfc241529c12
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0152.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fd2b165b1cb5a736b094af606b3abc34e0b6f23592198f98f73056dd5b8fb88
+size 6501778
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0154.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0154.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6bf57f25242faf7694f1ce7fedf6f24581472ae6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0154.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e3b3d3849219f2124f508baab5bfe4e2c33b17092dc7a8879eff9b35ab0ebd4
+size 6129025
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0155.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0155.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b232c7447e59f816cd9110680a78830d94cf1ce4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0155.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a23f7409bfa958cfe48fc631cbfb8b67dcc001cc16de9dcfbac0792c6057e3f
+size 6983012
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0159.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0159.h5
new file mode 100644
index 0000000000000000000000000000000000000000..05f3e7b9a549c5cf93132ddbeef09a6d38c75517
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0159.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:873193f49f4b72919dcc64104c4e1aece5e0c0ec22a0e9571794b21c3e8fbf9a
+size 8248686
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0160.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0160.h5
new file mode 100644
index 0000000000000000000000000000000000000000..17e025c73671fd462ef25602c2ba1538ee804349
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0160.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e60f1973e116bf92adcf2a7a444efeb9af49fa611256149d331002d0c05fc5a
+size 6897479
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a9261f6b099d8f27f850d648be4a9c3709771a14
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1286,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1298,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1287,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1307,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1294,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1309,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1293,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1293,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1306,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1287,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1285,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1288,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1284,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1290,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1298,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1286,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1304,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1297,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1299,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1288,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1301,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1280,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1281,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1293,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1307,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1290,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1309,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1282,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1303,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1299,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1297,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1293,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1289,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1301,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1282,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1291,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1284,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1299,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1277,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1296,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1282,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1293,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1298,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1297,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1304,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1289,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1296,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1293,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1286,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1304,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1293,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1299,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1294,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1289,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1288,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1289,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1298,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1296,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1297,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1283,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1290,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1285,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1290,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1303,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1293,"success":true,"robot_type":"ur5e"}
+{"episode_index":102,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1295,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1301,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1297,"success":true,"robot_type":"ur5e"}
+{"episode_index":105,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1305,"success":true,"robot_type":"ur5e"}
+{"episode_index":106,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1287,"success":true,"robot_type":"ur5e"}
+{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1283,"success":true,"robot_type":"ur5e"}
+{"episode_index":109,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1288,"success":true,"robot_type":"ur5e"}
+{"episode_index":111,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1289,"success":true,"robot_type":"ur5e"}
+{"episode_index":112,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1286,"success":true,"robot_type":"ur5e"}
+{"episode_index":113,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1284,"success":true,"robot_type":"ur5e"}
+{"episode_index":114,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1282,"success":true,"robot_type":"ur5e"}
+{"episode_index":115,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1278,"success":true,"robot_type":"ur5e"}
+{"episode_index":116,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1293,"success":true,"robot_type":"ur5e"}
+{"episode_index":118,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1280,"success":true,"robot_type":"ur5e"}
+{"episode_index":121,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1284,"success":true,"robot_type":"ur5e"}
+{"episode_index":123,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1295,"success":true,"robot_type":"ur5e"}
+{"episode_index":124,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1302,"success":true,"robot_type":"ur5e"}
+{"episode_index":126,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1287,"success":true,"robot_type":"ur5e"}
+{"episode_index":130,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1300,"success":true,"robot_type":"ur5e"}
+{"episode_index":132,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1287,"success":true,"robot_type":"ur5e"}
+{"episode_index":136,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1209,"success":true,"robot_type":"ur5e"}
+{"episode_index":140,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1211,"success":true,"robot_type":"ur5e"}
+{"episode_index":142,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1291,"success":true,"robot_type":"ur5e"}
+{"episode_index":144,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1297,"success":true,"robot_type":"ur5e"}
+{"episode_index":146,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1290,"success":true,"robot_type":"ur5e"}
+{"episode_index":147,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1288,"success":true,"robot_type":"ur5e"}
+{"episode_index":148,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1295,"success":true,"robot_type":"ur5e"}
+{"episode_index":149,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1306,"success":true,"robot_type":"ur5e"}
+{"episode_index":150,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1297,"success":true,"robot_type":"ur5e"}
+{"episode_index":151,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1293,"success":true,"robot_type":"ur5e"}
+{"episode_index":152,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1296,"success":true,"robot_type":"ur5e"}
+{"episode_index":154,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1297,"success":true,"robot_type":"ur5e"}
+{"episode_index":155,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1298,"success":true,"robot_type":"ur5e"}
+{"episode_index":159,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1297,"success":true,"robot_type":"ur5e"}
+{"episode_index":160,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1291,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3ea466311e293f89bddc4389fbfb64fd18928b46
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-05T01:20:31","dimensions":{"distractor":{"count":23,"items":[{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_0","position":[-0.39392181400622805,0.4551919131761055,0.71338606911949],"aabb_xy":[[-0.4056900008008856,0.370191913270884],[-0.38215362721157053,0.5401919130813272]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[-0.4508340062733255,-1.2653707952742201,0.71338606911949],"aabb_xy":[[-0.5308340095311684,-1.3453673030662041],[-0.3708340030154825,-1.1853742874822362]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.07879932910339404,-1.9918463944578184,0.71338606911949],"aabb_xy":[[-0.09435509851365934,-2.007396827702226],[-0.0632435596931288,-1.9762959612134112]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[-0.3535407976769928,-0.9387337647928611,0.71338606911949],"aabb_xy":[[-0.4175407969711611,-1.0027199051617153],[-0.28954079838282465,-0.8747476244240069]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.46551361476466147,1.645761511888025,0.71338606911949],"aabb_xy":[[0.3755136150414872,1.622688159352845],[0.5555136144878355,1.6688348644232047]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.2482677920680001,-2.389512810880877,0.71338606911949],"aabb_xy":[[0.22468266860410524,-2.4545128131263088],[0.27185291553189495,-2.324512808635445]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.3873764569415328,-1.4300140954575622,0.71338606911949],"aabb_xy":[[0.37795898237167,-1.4394302725952812],[0.3967939315113955,-1.4205979183198432]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[-0.43729990993691903,-0.4532704046811409,0.71338606911949],"aabb_xy":[[-0.45440198789528713,-0.47037721021241063],[-0.4201978319785508,-0.43616359914987113]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.17292060058917635,0.840687409387832,0.71338606911949],"aabb_xy":[[0.1251144329754077,0.775687406680773],[0.22072676820294498,0.9056874120948909]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.11627281763619612,1.3012349423458325,0.71338606911949],"aabb_xy":[[-0.1255664358733467,1.2637349438576984],[-0.10697919939904553,1.3387349408339662]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[-0.24431634072712777,1.7202947223078193,0.71338606911949],"aabb_xy":[[-0.30931634172762834,1.6695083571531442],[-0.17931633972662728,1.771081087462494]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[-0.11129657963619921,-2.3950008106290057,0.71338606911949],"aabb_xy":[[-0.16111335910103397,-2.445000809113309],[-0.06147980017136444,-2.3450008121447024]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[0.534241894342163,-0.8566819691450633,0.71338606911949],"aabb_xy":[[0.5282753554014272,-0.8626431138044274],[0.5402084332828987,-0.8507208244856993]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.09198044658851867,-1.396353679413605,0.71338606911949],"aabb_xy":[[-0.14186314346621487,-1.4463536786598798],[-0.04209774971082247,-1.3463536801673304]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_14","position":[0.5928207616249632,1.0145863362362988,0.71338606911949],"aabb_xy":[[0.5288207595752312,0.9744918531469908],[0.6568207636746952,1.0546808193256068]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[0.40151015004034485,-1.9491019347648177,0.71338606911949],"aabb_xy":[[0.35932573587951416,-2.0131019350420294],[0.44369456420117565,-1.8851019344876068]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.43614935610530975,0.9478374168435635,0.71338606911949],"aabb_xy":[[-0.47318346553336943,0.9134602095098541],[-0.39911524667724996,0.9822146241772729]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[-0.5444882199207526,-1.5442874246537224,0.71338606911949],"aabb_xy":[[-0.551770536297416,-1.6342874282632311],[-0.5372059035440887,-1.4542874210442132]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[0.5472554148471569,-2.198742547634309,0.71338606911949],"aabb_xy":[[0.4832554125043554,-2.2436833988784417],[0.6112554171899585,-2.1538016963901767]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[0.5411920914745241,-1.6251354796942528,0.71338606911949],"aabb_xy":[[0.49119725854658247,-1.6751354785894963],[0.5911869244024657,-1.5751354807990092]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.028540945453863875,-0.9482205005616247,0.71338606911949],"aabb_xy":[[-0.03545905524960548,-0.9942388830345458],[0.09254094615733323,-0.9022021180887038]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[0.21882153195872478,-1.6267956125074816,0.71338606911949],"aabb_xy":[[0.21010756290879024,-1.6492956131666696],[0.2275355010086592,-1.6042956118482932]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_22","position":[-0.2593295526964517,-2.0964577411626766,0.71338606911949],"aabb_xy":[[-0.309312502883931,-2.146457740805236],[-0.20934660250897233,-2.0464577415201153]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6997989576171701,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8134.png","name":"8134"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8134.png","name":"8134"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2301.png","name":"2301"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1437.png","name":"1437"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7069.png","name":"7069"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4226.png","name":"4226"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":622.9471750129294,"rotation_z_degrees":154.73157467712633,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01695444776670096,-0.013379283553534918,0.01903309644630399]},{"name":"camera_2","offset_m":[0.014374488342800692,0.0008386278149745824,-0.0063091997748591575]},{"name":"camera_3","offset_m":[0.002465326149532574,0.008538567795455282,-0.014079671738965401]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016777253896030154,-0.0010221524270126298,-0.0013898188294066967],"end_effector_yaw_offset_degrees":0.07547356636795421},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007619301183905938,0.0003466820921425493,-0.0017845267670981322],"end_effector_yaw_offset_degrees":-0.21533438723186782},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011374894123646105,0.0005493472666611939,0.0011572014308146384],"end_effector_yaw_offset_degrees":-0.6977213329833163},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00033640606266845466,-0.0017692703348164969,-0.0001271114929046399],"end_effector_yaw_offset_degrees":-0.9376618873527618}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002701463830017743,-0.00018801904406058525],"position_m":[0.32270146383001774,0.35291198095593945,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014313824721040504,0.001368903569870004],"position_m":[0.2734313824721041,-0.36593109643013,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033796874759830413,-0.0006658689460340879],"position_m":[0.18337968747598304,-0.03426586894603409,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024804314828184883,-0.0021051784043364897],"position_m":[0.34098043148281854,0.1063948215956635,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"76d41362ee8689fbbfab0213d7b34d3d22118cdaa3ff271ecb415c241b5edaf9","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8134/tex_ceiling_textures_4226/tex_floor_textures_7069/tex_table_textures_2301/tex_wall_textures_1437","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":9124934208782177611,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":9124934208782177611,"visual_seed":9124934208782177611,"scene_id":"lab_003","finished_at":"2026-09-05T01:23:52"}
+{"episode_id":"ep_000001","started_at":"2026-09-05T01:26:59","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[0.3782043468695586,-1.389884587966378,0.71338606911949],"aabb_xy":[[0.3742904736741361,-1.3986336033729345],[0.38211822006498114,-1.381135572559821]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.34712790737452814,-1.7539628219179013,0.71338606911949],"aabb_xy":[[0.2831279069969945,-1.8037080887687136],[0.41112790775206176,-1.704217555067089]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[-0.13901403129150192,0.9490496577739749,0.71338606911949],"aabb_xy":[[-0.20901403468306387,0.9137338840705439],[-0.06901402789993992,0.9843654314774056]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[-0.5303297046470048,-2.170452983450866,0.71338606911949],"aabb_xy":[[-0.538457392840318,-2.179366591861574],[-0.5222020164536916,-2.1615393750401584]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[-0.6125160271589883,1.650699702322934,0.71338606911949],"aabb_xy":[[-0.6596454061608239,1.5866997012785318],[-0.5653866481571526,1.7146997033673357]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[-0.30402606653707454,0.345727362631453,0.71338606911949],"aabb_xy":[[-0.3425717593622756,0.3071815915752643],[-0.2654803737118735,0.38427313368764165]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[0.5680790101478352,-0.7523983892096675,0.71338606911949],"aabb_xy":[[0.5345998428867943,-0.7858775025807745],[0.6015581774088762,-0.7189192758385605]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.09061400363451033,-2.1120078334354644,0.71338606911949],"aabb_xy":[[-0.10118148329260933,-2.122552863548473],[-0.08004652397641131,-2.101462803322456]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[0.07567056834465269,1.0592638707230138,0.71338606911949],"aabb_xy":[[0.06306786920757623,1.0466684744981483],[0.08827326748172915,1.0718592669478793]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.40421551441237114,-0.4979652983737535,0.71338606911949],"aabb_xy":[[0.38432447453203095,-0.5106211096584503],[0.42410655429271144,-0.48530948708905663]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.562847512164103,0.19201037333680215,0.71338606911949],"aabb_xy":[[0.5128742181608424,0.1420103727822548],[0.6128208061673633,0.2420103738913495]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[0.5608106802740067,0.7232149796308955,0.71338606911949],"aabb_xy":[[0.5441335442809111,0.7065150556569653],[0.5774878162671021,0.7399149036048258]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[0.41178806711299853,0.9478766601045199,0.71338606911949],"aabb_xy":[[0.3813899560138549,0.9174697581028503],[0.44218617821214207,0.9782835621061893]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.027209673363598474,0.1775051803619938,0.71338606911949],"aabb_xy":[[-0.04749397608699723,0.15722255521928494],[-0.006925370640199712,0.19778780550470262]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.32331227867040185,0.5453040264360345,0.71338606911949],"aabb_xy":[[-0.4033122772577213,0.46598842449787364],[-0.24331228008308245,0.6246196283741954]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[-0.463403345778472,-1.771843589855569,0.71338606911949],"aabb_xy":[[-0.48107897636707025,-1.7895238061349719],[-0.4457277151898736,-1.7541633735761664]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_16","position":[-0.41337070478867555,-1.0082558998264501,0.71338606911949],"aabb_xy":[[-0.4773707020910219,-1.052622326794307],[-0.3493707074863291,-0.9638894728585934]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[0.24302429183006735,1.5772381842415286,0.71338606911949],"aabb_xy":[[0.15302428815314914,1.5158057776644236],[0.3330242955069855,1.6386705908186323]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.042625780565390126,-0.9208889212480107,0.71338606911949],"aabb_xy":[[-0.021374220842600534,-0.9726778727719354],[0.1066257819733808,-0.869099969724086]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[0.46719905036738285,-1.0739016602755764,0.71338606911949],"aabb_xy":[[0.4599167339907191,-1.163901663885085],[0.4744813667440464,-0.9839016566660671]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.07996009422668349,-1.823389154019644,0.71338606911949],"aabb_xy":[[0.06440432481641822,-1.8389395872640517],[0.09551586363694876,-1.8078387207752373]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[0.03784463237240043,-1.1857435545776194,0.71338606911949],"aabb_xy":[[-0.012150378587051595,-1.2357435536132113],[0.08783964333185247,-1.1357435555420279]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[0.5117062112113715,-1.9488108913046926,0.71338606911949],"aabb_xy":[[0.48337650126283127,-1.95327163349841],[0.5400359211599117,-1.9443501491109758]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[-0.3343173320639022,-2.2173091179882762,0.71338606911949],"aabb_xy":[[-0.41431733072078825,-2.231813976912539],[-0.25431733340701623,-2.2028042590640133]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[0.4340728464649575,0.44638559687175006,0.71338606911949],"aabb_xy":[[0.3740728458689413,0.3915731243265266],[0.49407284706097365,0.5011980694169735]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_25","position":[-0.6531206360258875,-0.009675184547465854,0.71338606911949],"aabb_xy":[[-0.668292805307521,-0.02484404147566921],[-0.6379484667442543,0.005493672380737502]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[0.3081918829755721,0.4641423280973349,0.71338606911949],"aabb_xy":[[0.3021548699749074,0.45811562702838676],[0.3142288959762369,0.47016902916628317]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[0.6296490584140693,1.746936413743048,0.71338606911949],"aabb_xy":[[0.5396490560800503,1.6694540591579354],[0.7196490607480884,1.8244187683281607]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6991818650473757,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4964.png","name":"4964"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4964.png","name":"4964"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/811.png","name":"811"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9631.png","name":"9631"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2580.png","name":"2580"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3834.png","name":"3834"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":721.4682997298924,"rotation_z_degrees":285.4147383097028,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006005686008618342,-0.004352782046854874,0.0011551347165389102]},{"name":"camera_2","offset_m":[0.016192714046093137,0.0071288314596369105,0.0006020847653713905]},{"name":"camera_3","offset_m":[0.018839656034475908,0.012339240535062374,-0.007066059260046545]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015759521254670268,-0.0014428597230427447,0.0017418637385166994],"end_effector_yaw_offset_degrees":0.2893861779181235},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011891937258413188,6.615172274659171e-05,-0.0012216399680515353],"end_effector_yaw_offset_degrees":-0.8593252433183514},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017713879551214955,0.0011004788264803414,0.00019598922538597652],"end_effector_yaw_offset_degrees":-0.7896626984875494},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019007572894662438,-0.0014811512511873875,-0.000501047145404021],"end_effector_yaw_offset_degrees":-0.0697740463378893}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001394060790948574,-0.0046702362722240735],"position_m":[0.32139406079094857,0.34842976372777595,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001118771519908396,-0.0015875569875451012],"position_m":[0.2708812284800916,-0.3688875569875451,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005475474650922362,0.004597878199454663],"position_m":[0.17945245253490777,-0.029002121800545334,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015831273955907825,-0.002585811764912125],"position_m":[0.3400831273955908,0.10591418823508787,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea0552020e15a81ed8cdf5f56ef2bea84defb8c414df2544d7b75d82339c2b77","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4964/tex_ceiling_textures_3834/tex_floor_textures_2580/tex_table_textures_811/tex_wall_textures_9631","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6558386410124006502,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6558386410124006502,"visual_seed":6558386410124006502,"scene_id":"lab_003","finished_at":"2026-09-05T01:31:03"}
+{"episode_id":"ep_000002","started_at":"2026-09-05T01:34:12","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.4696870710182719,1.292748080114793,0.71338606911949],"aabb_xy":[[-0.5191674922322307,1.2287480822019414],[-0.42020664980431316,1.356748078027645]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[0.4462386168696004,-2.353389536866677,0.71338606911949],"aabb_xy":[[0.42169240124684976,-2.3836384334157135],[0.4707848324923512,-2.3231406403176393]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[-0.4642293937039674,1.6663258751755214,0.71338606911949],"aabb_xy":[[-0.5292293948099107,1.6413605021073934],[-0.3992293925980241,1.69129124824365]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[-0.1370232913875824,1.490418275441575,0.71338606911949],"aabb_xy":[[-0.15465612698110998,1.4727953294259515],[-0.11939045579405484,1.5080412214571974]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[-0.2838971237830309,1.1134163460976128,0.71338606911949],"aabb_xy":[[-0.29117944015969444,1.0234163424881033],[-0.2766148074063671,1.2034163497071213]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.3034649971336628,-1.9826505590758274,0.71338606911949],"aabb_xy":[[-0.3201421331267583,-1.999350483049758],[-0.2867878611405673,-1.9659506351018974]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[0.10549015571976261,-0.686804555954367,0.71338606911949],"aabb_xy":[[0.09679219342904734,-0.6989295302618417],[0.11418811801047792,-0.6746795816468922]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_7","position":[0.03426122063616388,-0.862570671537698,0.71338606911949],"aabb_xy":[[0.023420742409648976,-0.8797569528283467],[0.045101698862678785,-0.845384390247049]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[-0.15960737035427341,0.21143613000428374,0.71338606911949],"aabb_xy":[[-0.17651810279061514,0.19796392441166918],[-0.14269663791793158,0.22490833559689824]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.5805303270322052,-1.4232102797239243,0.71338606911949],"aabb_xy":[[-0.5861119986663338,-1.4357102795417],[-0.5749486553980764,-1.410710279906149]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.48887148363026767,1.1827046266216072,0.71338606911949],"aabb_xy":[[0.45137148505464686,1.169968330958049],[0.5263714822058885,1.195440922285165]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_11","position":[0.10333745281094986,-2.473128992055892,0.71338606911949],"aabb_xy":[[0.07833745364531676,-2.4800812377612487],[0.12833745197658297,-2.4661767463505355]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.6522170396275625,0.3472846221042527,0.71338606911949],"aabb_xy":[[-0.6581835785682983,0.3413234774448886],[-0.6462505006868267,0.3532457667636167]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[-0.24430743419201167,-1.751346089203642,0.71338606911949],"aabb_xy":[[-0.257753960826055,-1.7648159408567332],[-0.23086090755796834,-1.7378762375505505]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_14","position":[0.14198501512804762,1.6248379243515374,0.71338606911949],"aabb_xy":[[0.09198501417751481,1.5932887773480156],[0.19198501607858043,1.6563870713550584]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[-0.1534292949919156,1.1897229349753466,0.71338606911949],"aabb_xy":[[-0.21742929639990627,1.1379339834514217],[-0.08942929358392494,1.2415118864992711]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.18858237276814682,-1.0638753235611946,0.71338606911949],"aabb_xy":[[0.1384849087870732,-1.1278753240710062],[0.23867983674922044,-0.9998753230513826]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[0.3317093867585561,-1.2394853361094198,0.71338606911949],"aabb_xy":[[0.29420938641032823,-1.2512767316905031],[0.36920938710678375,-1.227693940528336]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.058020414280022914,-2.3847771997524254,0.71338606911949],"aabb_xy":[[-0.12202041749866077,-2.4315003116514338],[0.005979588938614944,-2.338054087853417]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.5503025361134348,-1.2579894510901548,0.71338606911949],"aabb_xy":[[-0.5544184862255074,-1.2621050061230004],[-0.546186586001362,-1.2538738960573093]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_20","position":[0.563495876349158,-1.0055367646848483,0.71338606911949],"aabb_xy":[[0.5555018877714546,-1.0135368447799384],[0.5714898649268614,-0.9975366845897577]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[0.324936341652172,-1.5700634360804846,0.71338606911949],"aabb_xy":[[0.25493633826060996,-1.6053792097839152],[0.3949363450437339,-1.5347476623770535]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[-0.5945550357249382,-0.6216504336372386,0.71338606911949],"aabb_xy":[[-0.6445543108933743,-0.6716504349131859],[-0.544555760556502,-0.5716504323612915]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.01664513600106632,-2.514448314526721,0.71338606911949],"aabb_xy":[[-0.05110748339920811,-2.548942196924543],[0.01781721139707548,-2.4799544321288978]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[0.6636126633213146,-2.0625596522832685,0.71338606911949],"aabb_xy":[[0.6461126640432278,-2.079897752349614],[0.6811126625994015,-2.045221552216922]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_25","position":[-0.05704180326825492,-1.7412224339556968,0.71338606911949],"aabb_xy":[[-0.10221312111642392,-1.8052224311002354],[-0.011870485420085949,-1.6772224368111586]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[-0.3612918603995841,-0.5934969990577466,0.71338606911949],"aabb_xy":[[-0.3700058294495185,-0.6159969997169346],[-0.3525778913496495,-0.5709969983985581]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[-0.23339027072324514,-2.498132034588839,0.71338606911949],"aabb_xy":[[-0.2933902713192613,-2.5529445071340624],[-0.17339027012722896,-2.4433195620436154]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_28","position":[-0.5087270845989483,-1.5645546409661855,0.71338606911949],"aabb_xy":[[-0.5392113347259784,-1.6145546407476814],[-0.47824283447191807,-1.5145546411846895]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_29","position":[-0.1429064363160536,1.7781385502665477,0.71338606911949],"aabb_xy":[[-0.15103412450936685,1.7692249418558401],[-0.1347787481227404,1.7870521586772556]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7018101183611888,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3810.png","name":"3810"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3810.png","name":"3810"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3507.png","name":"3507"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9324.png","name":"9324"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9741.png","name":"9741"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4471.png","name":"4471"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":616.0603665285586,"rotation_z_degrees":297.2131115281535,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005325617447746551,0.009415184420687561,0.0007165440825897818]},{"name":"camera_2","offset_m":[0.005891292837540418,0.012044632179865965,0.0038565760639357634]},{"name":"camera_3","offset_m":[0.004456819039887944,-0.004654151711135576,0.018266241770763494]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000977859875724913,0.0012252344663462736,-0.00010505921106965005],"end_effector_yaw_offset_degrees":0.11895196772305727},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005422445967677766,-0.0011373061393315856,-0.0009591275789259074],"end_effector_yaw_offset_degrees":0.5351436679939812},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016456948387439253,0.001368321958444706,-0.0009052663119781226],"end_effector_yaw_offset_degrees":0.6572300039468935},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018077186115995545,0.00016641043561087168,0.001319243821914892],"end_effector_yaw_offset_degrees":0.8461428708630276}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015797540532712139,0.004983722131411131],"position_m":[0.3184202459467288,0.35808372213141115,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0043674743215343275,0.0023163161553543445],"position_m":[0.27636747432153436,-0.3649836838446457,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003181270458619036,0.0003833703689711098],"position_m":[0.18318127045861904,-0.033216629631028886,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006489281347945228,-0.004569894384670638],"position_m":[0.3391489281347945,0.10393010561532937,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d7c86de7a2c52a18fa68c037be44d594d621beabeb0cfd2a02d54e52c223b3f3","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0004.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3810/tex_ceiling_textures_4471/tex_floor_textures_9741/tex_table_textures_3507/tex_wall_textures_9324","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":883178713932121420,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":883178713932121420,"visual_seed":883178713932121420,"scene_id":"lab_003","finished_at":"2026-09-05T01:37:54"}
+{"episode_id":"ep_000003","started_at":"2026-09-05T01:38:00","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.3932347002666043,-1.969424148062044,0.71338606911949],"aabb_xy":[[-0.42823469939655995,-1.975169369137708],[-0.3582347011366486,-1.9636789269863797]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.33836506229205005,1.1658157909426827,0.71338606911949],"aabb_xy":[[-0.38113176917147024,1.10181578752088],[-0.29559835541262985,1.229815794364485]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[-0.37913229246560987,-0.6740462267071512,0.71338606911949],"aabb_xy":[[-0.4095304035647534,-0.7044531287088205],[-0.3487341813664662,-0.6436393247054815]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.4840886280237181,-1.6744331223411604,0.71338606911949],"aabb_xy":[[-0.5640824516022763,-1.754433124934002],[-0.4040948044451599,-1.5944331197483188]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_4","position":[-0.07049461697791903,0.3349034169690066,0.71338606911949],"aabb_xy":[[-0.07991209154778178,0.3254872398312876],[-0.061077142408056284,0.34431959410672563]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[0.1532637457812298,-0.7418358856884228,0.71338606911949],"aabb_xy":[[0.13625364849117916,-0.7579703741866968],[0.17027384307128046,-0.7257013971901489]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.5254896812872951,0.08939050357330292,0.71338606911949],"aabb_xy":[[-0.5629896798629158,0.07665420790974496],[-0.48798968271167426,0.10212679923686084]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.3224140079721856,-1.3487195743333174,0.71338606911949],"aabb_xy":[[-0.35741400794868144,-1.358184190380934],[-0.2874140079956898,-1.3392549582857007]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.6492484802665248,-2.2701896361136935,0.71338606911949],"aabb_xy":[[0.6263327673814749,-2.2930939332501175],[0.6721641931515747,-2.2472853389772705]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[-0.2809604145063981,0.591431865206252,0.71338606911949],"aabb_xy":[[-0.3154227619045398,0.5569379828084291],[-0.2464980671082562,0.6259257476040745]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[-0.6523508026508967,1.008038404952372,0.71338606911949],"aabb_xy":[[-0.6576833173055097,1.0027140767071367],[-0.6470182879962838,1.0133627331976078]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[0.5088990967233045,-1.2241001894356547,0.71338606911949],"aabb_xy":[[0.5028044688351861,-1.2326695839873234],[0.5149937246114228,-1.215530794883986]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[-0.06932840683650365,-1.1863510553694971,0.71338606911949],"aabb_xy":[[-0.08600554282959916,-1.2030509793434274],[-0.05265127084340815,-1.1696511313955669]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[-0.5391609412976908,-0.09280385862393192,0.71338606911949],"aabb_xy":[[-0.58443955617884,-0.1568038579721156],[-0.4938823264165415,-0.028803859275748245]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_14","position":[0.2509154912673648,-2.213881324562252,0.71338606911949],"aabb_xy":[[0.1859154886295713,-2.265360923261699],[0.3159154939051583,-2.162401725862805]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[0.012803647910705318,-0.9052108560879852,0.71338606911949],"aabb_xy":[[-0.0047430470054136125,-0.9427108576522366],[0.03035034282682425,-0.8677108545237341]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[0.15848645706118658,1.1310341023305321,0.71338606911949],"aabb_xy":[[0.12098645688931464,1.0983333669476247],[0.19598645723305852,1.163734837713439]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[0.18767468757750383,-1.165966321263656,0.71338606911949],"aabb_xy":[[0.17590650078284634,-1.2509663211688777],[0.1994428743721614,-1.0809663213584346]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[-0.2983198796546739,-1.0206562479294448,0.71338606911949],"aabb_xy":[[-0.37831988291251684,-1.1006527557214287],[-0.21831987639683093,-0.9406597401374608]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.3262458471575145,1.5597764957045261,0.71338606911949],"aabb_xy":[[-0.34134814861853247,1.5446749740734638],[-0.31114354569649627,1.5748780173355876]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.6354972778751729,-0.3298400040449039,0.71338606911949],"aabb_xy":[[0.6043503590315897,-0.399840002731711],[0.666644196718756,-0.25984000535809665]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[0.46476818882241067,0.6558334896459348,0.71338606911949],"aabb_xy":[[0.44709255823381233,0.638153273366532],[0.482443819411009,0.6735137059253375]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[0.6347329358120368,1.358373871187093,0.71338606911949],"aabb_xy":[[0.6004166586374189,1.3083738712139152],[0.6690492129866548,1.4083738711602707]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_23","position":[-0.19557799193313763,-1.4587658981751663,0.71338606911949],"aabb_xy":[[-0.21268006989150576,-1.4758727037064359],[-0.17847591397476945,-1.4416590926438964]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_24","position":[-0.17098025987465637,-0.3317202459291759,0.71338606911949],"aabb_xy":[[-0.18848025915274325,-0.3490583459955218],[-0.1534802605965695,-0.3143821458628299]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[0.6245589058448207,0.8462995678683076,0.71338606911949],"aabb_xy":[[0.6009737823809259,0.7812995656228758],[0.6481440293087156,0.9112995701137394]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[-0.543934252361425,1.7211604922564274,0.71338606911949],"aabb_xy":[[-0.5939342540229197,1.6711620500007245],[-0.4939342506999302,1.77115893451213]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[0.5665894117423635,-0.07646779362708367,0.71338606911949],"aabb_xy":[[0.5167067148646673,-0.1264677928733584],[0.6164721086200597,-0.026467794380808922]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_28","position":[-0.04490996298485317,-2.481742747796097,0.71338606911949],"aabb_xy":[[-0.07539421311188332,-2.531742747577593],[-0.014425712857823007,-2.431742748014601]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_29","position":[-0.43857925908400003,-0.5746750207101292,0.71338606911949],"aabb_xy":[[-0.446605529714626,-0.5834265156874818],[-0.43055298845337403,-0.5659235257327766]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_30","position":[0.379689636644186,-0.5655784094258784,0.71338606911949],"aabb_xy":[[0.3571932152103219,-0.5880784092326259],[0.4021860580780501,-0.543078409619131]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_31","position":[-0.20356703705457901,-0.1105897587290503,0.71338606911949],"aabb_xy":[[-0.21872991003151615,-0.12575521602416906],[-0.188404164077642,-0.09542430143393156]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_32","position":[-0.16973176918297295,1.7511056846828077,0.71338606911949],"aabb_xy":[[-0.19473176911549084,1.7442230164618846],[-0.14473176925045506,1.7579883529037312]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7009467787328906,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3460.png","name":"3460"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3460.png","name":"3460"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3872.png","name":"3872"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4885.png","name":"4885"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/676.png","name":"676"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4685.png","name":"4685"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":792.1686577476739,"rotation_z_degrees":305.3594930191712,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004111182917949069,-0.01175287297644498,0.0177466866637892]},{"name":"camera_2","offset_m":[-0.008803251129498006,-7.505369435070741e-06,-0.009553432213406996]},{"name":"camera_3","offset_m":[0.0010833116554757466,-0.006280396587442198,-0.008894590544813235]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018276813227078913,-0.001416793815992694,-0.0014527708395858747],"end_effector_yaw_offset_degrees":0.21850064091241972},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004933948811758674,0.00010917987586077284,-0.0013256132852691024],"end_effector_yaw_offset_degrees":0.9241322950903679},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015206415190035774,0.00040942394145163834,-0.0009416709806928335],"end_effector_yaw_offset_degrees":0.6747381664637266},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001438868274269092,-0.0018181074456107519,-0.0008741869361401965],"end_effector_yaw_offset_degrees":-0.2554092887342718}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00015528096658803427,0.004442027130154603],"position_m":[0.320155280966588,0.35754202713015465,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003096717571975078,0.0018908091679356118],"position_m":[0.2750967175719751,-0.3654091908320644,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028187883784104497,-0.0007635622011649456],"position_m":[0.17718121162158953,-0.034363562201164946,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-1.0241933023207549e-05,-0.0010762978551477065],"position_m":[0.33848975806697684,0.10742370214485229,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"060f22373f9419f1f9c07d34e8aa851a490f870b91c460324f74e1e7b0e1789d","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3460/tex_ceiling_textures_4685/tex_floor_textures_676/tex_table_textures_3872/tex_wall_textures_4885","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7748773575495746247,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7748773575495746247,"visual_seed":7748773575495746247,"scene_id":"lab_003","finished_at":"2026-09-05T01:42:07"}
+{"episode_id":"ep_000004","started_at":"2026-09-05T01:42:11","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.6603696194192947,-0.6444025143090519,0.71338606911949],"aabb_xy":[[-0.6778696185536617,-0.6542821413466396],[-0.6428696202849273,-0.634522887271464]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[0.25339461698286414,-1.739906152476594,0.71338606911949],"aabb_xy":[[0.20339461562197694,-1.7898840570520096],[0.30339461834375137,-1.6899282479011783]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[0.5249007933591805,-2.4162317587573168,0.71338606911949],"aabb_xy":[[0.46990079373743476,-2.4712154515447895],[0.5799007929809264,-2.361248065969844]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.45552345203407596,-1.9063307919655226,0.71338606911949],"aabb_xy":[[-0.4656764675882253,-1.9424003335382625],[-0.4453704364799265,-1.8702612503927818]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.5525789922617415,-2.108237372813359,0.71338606911949],"aabb_xy":[[0.5152477157364989,-2.142890427608212],[0.589910268786984,-2.0735843180185074]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[0.0018857773767733121,-0.9144370719748132,0.71338606911949],"aabb_xy":[[-0.06311422526102017,-0.9659166706742601],[0.0668857800145668,-0.8629574732753662]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.1411357864638093,-1.3684061984158997,0.71338606911949],"aabb_xy":[[-0.22113578362338457,-1.3799537993737165],[-0.061135789304233995,-1.3568585974580825]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[0.5594150525224597,-0.47934810110140313,0.71338606911949],"aabb_xy":[[0.4794150514493394,-0.4891261474387876],[0.63941505359558,-0.4695700547640187]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.6014655624697436,1.639417655287525,0.71338606911949],"aabb_xy":[[0.5670030844566557,1.6327539781046023],[0.6359280404828312,1.6460813324704477]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[-0.2581344350718762,-0.9390327140831061,0.71338606911949],"aabb_xy":[[-0.26221259297892596,-0.9431136943313693],[-0.2540562771648265,-0.9349517338348426]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.34002046020881393,-1.1392915206621397,0.71338606911949],"aabb_xy":[[0.3161842425682089,-1.2292915214706264],[0.363856677849419,-1.0492915198536534]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_11","position":[-0.30557267281576345,0.4836058353436652,0.71338606911949],"aabb_xy":[[-0.3555676837752155,0.4336058363080736],[-0.2555776618563115,0.533605834379257]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[0.18444252179422815,0.6914192806498081,0.71338606911949],"aabb_xy":[[0.16694252153489156,0.6773277384610356],[0.20194252205356483,0.7055108228385808]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.3144249418957234,-2.3315074061474057,0.71338606911949],"aabb_xy":[[-0.32635767625755147,-2.343889558955265],[-0.30249220753389533,-2.3191252533395463]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[-0.04311874101658053,-1.8898943784505648,0.71338606911949],"aabb_xy":[[-0.049155754017245264,-1.8959210795195136],[-0.037081728015915805,-1.883867677381617]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.5827097505350485,0.7038360396803665,0.71338606911949],"aabb_xy":[[0.5650341199464499,0.6861558234009636],[0.6003853811236466,0.7215162559597691]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[-0.5257035444626003,1.114305491072881,0.71338606911949],"aabb_xy":[[-0.5372725252095368,1.0893054909559494],[-0.5141345637156637,1.1393054911898128]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[-0.44535193503831716,1.3845943181098432,0.71338606911949],"aabb_xy":[[-0.5093519383280253,1.3412593991059254],[-0.3813519317486091,1.4279292371137606]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.5595716513510058,1.2334841704226616,0.71338606911949],"aabb_xy":[[0.510091230137047,1.16948417250981],[0.6090520725649646,1.2974841683355136]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[-0.4973754740273908,0.867075824562598,0.71338606911949],"aabb_xy":[[-0.577375475457518,0.7875586695499884],[-0.4173754725972636,0.9465929795752074]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.31354346473444406,-0.18887022153104782,0.71338606911949],"aabb_xy":[[-0.3735434652422969,-0.24571695521696915],[-0.2535434642265911,-0.13202348784512655]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_21","position":[0.5286144795075678,-1.0351151784168613,0.71338606911949],"aabb_xy":[[0.4686144789115516,-1.0899276509620848],[0.588614480103584,-0.9803027058716378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697740844486691,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/266.png","name":"266"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/266.png","name":"266"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7597.png","name":"7597"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5164.png","name":"5164"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/271.png","name":"271"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9656.png","name":"9656"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":848.9759342419724,"rotation_z_degrees":197.19175552837257,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017482230232242133,0.0013505477122800376,0.00135870476823308]},{"name":"camera_2","offset_m":[-0.007516341575716092,-0.01695649495058669,-0.003399306360924243]},{"name":"camera_3","offset_m":[0.0006565701861325039,0.0015783636697135374,0.0020515280202461177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013243931958509749,-0.00019187349577735944,0.0011958598553401634],"end_effector_yaw_offset_degrees":0.7520957671242388},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001123233175502811,0.0008208318173315806,-0.0010680146756204803],"end_effector_yaw_offset_degrees":-0.16779201022130508},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018974412357954337,0.0006918397970980166,9.560337850109731e-05],"end_effector_yaw_offset_degrees":0.8549524797045218},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011889211872928582,-0.000239026059049877,0.0011120415845953168],"end_effector_yaw_offset_degrees":-0.6345101633020029}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00033192095591863275,-0.004303219450292589],"position_m":[0.3196680790440814,0.3487967805497074,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014718729290252698,0.0005788652756296246],"position_m":[0.27052812707097473,-0.3667211347243704,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002202959689198587,-0.00016590759187461862],"position_m":[0.18220295968919858,-0.03376590759187462,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032938197760212723,-0.003042501836146707],"position_m":[0.3417938197760213,0.10545749816385329,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e216d9de0d1e533b1529850f73ee9b4772d22e06abdfa6e777868993920d16b","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0006.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_266/tex_ceiling_textures_9656/tex_floor_textures_271/tex_table_textures_7597/tex_wall_textures_5164","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2639226537189027045,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2639226537189027045,"visual_seed":2639226537189027045,"scene_id":"lab_003","finished_at":"2026-09-05T01:46:27"}
+{"episode_id":"ep_000005","started_at":"2026-09-05T01:55:24","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[0.4701429855808472,-0.6512473947843846,0.71338606911949],"aabb_xy":[[0.4201600353933678,-0.701247394426945],[0.5201259357683264,-0.6012473951418241]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[-0.0700008915917869,-2.4362996449569727,0.71338606911949],"aabb_xy":[[-0.0786988538825022,-2.4484246192644474],[-0.06130292930107162,-2.424174670649498]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.24041721065712773,0.9463016762525616,0.71338606911949],"aabb_xy":[[0.23220266554144373,0.9376250859549202],[0.24863175577281169,0.9549782665502029]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[-0.04255118185708873,1.0667781326078525,0.71338606911949],"aabb_xy":[[-0.05218281807751834,1.0571408198281436],[-0.0329195456366591,1.0764154453875614]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[-0.15412426883301977,-0.036665529798978636,0.71338606911949],"aabb_xy":[[-0.20411927979247182,-0.08666552883457036],[-0.10412925787356775,0.013334469236613081]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[0.5950261409573112,-0.41864721205580535,0.71338606911949],"aabb_xy":[[0.5857325227201605,-0.45614721054393925],[0.6043197591944617,-0.38114721356767145]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.48860199683073746,1.325052266589156,0.71338606911949],"aabb_xy":[[-0.522898907848478,1.2907553803792144],[-0.4543050858129968,1.359349152799097]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[-0.3290904238749032,0.8339182784994357,0.71338606911949],"aabb_xy":[[-0.39309042316907145,0.7699321381305814],[-0.265090424580735,0.8979044188682898]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[-0.6164896178272328,1.0662375220127873,0.71338606911949],"aabb_xy":[[-0.6814896187843601,1.0142893100790817],[-0.5514896168701057,1.118185733946493]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.4815522966651056,-1.234326199585377,0.71338606911949],"aabb_xy":[[-0.5455522930924275,-1.2814958234074734],[-0.4175523002377837,-1.1871565757632805]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[-0.22494189457169828,1.1111898047981383,0.71338606911949],"aabb_xy":[[-0.2624418952362769,1.095502746797916],[-0.18744189390711954,1.1268768627983603]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[-0.3456056005769665,0.339766689542381,0.71338606911949],"aabb_xy":[[-0.3564460788034814,0.3225804082517322],[-0.3347651223504516,0.3569529708330298]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[0.30824931304207115,-2.183957038953717,0.71338606911949],"aabb_xy":[[0.2966803322951346,-2.2089570390706488],[0.3198182937890077,-2.1589570388367854]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.13651674988408957,-1.1439424813163679,0.71338606911949],"aabb_xy":[[0.07651674963268837,-1.1982238063528325],[0.19651675013549072,-1.0896611562799032]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.3764726496576568,-2.1455428984739005,0.71338606911949],"aabb_xy":[[-0.38688420833814047,-2.1508886318097984],[-0.36606109097717304,-2.1401971651380016]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[0.6104362986079757,-2.354169869813714,0.71338606911949],"aabb_xy":[[0.5554408207873162,-2.4091698712476206],[0.6654317764286349,-2.2991698683798067]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.1965647391867536,0.21763421692564933,0.71338606911949],"aabb_xy":[[-0.24666220316782725,0.15363421641583752],[-0.14646727520568,0.28163421743546113]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.3317393851755596,0.17880988282907895,0.71338606911949],"aabb_xy":[[-0.36923938669119133,0.1675831098129339],[-0.2942393836599279,0.190036655845224]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_18","position":[-0.4111179347778791,-1.8442210088268385,0.71338606911949],"aabb_xy":[[-0.47611793293379817,-1.8705172533767507],[-0.34611793662196005,-1.8179247642769263]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.4773005575067897,-1.7429476906386225,0.71338606911949],"aabb_xy":[[-0.4864604364506663,-1.7494789086821594],[-0.4681406785629131,-1.7364164725950852]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[-0.11036759500553994,1.1680017520090327,0.71338606911949],"aabb_xy":[[-0.13558843186537958,1.1427780011561457],[-0.08514675814570026,1.1932255028619192]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[0.21543075303623127,1.0314617021885093,0.71338606911949],"aabb_xy":[[0.19832867507786311,1.0143548966572395],[0.23253283099459943,1.048568507719779]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.591776278644746,-0.20740438778416515,0.71338606911949],"aabb_xy":[[0.55047173558101,-0.27140438735228223],[0.633080821708482,-0.14340438821604806]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.3148539509293669,-0.1575332177735307,0.71338606911949],"aabb_xy":[[-0.3698539501059564,-0.2125228925484883],[-0.2598539517527774,-0.10254354299857302]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_24","position":[0.24868077971420222,-0.6540626730172989,0.71338606911949],"aabb_xy":[[0.24383718495297224,-0.658914325496283],[0.2535243744754322,-0.6492110205383148]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_25","position":[0.32314387385582055,1.1716668621331903,0.71338606911949],"aabb_xy":[[0.317806298189816,1.1466668612040503],[0.3284814495218251,1.1966668630623298]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[-0.42607612732202405,-0.10384592987451047,0.71338606911949],"aabb_xy":[[-0.4333373748924314,-0.11663294013801995],[-0.4188148797516166,-0.09105891961100099]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_27","position":[0.16699124205930727,-1.5567395628731404,0.71338606911949],"aabb_xy":[[0.1494445471431883,-1.5942395644373917],[0.18453793697542617,-1.5192395613088892]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_28","position":[-0.4587923378280135,-1.3768353599689496,0.71338606911949],"aabb_xy":[[-0.4837923373797519,-1.3869778438340843],[-0.43379233827627495,-1.3666928761038148]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_29","position":[0.11401740693110207,-1.9003811325583984,0.71338606911949],"aabb_xy":[[0.10139061964390571,-1.909927206259971],[0.12664419421829842,-1.8908350588568252]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_30","position":[0.18056307604655253,-0.9528500129134898,0.71338606911949],"aabb_xy":[[0.12556986470941575,-1.0078500132522834],[0.23555628738368928,-0.8978500125746962]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_31","position":[0.10311073668136606,-2.0902239207388966,0.71338606911949],"aabb_xy":[[0.09134254988670855,-2.175223920644118],[0.1148789234760236,-2.005223920833675]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_32","position":[0.6618652210542109,1.2743103225672834,0.71338606911949],"aabb_xy":[[0.6243652205568525,1.2703416390191649],[0.699365221551569,1.278279006115402]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972952611344189,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1913.png","name":"1913"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1913.png","name":"1913"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9617.png","name":"9617"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/743.png","name":"743"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/156.png","name":"156"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9533.png","name":"9533"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":505.8637299234202,"rotation_z_degrees":55.12603072768259,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012612068137628472,0.018116030989255214,-0.009163604262495247]},{"name":"camera_2","offset_m":[-0.002846857992995607,0.00927335624593725,0.013530918810965058]},{"name":"camera_3","offset_m":[0.004890104688867004,0.010153217738876473,-0.012403444005157697]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.302999239295122e-05,-0.0005299576154821045,0.0003176738232892012],"end_effector_yaw_offset_degrees":-0.3000679666855761},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003551495126811774,-0.0013893041791529733,0.000646282850809757],"end_effector_yaw_offset_degrees":-0.34169886341214495},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004128825227313845,0.0018496575855136413,0.0016047656837708023],"end_effector_yaw_offset_degrees":-0.4695832679132592},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010489529674693786,3.0469595064686744e-06,-0.0004800261484813454],"end_effector_yaw_offset_degrees":-0.4200291521004311}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013651428924131457,0.002695157860575746],"position_m":[0.32136514289241314,0.35579515786057575,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-7.444146732836845e-05,0.0037042465927078156],"position_m":[0.27192555853267164,-0.3635957534072922,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004892335412412219,-0.003577290273286046],"position_m":[0.1848923354124122,-0.03717729027328604,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00014314685015019615,0.004590327836858866],"position_m":[0.3383568531498498,0.11309032783685886,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d6b21e8b53c989453643e71bec2044152481a9e2c0b58834d02c115b15698aaa","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1913/tex_ceiling_textures_9533/tex_floor_textures_156/tex_table_textures_9617/tex_wall_textures_743","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":9086533174298478021,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":9086533174298478021,"visual_seed":9086533174298478021,"scene_id":"lab_003","finished_at":"2026-09-05T02:00:01"}
+{"episode_id":"ep_000006","started_at":"2026-09-05T02:00:05","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[0.40264072079974667,-1.2296183919122154,0.71338606911949],"aabb_xy":[[0.3874685515181133,-1.2447872488404188],[0.41781289008138,-1.214449534984012]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[0.5771190947538658,0.29016974773445936,0.71338606911949],"aabb_xy":[[0.558006787395887,0.27103496885721734],[0.5962314021118448,0.3093045266117014]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[0.20428298746172524,1.2342691032004,0.71338606911949],"aabb_xy":[[0.17928298752920735,1.2273864349794767],[0.22928298739424313,1.2411517714213234]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[0.6597193260454814,-2.210098539922302,0.71338606911949],"aabb_xy":[[0.6556411681384317,-2.2141795201705654],[0.663797483952531,-2.2060175596740392]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.6423499934806509,0.8894880199061523,0.71338606911949],"aabb_xy":[[0.5723499900890889,0.8541722462027215],[0.7123499968722129,0.9248037936095832]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.14321378519137506,1.5030915159636966,0.71338606911949],"aabb_xy":[[-0.16571378570341566,1.4805996575982978],[-0.12071378467933447,1.5255833743290945]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[-0.07602127816713922,-0.9392531682712804,0.71338606911949],"aabb_xy":[[-0.14102127672421205,-0.9690057016851631],[-0.011021279610066381,-0.9095006348573978]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[0.21950210074110588,-2.180511781320833,0.71338606911949],"aabb_xy":[[0.20687531345390953,-2.1900578550224057],[0.23212888802830223,-2.1709657076192594]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[-0.11469154865156816,0.9309956033975544,0.71338606911949],"aabb_xy":[[-0.12349360396054086,0.9231842772426253],[-0.10588949334259544,0.9388069295524835]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[0.4683897321591741,-0.2886874856308985,0.71338606911949],"aabb_xy":[[0.41339425433851473,-0.3436874870648054],[0.5233852099798335,-0.23368748419699154]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[0.29655839922541094,-0.6913690083598598,0.71338606911949],"aabb_xy":[[0.27901170430929195,-0.7288690099241111],[0.3141050941415298,-0.6538690067956086]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.6598710488654175,0.17003347488750364,0.71338606911949],"aabb_xy":[[-0.675932976323935,0.08503347307491184],[-0.6438091214068997,0.25503347670009546]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.0006377370526710058,-2.328576870369374,0.71338606911949],"aabb_xy":[[-0.09063773378828122,-2.381760333686668],[0.0893622596829392,-2.275393407052079]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.6077306152738338,-1.075163122681657,0.71338606911949],"aabb_xy":[[-0.6577256262332858,-1.1251631217172489],[-0.5577356043143817,-1.0251631236460654]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_14","position":[-0.3904258405231528,0.6473697437900818,0.71338606911949],"aabb_xy":[[-0.4103168804034932,0.6347139325053851],[-0.37053480064281263,0.6600255550747788]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.08064392309533797,-1.9666584259384479,0.71338606911949],"aabb_xy":[[-0.10314392310548627,-1.9807546455780514],[-0.05814392308518969,-1.9525622062988448]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[0.41381491651329094,1.6900716479347673,0.71338606911949],"aabb_xy":[[0.3893012924162851,1.6658070546327306],[0.4383285406102968,1.7143362412368035]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.22664831029771493,0.9497388163342713,0.71338606911949],"aabb_xy":[[-0.24855699243706594,0.9278381495141804],[-0.20473962815836386,0.9716394831543619]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_18","position":[-0.33464205363124944,1.7126223789181965,0.71338606911949],"aabb_xy":[[-0.368082228827269,1.6791787530872662],[-0.3012018784352298,1.7460660047491263]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[-0.27252035343128334,-2.335341611659408,0.71338606911949],"aabb_xy":[[-0.32751260406679433,-2.390341613402721],[-0.21752810279577245,-2.2803416099160954]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980248963200518,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3857.png","name":"3857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3857.png","name":"3857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2502.png","name":"2502"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3710.png","name":"3710"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3849.png","name":"3849"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1033.png","name":"1033"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":532.5729463504771,"rotation_z_degrees":208.96063508543637,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003336117431076358,0.01815161715088941,0.007274674350947082]},{"name":"camera_2","offset_m":[-0.01268440779273357,0.006065230335382886,0.017262192110901662]},{"name":"camera_3","offset_m":[0.0014112532977651263,0.01006550171367204,0.005834213334421943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017871581267921597,-0.0010307754590740629,0.0003759136598281616],"end_effector_yaw_offset_degrees":0.7393933828742529},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-7.034934437502691e-05,0.0019198652423004173,-0.0018466253976884524],"end_effector_yaw_offset_degrees":-0.31828988932290714},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017065692815694164,2.4366372971533056e-05,0.0012148892742596153],"end_effector_yaw_offset_degrees":-0.19220415698726434},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013848260430260832,-0.0012612848148628793,0.00019969117783402105],"end_effector_yaw_offset_degrees":-0.1734521562218312}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004912113847037114,0.002661184557588384],"position_m":[0.3150878861529629,0.35576118455758843,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003586022966016703,-0.0033564675451114526],"position_m":[0.26841397703398334,-0.37065646754511145,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009850478895107248,-0.0022034399986570617],"position_m":[0.18098504788951073,-0.03580343999865706,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002790051433892187,-0.0011837492046025753],"position_m":[0.3412900514338922,0.10731625079539743,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2a0df3043262f59a1065e9280908cb93713f30a252e66c10fa2544bc5337f59b","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3857/tex_ceiling_textures_1033/tex_floor_textures_3849/tex_table_textures_2502/tex_wall_textures_3710","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2210928637868833730,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2210928637868833730,"visual_seed":2210928637868833730,"scene_id":"lab_003","finished_at":"2026-09-05T02:03:43"}
+{"episode_id":"ep_000007","started_at":"2026-09-05T02:03:47","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.07236519272816344,-2.529944842319118,0.71338606911949],"aabb_xy":[[0.06260920321898954,-2.539707376378352],[0.08212118223733732,-2.520182308259883]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[0.6204437811596266,1.150663998959958,0.71338606911949],"aabb_xy":[[0.5818980883344255,1.1121182279037694],[0.6589894739848275,1.1892097700161468]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[-0.023484650097581494,0.5366910098357751,0.71338606911949],"aabb_xy":[[-0.04594942006898661,0.5141910089569146],[-0.0010198801261763722,0.5591910107146356]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.06051550341107492,-1.4050476931922409,0.71338606911949],"aabb_xy":[[0.04163111964256471,-1.4239336179725939],[0.07939988717958513,-1.3861617684118883]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.11819937148979132,-1.3389613027817606,0.71338606911949],"aabb_xy":[[0.11335577672856137,-1.3438129552607447],[0.12304296625102132,-1.3341096503027765]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.11351511594627373,-2.358800266157413,0.71338606911949],"aabb_xy":[[-0.19351511737640092,-2.4383174211700225],[-0.03351511451614653,-2.2792831111448035]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.17693478280694486,-0.3646107498728681,0.71338606911949],"aabb_xy":[[-0.22681747968464108,-0.4146107491191429],[-0.12705208592924866,-0.3146107506265934]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[-0.4085174269051735,-1.4955825556772353,0.71338606911949],"aabb_xy":[[-0.41859913398374693,-1.5755825535693497],[-0.3984357198266,-1.4155825577851204]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[0.5659296574976194,1.4673033885844693,0.71338606911949],"aabb_xy":[[0.5188002784957836,1.4033033875400671],[0.6130590364994549,1.531303389628871]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.6476258334944278,-0.1258648412436667,0.71338606911949],"aabb_xy":[[-0.6622692390484607,-0.14052356090045098],[-0.6329824279403947,-0.11120612158688242]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[-0.5084738348100895,1.2457805380503761,0.71338606911949],"aabb_xy":[[-0.5884738352803055,1.237469830436028],[-0.4284738343398736,1.2540912456647246]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.12138189696728241,0.7735165412438385,0.71338606911949],"aabb_xy":[[-0.1853818990170144,0.7334220581545304],[-0.05738189491755041,0.8136110243331464]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[0.06666367346583213,-1.0733698018353837,0.71338606911949],"aabb_xy":[[0.062028558313598735,-1.077237136912532],[0.0712987886180655,-1.069502466758235]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[-0.5607293543780547,-1.516982634897379,0.71338606911949],"aabb_xy":[[-0.6107293557389418,-1.5669605394727946],[-0.5107293530171674,-1.4670047303219633]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[-0.5998475036780899,-1.2893600614640648,0.71338606911949],"aabb_xy":[[-0.6548475032998359,-1.3443437542515375],[-0.5448475040563442,-1.234376368676592]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_15","position":[0.4811693161572581,1.6599882174426894,0.71338606911949],"aabb_xy":[[0.4611109045440178,1.6399231305335322],[0.5012277277704984,1.680053304351847]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[0.09407192981955059,-1.8449002479074372,0.71338606911949],"aabb_xy":[[0.08703047886880298,-1.8519269996452319],[0.10111338077029818,-1.837873496169643]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.3389681944881284,-1.2585812277080253,0.71338606911949],"aabb_xy":[[0.31605248160307853,-1.281485524844449],[0.3618839073731783,-1.235676930571602]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[0.12582648290613585,-2.1703928762813764,0.71338606911949],"aabb_xy":[[0.10060564604629614,-2.195616627134262],[0.15104731976597546,-2.145169125428489]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_19","position":[-0.42651587409934394,-2.3322646076836246,0.71338606911949],"aabb_xy":[[-0.4374216501869066,-2.412264604082454],[-0.41561009801178117,-2.2522646112847955]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[-0.34701144957964053,1.5366356640803889,0.71338606911949],"aabb_xy":[[-0.38802939296601147,1.4866356634494315],[-0.3059935061932697,1.5866356647113462]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[-0.5265590380339229,0.8973519498006901,0.71338606911949],"aabb_xy":[[-0.5615590363040427,0.8902778221057019],[-0.4915590397638029,0.9044260774956783]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6984470080914641,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3026.png","name":"3026"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3026.png","name":"3026"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4464.png","name":"4464"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/831.png","name":"831"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9689.png","name":"9689"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6243.png","name":"6243"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":595.3730798292044,"rotation_z_degrees":109.50064100173134,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009331259906948254,0.013431972236380114,0.019592506044525743]},{"name":"camera_2","offset_m":[0.011139414985227133,0.007382265555350452,0.016482790504977366]},{"name":"camera_3","offset_m":[-0.006422388150485752,0.008613406378516403,-0.01994102321132106]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014181202030240743,-0.0008656501516595418,-0.0018878292009050788],"end_effector_yaw_offset_degrees":0.4551516369798734},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-1.032865301277535e-05,0.0001588301322874154,-0.0016920344218135832],"end_effector_yaw_offset_degrees":0.10843796201225264},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011799958386171814,-0.0018968535351372307,0.001682952960489821],"end_effector_yaw_offset_degrees":-0.08331712849979156},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009119420490694009,-0.000999274994882407,0.0006520370610747293],"end_effector_yaw_offset_degrees":0.4532622365348393}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002139264180557118,0.004993136844492488],"position_m":[0.3221392641805571,0.3580931368444925,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027127931806379645,-0.002756668392986208],"position_m":[0.2692872068193621,-0.37005666839298623,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004653526992576063,0.003557036760462119],"position_m":[0.17534647300742393,-0.030042963239537878,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008385591008487981,0.003067301772320394],"position_m":[0.33766144089915123,0.1115673017723204,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"22330bfdd2dcbef6e05f2ecf8efe77a1b802fea887494da1f1fd6aa6097dc378","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3026/tex_ceiling_textures_6243/tex_floor_textures_9689/tex_table_textures_4464/tex_wall_textures_831","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8721514123290054269,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8721514123290054269,"visual_seed":8721514123290054269,"scene_id":"lab_003","finished_at":"2026-09-05T02:07:30"}
+{"episode_id":"ep_000008","started_at":"2026-09-05T02:07:34","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[-0.32036227773954284,0.22580101974049605,0.71338606911949],"aabb_xy":[[-0.370361552907979,0.17580101846454887],[-0.2703630025711067,0.2758010210164432]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[-0.20318329071192964,-0.8499760101961826,0.71338606911949],"aabb_xy":[[-0.26718329097240046,-0.8949848095491105],[-0.13918329045145883,-0.8049672108432545]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.3035480174388461,-1.0274908377356267,0.71338606911949],"aabb_xy":[[0.2730637673118159,-1.0774908375171224],[0.33403226756587623,-0.9774908379541305]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[0.11473061240257465,-0.943749728081968,0.71338606911949],"aabb_xy":[[0.10673662382487124,-0.9517498081770582],[0.12272460098027803,-0.9357496479868775]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[0.18288742941127267,-2.376979396943125,0.71338606911949],"aabb_xy":[[0.1485711522366547,-2.4269793969163027],[0.21720370658589058,-2.3269793969699473]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.5627464587807551,1.7402825313445098,0.71338606911949],"aabb_xy":[[-0.5719063377246317,1.7337513133009728],[-0.5535865798368785,1.746813749388047]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.640538407392145,1.260752279310163,0.71338606911949],"aabb_xy":[[-0.6548728325183084,1.2486920637556242],[-0.6262039822659815,1.272812494864702]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[0.2947183373903266,1.5066931602091498,0.71338606911949],"aabb_xy":[[0.28591628208135383,1.4988818340542203],[0.30352039269929926,1.5145044863640784]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[-0.049849040771959396,0.8158841436469229,0.71338606911949],"aabb_xy":[[-0.0723454622058235,0.7933841438401755],[-0.027352619338095303,0.8383841434536704]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[0.6123939621881738,0.2424163861027746,0.71338606911949],"aabb_xy":[[0.575543414251186,0.20491638527974093],[0.6492445101251613,0.2799163869258084]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_10","position":[-0.4318236768885483,0.9421957533142411,0.71338606911949],"aabb_xy":[[-0.46861831001345455,0.9052898782176588],[-0.395029043763642,0.9791016284108234]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.38178463183491274,-2.4947813009298594,0.71338606911949],"aabb_xy":[[-0.4517846282448744,-2.51521923658154],[-0.31178463542495083,-2.4743433652781763]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[-0.2197343299884491,-0.6287387354949088,0.71338606911949],"aabb_xy":[[-0.2313033107353857,-0.6537387356118405],[-0.20816534924151256,-0.6037387353779771]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.3081147058312126,-2.201357525548948,0.71338606911949],"aabb_xy":[[0.2731147059351937,-2.209731761060888],[0.34311470572723146,-2.192983290037008]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[0.4963568576363362,0.416206622628005,0.71338606911949],"aabb_xy":[[0.4730750154382048,0.33120662133077694],[0.5196386998344674,0.5012066239252331]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[0.5272008775811909,-0.9355074153097915,0.71338606911949],"aabb_xy":[[0.515268143219363,-0.9478895681176508],[0.5391336119430191,-0.923125262501932]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.6286493486085434,-1.9420564458236327,0.71338606911949],"aabb_xy":[[0.5646493466962011,-1.9979675950816433],[0.6926493505208858,-1.8861452965656225]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.15045465609625597,-1.364700713770284,0.71338606911949],"aabb_xy":[[-0.21045465634765714,-1.4189820388067484],[-0.09045465584485479,-1.3104193887338191]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_18","position":[-0.3504276282373811,0.5273322199254618,0.71338606911949],"aabb_xy":[[-0.4004276285979471,0.47735223271585875],[-0.300427627876815,0.5773122071350646]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[-0.11947272898534822,-2.4976705488745243,0.71338606911949],"aabb_xy":[[-0.17447272718709303,-2.5381925155009615],[-0.06447273078360337,-2.4571485822480863]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[-0.5582535216604366,-1.2335486737148125,0.71338606911949],"aabb_xy":[[-0.6232535216947395,-1.2802493503951395],[-0.493253521626134,-1.186847997034485]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[-0.11326387171329122,0.47737417698168905,0.71338606911949],"aabb_xy":[[-0.1333222833265315,0.45730909007253157],[-0.09320546010005093,0.49743926389084664]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[-0.5082721267042065,-0.651283961681576,0.71338606911949],"aabb_xy":[[-0.5190451006255743,-0.6862839599006151],[-0.49749915278283874,-0.6162839634625371]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[-0.3233851959959958,1.3341521451758251,0.71338606911949],"aabb_xy":[[-0.35378330709513933,1.3037452431741554],[-0.29298708489685216,1.3645590471774944]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[-0.008474395652886657,-2.383997200247525,0.71338606911949],"aabb_xy":[[-0.045974395824758596,-2.4166979356304323],[0.029025604518985282,-2.351296464864618]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.06410307866387177,-1.9797664624220483,0.71338606911949],"aabb_xy":[[-0.0713853950405354,-2.0697664660315565],[-0.056820762287208094,-1.8897664588125387]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_26","position":[0.024908178777128587,1.335860564374551,0.71338606911949],"aabb_xy":[[0.008846251318610941,1.2508605625619589],[0.040970106235646224,1.4208605661871425]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_27","position":[-0.6669163475321893,-1.0932073257256258,0.71338606911949],"aabb_xy":[[-0.6724980191663181,-1.1057073255434011],[-0.6613346758980605,-1.0807073259078501]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[0.5545078146334099,-0.743542963304052,0.71338606911949],"aabb_xy":[[0.547467504699873,-0.8235429627037235],[0.561548124566947,-0.6635429639043806]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_29","position":[-0.38178582136772116,0.7317767936043165,0.71338606911949],"aabb_xy":[[-0.392626299594236,0.7145905123136675],[-0.3709453431412062,0.7489630748949652]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_30","position":[0.603206174353955,-2.213702614041338,0.71338606911949],"aabb_xy":[[0.5392061740799767,-2.263768714238626],[0.6672061746279332,-2.16363651384405]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_31","position":[0.5541573531686907,1.3057819478172354,0.71338606911949],"aabb_xy":[[0.46415735666781893,1.259870305398777],[0.6441573496695624,1.3516935902356935]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_32","position":[-0.1354024387321201,-2.095763374363689,0.71338606911949],"aabb_xy":[[-0.14339592852740216,-2.103761506304165],[-0.1274089489368381,-2.0877652424232136]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7030670251324399,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8396.png","name":"8396"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8396.png","name":"8396"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3961.png","name":"3961"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9457.png","name":"9457"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5488.png","name":"5488"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":541.3421009393235,"rotation_z_degrees":223.03793296939907,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009914227121528287,0.01733748107372578,0.005897930014614819]},{"name":"camera_2","offset_m":[0.0067150835998529765,-0.008064886957054181,0.010327662503652562]},{"name":"camera_3","offset_m":[-0.004829158511058539,-0.007338138527506094,-0.006239709201411011]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011463398625141449,-0.00040970680299314303,0.001459004346832474],"end_effector_yaw_offset_degrees":0.930088158258354},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005207697561956477,-0.001206967415154425,0.0007315766042241818],"end_effector_yaw_offset_degrees":0.1549525404597778},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00025789402521441936,0.0003457183234404468,0.0005514628805327647],"end_effector_yaw_offset_degrees":-0.43404056800808566},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[8.071516416240663e-05,0.0010498468231485182,-0.0011947750143179565],"end_effector_yaw_offset_degrees":0.06437388304128744}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018025405059714584,0.004983908767114188],"position_m":[0.31819745949402856,0.3580839087671142,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004138927243983243,-0.00046730437141023415],"position_m":[0.27613892724398326,-0.36776730437141025,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012096152429929685,0.002366554264195812],"position_m":[0.18120961524299295,-0.031233445735804187,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035591686378663823,-0.0014985326174231537],"position_m":[0.33494083136213365,0.10700146738257685,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"622984cf3e16d4195a31573e1e344b0ddc461563bbdb0bc5f553ec08f6dcac2f","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8396/tex_ceiling_textures_5488/tex_floor_textures_9457/tex_table_textures_1635/tex_wall_textures_3961","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4732017588163131918,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4732017588163131918,"visual_seed":4732017588163131918,"scene_id":"lab_003","finished_at":"2026-09-05T02:11:23"}
+{"episode_id":"ep_000009","started_at":"2026-09-05T02:11:27","dimensions":{"distractor":{"count":28,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.43890356040029604,-2.3792299972468034,0.71338606911949],"aabb_xy":[[-0.4614035606438115,-2.3914346319065753],[-0.4164035601567807,-2.3670253625870314]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.597136889285363,0.39216591977741544,0.71338606911949],"aabb_xy":[[-0.6149303962202795,0.3743661741816178],[-0.5793433823504466,0.4099656653732131]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[-0.04663083480157704,1.1557582306766565,0.71338606911949],"aabb_xy":[[-0.07185167166141669,1.1305344798237695],[-0.021409997941737365,1.180981981529543]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.42073798635178594,0.22382155732640774,0.71338606911949],"aabb_xy":[[-0.4300849939340813,0.20951793510876374],[-0.4113909787694908,0.2381251795440518]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.07807564558888225,1.5942470280175152,0.71338606911949],"aabb_xy":[[-0.08943738024216838,1.5828785616112269],[-0.06671391093559606,1.605615494423803]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.10632380863004987,0.8583325933433708,0.71338606911949],"aabb_xy":[[0.09541803254248717,0.7783325969445417],[0.11722958471761259,0.9383325897422]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[0.23425334829891586,-0.6946806379307193,0.71338606911949],"aabb_xy":[[0.18425334872258117,-0.7446612168828253],[0.2842533478752506,-0.6447000589786134]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.3069953414388172,1.1273702398381267,0.71338606911949],"aabb_xy":[[-0.3869953400261366,1.0480546378999656],[-0.22699534285149778,1.2066858417762873]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.08718131482511082,-2.197012175369011,0.71338606911949],"aabb_xy":[[0.06975059974610429,-2.2142842900328614],[0.1046120299041173,-2.1797400607051594]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_9","position":[-0.6685811853963347,1.4693977996540286,0.71338606911949],"aabb_xy":[[-0.6910948772197918,1.399397799053021],[-0.6460674935728774,1.5393978002550361]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.3183644819966016,1.391317167599051,0.71338606911949],"aabb_xy":[[-0.32993346274353824,1.3663171674821195],[-0.3067955012496651,1.416317167715983]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.43093277548312503,0.43370293504484225,0.71338606911949],"aabb_xy":[[-0.45877781226373215,0.40291843630653057],[-0.4030877387025179,0.46448743378315394]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.47152973247014596,-1.839553896110953,0.71338606911949],"aabb_xy":[[0.46111817378966213,-1.8448996294468512],[0.48194129115062956,-1.8342081627750544]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[0.648933592355474,1.6085735120933422,0.71338606911949],"aabb_xy":[[0.613933592459455,1.600199276581402],[0.6839335922514928,1.616947747605282]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.4195565752360073,-2.2613374041811243,0.71338606911949],"aabb_xy":[[-0.4673627428497759,-2.326337406888183],[-0.37175040762223865,-2.196337401474065]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[-0.10113516670089484,-1.2732973210678622,0.71338606911949],"aabb_xy":[[-0.13543207771863547,-1.307594207277803],[-0.06683825568315421,-1.2390004348579204]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[0.48895543872726677,-1.9888368801069753,0.71338606911949],"aabb_xy":[[0.4389724885397874,-2.0388368797495353],[0.538938388914746,-1.9388368804644147]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.44594068087736355,-1.9864311610024505,0.71338606911949],"aabb_xy":[[-0.45235449452054843,-1.9928409812501184],[-0.43952686723417855,-1.9800213407547818]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[0.2933991830290774,1.346231481102917,0.71338606911949],"aabb_xy":[[0.2815271000175763,1.2612314814092667],[0.3052712660405785,1.4312314807965674]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[0.6625599259065544,1.474668064447314,0.71338606911949],"aabb_xy":[[0.6275599275958589,1.4669530495237681],[0.6975599242172498,1.4823830793708594]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[-0.22013987633738497,-0.42087791768776084,0.71338606911949],"aabb_xy":[[-0.27513987551397445,-0.4758675924627184],[-0.16513987716079548,-0.36588824291280314]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[-0.18958424746524782,-1.6161957536042262,0.71338606911949],"aabb_xy":[[-0.2270842472822814,-1.620833964915368],[-0.1520842476482143,-1.6115575422930843]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[-0.34326779913673877,1.82024595706709,0.71338606911949],"aabb_xy":[[-0.351395487330052,1.8113323486563824],[-0.33514011094342555,1.829159565477798]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[0.3594433584082164,-1.405577515106768,0.71338606911949],"aabb_xy":[[0.3094433567467216,-1.4555759573624707],[0.4094433600697111,-1.3555790728510653]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.5599938663811013,1.7381107754030416,0.71338606911949],"aabb_xy":[[0.4999938655202884,1.686684345396555],[0.619993867241914,1.7895372054095278]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_25","position":[-0.5694355240859228,-2.4050667843089903,0.71338606911949],"aabb_xy":[[-0.6194197597941,-2.455066783122486],[-0.5194512883777456,-2.3550667854954948]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[0.15632208544533222,1.3174193019613551,0.71338606911949],"aabb_xy":[[0.07132208702790899,1.2325450064990702],[0.24132208386275544,1.4022935974236401]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_27","position":[0.009483364706400321,-1.4875168905099405,0.71338606911949],"aabb_xy":[[-0.01301663530374797,-1.501613110149544],[0.03198336471654861,-1.4734206708703375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7028343345363858,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5263.png","name":"5263"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5263.png","name":"5263"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7398.png","name":"7398"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2353.png","name":"2353"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6154.png","name":"6154"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9288.png","name":"9288"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":626.3284699045556,"rotation_z_degrees":70.90052802593051,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010873735141435486,-0.0026117436967440268,0.009918315251992046]},{"name":"camera_2","offset_m":[-0.018772128152960053,-0.007932090877553746,0.012790439448582897]},{"name":"camera_3","offset_m":[-0.01471196769711907,0.011645639310971904,-0.008971687102436064]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008475260595600367,1.8153285273725134e-05,0.0003249677802559703],"end_effector_yaw_offset_degrees":0.7645183907176083},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009084533295623388,0.0018782337096182266,0.0007324059724761606],"end_effector_yaw_offset_degrees":-0.9325090899012833},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006019749833468843,-0.00031341353941998656,-0.0015551117391492536],"end_effector_yaw_offset_degrees":0.731226807505128},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013954477426686169,0.0001261943817996822,0.0006117745507427854],"end_effector_yaw_offset_degrees":0.16768521560789074}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002741596949394501,-0.0022609797347256577],"position_m":[0.3227415969493945,0.35083902026527436,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004963760240575039,0.0013266234148842206],"position_m":[0.27696376024057506,-0.3659733765851158,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021336705394936705,0.0026377045467842856],"position_m":[0.17786632946050632,-0.030962295453215712,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004845924605162157,-0.004194690798643854],"position_m":[0.34334592460516217,0.10430530920135614,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c441d4c160f8e11a910c7f1aa6724d7871158ba0f7265a373034855a7e469423","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0013.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5263/tex_ceiling_textures_9288/tex_floor_textures_6154/tex_table_textures_7398/tex_wall_textures_2353","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1066125054939047977,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1066125054939047977,"visual_seed":1066125054939047977,"scene_id":"lab_003","finished_at":"2026-09-05T02:15:12"}
+{"episode_id":"ep_000010","started_at":"2026-09-05T02:15:18","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[0.3086701104587859,1.4212695683092327,0.71338606911949],"aabb_xy":[[0.29673737609695783,1.4088874155013733],[0.32060284482061396,1.433651721117092]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.5749941312945086,0.34500626071648055,0.71338606911949],"aabb_xy":[[0.5109941280048004,0.3016713417125629],[0.6389941345842166,0.3883411797203981]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[-0.4640300437980157,-0.720999406786333,0.71338606911949],"aabb_xy":[[-0.5140031093305313,-0.7709994065988661],[-0.4140569782655003,-0.6709994069738002]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[0.05362255832657303,-2.0287570425706196,0.71338606911949],"aabb_xy":[[0.03612262489258966,-2.0462570424908537],[0.0711224917605564,-2.0112570426503846]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.6476891834116698,-0.5453274840852949,0.71338606911949],"aabb_xy":[[0.630679086121619,-0.5614619725835687],[0.6646992807017204,-0.5291929955870208]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[-0.38043560940557347,1.6283948569971618,0.71338606911949],"aabb_xy":[[-0.46043560680916684,1.548402285798979],[-0.30043561200198,1.7083874281953446]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[0.082562520161234,-2.382135721264695,0.71338606911949],"aabb_xy":[[0.07079433336657648,-2.467135721169917],[0.09433070695589153,-2.297135721359474]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_7","position":[-0.18012154161876803,1.195611501670356,0.71338606911949],"aabb_xy":[[-0.23012154263790333,1.1591452859325282],[-0.13012154059963277,1.232077717408184]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[-0.3968346627296155,-2.118427226950003,0.71338606911949],"aabb_xy":[[-0.40553262502033083,-2.1305522012574776],[-0.38813670043890025,-2.106302252642528]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.2122712381029615,-1.502629015511189,0.71338606911949],"aabb_xy":[[-0.2922712366902809,-1.5819446174493499],[-0.13227123951564207,-1.423313413573028]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.16680049406703157,-1.9327652992697446,0.71338606911949],"aabb_xy":[[0.12930049549141076,-1.9455015949333023],[0.20430049264265238,-1.9200290036061864]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[-0.43559024066712587,-0.08972360454475448,0.71338606911949],"aabb_xy":[[-0.4855690491774417,-0.13972360455047328],[-0.38561143215680993,-0.03972360453903567]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.2535571928927275,-0.734317268320833,0.71338606911949],"aabb_xy":[[0.17355719181960716,-0.7440953146582175],[0.3335571939658478,-0.7245392219834487]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[-0.6417988390547171,-1.6539484457601779,0.71338606911949],"aabb_xy":[[-0.6650806812528485,-1.738948447057406],[-0.6185169968565858,-1.5689484444629498]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.17549597850056353,-0.26641572534691393,0.71338606911949],"aabb_xy":[[-0.18590753718104724,-0.2717614586828124],[-0.16508441982007982,-0.2610699920110154]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.3962148323815637,0.5995239914006305,0.71338606911949],"aabb_xy":[[-0.4862148360584818,0.5380915848235259],[-0.3062148287046455,0.6609563979777346]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[0.37317825388156156,-1.6698470415120286,0.71338606911949],"aabb_xy":[[0.31818504254442476,-1.7248470418508224],[0.4281714652186983,-1.6148470411732352]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[0.18311137664522725,1.194912025695745,0.71338606911949],"aabb_xy":[[0.14092696248439654,1.1309120254185339],[0.22529579080605802,1.2589120259729563]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.3266828942180023,-0.9262172610056232,0.71338606911949],"aabb_xy":[[-0.3545279309986094,-0.957001759743935],[-0.29883785743739516,-0.8954327622673116]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[-0.4715854262913636,0.9952316471892027,0.71338606911949],"aabb_xy":[[-0.4795789160866457,0.9872335152487272],[-0.46359193649608166,1.0032297791296783]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.6686786509268027,-1.0414365175297762,0.71338606911949],"aabb_xy":[[-0.693678650478541,-1.0515790013949111],[-0.6436786513750641,-1.0312940336646417]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[0.43041080703343515,-1.4674040766739425,0.71338606911949],"aabb_xy":[[0.3954108079034795,-1.4731492977496066],[0.4654108061633908,-1.4616588555982784]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_22","position":[-0.14183127100776904,0.5240683361174461,0.71338606911949],"aabb_xy":[[-0.16432769244163317,0.5015683363106986],[-0.11933484957390497,0.5465683359241935]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_23","position":[-0.09925831303369814,-1.1143373527984946,0.71338606911949],"aabb_xy":[[-0.14925831339426415,-1.1643173400080973],[-0.049258312673132056,-1.0643573655888914]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[-0.45852490423775955,-1.8937263071241308,0.71338606911949],"aabb_xy":[[-0.5235249027948323,-1.9234788405380137],[-0.3935249056806867,-1.8639737737102484]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[-0.3754639578955822,0.22374126593333266,0.71338606911949],"aabb_xy":[[-0.40890413309160173,0.19029764010240252],[-0.3420237826995625,0.2571848917642626]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[-0.4605586483692573,-2.0533970532906927,0.71338606911949],"aabb_xy":[[-0.46659566136992214,-2.059423754359641],[-0.4545216353685927,-2.047370352221745]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_27","position":[-0.16963586688663312,-0.646317160304211,0.71338606911949],"aabb_xy":[[-0.22463586606322258,-0.7013068350791687],[-0.11463586771004361,-0.5913274855292534]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_28","position":[-0.293522458952325,0.3220319602487667,0.71338606911949],"aabb_xy":[[-0.3031540951727546,0.31239464746905776],[-0.28389082273189536,0.3316692730284756]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7011976980245482,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1012.png","name":"1012"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1012.png","name":"1012"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8596.png","name":"8596"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6660.png","name":"6660"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3841.png","name":"3841"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9471.png","name":"9471"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":669.5865575730188,"rotation_z_degrees":162.14078686861524,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016512402493369577,0.00500138446141455,-0.009880009052514037]},{"name":"camera_2","offset_m":[0.018791476901528884,0.018615081955360904,0.0024994980973249044]},{"name":"camera_3","offset_m":[0.017457073412815088,-0.0005937007341497678,0.0008383135681759857]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[1.865226304474405e-05,0.0001368554631169805,-0.0017089062053628737],"end_effector_yaw_offset_degrees":0.1402236374046102},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001636560362213965,-0.0015669129350398703,0.0008164117297730059],"end_effector_yaw_offset_degrees":0.2302349001528159},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015378499332119242,-0.00017879141690972265,0.0019448891964900456],"end_effector_yaw_offset_degrees":0.5534404805074862},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.615960546926385e-05,0.0006734188733881303,-0.0007180018882582361],"end_effector_yaw_offset_degrees":0.9296245227598698}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0042361340545868775,-0.003227813338129235],"position_m":[0.3157638659454131,0.3498721866618708,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001450923650058532,-0.001267285475193124],"position_m":[0.2734509236500586,-0.36856728547519313,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017795691901847242,-0.004050060794288487],"position_m":[0.17822043080981526,-0.03765006079428848,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002457961900254011,-0.0007190453065466654],"position_m":[0.33604203809974603,0.10778095469345333,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b7e492d3978e5d08d1e6340baf4561d78794a9d0e8a9d3c8be8d4af8b43c11c0","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1012/tex_ceiling_textures_9471/tex_floor_textures_3841/tex_table_textures_8596/tex_wall_textures_6660","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":91695724709712411,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":91695724709712411,"visual_seed":91695724709712411,"scene_id":"lab_003","finished_at":"2026-09-05T02:19:13"}
+{"episode_id":"ep_000011","started_at":"2026-09-05T02:19:19","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.1607079718204658,-2.5660709151062933,0.71338606911949],"aabb_xy":[[-0.1832079720639812,-2.578275549766065],[-0.13820797157695042,-2.5538662804465213]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.5320027137865376,-2.2172557387874496,0.71338606911949],"aabb_xy":[[-0.5869949644220486,-2.2722557405307624],[-0.4770104631510267,-2.162255737044137]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[0.047336508195471305,-1.7113817170518053,0.71338606911949],"aabb_xy":[[0.038638545904756016,-1.72350669135928],[0.0560344704861866,-1.6992567427443306]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[-0.599146620527614,-1.6631657727849616,0.71338606911949],"aabb_xy":[[-0.6269916573082212,-1.6939502715232733],[-0.5713015837470069,-1.63238127404665]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.154387761256639,0.9151843822431864,0.71338606911949],"aabb_xy":[[-0.16994353066690426,0.8996339489987795],[-0.13883199184637374,0.9307348154875938]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.32376452698467834,-1.5510042235893258,0.71338606911949],"aabb_xy":[[-0.3698496182394098,-1.615004220841881],[-0.27767943572994686,-1.4870042263367709]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.4727070831702822,-1.668781177047294,0.71338606911949],"aabb_xy":[[-0.527707082792028,-1.7237648698347667],[-0.4177070835485364,-1.6137974842598213]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[0.4033110070473189,-2.4861252199553223,0.71338606911949],"aabb_xy":[[0.36901409602957824,-2.520422106165263],[0.4376079180650595,-2.4518283337453806]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[0.059887371284476854,1.468856400507479,0.71338606911949],"aabb_xy":[[0.005871775002576851,1.4048563976152217],[0.11390296756637686,1.532856403399736]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.043787092985296816,1.6398164177567316,0.71338606911949],"aabb_xy":[[-0.04621290673787737,1.6167430652215513],[0.13378709270847097,1.662889770291911]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[0.2858825606519858,1.288780991189102,0.71338606911949],"aabb_xy":[[0.23588754969253384,1.2387809921535102],[0.3358775716114379,1.3387809902246937]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[0.1904569088805449,-1.0232173756798808,0.71338606911949],"aabb_xy":[[0.171344601522566,-1.042352154557123],[0.20956921623852373,-1.004082596802639]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[0.3464806307692303,-0.6113454368917599,0.71338606911949],"aabb_xy":[[0.30963008283224264,-0.6488454377147936],[0.38333117870621786,-0.5738454360687262]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[0.0720710550651199,-1.9544522958122732,0.71338606911949],"aabb_xy":[[-0.007928941949128077,-1.9745868474856842],[0.15207105207936789,-1.9343177441388617]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.014802422209661548,-1.526888057228837,0.71338606911949],"aabb_xy":[[-0.0226975762137388,-1.5400522711966673],[0.0523024206330619,-1.5137238432610063]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[0.480663737210991,-1.714110714462725,0.71338606911949],"aabb_xy":[[0.40066373923020593,-1.721712255424577],[0.560663735191776,-1.706509173500873]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.2621604220198833,0.6591972971567528,0.71338606911949],"aabb_xy":[[-0.299660423204676,0.6547790744606922],[-0.22466042083509044,0.6636155198528132]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[-0.5012486311479422,1.483036617970424,0.71338606911949],"aabb_xy":[[-0.5171331244132674,1.4686836776716],[-0.4853641378826171,1.497389558269248]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.4117960876248592,1.1573207349656527,0.71338606911949],"aabb_xy":[[0.3855072633044185,1.131049301311001],[0.4380849119452998,1.1835921686203035]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[0.11341626656616932,-2.4829755440330925,0.71338606911949],"aabb_xy":[[0.07591626590159059,-2.4986626020333143],[0.15091626723074797,-2.46728848603287]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[0.6094290601067511,0.20258010203047272,0.71338606911949],"aabb_xy":[[0.5848828444840003,0.17233120548143563],[0.6339752757295017,0.23282899857950975]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.4756803938119958,1.4772457987154195,0.71338606911949],"aabb_xy":[[0.43818039331463754,1.473277115167301],[0.513180394309354,1.481214482263538]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[-0.1369711340997044,1.338783723733489,0.71338606911949],"aabb_xy":[[-0.1681180529432875,1.2687837250466818],[-0.10582421525612126,1.4087837224202961]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.44701826650320087,-0.44834126811656816,0.71338606911949],"aabb_xy":[[-0.481609349357246,-0.5133412684015991],[-0.41242718364915554,-0.38334126783153705]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[0.6154540012659906,1.38395253333739,0.71338606911949],"aabb_xy":[[0.5654697655578133,1.3339525345238943],[0.6654382369741677,1.4339525321508855]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_25","position":[0.12144764430046795,1.7812697022427657,0.71338606911949],"aabb_xy":[[0.10394771086648458,1.763769702322531],[0.13894757773445132,1.798769702163]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_26","position":[0.28079385393175815,-2.256736524871793,0.71338606911949],"aabb_xy":[[0.2167981565366615,-2.320736523172502],[0.3447895513268547,-2.1927365265710845]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_27","position":[-0.4797174696996107,-1.5116052426453042,0.71338606911949],"aabb_xy":[[-0.48784515789292404,-1.520518851056012],[-0.4715897815062976,-1.5026916342345964]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_28","position":[0.2578227535436385,-1.6352418678483773,0.71338606911949],"aabb_xy":[[0.25011956286956144,-1.6429512385471154],[0.2655259442177155,-1.6275324971496392]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989643792683903,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8264.png","name":"8264"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8264.png","name":"8264"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8321.png","name":"8321"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/118.png","name":"118"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5438.png","name":"5438"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7728.png","name":"7728"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":534.6329007618173,"rotation_z_degrees":105.38658213555908,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01333106767569035,-0.019478626031377542,0.007817275238451944]},{"name":"camera_2","offset_m":[-0.010391435572208119,-0.006862985364222061,-0.0161454412678222]},{"name":"camera_3","offset_m":[-0.010332572040659587,0.012308663214934918,0.0041719976324630925]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005303102176206355,-0.0005307982312182161,0.000944832336341257],"end_effector_yaw_offset_degrees":0.2348860471262073},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007610840032091879,0.001933873353467782,-0.0014578957335730745],"end_effector_yaw_offset_degrees":0.7593510112662762},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019351105242255673,-0.0002538797287098848,-0.001590582575405672],"end_effector_yaw_offset_degrees":0.7118633819245523},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000332657255110509,0.0006937742818802967,0.0007418396338201199],"end_effector_yaw_offset_degrees":-0.8315204043018412}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005021077010925719,-0.004174145704051238],"position_m":[0.32050210770109255,0.3489258542959488,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006370351400769702,0.0016701144236931495],"position_m":[0.272637035140077,-0.3656298855763069,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001377940426120613,0.004729104670190433],"position_m":[0.1813779404261206,-0.028870895329809566,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004252019892467592,-0.0033271061391031568],"position_m":[0.3389252019892468,0.10517289386089684,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"04e218cbf2183a89ff1bf2727be21f426490e69697f86489cf564313bd3b7585","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8264/tex_ceiling_textures_7728/tex_floor_textures_5438/tex_table_textures_8321/tex_wall_textures_118","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8011520320663511421,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8011520320663511421,"visual_seed":8011520320663511421,"scene_id":"lab_003","finished_at":"2026-09-05T02:23:02"}
+{"episode_id":"ep_000012","started_at":"2026-09-05T02:27:35","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[-0.39089356496373995,-0.7651593303838862,0.71338606911949],"aabb_xy":[[-0.45489356730654146,-0.8101001816280187],[-0.3268935626209383,-0.7202184791397537]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[0.6069759601220925,-0.7847551578620946,0.71338606911949],"aabb_xy":[[0.5169759636212208,-0.8306668002805528],[0.6969759566229643,-0.7388435154436364]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.47023543487489783,1.0474856649585935,0.71338606911949],"aabb_xy":[[0.40523543484059515,1.000784988278266],[0.5352354349092006,1.0941863416389206]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_3","position":[0.11665895766781342,-1.6816285817772623,0.71338606911949],"aabb_xy":[[0.0832187824717938,-1.7150722076081921],[0.150099132863833,-1.648184955946332]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[0.1759288328153663,0.958881869468827,0.71338606911949],"aabb_xy":[[0.11192883551301991,0.9145154425009702],[0.2399288301177127,1.0032482964366838]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[0.351756706235999,0.9191986552838909,0.71338606911949],"aabb_xy":[[0.34579016729526313,0.9132375106245267],[0.3577232451767347,0.9251597999432548]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[-0.2839429141826069,1.054710428283832,0.71338606911949],"aabb_xy":[[-0.33893612551974367,0.9997104279450384],[-0.22894970284547017,1.1097104286226256]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.41300436767638415,-1.4106191833424366,0.71338606911949],"aabb_xy":[[0.37550436688438865,-1.4169870243006266],[0.45050436846837955,-1.4042513423842466]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.6439862595948479,1.7994630282500474,0.71338606911949],"aabb_xy":[[-0.6642705623182465,1.7791804031073384],[-0.623701956871449,1.819745653392756]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[0.14419177015853757,1.1239681496259242,0.71338606911949],"aabb_xy":[[0.1266918367245542,1.1064681497056894],[0.16169170359252094,1.1414681495461585]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[-0.4007829535427388,-1.7006781661349024,0.71338606911949],"aabb_xy":[[-0.4116234317692537,-1.7178644474255509],[-0.3899424753162239,-1.683491884844253]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.07244708813024614,-1.7774219512916674,0.71338606911949],"aabb_xy":[[0.06445309955254273,-1.7854220313867575],[0.08044107670794952,-1.7694218711965768]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[-0.18448368903771628,0.4099274600465268,0.71338606911949],"aabb_xy":[[-0.19250995966834228,0.4011759650691742],[-0.17645741840709028,0.4186789550238794]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[-0.6236458335553946,-0.1027200360016658,0.71338606911949],"aabb_xy":[[-0.6736458322013158,-0.15263957966112818],[-0.5736458349094734,-0.05280049234220341]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[-0.41884444873212634,-1.263199441436766,0.71338606911949],"aabb_xy":[[-0.4738181707684592,-1.3181994410009994],[-0.36387072669579346,-1.208199441872533]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_15","position":[-0.424046023879006,-1.4266462135059725,0.71338606911949],"aabb_xy":[[-0.4590460237750248,-1.4350204490179121],[-0.38904602398298704,-1.4182719779940325]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[-0.4449643643775863,-0.12463408306182888,0.71338606911949],"aabb_xy":[[-0.5049643648854392,-0.18148081674775018],[-0.3849643638697334,-0.06778734937590758]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.4217482673154437,0.364348894483256,0.71338606911949],"aabb_xy":[[-0.444248267129346,0.35987427811277534],[-0.39924826750154124,0.3688235108537367]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[0.692294704977042,-0.14041882150171814,0.71338606911949],"aabb_xy":[[0.6826630687566124,-0.15005613428142706],[0.7019263411974717,-0.13078150872200922]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[-0.09049140531868449,1.7536459189840898,0.71338606911949],"aabb_xy":[[-0.1544914046128527,1.6896597786152356],[-0.026491406024516273,1.817632059352944]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[0.5325980694301871,1.4396943547442302,0.71338606911949],"aabb_xy":[[0.47858247314828695,1.3756943518519726],[0.586613665712087,1.503694357636487]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.09238321203804167,-0.05401474765209402,0.71338606911949],"aabb_xy":[[-0.1004195467393265,-0.06205286695651079],[-0.08434687733675682,-0.04597662834767723]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_22","position":[-0.5591506172666554,1.670454985200426,0.71338606911949],"aabb_xy":[[-0.60039942829657,1.6154549856882083],[-0.5179018062367405,1.7254549847126432]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[-0.2366552202882688,1.651436088617659,0.71338606911949],"aabb_xy":[[-0.2591552205317842,1.6392314539578872],[-0.21415522004475337,1.663640723277431]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[0.17850652388299892,-2.052593893913795,0.71338606911949],"aabb_xy":[[0.17454604011326458,-2.0602617584993155],[0.18246700765273333,-2.0449260293282743]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.23309413270899476,0.9152784232478699,0.71338606911949],"aabb_xy":[[-0.2673910437267354,0.8809815370379284],[-0.1987972216912541,0.949575309457811]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[-0.6546811722976069,-1.8852361164366787,0.71338606911949],"aabb_xy":[[-0.6617226232483545,-1.8922628681744733],[-0.6476397213468593,-1.878209364698884]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_27","position":[0.11254985212496194,-1.313965658777526,0.71338606911949],"aabb_xy":[[0.02254985538935171,-1.3671491220948204],[0.20254984886057215,-1.2607821954602314]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[-0.5094020824770105,-1.8589843058674278,0.71338606911949],"aabb_xy":[[-0.5894020811338965,-1.8734891647916907],[-0.42940208382012446,-1.844479446943165]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_29","position":[0.5326587423175546,-1.2412774425362405,0.71338606911949],"aabb_xy":[[0.482561278336481,-1.3052774430460525],[0.5827562062986282,-1.177277442026429]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[0.6404726494633222,-1.6107809220192364,0.71338606911949],"aabb_xy":[[0.6227970188747237,-1.6284611382986391],[0.6581482800519204,-1.5931007057398336]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_31","position":[-0.31309870348763885,1.411343526547678,0.71338606911949],"aabb_xy":[[-0.316539379727696,1.4074820935733134],[-0.3096580272475817,1.4152049595220424]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_32","position":[0.3593438585220612,1.3826972906599475,0.71338606911949],"aabb_xy":[[0.336879088550656,1.3601972897810868],[0.38180862849346625,1.4051972915388078]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_33","position":[0.5987133208513413,1.7160026623670857,0.71338606911949],"aabb_xy":[[0.5926763078506766,1.7099759612981378],[0.604750333852006,1.722029363436034]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698970135674036,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/611.png","name":"611"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/611.png","name":"611"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9695.png","name":"9695"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6220.png","name":"6220"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9037.png","name":"9037"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1609.png","name":"1609"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":813.3915298536823,"rotation_z_degrees":307.9998227150338,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01298845435118164,0.010042204445048008,0.006099713433421101]},{"name":"camera_2","offset_m":[-0.016023076928544364,-0.01963779646903261,-0.0030367085374216965]},{"name":"camera_3","offset_m":[0.0063491814305457785,0.006359071455462977,-0.015339918153831258]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013684068530429583,-0.0019245901119320937,-0.0012149890827011242],"end_effector_yaw_offset_degrees":0.2750889747320051},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017232337009718151,-0.0007592422206359379,-0.0006154424848032983],"end_effector_yaw_offset_degrees":-0.09845026985478422},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017941709279098933,-0.0005882307909555839,1.688851558893532e-05],"end_effector_yaw_offset_degrees":0.8339485459533631},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007544332417258187,-0.001805081143143338,0.000684352949297013],"end_effector_yaw_offset_degrees":0.37581209733699783}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012309089113729278,-0.0005071485882489398],"position_m":[0.32123090891137296,0.35259285141175106,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000562678586642374,0.0015379990599355218],"position_m":[0.2725626785866424,-0.3657620009400645,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037655795848776296,-0.002041877915721427],"position_m":[0.17623442041512236,-0.035641877915721425,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009115246041635598,0.004831751840856958],"position_m":[0.3375884753958365,0.11333175184085696,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eff25cef316b306cdc7e1a21eabd09a8bb7cb252543cc3ed4ec0dab808c4f79c","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_611/tex_ceiling_textures_1609/tex_floor_textures_9037/tex_table_textures_9695/tex_wall_textures_6220","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3305014008578156100,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3305014008578156100,"visual_seed":3305014008578156100,"scene_id":"lab_003","finished_at":"2026-09-05T02:31:22"}
+{"episode_id":"ep_000013","started_at":"2026-09-05T02:31:26","dimensions":{"distractor":{"count":33,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.582868712193416,-0.15367890461183187,0.71338606911949],"aabb_xy":[[0.5709966291819147,-0.23867890430548222],[0.594740795204917,-0.06867890491818152]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.6493714392201955,-1.5807424367130074,0.71338606911949],"aabb_xy":[[-0.6675772628814431,-1.591767837294999],[-0.6311656155589478,-1.5697170361310158]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[-0.6694897921132894,-1.0143747205956357,0.71338606911949],"aabb_xy":[[-0.6865918700716576,-1.0314815261269052],[-0.6523877141549212,-0.9972679150643657]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.2190241046335072,0.219534658111054,0.71338606911949],"aabb_xy":[[-0.22298458840324156,0.21186679352553342],[-0.21506362086377281,0.22720252269657462]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[0.4161867157584833,0.6056190635218965,0.71338606911949],"aabb_xy":[[0.41022017681774753,0.5996579188625325],[0.4221532546992191,0.6115802081812606]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.17411585682163822,1.1869156797554221,0.71338606911949],"aabb_xy":[[-0.23911585777876543,1.1349674678217165],[-0.10911585586451102,1.2388638916891277]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[-0.393131343473226,-0.9994232472231086,0.71338606911949],"aabb_xy":[[-0.4531313440692421,-1.054235719768332],[-0.33313134287720975,-0.9446107746778851]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.07865167338451351,1.515413738219729,0.71338606911949],"aabb_xy":[[0.06115167313946412,1.4979139503801617],[0.09615167362956288,1.5329135260592954]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.07768709615623215,0.916652285685247,0.71338606911949],"aabb_xy":[[-0.08646832330346838,0.9078725383967171],[-0.06890586900899592,0.9254320329737774]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.49944057677314935,0.45387372284293814,0.71338606911949],"aabb_xy":[[0.47444057722141086,0.4437312389778034],[0.5244405763248878,0.46401620670807286]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[0.5118205040656263,-1.3063437901280601,0.71338606911949],"aabb_xy":[[0.5081172427364873,-1.3100458084367779],[0.5155237653947651,-1.302641771819342]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.18035171571690478,1.648656039302192,0.71338606911949],"aabb_xy":[[0.17027000863833128,1.5686560414100774],[0.19043342279547823,1.7286560371943067]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.37943236435493777,-0.7402298938301357,0.71338606911949],"aabb_xy":[[-0.46943236377330866,-0.7736053906743253],[-0.2894323649365669,-0.7068543969859459]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[0.05722528390954007,-0.9312574513508725,0.71338606911949],"aabb_xy":[[-0.022774713104707918,-0.9513920030242837],[0.13722528092378805,-0.9111228996774612]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[-0.48790474647266513,-2.0221331445330137,0.71338606911949],"aabb_xy":[[-0.5049148437627158,-2.0382676330312877],[-0.4708946491826145,-2.00599865603474]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.5548687629155639,-0.9047498164173247,0.71338606911949],"aabb_xy":[[-0.5629824175889409,-0.9128556328713536],[-0.5467551082421866,-0.8966439999632955]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[-0.312407033553596,1.5362386514253372,0.71338606911949],"aabb_xy":[[-0.3924070357163585,1.4562834677991932],[-0.23240703139083352,1.6161938350514804]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.6110626195758851,1.1992324649518546,0.71338606911949],"aabb_xy":[[-0.6750626199534187,1.1494871981010422],[-0.5470626191983514,1.2489777318026667]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[0.17022574861801776,1.264630400866781,0.71338606911949],"aabb_xy":[[0.1327257478260223,1.2582625599085906],[0.2077257494100132,1.270998241824971]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.5516399470417135,-2.193205335439731,0.71338606911949],"aabb_xy":[[0.5016399466811474,-2.243185322649334],[0.6016399474022796,-2.143225348230128]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.09688884901412753,1.0156134267888093,0.71338606911949],"aabb_xy":[[-0.16688885082287297,0.9942596580246219],[-0.02688884720538208,1.0369671955529967]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[-0.2117661198513338,-1.5453682829243671,0.71338606911949],"aabb_xy":[[-0.2617661211351737,-1.595347137314989],[-0.16176611856749382,-1.4953894285337448]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[-0.13260704128744205,-1.8309719622358838,0.71338606911949],"aabb_xy":[[-0.21260704271756922,-1.9104891172484932],[-0.052607039857314825,-1.7514548072232743]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.2765999988899113,-1.8646746123437632,0.71338606911949],"aabb_xy":[[-0.2852979611806266,-1.8767995866512381],[-0.26790203659919604,-1.8525496380362887]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[0.5075577860823262,1.6019982578364993,0.71338606911949],"aabb_xy":[[0.49839790713844956,1.5954670397929624],[0.5167176650262028,1.6085294758800366]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[-0.19424394756699948,0.6284528691776488,0.71338606911949],"aabb_xy":[[-0.21924394749951737,0.6215702009567254],[-0.16924394763448158,0.6353355373985721]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_26","position":[-0.36718364590691094,-1.7554878630017146,0.71338606911949],"aabb_xy":[[-0.40468364625513864,-1.767279258582798],[-0.3296836455586831,-1.743696467420631]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[0.554838028671649,-0.8802247932381688,0.71338606911949],"aabb_xy":[[0.5468016939703642,-0.8882629125425855],[0.5628743633729338,-0.8721866739337519]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[-0.5022197252557525,1.4554878474318191,0.71338606911949],"aabb_xy":[[-0.5127872049138515,1.4449428173188106],[-0.4916522455976535,1.4660328775448277]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_29","position":[-0.5499428331794949,0.9064566033615113,0.71338606911949],"aabb_xy":[[-0.5666199691725905,0.889756679387581],[-0.5332656971863995,0.9231565273354415]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_30","position":[-0.005083073960686635,-1.5531007863374549,0.71338606911949],"aabb_xy":[[-0.0303039108205263,-1.5783245371903414],[0.02013776289915303,-1.5278770354845679]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_31","position":[-0.09125611133892753,-0.01941524489220736,0.71338606911949],"aabb_xy":[[-0.17625610975635075,-0.10428954035449234],[-0.006256112921504298,0.06545905057007761]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_32","position":[0.5842442232735467,0.17220280943851707,0.71338606911949],"aabb_xy":[[0.580128273161474,0.16808725440567152],[0.5883601733856193,0.1763183644713625]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962474212277606,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1712.png","name":"1712"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1712.png","name":"1712"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4100.png","name":"4100"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8712.png","name":"8712"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4384.png","name":"4384"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":785.5911594747345,"rotation_z_degrees":165.98196214654487,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011262996808124866,0.001431169220987974,-0.0018031526240016374]},{"name":"camera_2","offset_m":[-0.017115827624383483,-0.015374176303377781,0.01009787386582461]},{"name":"camera_3","offset_m":[0.0041317198703102985,-0.009972333995516452,0.009063628203012212]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010322602885604443,0.0009504436203855576,-0.0011122447434172083],"end_effector_yaw_offset_degrees":0.14430168526841491},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015744975870207322,-0.0010291664128339187,-0.0012273463828140732],"end_effector_yaw_offset_degrees":0.19536193969005589},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016862007471785778,-0.0003311146292552696,-0.000190844636039193],"end_effector_yaw_offset_degrees":-0.46353790498582237},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015507432608254036,-0.0016903251008032623,-0.0016394219825495286],"end_effector_yaw_offset_degrees":-0.6971727183716261}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029949257836185657,-0.002118664850414549],"position_m":[0.32299492578361855,0.35098133514958546,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028638738007855614,0.0011672228662007664],"position_m":[0.26913612619921445,-0.36613277713379927,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003522863629193819,0.0021670189736520554],"position_m":[0.17647713637080617,-0.03143298102634794,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004552342909284771,-0.004842623659749285],"position_m":[0.34305234290928477,0.10365737634025071,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8d1e74ceaa0265725157c794394869b4229aab041261ee52586d60677aaa0459","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0018.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1712/tex_ceiling_textures_4384/tex_floor_textures_8712/tex_table_textures_4100/tex_wall_textures_3393","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7051103323617391121,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7051103323617391121,"visual_seed":7051103323617391121,"scene_id":"lab_003","finished_at":"2026-09-05T02:35:09"}
+{"episode_id":"ep_000014","started_at":"2026-09-05T02:35:12","dimensions":{"distractor":{"count":33,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[0.09023237597696476,-1.6981480983475365,0.71338606911949],"aabb_xy":[[0.07932659988940205,-1.7781480947463657],[0.10113815206452748,-1.6181481019487074]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.35704004094279973,0.7803869299043145,0.71338606911949],"aabb_xy":[[-0.43704004201592006,0.77060888356693],[-0.2770400398696794,0.7901649762416989]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.5731108052869125,0.2200782596368982,0.71338606911949],"aabb_xy":[[-0.5792054331750309,0.21150886508522948],[-0.5670161773987943,0.22864765418856692]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.25257575827305845,1.6475419228360724,0.71338606911949],"aabb_xy":[[-0.27757575754502073,1.63119655923991],[-0.2275757590010962,1.6638872864322347]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[0.06284892556799826,1.1720154791606174,0.71338606911949],"aabb_xy":[[0.012875860035482804,1.1220154793480845],[0.11282199110051375,1.2220154789731503]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[0.6672678727931474,0.01706940242052646,0.71338606911949],"aabb_xy":[[0.663307389023413,0.009401537835005861],[0.6712283565628817,0.024737267006047062]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.4983050330577967,-2.187150532263091,0.71338606911949],"aabb_xy":[[0.4882233259792232,-2.267150530155205],[0.5083867401363702,-2.1071505343709758]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.0779237863988188,-1.4642536750982769,0.71338606911949],"aabb_xy":[[-0.12792378597515353,-1.514234254050383],[-0.0279237868224841,-1.4142730961461711]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.5383851944668802,-1.8684892608339787,0.71338606911949],"aabb_xy":[[-0.5670345268272963,-1.8971348201110543],[-0.5097358621064638,-1.8398437015569027]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[0.3770002612604142,-2.2164499009313237,0.71338606911949],"aabb_xy":[[0.36189795979939604,-2.2315514225623847],[0.39210256272143224,-2.201348379300261]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[-0.24369737708965877,-0.34948304941188413,0.71338606911949],"aabb_xy":[[-0.26619651281588574,-0.37198305019014716],[-0.22119824136343177,-0.3269830486336212]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[-0.3187879813590674,0.20831083756037705,0.71338606911949],"aabb_xy":[[-0.3987879827891946,0.12879368254776755],[-0.23878797992894019,0.2878279925729865]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[-0.3683715984572027,-1.5295935271868815,0.71338606911949],"aabb_xy":[[-0.4183490153224562,-1.5795935286761298],[-0.31839418159194904,-1.4795935256976327]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.5272731080275382,-2.1238930467977397,0.71338606911949],"aabb_xy":[[-0.5822731072041277,-2.1788827215726974],[-0.47227310885094875,-2.068903372022782]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.4520626201693224,-1.3750615115106535,0.71338606911949],"aabb_xy":[[-0.522062622300752,-1.3978234771363491],[-0.3820626180378929,-1.3522995458849578]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[-0.5102208700256667,-0.18657160816246998,0.71338606911949],"aabb_xy":[[-0.527720870270716,-0.20407139600203683],[-0.4927208697806173,-0.16907182032290313]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.2885865441618742,-2.518631515743921,0.71338606911949],"aabb_xy":[[-0.32591782068711683,-2.5532845705387732],[-0.25125526763663153,-2.4839784609490687]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[0.5724384921536394,0.3786232649962127,0.71338606911949],"aabb_xy":[[0.5274459054351891,0.33362326572176393],[0.6174310788720899,0.42362326427066144]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.6299401050423297,-1.8011530520783818,0.71338606911949],"aabb_xy":[[0.5659401077399832,-1.8455194790462386],[0.693940102344676,-1.756786625110525]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[0.20615417881383025,0.64406889708745,0.71338606911949],"aabb_xy":[[0.14115417781332973,0.593282531932775],[0.27115417981433076,0.6948552622421249]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_20","position":[-0.42997969929101054,-0.01903534471937185,0.71338606911949],"aabb_xy":[[-0.49997970089328997,-0.03246813792102943],[-0.359979697688731,-0.0056025515177142715]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[0.4835003648360454,1.458269084226861,0.71338606911949],"aabb_xy":[[0.47374437532687147,1.4485065501676266],[0.49325635434521925,1.4680316182860955]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[-0.2311879113061841,1.3304194735322445,0.71338606911949],"aabb_xy":[[-0.321187910724555,1.2970439766880546],[-0.1411879118878132,1.363794970376434]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.29594950308086515,-1.235107441934327,0.71338606911949],"aabb_xy":[[-0.30236331672405004,-1.2415172621819952],[-0.28953568943768015,-1.2286976216866585]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[0.5391454561023494,-1.9167094406108847,0.71338606911949],"aabb_xy":[[0.5221353588122987,-1.9328439291091586],[0.5561555533924,-1.9005749521126107]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_25","position":[0.1813516861544051,-2.294158331018884,0.71338606911949],"aabb_xy":[[0.12637796411807223,-2.349158330583117],[0.236325408190738,-2.2391583314546506]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_26","position":[-0.05359395360034369,-2.161325837353142,0.71338606911949],"aabb_xy":[[-0.07126958418894201,-2.1790060536325444],[-0.03591832301174535,-2.143645621073739]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[0.6637575482106093,-1.1273804147567343,0.71338606911949],"aabb_xy":[[0.6533459895301255,-1.1327261480926325],[0.6741691068910929,-1.1220346814208357]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_28","position":[0.6035342862460134,-0.9571263115349142,0.71338606911949],"aabb_xy":[[0.5991036568911732,-0.9625746832695969],[0.6079649156008535,-0.9516779398002317]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[-0.3528301015900473,-1.1476603609412577,0.71338606911949],"aabb_xy":[[-0.3753301011137547,-1.1701563083918782],[-0.3303301020663399,-1.1251644134906367]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_30","position":[-0.6468985376756579,-1.1420681318803174,0.71338606911949],"aabb_xy":[[-0.6541808540523213,-1.2320681354898262],[-0.639616221298994,-1.0520681282708082]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[0.1213207212390679,-1.9372589780473346,0.71338606911949],"aabb_xy":[[0.0988242998052038,-1.9597589778540816],[0.143817142672932,-1.9147589782405867]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_32","position":[-0.6412290937458455,0.7935909383888808,0.71338606911949],"aabb_xy":[[-0.6839958006252658,0.7295909349670784],[-0.5984623868664254,0.8575909418106833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7042463068372201,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6107.png","name":"6107"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6107.png","name":"6107"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8029.png","name":"8029"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3584.png","name":"3584"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5036.png","name":"5036"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6619.png","name":"6619"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":685.3483033945097,"rotation_z_degrees":263.90985808625436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013629823723021097,0.013616428451759578,-0.0036597159004074682]},{"name":"camera_2","offset_m":[-0.016657054632506427,0.01715612091207754,0.004656510744964395]},{"name":"camera_3","offset_m":[0.010856303224039937,-0.014132895089320158,-0.0008514249170462514]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000253531413363226,0.001409064446768393,-0.0004558467910059619],"end_effector_yaw_offset_degrees":0.18840671179852797},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008858331930864133,0.0015191418057272535,-0.001319740432127384],"end_effector_yaw_offset_degrees":-0.7250500144253398},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018910507729537895,0.00013883382204724981,-0.0013222309343357357],"end_effector_yaw_offset_degrees":0.6054633582156113},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.735677931280805e-05,0.0003757380850027002,0.0015920784737050533],"end_effector_yaw_offset_degrees":0.6064536288138775}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-2.2735193149477605e-05,-0.001822106939392265],"position_m":[0.3199772648068505,0.35127789306060775,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004744773716233231,-0.0017338353924868277],"position_m":[0.27674477371623324,-0.36903383539248685,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004863796691303484,-0.0017555674157703326],"position_m":[0.18486379669130348,-0.03535556741577033,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003719250708861821,-0.0018233030723095833],"position_m":[0.34221925070886183,0.10667669692769041,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"964ff20c1d7f622c532c33601ee50856733725c0c7ea8ccb253dec713fc1db4b","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6107/tex_ceiling_textures_6619/tex_floor_textures_5036/tex_table_textures_8029/tex_wall_textures_3584","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":9220441680518204072,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":9220441680518204072,"visual_seed":9220441680518204072,"scene_id":"lab_003","finished_at":"2026-09-05T02:38:54"}
+{"episode_id":"ep_000015","started_at":"2026-09-05T02:45:57","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[-0.4576797011115675,0.19396395036913505,0.71338606911949],"aabb_xy":[[-0.5076585096218833,0.14396395036341625],[-0.4077008926012516,0.24396395037485386]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[-0.616689566386229,1.0119391158837017,0.71338606911949],"aabb_xy":[[-0.6336002988225706,0.998466910291087],[-0.5997788339498871,1.025411321476316]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[-0.017020705574110728,-0.6428911518914777,0.71338606911949],"aabb_xy":[[-0.02352234208211535,-0.6526589739177875],[-0.010519069066106114,-0.633123329865168]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.19717445795901367,0.5760003154715405,0.71338606911949],"aabb_xy":[[0.180164360668963,0.5598658269732666],[0.2141845552490643,0.5921348039698144]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[-0.1243900019269345,-1.2048576645997995,0.71338606911949],"aabb_xy":[[-0.19439000531849643,-1.2401734383032301],[-0.0543899985353725,-1.1695418908963684]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.3758218007534344,-2.0179537740303775,0.71338606911949],"aabb_xy":[[-0.3807210930599978,-2.045630693332946],[-0.3709225084468708,-1.9902768547278082]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[0.4296143300017372,0.8327288611495454,0.71338606911949],"aabb_xy":[[0.365614329727759,0.7826627609522573],[0.49361433027571544,0.8827949613468332]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.5348517100705179,-0.6365090243190339,0.71338606911949],"aabb_xy":[[-0.5698517083406378,-0.6435831520140219],[-0.499851711800398,-0.6294348966240456]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[-0.5159114020330988,-2.063788272347554,0.71338606911949],"aabb_xy":[[-0.5409114011987319,-2.0707405180529106],[-0.4909114028674657,-2.0568360266421974]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.2580163424401356,-1.1886643137646185,0.71338606911949],"aabb_xy":[[-0.2755163426994722,-1.202755855953391],[-0.24051634218079898,-1.1745727715758458]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[0.4917156250224688,0.5469737096222609,0.71338606911949],"aabb_xy":[[0.4277156231101264,0.49106256036425044],[0.5557156269348111,0.6028848588802713]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[-0.20082394394696262,-1.8534511316128413,0.71338606911949],"aabb_xy":[[-0.22332394347067,-1.8759470790634618],[-0.1783239444232552,-1.8309551841622203]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.4294260600592506,-0.3521009830035906,0.71338606911949],"aabb_xy":[[-0.5194260586537205,-0.3683515693170117],[-0.3394260614647807,-0.33585039669016964]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[-0.39570419011659536,-0.45038464969533987,0.71338606911949],"aabb_xy":[[-0.4036274703553437,-0.47288464993334317],[-0.387780909877847,-0.42788464945733645]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.03142735969238275,0.974265709953134,0.71338606911949],"aabb_xy":[[-0.11142735996598974,0.9013161621274172],[0.04857264058122422,1.0472152577788505]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_15","position":[0.03705758856626551,-2.3589474080683295,0.71338606911949],"aabb_xy":[[-0.04794241012580914,-2.3909332714632083],[0.12205758725834015,-2.3269615446734506]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.5028737565092651,1.1615752305118692,0.71338606911949],"aabb_xy":[[0.46537375616103727,1.1497838349307856],[0.5403737568574928,1.1733666260929527]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[-0.5779990537389694,-1.1383860222217137,0.71338606911949],"aabb_xy":[[-0.5912299992736507,-1.151613441243713],[-0.5647681082042881,-1.125158603199714]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[-0.5570775121848325,-0.17009785323539983,0.71338606911949],"aabb_xy":[[-0.6048836797986011,-0.23509785594245877],[-0.5092713445710638,-0.10509785052834086]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.6129993886226419,-1.5295682281933307,0.71338606911949],"aabb_xy":[[0.6003966894855656,-1.5421636244181962],[0.6256020877597185,-1.5169728319684652]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[0.20077335414633068,-0.9721717741709912,0.71338606911949],"aabb_xy":[[0.13577335318920347,-1.0241199861046966],[0.2657733551034579,-0.9202235622372855]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[0.6319268004310328,1.7640913211640181,0.71338606911949],"aabb_xy":[[0.5944268004872663,1.7557982311291815],[0.6694268003747991,1.7723844111988547]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[-0.5299831286788079,-0.8119523142939931,0.71338606911949],"aabb_xy":[[-0.5470852066371762,-0.8290591198252627],[-0.5128810507204399,-0.7948455087627232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6976707351002396,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6507.png","name":"6507"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6507.png","name":"6507"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7496.png","name":"7496"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2300.png","name":"2300"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7721.png","name":"7721"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7498.png","name":"7498"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":659.3836766638152,"rotation_z_degrees":235.24662717677245,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0032715791251758074,-0.011196958990649444,-0.013785992274293033]},{"name":"camera_2","offset_m":[0.014324464242941638,-0.005223342352175683,-0.01925457029729551]},{"name":"camera_3","offset_m":[-0.003765696615210347,-0.010785739119979171,-0.009443250930822248]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007807103224622787,-0.0017411283732706368,0.0007332637253069166],"end_effector_yaw_offset_degrees":0.3276644799713697},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017532684390216434,0.0006720628410770363,0.0010633446890065878],"end_effector_yaw_offset_degrees":0.23408139382583348},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00048647973499193814,0.0011953951223157926,0.0012846630734098538],"end_effector_yaw_offset_degrees":-0.48276456275019886},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022695193494310577,-0.0010358025882329057,-0.0015201517363059747],"end_effector_yaw_offset_degrees":0.81575958792828}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002839956433905728,0.0011473691965170688],"position_m":[0.3171600435660943,0.3542473691965171,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010403393205523819,0.004811582269624128],"position_m":[0.2730403393205524,-0.3624884177303759,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00036721505598568543,-0.0029036720695097998],"position_m":[0.18036721505598569,-0.036503672069509795,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022270851134702594,-0.0009769208335241551],"position_m":[0.3407270851134703,0.10752307916647584,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"663961469cfb4838bddc5775efe48b10bd443d218611a26b43f23ca737087ddf","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6507/tex_ceiling_textures_7498/tex_floor_textures_7721/tex_table_textures_7496/tex_wall_textures_2300","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3206207587388328932,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3206207587388328932,"visual_seed":3206207587388328932,"scene_id":"lab_003","finished_at":"2026-09-05T02:49:42"}
+{"episode_id":"ep_000016","started_at":"2026-09-05T02:49:47","dimensions":{"distractor":{"count":22,"items":[{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_0","position":[0.2541747161487923,1.2025259236803012,0.71338606911949],"aabb_xy":[[0.16448763984067682,1.1125259234258507],[0.34386179245690773,1.2925259239347517]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[-0.5639668627799762,-2.2555085270145128,0.71338606911949],"aabb_xy":[[-0.618960074117113,-2.3105085273533064],[-0.5089736514428395,-2.200508526675719]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[-0.1847738017472237,-1.9603597970001239,0.71338606911949],"aabb_xy":[[-0.22210507827246628,-1.9950128517949761],[-0.14744252522198104,-1.9257067422052716]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[-0.5657974844868132,0.4168991638801205,0.71338606911949],"aabb_xy":[[-0.6557974809876849,0.3709875214616622],[-0.4757974879859414,0.4628108062985787]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[-0.5421215885474733,0.5730512264969096,0.71338606911949],"aabb_xy":[[-0.5650373014325232,0.5501469293604861],[-0.5192058756624234,0.5959555236333332]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.4907731923850651,-0.7571394560710898,0.71338606911949],"aabb_xy":[[0.44549457750391586,-0.8211394554192734],[0.5360518072662144,-0.693139456722906]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_6","position":[0.16260821575528372,0.9199591696179161,0.71338606911949],"aabb_xy":[[0.11263515022276827,0.8699591698053833],[0.2125812812877992,0.9699591694304491]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[0.26301961221991876,-0.7792309359665075,0.71338606911949],"aabb_xy":[[0.24551967878593534,-0.796730935886742],[0.2805195456539021,-0.761730936046273]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.2758167237851081,1.5027725227513629,0.71338606911949],"aabb_xy":[[-0.2977064713740488,1.4127725254621137],[-0.2539269761961672,1.592772520040612]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[-0.6130259521257331,-1.6377044367989602,0.71338606911949],"aabb_xy":[[-0.6167292134548719,-1.6414064551076784],[-0.6093226907965941,-1.6340024184902424]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.2529178189236879,0.6180237347578736,0.71338606911949],"aabb_xy":[[0.18291781679225827,0.5952617691321778],[0.32291782105511735,0.6407857003835691]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.5098061686546054,-1.0622494270683462,0.71338606911949],"aabb_xy":[[-0.5448061700060871,-1.082609163025167],[-0.4748061673031237,-1.0418896911115254]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[-0.5307956220378724,1.4057343533346254,0.71338606911949],"aabb_xy":[[-0.5382080775792609,1.3998831429129974],[-0.523383166496484,1.4115855637562533]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[0.05991248786219716,-1.864896652813775,0.71338606911949],"aabb_xy":[[0.044356718451931905,-1.8804470860581826],[0.07546825727246244,-1.8493462195693682]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[-0.26519252832751744,-1.7381702436817212,0.71338606911949],"aabb_xy":[[-0.2876916640537444,-1.760670244459984],[-0.24269339260129047,-1.715670242903458]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.1381220534733777,-0.859113855001318,0.71338606911949],"aabb_xy":[[-0.2031220513550255,-0.910237518707859],[-0.07312205559172989,-0.8079901912947772]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[0.4966018843509379,-1.6787874884705318,0.71338606911949],"aabb_xy":[[0.4425862880690378,-1.7427874913627888],[0.5506174806328379,-1.6147874855782745]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[-0.5998495943392375,-0.023142105702806948,0.71338606911949],"aabb_xy":[[-0.6094812305596671,-0.032779418482515865],[-0.5902179581188078,-0.013504792923098027]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.41615750713482047,-0.8731239830381763,0.71338606911949],"aabb_xy":[[-0.4461491698686908,-0.9031239823749768],[-0.38616584440095014,-0.8431239837013758]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[0.46055441303673117,1.2207297724303219,0.71338606911949],"aabb_xy":[[0.42555441384391285,1.2097627264326591],[0.4955544122295494,1.2316968184279842]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[-0.1716623616610431,-0.3207445228898611,0.71338606911949],"aabb_xy":[[-0.23566236357338546,-0.37665567214787155],[-0.10766235974870078,-0.26483337363185067]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[0.2747027258454289,1.77821980055873,0.71338606911949],"aabb_xy":[[0.26598875679549433,1.7557197998995415],[0.2834166948953633,1.800719801217918]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.699080679236333,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9725.png","name":"9725"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9725.png","name":"9725"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9510.png","name":"9510"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/411.png","name":"411"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6571.png","name":"6571"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7277.png","name":"7277"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":677.3594730013292,"rotation_z_degrees":220.9352087580959,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012649128355636599,0.01962283423515628,-0.0022904236097328924]},{"name":"camera_2","offset_m":[-0.0029947281915963,0.00030954364902449974,0.01703690274535231]},{"name":"camera_3","offset_m":[-0.011255061416665315,-0.005324450629556167,0.016926271107739494]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002675151070543622,0.0008338272842319597,0.0012776427660200697],"end_effector_yaw_offset_degrees":-0.061459025645777876},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003805171527883921,0.0010320842907968657,-0.001118064353159788],"end_effector_yaw_offset_degrees":-0.6248703721780837},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000598622502487034,-0.0009557233760036539,0.001266231324122337],"end_effector_yaw_offset_degrees":-0.48697914465167047},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001348641985014611,-0.0019079371247190462,-0.0007190370663798262],"end_effector_yaw_offset_degrees":-0.8136526512411668}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003296543582097332,-0.003361658989513524],"position_m":[0.31670345641790265,0.3497383410104865,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021707333223475837,0.00395686091757366],"position_m":[0.2741707333223476,-0.3633431390824264,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015646897656432092,-0.002619702254343325],"position_m":[0.1784353102343568,-0.036219702254343324,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0045081651235678805,0.0011581206691109944],"position_m":[0.3430081651235679,0.10965812066911099,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"186cd7b2b10c0b841d589e723e9a79e15ce451ee63442eb0fb44bc902228695e","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0023.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9725/tex_ceiling_textures_7277/tex_floor_textures_6571/tex_table_textures_9510/tex_wall_textures_411","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6024086866842421322,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6024086866842421322,"visual_seed":6024086866842421322,"scene_id":"lab_003","finished_at":"2026-09-05T02:53:48"}
+{"episode_id":"ep_000017","started_at":"2026-09-05T02:53:51","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[-0.587190785283828,-1.6850961924350152,0.71338606911949],"aabb_xy":[[-0.6134796096042685,-1.7113676260896662],[-0.5609019609633872,-1.6588247587803637]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[0.6307381556814109,-0.15574967221325275,0.71338606911949],"aabb_xy":[[0.59323815710579,-0.1684859678768107],[0.6682381542570316,-0.14301337654969482]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.5295746509368413,-2.5148424146856403,0.71338606911949],"aabb_xy":[[0.47194418204957034,-2.5748424136123504],[0.587205119824112,-2.4548424157589293]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.36919801189115414,1.1991277550430568,0.71338606911949],"aabb_xy":[[-0.430788771115147,1.1351277569340101],[-0.3076072526671614,1.263127753152104]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[0.6608109063863032,-0.6124419637963774,0.71338606911949],"aabb_xy":[[0.610928209508607,-0.6624419630426522],[0.7106936032639994,-0.5624419645501028]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[-0.31210464797734216,-1.222763824561818,0.71338606911949],"aabb_xy":[[-0.4021046503113612,-1.3002461791469306],[-0.2221046456433231,-1.1452814699767053]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[-0.4947568613636144,-2.056484070914771,0.71338606911949],"aabb_xy":[[-0.5747568599509337,-2.135799672852932],[-0.4147568627762949,-1.9771684689766105]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[0.15899507030877968,1.727192006473779,0.71338606911949],"aabb_xy":[[0.1482220963874119,1.6921920082547397],[0.16976804423014746,1.7621920046928177]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.5909375768452826,-2.2947649117726203,0.71338606911949],"aabb_xy":[[-0.6134023468166876,-2.317264912651481],[-0.5684728068738774,-2.27226491089376]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[0.023318265253445825,-1.6140337343614433,0.71338606911949],"aabb_xy":[[-0.03168173436830002,-1.669017427148916],[0.07831826487519167,-1.5590500415739705]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[0.3367280617195665,-1.543797596015417,0.71338606911949],"aabb_xy":[[0.32910379362938824,-1.5514308195519613],[0.34435232980974473,-1.5361643724788738]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.20203202723175984,-2.1415412002506553,0.71338606911949],"aabb_xy":[[0.11703202881433661,-2.2264154957129403],[0.28703202564918306,-2.0566669047883703]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[-0.024252333612611254,1.6987820706514332,0.71338606911949],"aabb_xy":[[-0.10425233687045421,1.6187855628594492],[0.0557476696452317,1.7787785784434171]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.10809120151729634,0.6781584995031666,0.71338606911949],"aabb_xy":[[-0.1580912028011363,0.6281796451125444],[-0.05809120023345638,0.7281373538937886]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[0.2795718573955446,0.6546426152168832,0.71338606911949],"aabb_xy":[[0.2295718578192099,0.6046620362647773],[0.32957185697187935,0.7046231941689892]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[0.6202041723570666,1.1178059385684365,0.71338606911949],"aabb_xy":[[0.6089591167864488,1.1065641408443412],[0.6314492279276844,1.1290477362925317]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_16","position":[-0.38415116628353757,-1.7850581930962597,0.71338606911949],"aabb_xy":[[-0.4341511649294587,-1.834977736755722],[-0.3341511676376163,-1.7351386494367973]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.21294864313679762,0.889695004981514,0.71338606911949],"aabb_xy":[[-0.2209920030627528,0.8046950038861476],[-0.20490528321084245,0.9746950060768804]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.08363143952307572,-1.2081123863857492,0.71338606911949],"aabb_xy":[[0.03754634826834425,-1.2721123836383041],[0.1297165307778072,-1.144112389133194]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.3609699354615102,-0.49413062519012163,0.71338606911949],"aabb_xy":[[-0.3947454946522031,-0.5081691204032867],[-0.32719437627081716,-0.4800921299769566]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.0013973824999446993,1.4708458647150464,0.71338606911949],"aabb_xy":[[-0.08511960800002716,1.3808458611803505],[0.08232484300013776,1.5608458682497424]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[-0.32802141176717164,0.4236019019171584,0.71338606911949],"aabb_xy":[[-0.41802141149034583,0.4005285493819785],[-0.2380214120439975,0.4466752544523382]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[0.3129129361114913,-0.5882213963025271,0.71338606911949],"aabb_xy":[[0.25791293790974645,-0.6287433629289646],[0.36791293431323613,-0.5476994296760894]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_23","position":[0.5540695814040757,-1.9778402740097865,0.71338606911949],"aabb_xy":[[0.5290695814715578,-1.9847229422307096],[0.5790695813365936,-1.970957605788863]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.5334556441788616,1.7599362099689695,0.71338606911949],"aabb_xy":[[0.4959556438866868,1.755894734568366],[0.5709556444710364,1.763977685369573]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_25","position":[-0.3718732992911677,-2.226366981276756,0.71338606911949],"aabb_xy":[[-0.46187329579203945,-2.2722786236952133],[-0.28187330279029593,-2.180455338858297]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_26","position":[0.570752946163742,-1.1021169606504986,0.71338606911949],"aabb_xy":[[0.5673122699236848,-1.105978393624863],[0.5741936224037991,-1.098255527676134]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_27","position":[0.48676328896777954,0.33850906704307704,0.71338606911949],"aabb_xy":[[0.4696612110094114,0.3214022615118073],[0.5038653669261477,0.3556158725743468]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_28","position":[-0.22412355121297262,-1.6804588575165371,0.71338606911949],"aabb_xy":[[-0.2591235495236681,-1.6881738724400825],[-0.1891235529022772,-1.6727438425929912]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_29","position":[-0.4973322671538572,1.7650070986860134,0.71338606911949],"aabb_xy":[[-0.587332266572228,1.7316316018418236],[-0.40733226773548625,1.798382595530203]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_30","position":[0.5388404445403452,-1.5681001974000255,0.71338606911949],"aabb_xy":[[0.47484044426636685,-1.6181662975973135],[0.6028404448143233,-1.5180340972027375]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_31","position":[-0.5882834882188582,0.2972701690171058,0.71338606911949],"aabb_xy":[[-0.6682834851818974,0.22019452737333228],[-0.5082834912558191,0.3743458106608792]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7048273750076993,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4410.png","name":"4410"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4410.png","name":"4410"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5242.png","name":"5242"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/961.png","name":"961"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3929.png","name":"3929"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3928.png","name":"3928"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":721.2564723506284,"rotation_z_degrees":358.04580845333476,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019830364336757247,0.019088645387735078,-0.0074437474490445295]},{"name":"camera_2","offset_m":[0.007910318312024284,-0.008488615508425142,0.003873711388811117]},{"name":"camera_3","offset_m":[0.0014753228556085643,0.0026160587148011012,-0.0015281241659975166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010044240847700068,-0.0013804612212066584,0.0007533366228184677],"end_effector_yaw_offset_degrees":0.7401245184962553},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018351238905788296,-0.0019119779356038312,0.0013460887102576145],"end_effector_yaw_offset_degrees":-0.6869612531127423},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005178969100020025,0.0019777220780377467,0.0007226861164605419],"end_effector_yaw_offset_degrees":0.9130986232398501},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015175428224683736,-0.0008363970855591787,5.85630108803567e-05],"end_effector_yaw_offset_degrees":0.6224734303948143}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004333690383169246,0.0015435157770175211],"position_m":[0.3195666309616831,0.3546435157770175,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003807026488975616,-0.00435677454727447],"position_m":[0.27580702648897565,-0.37165677454727447,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013048682249641695,-0.004179962929093053],"position_m":[0.18130486822496417,-0.03777996292909305,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0039311089274645435,-0.0019450594902217233],"position_m":[0.33456889107253546,0.10655494050977828,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5468091a14394f247d3df737bf6f930a811d6bbaab9a765be6706c558aa17cdd","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4410/tex_ceiling_textures_3928/tex_floor_textures_3929/tex_table_textures_5242/tex_wall_textures_961","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8278643843655588634,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8278643843655588634,"visual_seed":8278643843655588634,"scene_id":"lab_003","finished_at":"2026-09-05T02:57:46"}
+{"episode_id":"ep_000018","started_at":"2026-09-05T02:57:50","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[-0.5316767732815654,-0.8434905376397752,0.71338606911949],"aabb_xy":[[-0.5377137862822302,-0.8495172387087235],[-0.5256397602809008,-0.8374638365708271]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[-0.3282313031569206,-2.4317092548021457,0.71338606911949],"aabb_xy":[[-0.3632313014270405,-2.438783382497134],[-0.2932313048868007,-2.4246351271071576]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.4239398600803352,0.09328472263024956,0.71338606911949],"aabb_xy":[[-0.4390421615413532,0.07818320099918771],[-0.40883755861931703,0.10838624426131135]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[-0.5565305932960153,0.4906973503788543,0.71338606911949],"aabb_xy":[[-0.5798124354941465,0.4056973490816262],[-0.5332487510978838,0.5756973516760823]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.47707384942465025,-0.6932950855623616,0.71338606911949],"aabb_xy":[[-0.501620065047401,-0.7235439821113987],[-0.45252763380189953,-0.6630461890133246]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.5835889801893404,0.36699964360087245,0.71338606911949],"aabb_xy":[[0.5771751665461554,0.36058982335320405],[0.5900027938325253,0.37340946384854073]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[0.582940726747601,-2.476691089355325,0.71338606911949],"aabb_xy":[[0.5454407263993732,-2.4884824849364082],[0.6204407270958288,-2.464899693774241]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[0.22687645092587894,1.612137277026069,0.71338606911949],"aabb_xy":[[0.19187645179592325,1.6063920559504044],[0.2618764500558346,1.6178824981017326]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[0.16827839605242523,0.979463795973516,0.71338606911949],"aabb_xy":[[0.103278395095298,0.9275155840398103],[0.2332783970095524,1.0314120079072213]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.07051251797273506,-2.215524189612994,0.71338606911949],"aabb_xy":[[0.03936559912915191,-2.285524188299801],[0.10165943681631814,-2.145524190926187]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.38107395907954844,-1.3022308073154363,0.71338606911949],"aabb_xy":[[0.3435739589739555,-1.3090529691684172],[0.4185739591851414,-1.295408645462455]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[0.5501119593860835,-2.3255074449328705,0.71338606911949],"aabb_xy":[[0.5404803231656538,-2.335144757712579],[0.559743595606513,-2.315870132153161]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[-0.6023341418299223,-2.4032690391887797,0.71338606911949],"aabb_xy":[[-0.6076717174959269,-2.42826904011792],[-0.5969965661639177,-2.3782690382596403]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_13","position":[0.35399948764155464,-2.333745635343898,0.71338606911949],"aabb_xy":[[0.3040261936382942,-2.383745635898445],[0.4039727816448151,-2.28374563478935]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.32308806641665466,0.7485194149330727,0.71338606911949],"aabb_xy":[[0.24308806614304765,0.6755698671073559],[0.4030880666902616,0.8214689627587893]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[-0.29134190655235304,0.8814380702615376,0.71338606911949],"aabb_xy":[[-0.3247820817483726,0.8479944444306075],[-0.2579017313563334,0.9148816960924676]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[0.10129129538445325,-1.3955882843656693,0.71338606911949],"aabb_xy":[[0.03970053616046043,-1.4595882824747162],[0.16288205460844607,-1.3315882862566224]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[0.22689847891441228,-0.9590737007978378,0.71338606911949],"aabb_xy":[[0.1468984819001643,-0.9792082524712492],[0.30689847592866026,-0.9389391491244267]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.5099856372212419,-1.9708972552103148,0.71338606911949],"aabb_xy":[[0.4599856358603546,-2.02087515978573],[0.559985638582129,-1.920919350634899]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.4700861013913782,1.300966959918533,0.71338606911949],"aabb_xy":[[0.4200861001075382,1.2509881055279106],[0.5200861026752182,1.3509458143091548]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[-0.2785443246362639,-1.6278483823840015,0.71338606911949],"aabb_xy":[[-0.3285374367454558,-1.6778483830581976],[-0.22855121252707206,-1.5778483817098063]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.18118324292076637,-1.9795486403296947,0.71338606911949],"aabb_xy":[[-0.20569686701777226,-2.003813233631731],[-0.15666961882376054,-1.9552840470276585]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.09665219279225623,-1.1927413282657784,0.71338606911949],"aabb_xy":[[-0.146652194453751,-1.2427397705214809],[-0.046652191130761474,-1.1427428860100755]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_23","position":[0.3175851419275213,-2.017370020878908,0.71338606911949],"aabb_xy":[[0.3095417820015661,-2.1023700219742745],[0.32562850185347647,-1.9323700197835416]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[0.008882866708336046,-0.6929157139904751,0.71338606911949],"aabb_xy":[[-0.028617131715064303,-0.7060799279583057],[0.046382865131736395,-0.6797515000226444]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[0.556930027112357,0.1057087058612396,0.71338606911949],"aabb_xy":[[0.5378177197543781,0.08657392698399756],[0.5760423344703358,0.1248434847384816]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_26","position":[-0.63534332186623,0.18739746844744376,0.71338606911949],"aabb_xy":[[-0.6487898485002733,0.17392761679435254],[-0.6218967952321867,0.20086732010053499]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_27","position":[0.5398961672944118,-1.6039951278038305,0.71338606911949],"aabb_xy":[[0.5223961680163249,-1.6213332278701764],[0.5573961665724987,-1.5866570277374845]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[-0.39304860403352826,0.48888846957871923,0.71338606911949],"aabb_xy":[[-0.4580486050340288,0.4381021044240443],[-0.32804860303302774,0.5396748347333942]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_29","position":[0.4821915850243035,-1.2829706865617772,0.71338606911949],"aabb_xy":[[0.47031950201280226,-1.3679706862554275],[0.4940636680358045,-1.1979706868681268]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_30","position":[-0.4362605999618036,1.091945706588322,0.71338606911949],"aabb_xy":[[-0.4862605995381383,1.041965127636216],[-0.3862606003854689,1.141926285540428]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_31","position":[0.10057099041257311,-1.6541027876521288,0.71338606911949],"aabb_xy":[[0.07017287931342951,-1.6845096896537983],[0.13096910151171667,-1.6236958856504593]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7016304557104793,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4063.png","name":"4063"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4063.png","name":"4063"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/296.png","name":"296"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4753.png","name":"4753"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4378.png","name":"4378"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/751.png","name":"751"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":575.7416716874011,"rotation_z_degrees":307.82006008715996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012184892761011814,0.005754076103642824,-0.009705529618948954]},{"name":"camera_2","offset_m":[0.010355058719356734,-0.009110866037357272,0.014420390599490431]},{"name":"camera_3","offset_m":[-0.0013736842388109224,-0.011589115432492499,0.0026854961237126884]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012820337774899376,0.000425156279208421,0.0012169320353591102],"end_effector_yaw_offset_degrees":-0.17102558018944336},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014063831478927872,0.0018642730985967892,-0.0018485808606528195],"end_effector_yaw_offset_degrees":-0.07441624845218531},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001459570308870577,0.0010503558281117382,0.001032448705924548],"end_effector_yaw_offset_degrees":-0.2613563938091392},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015990856275018008,0.0006348241605620025,0.0010001134766557053],"end_effector_yaw_offset_degrees":0.8301916078045826}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011320523379675382,0.0005424893136086843],"position_m":[0.32113205233796754,0.3536424893136087,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019507764629424816,-0.001281522494057853],"position_m":[0.2739507764629425,-0.36858152249405784,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00032841748577135815,-0.0038037825526971948],"position_m":[0.17967158251422863,-0.03740378255269719,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004227707026322241,0.003608141076188125],"position_m":[0.34272770702632227,0.11210814107618812,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a92aa739683d6cb5429b112e5a0aeb192a6c49047cdda935fda4d7626fe3d57c","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4063/tex_ceiling_textures_751/tex_floor_textures_4378/tex_table_textures_296/tex_wall_textures_4753","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6934311250995379920,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6934311250995379920,"visual_seed":6934311250995379920,"scene_id":"lab_003","finished_at":"2026-09-05T03:01:34"}
+{"episode_id":"ep_000019","started_at":"2026-09-05T03:01:40","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.4020347030062893,-1.324708078594084,0.71338606911949],"aabb_xy":[[-0.41119458195016595,-1.3312392966376208],[-0.39287482406241275,-1.3181768605505466]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[0.13918267350467362,-2.5172031876461407,0.71338606911949],"aabb_xy":[[0.13308804561655532,-2.5257725821978094],[0.14527730139279196,-2.508633793094472]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.1377917121104837,1.0252252534990953,0.71338606911949],"aabb_xy":[[-0.14520416765187216,1.0193740430774674],[-0.13037925656909521,1.0310764639207233]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[-0.3430979300934573,-0.4551433217878218,0.71338606911949],"aabb_xy":[[-0.3582002315544753,-0.47024484341888345],[-0.3279956286324391,-0.4400418001567598]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.041286091965724636,-0.8933368490724252,0.71338606911949],"aabb_xy":[[0.024184014007356473,-0.9104436546036949],[0.058388169924092785,-0.8762300435411554]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.2876508145857616,-0.7480339710855295,0.71338606911949],"aabb_xy":[[0.2501508146419952,-0.756327061120366],[0.325150814529528,-0.7397408810506928]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.12172112638554711,-1.2674767853070896,0.71338606911949],"aabb_xy":[[0.10884922288460697,-1.3474767857209256],[0.13459302988648725,-1.1874767848932533]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.058218584336600654,0.9032762670969037,0.71338606911949],"aabb_xy":[[-0.09321858423261953,0.8949020315849637],[-0.023218584440581783,0.9116505026088436]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[-0.5167896357807564,-1.9098769460211291,0.71338606911949],"aabb_xy":[[-0.5807896380011636,-1.9542500301464174],[-0.4527896335603495,-1.8655038618958408]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.04021410464632624,1.5413890529046284,0.71338606911949],"aabb_xy":[[-0.13021410138193645,1.488205589587334],[0.049785892089283974,1.594572516221923]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[-0.2870416016590103,-0.31542694488697975,0.71338606911949],"aabb_xy":[[-0.36704160193261726,-0.3883764927126964],[-0.2070416013854033,-0.242477397061263]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[0.3497383012389086,-0.8224155635370349,0.71338606911949],"aabb_xy":[[0.3416246465655315,-0.830521379991064],[0.3578519559122857,-0.8143097470830059]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.5409092322214883,1.0426915152627005,0.71338606911949],"aabb_xy":[[0.5034092310366954,1.0382732925666396],[0.578409233406281,1.0471097379587606]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[0.31482763914938094,-0.9844702931857889,0.71338606911949],"aabb_xy":[[0.2923628691779758,-1.0069702940646494],[0.33729240912078606,-0.9619702923069284]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.6375051720167453,0.8332065498514889,0.71338606911949],"aabb_xy":[[-0.648356778265621,0.8223472591238379],[-0.6266535657678698,0.8440658405791399]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.5904656448805348,-0.3873489447762277,0.71338606911949],"aabb_xy":[[0.5433362658786991,-0.4513489458206296],[0.6375950238823704,-0.3233489437318257]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.08376840068979308,1.188197667608132,0.71338606911949],"aabb_xy":[[-0.09027003719779769,1.1784298455818223],[-0.07726676418178846,1.1979654896344418]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[-0.06209422318279234,0.8286058732503685,0.71338606911949],"aabb_xy":[[-0.15209422177726228,0.8123552869369477],[0.02790577541167759,0.8448564595637897]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.06133670620184806,-1.0032542531171347,0.71338606911949],"aabb_xy":[[-0.12533670690531742,-1.049272635590056],[0.00266329450162129,-0.9572358706442139]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.35262045103852746,0.5667070594655166,0.71338606911949],"aabb_xy":[[-0.37025328663205503,0.5490841134498936],[-0.3349876154449999,0.5843300054811396]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[-0.5212995018188527,0.09533798907527702,0.71338606911949],"aabb_xy":[[-0.5764247074484433,0.03533798763398988],[-0.4661742961892618,0.15533799051656416]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_21","position":[-0.005561121267522839,-2.3745684542492635,0.71338606911949],"aabb_xy":[[-0.0555611216280889,-2.4245484414588665],[0.04443887909304322,-2.3245884670396606]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[-0.1450815269404998,-0.5834664243177223,0.71338606911949],"aabb_xy":[[-0.20008152514224462,-0.6239883909441598],[-0.09008152873875495,-0.5429444576912846]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[0.5285950279210041,-0.6521343481797941,0.71338606911949],"aabb_xy":[[0.5213337803505966,-0.6649213584433037],[0.5358562754914116,-0.6393473379162847]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[0.11061753680300357,-1.0515657833421483,0.71338606911949],"aabb_xy":[[0.07717736160698395,-1.085009409173078],[0.14405771199902315,-1.0181221575112178]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[0.6279932660746219,-0.9784721639842808,0.71338606911949],"aabb_xy":[[0.593676988900004,-1.0284721639574586],[0.6623095432492399,-0.9284721640111031]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_26","position":[0.5786377908334501,-1.8856142341239344,0.71338606911949],"aabb_xy":[[0.5146377944378772,-1.9495775225426681],[0.6426377872290233,-1.821650945705201]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6979550106812238,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3002.png","name":"3002"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3002.png","name":"3002"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3594.png","name":"3594"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3127.png","name":"3127"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1181.png","name":"1181"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/82.png","name":"82"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":824.8360617469766,"rotation_z_degrees":157.95137813530098,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015296093219994655,0.003954115542429585,0.014245253082239968]},{"name":"camera_2","offset_m":[-0.009229310376169737,-0.007648327395419327,-0.018927695079498624]},{"name":"camera_3","offset_m":[0.017770307624492238,0.0010685372545199065,-0.003948075438936206]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00011455015440393879,-0.0017359316927621719,-0.0002260832598905407],"end_effector_yaw_offset_degrees":0.40748257047823766},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019892171542952586,-0.0016869735245264223,-0.000555047146438993],"end_effector_yaw_offset_degrees":0.7784391464910365},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008046486586015197,0.0007777231845616898,0.0009344248252538493],"end_effector_yaw_offset_degrees":0.699659462829602},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.59469113035528e-05,0.001390348856926973,-0.0014529948817891972],"end_effector_yaw_offset_degrees":0.4742320204623316}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000967792086752438,0.004730299621545063],"position_m":[0.31903220791324755,0.3578302996215451,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002307154176065347,-0.0011755214790949466],"position_m":[0.26969284582393466,-0.36847552147909496,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004853424067019078,0.0013338050829814494],"position_m":[0.1751465759329809,-0.03226619491701855,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012654500350672082,-0.0018319022231696146],"position_m":[0.33976545003506725,0.10666809777683038,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"879e193f0f8ee148703c543c84a43bd48c3bd76de594273ea66900a719400c3e","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3002/tex_ceiling_textures_82/tex_floor_textures_1181/tex_table_textures_3594/tex_wall_textures_3127","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6516197625630068337,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6516197625630068337,"visual_seed":6516197625630068337,"scene_id":"lab_003","finished_at":"2026-09-05T03:05:37"}
+{"episode_id":"ep_000020","started_at":"2026-09-05T03:12:47","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.6392784278792781,-0.3976346807432134,0.71338606911949],"aabb_xy":[[-0.6439135430315114,-0.40150201582036205],[-0.6346433127270447,-0.39376734566606475]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[0.47521907203664204,0.2686747085696126,0.71338606911949],"aabb_xy":[[0.4473740352560349,0.23789020983130094],[0.5030641088172492,0.2994592073079243]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[0.5518298569891145,1.3867952588686165,0.71338606911949],"aabb_xy":[[0.5477516990820647,1.3827142786203532],[0.555908014896164,1.3908762391168799]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[-0.5366553317191814,0.055302057351404255,0.71338606911949],"aabb_xy":[[-0.561876168579021,0.0300783064985175],[-0.5114344948593417,0.08052580820429099]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.560177388039981,0.9668555327571089,0.71338606911949],"aabb_xy":[[0.5315280556795646,0.938209973480033],[0.5888267204003971,0.9955010920341846]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_5","position":[0.3006042672465331,0.8002895189571007,0.71338606911949],"aabb_xy":[[0.27732242504840177,0.7152895176598724],[0.32388610944466445,0.8852895202543285]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.04905304370026764,-1.8701107615276953,0.71338606911949],"aabb_xy":[[-0.07155304421230824,-1.8926026198930934],[-0.026553043188227043,-1.8476189031622967]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[-0.5266257556784283,-1.3149639537146642,0.71338606911949],"aabb_xy":[[-0.5362573918988579,-1.324601266494373],[-0.5169941194579987,-1.305326640934955]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[-0.1084246101147871,1.3873089107613503,0.71338606911949],"aabb_xy":[[-0.13293823421179296,1.3630443174593136],[-0.08391098601778123,1.4115735040633866]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.5413241484047223,-0.9987475987358243,0.71338606911949],"aabb_xy":[[-0.6213241458083156,-1.0787401699340071],[-0.46132415100112883,-0.9187550275376415]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.17043809524159337,1.6342655405273443,0.71338606911949],"aabb_xy":[[0.14543809596963106,1.6179201769311822],[0.19543809451355562,1.6506109041235069]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[-0.27789314680162464,0.18684520141725214,0.71338606911949],"aabb_xy":[[-0.30039228252785155,0.16434520063898914],[-0.2553940110753976,0.20934520219551508]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[0.5551512821403111,1.6485648258424246,0.71338606911949],"aabb_xy":[[0.5399884091633741,1.6333993685473063],[0.5703141551172483,1.6637302831375438]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[0.17526270784739895,-1.663524761763126,0.71338606911949],"aabb_xy":[[0.11126270462876112,-1.7102478736621345],[0.23926271106603683,-1.6168016498641178]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[-0.015413530041185397,0.3183609686648179,0.71338606911949],"aabb_xy":[[-0.020995201675314157,0.3058609688470424],[-0.009831858407056637,0.3308609684825934]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[-0.24044512625337294,-0.33397011683411204,0.71338606911949],"aabb_xy":[[-0.2832118331327932,-0.3979701202559145],[-0.19767841937395278,-0.2699701134123096]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[0.646661169785617,0.6668542069634471,0.71338606911949],"aabb_xy":[[0.6131820025245761,0.6333750935923402],[0.680140337046658,0.7003333203345542]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[0.10645718829127471,-1.06847357145877,0.71338606911949],"aabb_xy":[[0.08734488093329583,-1.087608350336012],[0.12556949564925357,-1.049338792581528]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[-0.10441036609071996,-2.161449739879246,0.71338606911949],"aabb_xy":[[-0.11240385588600202,-2.1694478718197217],[-0.09641687629543796,-2.1534516079387704]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.4053497701262545,-1.3337305807676,0.71338606911949],"aabb_xy":[[0.36680407730105347,-1.3722763518237888],[0.44389546295145554,-1.2951848097114114]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[-0.604337545045764,-2.1065208621692175,0.71338606911949],"aabb_xy":[[-0.6343292077796342,-2.136520861506018],[-0.5743458823118935,-2.076520862832417]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[0.4513332183644456,0.5833215654024415,0.71338606911949],"aabb_xy":[[0.4434099381256973,0.5608215651644382],[0.45925649860319395,0.6058215656404449]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_22","position":[-0.6702762822308757,0.9334530177443585,0.71338606911949],"aabb_xy":[[-0.6877762813652427,0.9235733907067706],[-0.6527762830965084,0.9433326447819462]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[-0.2470738868049539,1.6964446382924598,0.71338606911949],"aabb_xy":[[-0.32707389006279686,1.6164481305004759],[-0.16707388354711095,1.7764411460844438]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957087770900456,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8603.png","name":"8603"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8603.png","name":"8603"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4736.png","name":"4736"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7670.png","name":"7670"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7406.png","name":"7406"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7427.png","name":"7427"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":542.3342872385034,"rotation_z_degrees":114.59043231642424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015674307650495524,0.014588275234176298,0.01206080597020211]},{"name":"camera_2","offset_m":[-0.006366633057348907,0.008596528036465125,0.010010845468923633]},{"name":"camera_3","offset_m":[0.0052747029225977925,0.018163071948025123,0.015022170573205203]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016559638571255978,0.000962521174897567,0.001814390279537364],"end_effector_yaw_offset_degrees":0.5489474553260676},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006180500507963409,0.0017702930346390833,-0.001489707690379055],"end_effector_yaw_offset_degrees":-0.6836077554228235},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004884688757310295,-0.0019092632267740718,0.0015869450238073135],"end_effector_yaw_offset_degrees":-0.44091156426227873},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.162275424949129e-05,-0.001635874592308659,0.000828648081061287],"end_effector_yaw_offset_degrees":0.8308396133430584}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00019186338866615353,0.0037790399652539884],"position_m":[0.3201918633886662,0.356879039965254,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024870797210910013,0.00280439000478111],"position_m":[0.269512920278909,-0.3644956099952189,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008857407227334455,0.0026234432576313213],"position_m":[0.18088574072273345,-0.030976556742368676,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0049009186523225326,2.7838861423355038e-05],"position_m":[0.34340091865232253,0.10852783886142335,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f4790fcb599a461c450ef58c53b71d63e1463152a903c94f5cb085293bbca4c3","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0029.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8603/tex_ceiling_textures_7427/tex_floor_textures_7406/tex_table_textures_4736/tex_wall_textures_7670","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":616322960946966446,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":616322960946966446,"visual_seed":616322960946966446,"scene_id":"lab_003","finished_at":"2026-09-05T03:16:31"}
+{"episode_id":"ep_000021","started_at":"2026-09-05T03:19:18","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.4271806192517196,-1.8305149829168235,0.71338606911949],"aabb_xy":[[0.4093871123168031,-1.8483147285126211],[0.44497412618663595,-1.8127152373210258]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[-0.27628182346394514,-1.2593533060455755,0.71338606911949],"aabb_xy":[[-0.3105787344816857,-1.2936501922555164],[-0.24198491244620446,-1.2250564198356337]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[0.40605936663000053,0.5317699870985617,0.71338606911949],"aabb_xy":[[0.35608607262674,0.4817699865440144],[0.4560326606332609,0.581769987653109]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[-0.6686824111427357,1.8178745266107348,0.71338606911949],"aabb_xy":[[-0.6735260059039658,1.813022874131751],[-0.6638388163815059,1.8227261790897191]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[-0.5501509180417118,-0.6444971370355292,0.71338606911949],"aabb_xy":[[-0.5588488803324271,-0.6566221113430041],[-0.5414529557509965,-0.6323721627280546]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[0.5684405168418203,-0.43278519221444967,0.71338606911949],"aabb_xy":[[0.5558137295546238,-0.4423312659160226],[0.5810673041290165,-0.4232391185128768]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.4458754633401319,0.029674151997736598,0.71338606911949],"aabb_xy":[[-0.491046781188301,-0.03432584514680183],[-0.40070414549196304,0.09367414914227502]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.2160455063935532,0.5012617110130106,0.71338606911949],"aabb_xy":[[-0.2545911992187542,0.462715939956822],[-0.17749981356835215,0.5398074820691993]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.5536767706379693,-0.13276126409107647,0.71338606911949],"aabb_xy":[[0.5362460555589627,-0.15003337875492725],[0.5711074857169757,-0.11548914942722564]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.1734121358528744,-2.357126760786361,0.71338606911949],"aabb_xy":[[-0.1806559018991197,-2.4371267589899634],[-0.16616836980662905,-2.2771267625827587]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[-0.5658984262437827,0.9755354686487587,0.71338606911949],"aabb_xy":[[-0.5708544464286639,0.9530354684466372],[-0.5609424060589016,0.9980354688508805]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[0.4527620348064836,-0.5916790774982259,0.71338606911949],"aabb_xy":[[0.4027620353662879,-0.6416470019825421],[0.5027620342466792,-0.5417111530139095]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[0.5547922538061574,-1.9072456528028694,0.71338606911949],"aabb_xy":[[0.5440192798847896,-1.9422456510219084],[0.5655652277275252,-1.8722456545838304]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[-0.6349774495200182,-0.6144131838616878,0.71338606911949],"aabb_xy":[[-0.6601982863798577,-0.6396369347145744],[-0.6097566126601783,-0.5891894330088009]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.5549209419346213,1.0475436294501708,0.71338606911949],"aabb_xy":[[0.5388590144761035,0.9625436276375788],[0.5709828693931388,1.1325436312627624]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[-0.4649453482080369,-2.2199133352119014,0.71338606911949],"aabb_xy":[[-0.4722065957784443,-2.232700345475411],[-0.4576841006376295,-2.207126324948392]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.13718277812014334,0.7961890013521469,0.71338606911949],"aabb_xy":[[0.10669852799311319,0.746189001570651],[0.1676670282471735,0.8461890011336429]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.6161679774845139,0.24644681299572868,0.71338606911949],"aabb_xy":[[0.605327499257999,0.2292605317050799],[0.6270084557110288,0.2636330942863775]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[-0.12297861429702384,-1.0402423090739579,0.71338606911949],"aabb_xy":[[-0.12668187562616268,-1.0439443273826756],[-0.11927535296788497,-1.0365402907652397]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[-0.5457774936192973,1.6952048616698154,0.71338606911949],"aabb_xy":[[-0.6057774944801101,1.643778431663329],[-0.48577749275848453,1.7466312916763018]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6999314055026412,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/539.png","name":"539"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/539.png","name":"539"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1704.png","name":"1704"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4680.png","name":"4680"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4463.png","name":"4463"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4758.png","name":"4758"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":844.8185787350023,"rotation_z_degrees":321.37446126644045,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014000987529917599,0.010922885367607597,-0.006056502170168461]},{"name":"camera_2","offset_m":[-0.01829390293623891,-0.004068464559120782,0.007456127609237213]},{"name":"camera_3","offset_m":[-0.004253725020982636,0.017465282429431846,-0.013417522131422372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015307274442148643,-0.0008254055517616593,-0.0006390629776051697],"end_effector_yaw_offset_degrees":0.17845930702052226},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001495663220906445,-0.0018781062052961827,0.0005825183187232312],"end_effector_yaw_offset_degrees":-0.8583382779476942},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012321808541488352,-0.0005454933275471699,-0.001914027188399183],"end_effector_yaw_offset_degrees":-0.9318309440289971},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007670085395213495,-0.0014824112354800893,-0.0007081370993683215],"end_effector_yaw_offset_degrees":-0.45536360664611775}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002780793414304077,-0.001063890386137716],"position_m":[0.3172192065856959,0.35203610961386234,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008951485211192703,0.00024363351531194854],"position_m":[0.2728951485211193,-0.3670563664846881,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002698287077627976,-0.004914130589909428],"position_m":[0.18269828707762797,-0.03851413058990943,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003646844445728117,-0.0024463379733815184],"position_m":[0.3348531555542719,0.10605366202661848,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cd11a226e602ff9dc86770f3e0731383867fa11a5b4d8af707cb5b982bf1018f","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0031.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_539/tex_ceiling_textures_4758/tex_floor_textures_4463/tex_table_textures_1704/tex_wall_textures_4680","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4587265885040697743,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4587265885040697743,"visual_seed":4587265885040697743,"scene_id":"lab_003","finished_at":"2026-09-05T03:23:15"}
+{"episode_id":"ep_000022","started_at":"2026-09-05T03:23:19","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[0.33126354617666665,0.9886960693055231,0.71338606911949],"aabb_xy":[[0.25126354819588165,0.9810945283436711],[0.41126354415745175,0.996297610267375]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[0.249527962021875,-1.5915565052126102,0.71338606911949],"aabb_xy":[[0.21608778682585533,-1.62500013104354],[0.2829681372178945,-1.5581128793816799]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.5592399401015111,0.1019230789209935,0.71338606911949],"aabb_xy":[[0.530910230152971,0.09746233672727644],[0.5875696500500515,0.10638382111471056]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.06530508098659782,0.9070345094744132,0.71338606911949],"aabb_xy":[[0.054060025415979984,0.8957927117503178],[0.07655013655721565,0.9182763071985084]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[-0.2680889746001663,-1.6359024450718205,0.71338606911949],"aabb_xy":[[-0.3055889745439327,-1.6441955351066568],[-0.23058897465639988,-1.6276093550369837]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.5592206835008985,-0.45543870066705816,0.71338606911949],"aabb_xy":[[-0.6492206829192694,-0.4888141975112478],[-0.4692206840825276,-0.4220632038228684]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.07965052754447155,-0.7144466674960399,0.71338606911949],"aabb_xy":[[0.07001889132404192,-0.7240839802757488],[0.08928216376490115,-0.704809354716331]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_7","position":[0.4760837720042743,-1.4496087036042928,0.71338606911949],"aabb_xy":[[0.458408141415676,-1.4672889198836954],[0.49375940259287265,-1.4319284873248899]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[0.15660995560603208,-0.9901622376831516,0.71338606911949],"aabb_xy":[[0.1465282485274586,-1.0701622355752662],[0.16669166268460556,-0.9101622397910369]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[0.49934865529190575,-1.0457136059318362,0.71338606911949],"aabb_xy":[[0.4811428316306581,-1.0567390065138278],[0.5175544789531534,-1.0346882053498445]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.32245462883308834,0.8049309703683423,0.71338606911949],"aabb_xy":[[-0.38645462594519403,0.7558986005739317],[-0.25845463172098265,0.8539633401627529]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[-0.5767260698404045,-1.4591567827058687,0.71338606911949],"aabb_xy":[[-0.5943043720293514,-1.4767312722799737],[-0.5591477676514577,-1.4415822931317637]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[-0.1793533336665175,-0.2207881165424781,0.71338606911949],"aabb_xy":[[-0.1885132126103941,-0.2273193345860151],[-0.1701934547226409,-0.21425689849894108]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[0.5791801523053604,-1.1534656881659635,0.71338606911949],"aabb_xy":[[0.5566810165791334,-1.1759656889442263],[0.6016792880315873,-1.1309656873877003]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[0.6459705237753208,-0.33526017288643706,0.71338606911949],"aabb_xy":[[0.5859705231793048,-0.3900726454316605],[0.7059705243713371,-0.2804477003412135]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[-0.20665644809439915,-0.5445425638684287,0.71338606911949],"aabb_xy":[[-0.24350699603138676,-0.5820425646914624],[-0.16980590015741154,-0.507042563045395]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[-0.40123661029705016,1.7313216245072938,0.71338606911949],"aabb_xy":[[-0.4167923797073155,1.715771191262887],[-0.38568084088678495,1.7468720577517014]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.024040261893482406,-2.1736261167196123,0.71338606911949],"aabb_xy":[[-0.012993847534577309,-2.2080033240533217],[0.06107437132154212,-2.139248909385903]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.5290558974903006,-0.8503404757805353,0.71338606911949],"aabb_xy":[[-0.5665558975958935,-0.8571626376335163],[-0.4915558973847077,-0.843518313927554]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[0.14358825507780948,1.7031239783123184,0.71338606911949],"aabb_xy":[[0.06358825480420251,1.6301744304866017],[0.22358825535141647,1.7760735261380352]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[0.49868437683107647,1.3305688442003443,0.71338606911949],"aabb_xy":[[0.4686927140972062,1.3005688448635435],[0.5286760395649468,1.3605688435371446]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6990868835356752,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5737.png","name":"5737"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5737.png","name":"5737"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3881.png","name":"3881"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3982.png","name":"3982"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5952.png","name":"5952"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/812.png","name":"812"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":586.0432307919901,"rotation_z_degrees":143.00392376896195,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012692344458044506,0.0020412219421337453,0.01742865562293523]},{"name":"camera_2","offset_m":[0.011530882257156014,0.015600449075966177,-0.009923843413841685]},{"name":"camera_3","offset_m":[0.015683079572668398,-0.006133416956496886,0.019381498036863832]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007806961714590006,-0.0001184148190866497,-0.0015466356114697702],"end_effector_yaw_offset_degrees":0.3003559295213394},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017275455720987525,-0.0015940735513008497,-0.0007286808962589312],"end_effector_yaw_offset_degrees":0.019892306911586166},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016845038523434863,0.0019145827747179944,-0.00014361712927765387],"end_effector_yaw_offset_degrees":-0.165564796427768},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016438208910410901,-0.0005281348672224384,-0.0016128068630760243],"end_effector_yaw_offset_degrees":0.05539370896942275}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015339471328857778,-0.001259835208949418],"position_m":[0.3215339471328858,0.3518401647910506,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002429123668681231,0.004369963436289876],"position_m":[0.2744291236686813,-0.36293003656371015,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006947180440466131,-0.004247366895080834],"position_m":[0.17930528195595338,-0.03784736689508083,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00048556501329228945,-0.004627773832928461],"position_m":[0.33801443498670775,0.10387222616707154,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bd0bd49e96c0bb500234f0723a8ed7bd596f1aa9760efe4c8a6f57130b856c84","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5737/tex_ceiling_textures_812/tex_floor_textures_5952/tex_table_textures_3881/tex_wall_textures_3982","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5500763971261175089,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5500763971261175089,"visual_seed":5500763971261175089,"scene_id":"lab_003","finished_at":"2026-09-05T03:27:02"}
+{"episode_id":"ep_000023","started_at":"2026-09-05T03:27:06","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[-0.35234370390313313,0.7377870507029312,0.71338606911949],"aabb_xy":[[-0.36033719369841516,0.7297889187624557],[-0.3443502141078511,0.7457851826434069]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.18945510820433265,-0.6928051080736188,0.71338606911949],"aabb_xy":[[0.1760085815702893,-0.7062749597267102],[0.20290163483837598,-0.6793352564205277]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.13427243427712787,0.6007718466761562,0.71338606911949],"aabb_xy":[[-0.15177236771111122,0.5832718467559217],[-0.11677250084314447,0.6182718465963908]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[0.16736994900197177,-2.2136215092717775,0.71338606911949],"aabb_xy":[[0.15069281300887624,-2.2303214332457078],[0.18404708499506725,-2.196921585297847]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.5219992349693626,0.3256012946483402,0.71338606911949],"aabb_xy":[[-0.5719723005018781,0.27560129483580736],[-0.47202616943684716,0.3756012944608732]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[-0.41975562767919994,-1.0712441674704667,0.71338606911949],"aabb_xy":[[-0.4372556279242493,-1.0887439553100335],[-0.40225562743415055,-1.0537443796308998]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[-0.5639135806498033,1.4990982122030432,0.71338606911949],"aabb_xy":[[-0.6179291769317034,1.435098209310786],[-0.5098979843679033,1.5630982150953003]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[-0.1166647607774709,-2.0737235619492145,0.71338606911949],"aabb_xy":[[-0.12674646785604438,-2.1537235598413287],[-0.10658305369889742,-1.9937235640570994]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.2601838403086703,0.3233716013054879,0.71338606911949],"aabb_xy":[[-0.2682101109392963,0.3146201063281353],[-0.2521575696780443,0.33212309628284054]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.569006909796892,0.42091738871255124,0.71338606911949],"aabb_xy":[[0.5050069094193583,0.3711721218617389],[0.6330069101744256,0.47066265556336345]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.5566983881435559,-0.9654941277333622,0.71338606911949],"aabb_xy":[[0.5066009241624821,-1.029494128243174],[0.6067958521246294,-0.9014941272235504]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.3714086195967353,-0.141874171940374,0.71338606911949],"aabb_xy":[[-0.38401131873381184,-0.1544695681652395],[-0.3588059204596589,-0.1292787757155085]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.2541255095757422,-0.09884293892893892,0.71338606911949],"aabb_xy":[[-0.2590248018823057,-0.1265198582315077],[-0.2492262172691787,-0.07116601962637013]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[0.13377476772100716,-1.620087329216083,0.71338606911949],"aabb_xy":[[0.10877476855537405,-1.6270395749214395],[0.15877476688664027,-1.6131350835107263]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[-0.6499013541917095,-0.9541141731848306,0.71338606911949],"aabb_xy":[[-0.6569416641252466,-1.034114172584502],[-0.6428610442581726,-0.8741141737851592]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.06195705448276767,-1.4869191377423716,0.71338606911949],"aabb_xy":[[-0.12695705236441546,-1.538042801448913],[0.0030429433988801305,-1.435795474035831]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[0.22248460442635332,-1.2980529545539168,0.71338606911949],"aabb_xy":[[0.19998460490264588,-1.3205489020045373],[0.2449846039500607,-1.2755570071032958]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[-0.2743186345515505,-1.9769487297681385,0.71338606911949],"aabb_xy":[[-0.32429744306186636,-2.0269487297738573],[-0.2243398260412346,-1.9269487297624195]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[-0.06059937588755804,-1.2628975475625313,0.71338606911949],"aabb_xy":[[-0.0797116832455369,-1.282032326439773],[-0.041487068529579174,-1.243762768685289]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[0.6353561210031531,0.1434903576222344,0.71338606911949],"aabb_xy":[[0.6018769537421123,0.1100112442511274],[0.6688352882641941,0.17696947099334143]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.6130715923295457,1.7710019871722857,0.71338606911949],"aabb_xy":[[-0.6305715916076325,1.7536638871059398],[-0.5955715930514588,1.7883400872386317]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[0.009538270100492796,0.8150946619077932,0.71338606911949],"aabb_xy":[[-0.050461730760320005,0.7636682319013067],[0.06953827096130559,0.8665210919142795]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[0.5841298676890463,-1.524309777535433,0.71338606911949],"aabb_xy":[[0.5241298660461245,-1.5763099268273775],[0.6441298693319683,-1.472309628243489]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.5743591731510072,-2.1926498663761067,0.71338606911949],"aabb_xy":[[0.5127684139270143,-2.256649864485154],[0.635949932375,-2.1286498682670603]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_24","position":[0.1890653850723153,-1.0321368981003542,0.71338606911949],"aabb_xy":[[0.1715653848129787,-1.046228440289127],[0.20656538533165197,-1.0180453559115819]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[-0.00986090424419106,1.2101087232398786,0.71338606911949],"aabb_xy":[[-0.057667071857959704,1.1451087205328194],[0.03794526336957759,1.2751087259469374]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_26","position":[-0.16505618096943353,1.796984348872312,0.71338606911949],"aabb_xy":[[-0.18960239659218422,1.7667354523232748],[-0.14050996534668278,1.827233245421349]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980916897353953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6489.png","name":"6489"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6489.png","name":"6489"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2301.png","name":"2301"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5884.png","name":"5884"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/534.png","name":"534"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/360.png","name":"360"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":711.2553039586836,"rotation_z_degrees":260.1008707504436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019350150262686244,-0.012626473526468205,0.010265025140264391]},{"name":"camera_2","offset_m":[0.0195168775689983,0.018313065090122416,0.0007349014867989896]},{"name":"camera_3","offset_m":[-0.01977284488093613,-0.0016663602573303918,-0.0022227727798639872]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003109856711663221,-0.00043356229097292953,-0.000935795756554132],"end_effector_yaw_offset_degrees":0.06761497744733558},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009899507037715955,0.0008622187336426259,-7.321490820741817e-05],"end_effector_yaw_offset_degrees":0.9940508034390385},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001067542499018709,0.0015573898089193752,0.0018576582061931028],"end_effector_yaw_offset_degrees":0.01129477122929301},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004712828786182324,0.0019787924065144324,-0.0011543758057291264],"end_effector_yaw_offset_degrees":0.05714281886123107}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003842106623780231,0.00462089629137737],"position_m":[0.3238421066237802,0.3577208962913774,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013073978843310707,0.0001776549869307916],"position_m":[0.2706926021156689,-0.36712234501306923,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035464121135909254,0.0016874157935923154],"position_m":[0.17645358788640908,-0.03191258420640768,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00015790277016046548,-0.0020855734768563763],"position_m":[0.33834209722983954,0.10641442652314362,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e1e70d5bc0fb315ae99220c7a47cba4fcb9ca29b5d28896f908fdd2944317843","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6489/tex_ceiling_textures_360/tex_floor_textures_534/tex_table_textures_2301/tex_wall_textures_5884","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3888690777082007570,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3888690777082007570,"visual_seed":3888690777082007570,"scene_id":"lab_003","finished_at":"2026-09-05T03:30:58"}
+{"episode_id":"ep_000024","started_at":"2026-09-05T03:31:02","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[0.3062381736623663,1.0142033777883244,0.71338606911949],"aabb_xy":[[0.27060901776240653,0.9785707110314714],[0.341867329562326,1.0498360445451773]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.646154917292558,-2.5363738730581145,0.71338606911949],"aabb_xy":[[-0.6511109374774392,-2.5588738732602363],[-0.6411988971076769,-2.5138738728559935]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[-0.5146275680795989,-0.9083090994313938,0.71338606911949],"aabb_xy":[[-0.5846275696818782,-0.9217418926330513],[-0.44462756647731927,-0.8948763062297361]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[-0.19341625932467843,-0.8626724816013418,0.71338606911949],"aabb_xy":[[-0.2574162566103271,-0.9041792005541858],[-0.12941626203902978,-0.8211657626484978]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[-0.3107930332366947,-0.6080580392814732,0.71338606911949],"aabb_xy":[[-0.39079303466682186,-0.6875751942940825],[-0.23079303180656746,-0.5285408842688636]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_5","position":[0.6493112357234037,-2.264926958630054,0.71338606911949],"aabb_xy":[[0.5843112356891009,-2.3116276353103813],[0.7143112357577064,-2.2182262819497267]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[-0.24557626606426708,-1.971984147134917,0.71338606911949],"aabb_xy":[[-0.3095762674722577,-2.0237730986588414],[-0.18157626465627638,-1.9201951956109922]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[-0.5814127086512333,0.09363374030816418,0.71338606911949],"aabb_xy":[[-0.5896272537669172,0.08495715001052287],[-0.5731981635355492,0.10231033060580544]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.5273916306950973,0.36736275375003746,0.71338606911949],"aabb_xy":[[-0.6173916304182714,0.34428940121485757],[-0.4373916309719231,0.39043610628521724]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.48012777076809193,1.4659716072820426,0.71338606911949],"aabb_xy":[[-0.5441277710420702,1.4159055070847548],[-0.41612777049411365,1.5160377074793308]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.05561470576669547,-1.5686977891581728,0.71338606911949],"aabb_xy":[[-0.06360869434439886,-1.576697869253263],[-0.04762071718899208,-1.5606977090630823]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[0.1740081505156268,1.5422944631874311,0.71338606911949],"aabb_xy":[[0.11900815089388098,1.4873107703999582],[0.22900815013737266,1.5972781559749036]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[-0.5203719034385788,-0.46686614802203596,0.71338606911949],"aabb_xy":[[-0.5625563175994095,-0.5308661482992472],[-0.478187489277748,-0.40286614774482477]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[0.2393017982363953,1.1635862866263391,0.71338606911949],"aabb_xy":[[0.20180179829262887,1.1552931965915025],[0.2768017981801617,1.1718793766611757]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[0.579589716273581,-0.5227109338057874,0.71338606911949],"aabb_xy":[[0.5686839401860182,-0.6027109302046165],[0.5904954923611436,-0.4427109374069582]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[-0.5118540332261504,-0.779118291959292,0.71338606911949],"aabb_xy":[[-0.5493540335743782,-0.7909096875403754],[-0.47435403287792266,-0.7673268963782083]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_16","position":[-0.5080503520043474,-1.9946149895686323,0.71338606911949],"aabb_xy":[[-0.5257259825929458,-2.0122952058480346],[-0.49037472141574917,-1.9769347732892293]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[0.09901900416920362,1.1614617576985218,0.71338606911949],"aabb_xy":[[0.06252318354192488,1.124977815271764],[0.13551482479648236,1.1979457001252791]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[-0.41273339348576443,1.7474276668137434,0.71338606911949],"aabb_xy":[[-0.4767333898813375,1.6834643783950098],[-0.34873339709019135,1.811390955232477]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[0.5066319317674284,-0.4319193245421693,0.71338606911949],"aabb_xy":[[0.4892012166884219,-0.44919143920602006],[0.5240626468464349,-0.41464720987831843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7006954755688881,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2243.png","name":"2243"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2243.png","name":"2243"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6026.png","name":"6026"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7654.png","name":"7654"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9874.png","name":"9874"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6991.png","name":"6991"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":527.2502209341934,"rotation_z_degrees":172.48717684495685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014016280847421746,0.003271463032023577,-0.0015621391527741897]},{"name":"camera_2","offset_m":[-0.013868944595173405,-0.019322463241106046,-0.005985043520732272]},{"name":"camera_3","offset_m":[0.002678175101761694,-0.01807465564719365,-0.014144510544890094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003258981564324948,0.00022123340090866514,-0.0019835517014932303],"end_effector_yaw_offset_degrees":-0.7491222481096409},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011826152934029921,-0.00021825111043967957,0.0015006821889247115],"end_effector_yaw_offset_degrees":-0.1722723734146976},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00035945166226734404,0.0007900945484487537,-0.0014754177004959793],"end_effector_yaw_offset_degrees":0.9671081688917484},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00024331284649296587,0.0002687613877598049,-0.0016076450668359296],"end_effector_yaw_offset_degrees":-0.6787306761763778}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014621115096551344,-0.001075482129798114],"position_m":[0.32146211150965515,0.3520245178702019,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004668961917174507,0.004962719833174663],"position_m":[0.27666896191717455,-0.36233728016682537,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030276519413873606,0.004313873722669152],"position_m":[0.17697234805861264,-0.029286126277330845,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020965932874079953,0.0045858681600678105],"position_m":[0.336403406712592,0.11308586816006781,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bb663ccd8627cdcbdd8533cf004e536c2e0a1c57c82257bea8ce341a60f54b55","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2243/tex_ceiling_textures_6991/tex_floor_textures_9874/tex_table_textures_6026/tex_wall_textures_7654","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6053469175361255479,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6053469175361255479,"visual_seed":6053469175361255479,"scene_id":"lab_003","finished_at":"2026-09-05T03:35:08"}
+{"episode_id":"ep_000025","started_at":"2026-09-05T03:39:11","dimensions":{"distractor":{"count":24,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[-0.48072346878699235,-0.31027222044152447,0.71338606911949],"aabb_xy":[[-0.5607234692572083,-0.3185829280558729],[-0.4007234683167764,-0.30196151282717615]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.23317184186138784,-2.4787032086183465,0.71338606911949],"aabb_xy":[[0.21025612897633797,-2.50160750575477],[0.25608755474643774,-2.455798911481923]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.15360699791576493,-2.403046906100617,0.71338606911949],"aabb_xy":[[-0.19215269074096597,-2.4415926771568057],[-0.11506130509056389,-2.3645011350444283]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[-0.47841107452389586,-1.2800561427566512,0.71338606911949],"aabb_xy":[[-0.4871250435738303,-1.3025561434158393],[-0.4696971054739613,-1.2575561420974628]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.4760340551292017,0.3980250992110035,0.71338606911949],"aabb_xy":[[-0.4878022419238593,0.313025099305782],[-0.46426586833454425,0.48302509911622515]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.581596852957957,-0.49849468221484994,0.71338606911949],"aabb_xy":[[-0.5898113980736408,-0.5071712725124913],[-0.5733823078422728,-0.48981809191720865]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[0.1562385433455762,1.1005960146103013,0.71338606911949],"aabb_xy":[[0.11873854268099747,1.084908956610079],[0.19373854401015486,1.1162830726105233]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.5846458015405462,-0.3846350471847475,0.71338606911949],"aabb_xy":[[0.5791878559035261,-0.4646350504924066],[0.5901037471775662,-0.3046350438770884]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.665054843213966,-0.18867540199063537,0.71338606911949],"aabb_xy":[[0.6558949642700894,-0.19520662003417238],[0.6742147221578426,-0.18214418394709836]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.6564144073653164,0.04145535856966642,0.71338606911949],"aabb_xy":[[0.6239527064833889,0.011322526454763804],[0.6888761082472438,0.07158819068456902]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[0.026159294229082697,1.7207617577932743,0.71338606911949],"aabb_xy":[[-0.04384070916247927,1.6854459840898433],[0.09615929762064467,1.756077531496705]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_11","position":[-0.19194312456327156,-1.1530188136622213,0.71338606911949],"aabb_xy":[[-0.23694312602950043,-1.198018670523702],[-0.14694312309704272,-1.1080189568007406]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[-0.2675023907744899,-0.43826700862483214,0.71338606911949],"aabb_xy":[[-0.30250238908518534,-0.4459820235483778],[-0.23250239246379445,-0.4305519937012865]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.6267301734568871,-0.6633747457266155,0.71338606911949],"aabb_xy":[[-0.6391975315666228,-0.6758400703599391],[-0.6142628153471515,-0.6509094210932921]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[0.4781513396666761,0.7787725911835577,0.71338606911949],"aabb_xy":[[0.43206624841194463,0.7147725939310025],[0.5242364309214076,0.8427725884361127]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[0.36367125480792417,-0.5072472755175874,0.71338606911949],"aabb_xy":[[0.3566298038571766,-0.514274027255382],[0.37071270575867177,-0.5002205237797929]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[0.05388590031478169,1.3278644297873097,0.71338606911949],"aabb_xy":[[-0.0011140993069641558,1.2728807369998372],[0.10888589993652753,1.3828481225747826]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[0.1498234167784448,-1.0789299924282532,0.71338606911949],"aabb_xy":[[0.09972595279737118,-1.142929992938065],[0.19992088075951842,-1.0149299919184414]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.40817429166531743,1.568206957047877,0.71338606911949],"aabb_xy":[[-0.4581572418527967,1.5182069574053163],[-0.35819134147783804,1.6182069566904371]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.6178434850623934,-2.5346478850738787,0.71338606911949],"aabb_xy":[[-0.6818434864703841,-2.586436836597803],[-0.5538434836544027,-2.4828589335499536]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.3800123895505807,1.205553012741984,0.71338606911949],"aabb_xy":[[-0.4600123898241877,1.132603464916267],[-0.3000123892769737,1.2785025605677005]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[0.4122055080227862,1.1701721541410306,0.71338606911949],"aabb_xy":[[0.34820551073713757,1.1286654351881864],[0.47620550530843486,1.2116788730938743]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_22","position":[-0.41325450148456094,0.1583017964374469,0.71338606911949],"aabb_xy":[[-0.48325450361599037,0.13553983081175122],[-0.3432544993531313,0.18106376206314254]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_23","position":[0.46905532962134644,-0.911447868183632,0.71338606911949],"aabb_xy":[[0.4140630789858356,-0.966447869926945],[0.5240475802568575,-0.8564478664403194]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943867757645956,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5538.png","name":"5538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5538.png","name":"5538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4222.png","name":"4222"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1583.png","name":"1583"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5438.png","name":"5438"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4205.png","name":"4205"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":750.4554074404675,"rotation_z_degrees":339.13258225656017,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00833440837621791,0.01480058813844978,-0.01675444940599477]},{"name":"camera_2","offset_m":[-0.00041479989042764523,0.0029683886526043583,-0.008583775147207047]},{"name":"camera_3","offset_m":[0.0016066351526843776,0.010163115203163885,0.015329901082456129]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001106126026814543,0.001034757776357427,-0.0007892552849582725],"end_effector_yaw_offset_degrees":0.2797591612649333},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011920087372937211,-0.001395243219952309,0.0002884965793124067],"end_effector_yaw_offset_degrees":-0.8316710800294931},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017143977362386398,-0.0010510180356258988,-0.0005561417956402655],"end_effector_yaw_offset_degrees":-0.8038888335541117},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008622205047594607,-0.0003574066152515862,0.0002866380725609877],"end_effector_yaw_offset_degrees":0.2502797965707466}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015298093522024582,0.0047366401833159105],"position_m":[0.3215298093522025,0.35783664018331596,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028999077851895685,0.004659040854874025],"position_m":[0.26910009221481046,-0.362640959145126,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004218294087761227,-0.004359806939280862],"position_m":[0.17578170591223877,-0.03795980693928086,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003899760792788468,0.003058638257745731],"position_m":[0.33460023920721155,0.11155863825774573,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c61abbc45a63eeab28d636e8a33e835fcf74a14e09d812e11114dccf7efb39af","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0036.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5538/tex_ceiling_textures_4205/tex_floor_textures_5438/tex_table_textures_4222/tex_wall_textures_1583","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7442534813418139151,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7442534813418139151,"visual_seed":7442534813418139151,"scene_id":"lab_003","finished_at":"2026-09-05T03:43:04"}
+{"episode_id":"ep_000026","started_at":"2026-09-05T03:47:34","dimensions":{"distractor":{"count":31,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.5049610032607376,-0.48569013711608955,0.71338606911949],"aabb_xy":[[-0.5949610026791083,-0.5190656339602793],[-0.41496100384236656,-0.45231464027189977]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[0.6291105292691499,-0.5920302296978925,0.71338606911949],"aabb_xy":[[0.6090521176559096,-0.6120953166070501],[0.6491689408823902,-0.571965142788735]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.07336820255493626,-2.078810847139774,0.71338606911949],"aabb_xy":[[-0.16336819905580796,-2.124722489558232],[0.016631793945935513,-2.0328992047213155]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[0.2420537208126411,-0.9373462041052034,0.71338606911949],"aabb_xy":[[0.1620598972340829,-1.0173462066980452],[0.3220475443911993,-0.8573462015123621]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[0.08380016993134476,-1.3544573170187173,0.71338606911949],"aabb_xy":[[0.03380017049114911,-1.4044252415030334],[0.13380016937154035,-1.3044893925344008]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[0.07637666143468869,-2.300165242281105,0.71338606911949],"aabb_xy":[[0.041376662304733025,-2.3059104633567693],[0.11137666056464435,-2.294420021205441]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[-0.43013109171312924,1.3193286702563625,0.71338606911949],"aabb_xy":[[-0.4651310909059474,1.3083616242586997],[-0.39513109252031087,1.3302957162540248]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.4680181841037612,-2.4008152783555134,0.71338606911949],"aabb_xy":[[-0.4905181839176636,-2.405289894725994],[-0.44551818428985884,-2.396340661985033]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[-0.19294202798048,-0.20295539426864684,0.71338606911949],"aabb_xy":[[-0.23044202815235193,-0.23565612965155402],[-0.15544202780860805,-0.17025465888573965]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.5180951694122349,1.2590141775172397,0.71338606911949],"aabb_xy":[[-0.5253564169826425,1.2462271672537302],[-0.5108339218418275,1.2718011877807491]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[-0.6178173571207072,-0.9209273600627672,0.71338606911949],"aabb_xy":[[-0.6528173584721889,-0.9412870960195879],[-0.5828173557692254,-0.9005676241059463]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_11","position":[-0.2337844017146481,0.3688700308878383,0.71338606911949],"aabb_xy":[[-0.2379202580473483,0.3313700314434813],[-0.2296485453819479,0.4063700303321953]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[0.5725406372523969,-0.11388665630702866,0.71338606911949],"aabb_xy":[[0.548027013155391,-0.1381512496090651],[0.5970542613494028,-0.08962206300499219]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.10928795242222566,0.24626327087365762,0.71338606911949],"aabb_xy":[[-0.14678795271440048,0.24222179547305406],[-0.07178795213005085,0.25030474627426125]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.03095172423087411,-1.6001701475015746,0.71338606911949],"aabb_xy":[[-0.07623033911202337,-1.6641701468497583],[0.014326890650275155,-1.536170148153391]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.6345973211573359,0.8786734439404107,0.71338606911949],"aabb_xy":[[0.6168038142224195,0.860873698344613],[0.6523908280922524,0.8964731895362084]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_16","position":[-0.41367320096222593,1.6866070431940456,0.71338606911949],"aabb_xy":[[-0.47767320318263295,1.6422339590687574],[-0.3496731987418189,1.730980127319334]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[0.1286639756724819,1.6799027460907534,0.71338606911949],"aabb_xy":[[0.06466397245384403,1.633179634191745],[0.19266397889111975,1.7266258579897618]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[0.6577875382151612,-1.1535690725670573,0.71338606911949],"aabb_xy":[[0.6469359319662857,-1.1644283632947083],[0.6686391444640369,-1.1427097818394063]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[-0.5215700528697554,-2.318472907584422,0.71338606911949],"aabb_xy":[[-0.5329317875230416,-2.3298413739907105],[-0.5102083182164693,-2.307104441178134]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[-0.3886747976238698,0.7383924717947821,0.71338606911949],"aabb_xy":[[-0.39944777154523764,0.7033924735757432],[-0.3779018237025021,0.7733924700138212]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_21","position":[-0.40327293809282183,-0.7550541705253022,0.71338606911949],"aabb_xy":[[-0.40873088372984184,-0.8350541738329612],[-0.3978149924558017,-0.675054167217643]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.284716853254507,-1.7766561974029322,0.71338606911949],"aabb_xy":[[-0.2912184897625117,-1.7864240194292422],[-0.27821521674650246,-1.7668883753766227]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.1416652736418954,-0.3776065422346844,0.71338606911949],"aabb_xy":[[-0.14578122375396804,-0.3817220972675298],[-0.13754932352982271,-0.3734909872018388]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[-0.4399923437768755,-1.4416075231083427,0.71338606911949],"aabb_xy":[[-0.4453299194428801,-1.4666075240374825],[-0.43465476811087095,-1.416607522179203]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_25","position":[-0.2209352007520723,-1.1992711457007692,0.71338606911949],"aabb_xy":[[-0.2520821195956554,-1.2692711443875762],[-0.18978828190848915,-1.1292711470139618]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_26","position":[0.548181381232481,-0.7909255485193634,0.71338606911949],"aabb_xy":[[0.48418138480515904,-0.8380951723414597],[0.6121813776598029,-0.7437559246972668]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[-0.23055967330323346,-0.7318028495491247,0.71338606911949],"aabb_xy":[[-0.25307336512669065,-0.8018028501501321],[-0.20804598147977624,-0.661802848948117]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_28","position":[0.08915119268293992,-1.697468353113327,0.71338606911949],"aabb_xy":[[0.07899817712879052,-1.733537894686067],[0.09930420823708927,-1.6613988115405862]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_29","position":[-0.06686243064825148,0.772744715933209,0.71338606911949],"aabb_xy":[[-0.07317453018458991,0.7669777766799902],[-0.06055033111191305,0.7785116551864278]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_30","position":[-0.2342223023412779,0.501496233098337,0.71338606911949],"aabb_xy":[[-0.25922230227379583,0.4946135648774137],[-0.20922230240876002,0.5083789013192603]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6979648462740561,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4987.png","name":"4987"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4987.png","name":"4987"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/46.png","name":"46"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7447.png","name":"7447"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/588.png","name":"588"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/665.png","name":"665"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":748.6274147960924,"rotation_z_degrees":352.3490051205512,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00467687869896467,0.0005082171916719475,0.0029339334304984456]},{"name":"camera_2","offset_m":[-0.006354415239395759,-0.019304685092385997,0.018294429823223195]},{"name":"camera_3","offset_m":[0.005454375749799165,-0.007965054315160503,0.0038995659929200732]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001276522479456451,-0.0006173524870993568,-0.0004360536358516791],"end_effector_yaw_offset_degrees":-0.3040597337181534},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004560094927449532,0.0001844420165688942,0.001487972524915338],"end_effector_yaw_offset_degrees":-0.9718845643793614},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00185867448167848,0.0015534512198082297,-0.0017270134145374297],"end_effector_yaw_offset_degrees":-0.023671253895068745},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001226835228134858,0.0018528373117068227,0.0016726712018223485],"end_effector_yaw_offset_degrees":0.15140060929339882}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00105262466911182,0.003120742492075724],"position_m":[0.3189473753308882,0.35622074249207575,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003180848712445158,-0.002595839033903029],"position_m":[0.26881915128755485,-0.36989583903390305,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027421681261728947,-0.0046007723391364545],"position_m":[0.1772578318738271,-0.03820077233913645,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017292760012556107,-0.003411061167980722],"position_m":[0.3367707239987444,0.10508893883201928,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7935f7bb690da7be37e7fe97fc7b91ccecb8cef11aca0291e899c5c9796f97c8","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0038.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4987/tex_ceiling_textures_665/tex_floor_textures_588/tex_table_textures_46/tex_wall_textures_7447","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5449266382032154171,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5449266382032154171,"visual_seed":5449266382032154171,"scene_id":"lab_003","finished_at":"2026-09-05T03:51:30"}
+{"episode_id":"ep_000027","started_at":"2026-09-05T03:51:35","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[0.6637751921787052,-1.4904160935745625,0.71338606911949],"aabb_xy":[[0.6584376165127006,-1.5154160945037023],[0.6691127678447097,-1.4654160926454227]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.6709068336788883,-1.8007656618767776,0.71338606911949],"aabb_xy":[[-0.680324308248751,-1.8101818390144964],[-0.6614893591090255,-1.7913494847390583]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[-0.5615545610802092,-0.14307437746873708,0.71338606911949],"aabb_xy":[[-0.5915462238140795,-0.17307437680553764],[-0.5315628983463389,-0.11307437813193658]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[0.5878517795592078,-1.564497219017171,0.71338606911949],"aabb_xy":[[0.5832166644069743,-1.5683645540943194],[0.592486894711441,-1.5606298839400223]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_4","position":[0.1722212487897381,1.3535512975134059,0.71338606911949],"aabb_xy":[[0.1503315012007973,1.2635513002241567],[0.1941109963786789,1.443551294802655]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[-0.16922628080244484,-1.5477860420347038,0.71338606911949],"aabb_xy":[[-0.21922111373038644,-1.5977860409299471],[-0.11923144787450324,-1.49778604313946]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[0.3292359121661592,-2.4431034317523173,0.71338606911949],"aabb_xy":[[0.3125587761730637,-2.4598033557262475],[0.3459130481592547,-2.426403507778387]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.1341545968297313,-0.5332569514700314,0.71338606911949],"aabb_xy":[[-0.19815459541630376,-0.5802639148695402],[-0.07015459824315884,-0.4862499880705228]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.5315434921417361,-0.04189539438575052,0.71338606911949],"aabb_xy":[[0.44154349272336524,-0.07527089122994024],[0.621543491560107,-0.008519897541560788]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[0.5849727294184952,-1.6712279046604648,0.71338606911949],"aabb_xy":[[0.5149727330085332,-1.6916658403121463],[0.6549727258284568,-1.6507899690087828]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.43711095677618955,-0.30976731926129686,0.71338606911949],"aabb_xy":[[-0.5021109577333167,-0.36171553119500244],[-0.37211095581906234,-0.2578191073275913]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.5754575670873039,-0.584633911608631,0.71338606911949],"aabb_xy":[[-0.5835009270132591,-0.6696339127039974],[-0.5674142071613487,-0.49963391051326456]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.3810800273165817,1.1822536836669846,0.71338606911949],"aabb_xy":[[-0.39370681460377804,1.1727076099654115],[-0.36845324002938534,1.1917997573685573]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[0.37150025127017594,-1.364268685861027,0.71338606911949],"aabb_xy":[[0.31650025209358645,-1.4192583606359843],[0.4265002504467654,-1.309279011086069]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[0.07351737859593144,-1.4837528572893037,0.71338606911949],"aabb_xy":[[0.06343567151735795,-1.5637528551814182],[0.0835990856745049,-1.4037528593971889]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.6430262077556261,-2.508005904546334,0.71338606911949],"aabb_xy":[[-0.6774885551537676,-2.542499786944156],[-0.608563860357484,-2.4735120221485105]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[0.37497489810636253,1.6818030971956364,0.71338606911949],"aabb_xy":[[0.3630421637445344,1.669420944387777],[0.38690763246819054,1.6941852500034957]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.41858706831843934,-0.6454524005390203,0.71338606911949],"aabb_xy":[[-0.42730103736837366,-0.6679524011982084],[-0.4098730992685047,-0.622952399879832]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[0.03364143538846165,1.4818587641468617,0.71338606911949],"aabb_xy":[[-0.036358566742967904,1.4590967985211656],[0.10364143751989117,1.504620729772557]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[-0.35722982404442666,0.07447803559918675,0.71338606911949],"aabb_xy":[[-0.3684748796150445,0.06323623787509147],[-0.3459847684738088,0.08571983332328204]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.4582912449695825,1.5343284280180218,0.71338606911949],"aabb_xy":[[-0.49579124546694076,1.530359744469903],[-0.42079124447222427,1.5382971115661401]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6998529960509637,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/265.png","name":"265"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/265.png","name":"265"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7000.png","name":"7000"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/492.png","name":"492"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7465.png","name":"7465"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7697.png","name":"7697"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":805.2610434664424,"rotation_z_degrees":303.01506753342903,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013323302966396788,0.004169379924220992,-0.006198773890704654]},{"name":"camera_2","offset_m":[-0.0032896048564468178,0.0035940869744403546,-0.007473301309508367]},{"name":"camera_3","offset_m":[-0.002758211904582853,-0.01309614122406769,0.00785235781074635]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009017504581417032,-0.0016556458790817942,-0.000430549394974141],"end_effector_yaw_offset_degrees":0.39658445961548305},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009109678248974556,-0.0010261292062188714,-0.0016084596232993995],"end_effector_yaw_offset_degrees":-0.6548631524885455},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005587114793584474,0.0016657388904440093,0.00021135364506065166],"end_effector_yaw_offset_degrees":0.541316655155065},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004252224688057072,0.001949214783994891,0.0002607208050912878],"end_effector_yaw_offset_degrees":0.7066158919326344}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007229866715368219,9.031409609593435e-05],"position_m":[0.3192770133284632,0.35319031409609597,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003384750332933658,0.004467967936310504],"position_m":[0.2753847503329337,-0.3628320320636895,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002607627061498614,0.0026501045092174073],"position_m":[0.1826076270614986,-0.03094989549078259,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020682741212941632,-0.002161481765187567],"position_m":[0.3405682741212942,0.10633851823481243,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a8bcda7ca81114ffc7212392a7eba62c107185d949b460b2bad1f16b316d6ea2","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_265/tex_ceiling_textures_7697/tex_floor_textures_7465/tex_table_textures_7000/tex_wall_textures_492","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4315668500790734208,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4315668500790734208,"visual_seed":4315668500790734208,"scene_id":"lab_003","finished_at":"2026-09-05T03:55:23"}
+{"episode_id":"ep_000028","started_at":"2026-09-05T03:58:18","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[0.37958728845818723,-2.1903451616469787,0.71338606911949],"aabb_xy":[[0.3725458375074397,-2.197371913384773],[0.3866287394089349,-2.1833184099091842]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[0.6070659319840126,1.0058701659401352,0.71338606911949],"aabb_xy":[[0.5957041973307264,0.9945016995338469],[0.6184276666372988,1.017238632346423]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[0.45800647169409103,-1.3564490848080721,0.71338606911949],"aabb_xy":[[0.4533713565418577,-1.3603164198852205],[0.4626415868463244,-1.352581749730923]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[-0.00793366790976957,1.5082192084289034,0.71338606911949],"aabb_xy":[[-0.01201182581681931,1.5041382281806401],[-0.003855510002719831,1.5123001886771668]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[0.5849469461714514,-2.3503979501675345,0.71338606911949],"aabb_xy":[[0.5249469445285295,-2.4023980994594782],[0.6449469478143732,-2.29839780087559]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.017248575690697376,-2.295946997121235,0.71338606911949],"aabb_xy":[[-0.01775142261999807,-2.3036620120447804],[0.05224857400139282,-2.288231982197689]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[-0.4854021144174552,1.4652023370542913,0.71338606911949],"aabb_xy":[[-0.5132471511980623,1.4344178383159798],[-0.4575570776368481,1.4959868357926032]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_7","position":[-0.13859355833320175,-1.1462781547737009,0.71338606911949],"aabb_xy":[[-0.22859355805637588,-1.1693515073088805],[-0.04859355861002753,-1.1232048022385208]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.14620067233768363,-1.202373561238358,0.71338606911949],"aabb_xy":[[0.11620900960381333,-1.2323735605751585],[0.176192335071554,-1.1723735619015574]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.5245571104051304,0.6958657527980612,0.71338606911949],"aabb_xy":[[-0.5388915355312939,0.6838055372435223],[-0.510222685278967,0.7079259683526]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[-0.3993451294226402,0.6474353255103931,0.71338606911949],"aabb_xy":[[-0.43684512959451216,0.6147345901274858],[-0.3618451292507683,0.6801360608933001]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[-0.3045979810556746,-2.260122380413818,0.71338606911949],"aabb_xy":[[-0.3414485289926622,-2.297622381236852],[-0.267747433118687,-2.2226223795907845]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[-0.357697276537222,1.69280816559955,0.71338606911949],"aabb_xy":[[-0.3678502920913714,1.6567386240268092],[-0.3475442609830726,1.7288777071722898]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_13","position":[0.36492475323514784,-1.2008496384303664,0.71338606911949],"aabb_xy":[[0.35688841853386294,-1.2088877577347832],[0.3729610879364326,-1.1928115191259496]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_14","position":[0.6309317159291998,-1.6178888088635122,0.71338606911949],"aabb_xy":[[0.54093171733473,-1.6341393951769334],[0.7209317145236699,-1.6016382225500914]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.33947151411403564,-0.5594099032831537,0.71338606911949],"aabb_xy":[[0.2844715149374461,-0.6143995780581113],[0.3944715132906251,-0.504420228508196]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[0.285536290831775,0.80911128246272,0.71338606911949],"aabb_xy":[[0.22153628891943267,0.7532001332047097],[0.34953629274411735,0.8650224317207306]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[0.20254040772995396,-1.6188595673190918,0.71338606911949],"aabb_xy":[[0.1680779297168662,-1.625523244502014],[0.23700288574304174,-1.6121958901361686]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[0.33117820294148514,1.5279861806407706,0.71338606911949],"aabb_xy":[[0.26617820030369166,1.4765065819413237],[0.39617820557927863,1.5794657793402176]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[0.21840253331484327,-2.41238428223409,0.71338606911949],"aabb_xy":[[0.19811823059144448,-2.4326669073767984],[0.238686836038242,-2.392101657091381]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.0908240280312631,-0.24221627865212847,0.71338606911949],"aabb_xy":[[-0.17454625353134556,-0.33221628218682436],[-0.007101802531180645,-0.15221627511743246]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.43748129939915986,-2.253689372361105,0.71338606911949],"aabb_xy":[[-0.4749812997473876,-2.2654807679421882],[-0.3999812990509321,-2.241897976780021]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[-0.40485810719401094,-2.46588364218847,0.71338606911949],"aabb_xy":[[-0.4470425213548417,-2.5298836424656814],[-0.3626736930331802,-2.401883641911259]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[0.6965537381883375,0.0036972997184965273,0.71338606911949],"aabb_xy":[[0.6915977180034564,-0.018802700483625093],[0.7015097583732187,0.02619729992061815]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[0.23137926702411382,-1.4776294591723687,0.71338606911949],"aabb_xy":[[0.16737926772994557,-1.5416155995412228],[0.29537926631828204,-1.4136433188035145]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_25","position":[-0.6378277351956727,-1.3076772653091393,0.71338606911949],"aabb_xy":[[-0.6603414270191299,-1.3776772659101468],[-0.6153140433722155,-1.2376772647081318]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[0.4486221007323852,0.39966653589300893,0.71338606911949],"aabb_xy":[[0.39862726780444363,0.3496665369977654],[0.49861693366032683,0.44966653478825247]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_27","position":[-0.20842695160496527,-1.5354337325401857,0.71338606911949],"aabb_xy":[[-0.24274322877958324,-1.5854337325133636],[-0.17411067443034736,-1.4854337325670082]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_28","position":[-0.5605886948407497,0.9107827982865015,0.71338606911949],"aabb_xy":[[-0.5797010021987286,0.8916480194092595],[-0.5414763874827708,0.9299175771637436]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_29","position":[-0.13543953787437346,-0.735089453619125,0.71338606911949],"aabb_xy":[[-0.14628001610088837,-0.7522757349097737],[-0.12459905964785856,-0.7179031723284761]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_30","position":[0.5342267095158881,0.2829561032265251,0.71338606911949],"aabb_xy":[[0.5117267099921806,0.26046015577590426],[0.5567267090395954,0.3054520506771458]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_31","position":[0.5398737048453854,1.6913742074753473,0.71338606911949],"aabb_xy":[[0.45987370618849943,1.6768693485510842],[0.6198737035022714,1.70587906639961]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_32","position":[-0.6204426112121905,-0.25499463470376105,0.71338606911949],"aabb_xy":[[-0.6704426098581115,-0.3049141783632234],[-0.5704426125662692,-0.2050750910442986]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_33","position":[0.3382907753767401,1.3511118786891991,0.71338606911949],"aabb_xy":[[0.28847399591190537,1.3011118802048958],[0.3881075548415749,1.4011118771735025]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6969840696690863,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5505.png","name":"5505"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5505.png","name":"5505"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6629.png","name":"6629"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8716.png","name":"8716"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8597.png","name":"8597"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1875.png","name":"1875"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":560.4061434559205,"rotation_z_degrees":337.32774748089435,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006109042352846036,-0.008869488787106672,-0.0006116272287913921]},{"name":"camera_2","offset_m":[-0.0021877645105281597,0.0010229596111558485,0.013180367410446672]},{"name":"camera_3","offset_m":[-0.01731935994257138,-0.003353812646053552,0.0035213566228600654]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00026489452588865587,0.0006509751517325465,0.00020033880127248802],"end_effector_yaw_offset_degrees":0.898601948047107},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015151025900045395,0.0009070885707125665,-0.00020295793667736775],"end_effector_yaw_offset_degrees":-0.5693036118822219},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006644832159428411,-0.0006418945055203236,0.0012865063698791332],"end_effector_yaw_offset_degrees":0.44388710600545433},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017810303333754632,-0.0017061839510191285,0.00045212000971813025],"end_effector_yaw_offset_degrees":-0.28617786158382486}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006388410539156829,0.004556064291948305],"position_m":[0.3193611589460843,0.35765606429194835,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027031756761975536,2.7406941616546672e-05],"position_m":[0.2692968243238025,-0.36727259305838345,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028551359522630327,0.0016429198878281726],"position_m":[0.17714486404773697,-0.031957080112171826,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002130770716883903,-0.0009148006129011624],"position_m":[0.33636922928311613,0.10758519938709883,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae55905d598279b5ff1ffb40254d5af226c97916289bc9cf241e8593e0a70e87","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5505/tex_ceiling_textures_1875/tex_floor_textures_8597/tex_table_textures_6629/tex_wall_textures_8716","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7263137778344022924,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7263137778344022924,"visual_seed":7263137778344022924,"scene_id":"lab_003","finished_at":"2026-09-05T04:02:20"}
+{"episode_id":"ep_000029","started_at":"2026-09-05T04:06:26","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[0.7054229458688948,-1.9146701579926684,0.71338606911949],"aabb_xy":[[0.6941778902982769,-1.9259119557167637],[0.7166680014395126,-1.903428360268573]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.05174218220569271,0.9415234377291846,0.71338606911949],"aabb_xy":[[0.034640104247324555,0.9244166321979147],[0.06884426016406087,0.9586302432604542]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.5096860625705624,-1.8837269959518725,0.71338606911949],"aabb_xy":[[-0.5596860612164836,-1.9336465396113347],[-0.4596860639246412,-1.83380745229241]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.20903324691056596,1.7424077489344678,0.71338606911949],"aabb_xy":[[-0.21695652714931427,1.7199077486964645],[-0.2011099666718176,1.7649077491724712]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[-0.502878086861784,1.1556207894418309,0.71338606911949],"aabb_xy":[[-0.5668780861559523,1.0916346490729767],[-0.4388780875676158,1.219606929810685]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.08838892918156172,-1.8390504325695969,0.71338606911949],"aabb_xy":[[0.06588892893804633,-1.851255067229369],[0.11088892942507712,-1.8268457979098252]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.04889504000629241,0.8356168162330246,0.71338606911949],"aabb_xy":[[0.022606215685851746,0.8093453825783734],[0.07518386432673306,0.8618882498876759]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.49964332070864803,-2.5022563662341653,0.71338606911949],"aabb_xy":[[-0.5496383316681002,-2.552256365269757],[-0.4496483097491961,-2.4522563671985735]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[-0.20482612329954747,0.4286844878498659,0.71338606911949],"aabb_xy":[[-0.23267116008015457,0.3978999891115543],[-0.17698108651894032,0.45946898658817764]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.015557172419046972,-1.6545723326727306,0.71338606911949],"aabb_xy":[[-0.06083578730019623,-1.7185723320209143],[0.029721442462102288,-1.590572333324547]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[0.4875678748054635,0.1112948742126898,0.71338606911949],"aabb_xy":[[0.47885390575552894,0.08879487355350155],[0.4962818438553979,0.13379487487187797]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.35018518304711377,-1.2432232929332097,0.71338606911949],"aabb_xy":[[-0.4001851847086084,-1.2932217351889121],[-0.3001851813856189,-1.1932248506775067]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[-0.1395116720664974,1.5934594020402026,0.71338606911949],"aabb_xy":[[-0.148671551010374,1.5869281839966654],[-0.1303517931226208,1.5999906200837395]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[0.22668102990410743,0.6952679717603751,0.71338606911949],"aabb_xy":[[0.18449661574327672,0.631267971483164],[0.2688654440649382,0.7592679720375864]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.28862745644599686,1.4733303353554752,0.71338606911949],"aabb_xy":[[-0.3017787024172862,1.4483303355987887],[-0.2754762104747075,1.4983303351121617]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[-0.15124466536491132,-2.2345773205512036,0.71338606911949],"aabb_xy":[[-0.17416037824996125,-2.257481617687627],[-0.12832895247986145,-2.21167302341478]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[0.6034829256341381,-1.4079585515090993,0.71338606911949],"aabb_xy":[[0.5981453499681335,-1.432958552438239],[0.6088205013001426,-1.3829585505799595]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.05752292946522031,1.6232625728311052,0.71338606911949],"aabb_xy":[[0.0025297181280835375,1.568262572492312],[0.11251614080235706,1.6782625731698992]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[0.5321611603251803,1.4198382299281476,0.71338606911949],"aabb_xy":[[0.4721611598173275,1.362991496242226],[0.5921611608330333,1.4766849636140686]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[-0.5636310643761911,0.7676531919012008,0.71338606911949],"aabb_xy":[[-0.6276310650796606,0.72163480942828],[-0.4996310636727219,0.8136715743741221]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.323396986739784,0.5965408304765774,0.71338606911949],"aabb_xy":[[-0.3873969853263565,0.5495338670770686],[-0.2593969881532116,0.6435477938760861]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.6620293836628832,-1.2846807923293515,0.71338606911949],"aabb_xy":[[0.6336996737143431,-1.2891415345230686],[0.6903590936114236,-1.2802200501356344]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.5691492250824004,-0.07142204089578907,0.71338606911949],"aabb_xy":[[0.5041492250480977,-0.11812271757611637],[0.6341492251167031,-0.024721364215461783]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[-0.5471261064653511,-1.182162116971864,0.71338606911949],"aabb_xy":[[-0.5575376651458347,-1.187507850307762],[-0.5367145477848673,-1.1768163836359653]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[-0.20323802209617037,0.21107214460411683,0.71338606911949],"aabb_xy":[[-0.2073738784288706,0.17357214515975988],[-0.1991021657634702,0.2485721440484739]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[0.04829716105250215,-2.0932655903505273,0.71338606911949],"aabb_xy":[[-0.006695089583008804,-2.1482655920938405],[0.10328941168801312,-2.038265588607215]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[0.6343381446749017,0.45450880890395595,0.71338606911949],"aabb_xy":[[0.5443381481740298,0.40859716648549765],[0.7243381411757733,0.5004204513224141]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_27","position":[0.047613189681945056,-2.403359845609392,0.71338606911949],"aabb_xy":[[0.02940736602069738,-2.414385246191384],[0.06581901334319273,-2.3923344450274007]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_28","position":[-0.14998051390093414,-0.3095925542451412,0.71338606911949],"aabb_xy":[[-0.16174870069559166,-0.3945925541503629],[-0.13821232710627662,-0.2245925543399197]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_29","position":[0.6067899170858215,0.13981376956805924,0.71338606911949],"aabb_xy":[[0.5995076007091577,0.049813765958550214],[0.614072233462485,0.22981377317756818]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_30","position":[-0.19451800669514407,0.8065079685812648,0.71338606911949],"aabb_xy":[[-0.20332006200411676,0.7986966424263359],[-0.18571595138617134,0.814319294736194]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_31","position":[0.2825738310708432,-2.4192216875813086,0.71338606911949],"aabb_xy":[[0.19757383265342005,-2.5040959830435936],[0.3675738294882665,-2.3343473921190236]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7009495115574186,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5446.png","name":"5446"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5446.png","name":"5446"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6233.png","name":"6233"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8147.png","name":"8147"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7615.png","name":"7615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3992.png","name":"3992"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":614.6391227717564,"rotation_z_degrees":187.24215513845897,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018986998655829836,-0.0010984628622849359,0.006826386576446252]},{"name":"camera_2","offset_m":[0.01652791488674098,-0.009739296437665966,-0.017735956024711383]},{"name":"camera_3","offset_m":[-0.0004997386043494208,-0.008995043566975567,0.00439913321911611]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012736203707530455,0.001729277893985659,0.0016822182535200748],"end_effector_yaw_offset_degrees":0.08581026802702074},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005518612476502044,0.0003267169780656258,-0.001531468583443929],"end_effector_yaw_offset_degrees":0.8280492652689717},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001532485364062001,0.0015821943599836881,-3.7750815790702375e-05],"end_effector_yaw_offset_degrees":-0.1693438089293613},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015783890558068335,0.0010377299713119252,-0.0007788640836126448],"end_effector_yaw_offset_degrees":0.542822725618062}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00182937929742104,3.258811983527805e-05],"position_m":[0.31817062070257895,0.3531325881198353,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001060125454932009,-0.004833373562934462],"position_m":[0.270939874545068,-0.37213337356293447,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029421349142234815,-0.0003680370518419594],"position_m":[0.18294213491422348,-0.033968037051841954,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005212221074447831,-0.0016405676533031255],"position_m":[0.33797877789255526,0.10685943234669687,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eda17eb09c037a88f943b78ca7bcb812df85df58173ec0307fb3248abf324f35","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5446/tex_ceiling_textures_3992/tex_floor_textures_7615/tex_table_textures_6233/tex_wall_textures_8147","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2644786214172743639,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2644786214172743639,"visual_seed":2644786214172743639,"scene_id":"lab_003","finished_at":"2026-09-05T04:10:18"}
+{"episode_id":"ep_000030","started_at":"2026-09-05T04:10:22","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[0.530027744507255,1.4574885388692373,0.71338606911949],"aabb_xy":[[0.47502774488550914,1.4025048460817648],[0.5850277441290008,1.5124722316567103]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.19591622776506373,-0.4880863644732214,0.71338606911949],"aabb_xy":[[-0.2184162275789661,-0.49256098084370203],[-0.17341622795116132,-0.48361174810274066]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[0.23850770488243356,-0.5987435738960403,0.71338606911949],"aabb_xy":[[0.18350770570584404,-0.6537332486709978],[0.29350770405902304,-0.5437538991210825]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[0.10049559451507273,-1.6022846256948928,0.71338606911949],"aabb_xy":[[0.06603324711693091,-1.6367785080927153],[0.1349579419132145,-1.56779074329707]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[-0.17825249381880737,1.6410708551335476,0.71338606911949],"aabb_xy":[[-0.189104100067683,1.630211564405897],[-0.1674008875699318,1.651930145861199]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_5","position":[-0.34093078234367513,-2.21456623597704,0.71338606911949],"aabb_xy":[[-0.40593078090074797,-2.244318769390923],[-0.2759307837866023,-2.1848137025631575]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.02275036140253739,-0.9875910261480214,0.71338606911949],"aabb_xy":[[-0.07275036176310344,-1.0375710133576241],[0.027249638958028673,-0.9376110389384185]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[0.09539632428579081,-2.0831036507494947,0.71338606911949],"aabb_xy":[[0.05262961740637061,-2.147103654171297],[0.138163031165211,-2.019103647327692]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_8","position":[-0.5436629056405633,0.19283679018246191,0.71338606911949],"aabb_xy":[[-0.5550246402938493,0.1814683237761738],[-0.532301170987277,0.20420525658874997]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[-0.16044567259516584,1.5258261647473703,0.71338606911949],"aabb_xy":[[-0.21044050552310745,1.4758261658521268],[-0.11045083966722424,1.5758261636426139]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.03393101576656543,-1.364105489233938,0.71338606911949],"aabb_xy":[[-0.02106123486894552,-1.419105490977251],[0.08892326640207637,-1.3091054874906254]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[0.6080286757775422,-2.175348589884339,0.71338606911949],"aabb_xy":[[0.5936942506513787,-2.187408805438878],[0.6223631009037056,-2.1632883743298006]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[0.5712534648346637,-1.0202107008419912,0.71338606911949],"aabb_xy":[[0.5668228354798236,-1.0256590725766737],[0.575684094189504,-1.0147623291073087]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.4901941288784077,-1.1947468804085564,0.71338606911949],"aabb_xy":[[-0.5323785430392385,-1.2587468806857678],[-0.44800971471757695,-1.1307468801313454]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.5620566050666964,-0.3790011476429589,0.71338606911949],"aabb_xy":[[-0.61215406904777,-0.44300114815277075],[-0.5119591410856228,-0.31500114713314714]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.2824241665603292,-1.7507437239828194,0.71338606911949],"aabb_xy":[[-0.3524241683690746,-1.772097492747007],[-0.2124241647515837,-1.7293899552186323]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[0.0006059598033265612,-2.3345830971164787,0.71338606911949],"aabb_xy":[[-0.021566567173324277,-2.3567587642726013],[0.0227784867799774,-2.312407429960355]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[0.1309346313840678,1.2957053243684693,0.71338606911949],"aabb_xy":[[0.12389432145053084,1.2157053249687981],[0.13797494131760482,1.375705323768141]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[-0.1204759205228797,-1.2355805130882016,0.71338606911949],"aabb_xy":[[-0.13240865488470777,-1.2479626658960612],[-0.10854318616105163,-1.2231983602803425]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.4824869252120859,-1.6913096464770376,0.71338606911949],"aabb_xy":[[-0.5049860609383129,-1.7138096472553006],[-0.45998778948585894,-1.6688096456987747]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[0.5135526039756366,1.1944503619093316,0.71338606911949],"aabb_xy":[[0.45355260346778364,1.13760362822341],[0.5735526044834894,1.2512970955952527]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.531382186868095,0.9198140364529261,0.71338606911949],"aabb_xy":[[0.5233881982903915,0.9118139563578357],[0.5393761754457983,0.9278141165480164]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[-0.08348009150373803,-0.21214285967940016,0.71338606911949],"aabb_xy":[[-0.09074133907414544,-0.22492986994290964],[-0.07621884393333062,-0.19935584941589068]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.14279639037102654,0.5511982305989407,0.71338606911949],"aabb_xy":[[-0.14691234048309917,0.5470826755660951],[-0.13868044025895385,0.5553137856317862]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_24","position":[0.11197923448770497,1.7299164324860485,0.71338606911949],"aabb_xy":[[0.06197923346856969,1.6934502167482208],[0.16197923550684024,1.7663826482238767]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[-0.08351421199879283,-2.241675986278585,0.71338606911949],"aabb_xy":[[-0.16351421307191316,-2.2514540326159693],[-0.0035142109256725007,-2.2318979399412004]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[0.35612295671649186,1.1668383695361686,0.71338606911949],"aabb_xy":[[0.3383294497815754,1.149038623940371],[0.3739164636514083,1.1846381151319663]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[-0.5319745137576792,1.2953684429138836,0.71338606911949],"aabb_xy":[[-0.5406724760483945,1.2832434686064091],[-0.523276551466964,1.3074934172213586]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_28","position":[-0.4972354747016331,-2.084159909748569,0.71338606911949],"aabb_xy":[[-0.5018705898538663,-2.0880272448257178],[-0.4926003595493997,-2.0802925746714203]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980724822250333,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8700.png","name":"8700"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8700.png","name":"8700"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1215.png","name":"1215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8212.png","name":"8212"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5231.png","name":"5231"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4672.png","name":"4672"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":737.2642556171077,"rotation_z_degrees":188.29867034063537,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010986026135235827,0.01275768871659803,-0.0004918350385850097]},{"name":"camera_2","offset_m":[0.002348916954142369,-0.003143335441243428,0.012277950264942415]},{"name":"camera_3","offset_m":[0.018682976442943307,0.002623924030513973,0.010773742760515199]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017100465953827854,-3.494963075807668e-05,-0.0007730782040641562],"end_effector_yaw_offset_degrees":-0.18141925439561035},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001969717906638384,-0.00117092339123261,-0.0005303400421869662],"end_effector_yaw_offset_degrees":-0.4171960856846624},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013667668350951874,0.0009661580217996592,0.0006764230670180333],"end_effector_yaw_offset_degrees":0.0864094999748215},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001900872645252739,-0.0015162587014201172,-0.0005497805237116328],"end_effector_yaw_offset_degrees":0.23126162504110237}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029924102009590723,0.0008672077603688782],"position_m":[0.3229924102009591,0.3539672077603689,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004072350033547464,-0.004220800789385433],"position_m":[0.2679276499664526,-0.37152080078938543,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003986470686408007,0.0007999247030318259],"position_m":[0.183986470686408,-0.03280007529696817,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017383345282469334,-0.002861128025066856],"position_m":[0.340238334528247,0.10563887197493314,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ca67cc71f33625dd2c1a75b2c72a48498914d3e54a384969d0e8eefe367731f","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0044.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8700/tex_ceiling_textures_4672/tex_floor_textures_5231/tex_table_textures_1215/tex_wall_textures_8212","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2640810819869160427,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2640810819869160427,"visual_seed":2640810819869160427,"scene_id":"lab_003","finished_at":"2026-09-05T04:14:10"}
+{"episode_id":"ep_000031","started_at":"2026-09-05T04:18:37","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.11839701737472508,0.9037022325539663,0.71338606911949],"aabb_xy":[[-0.15339701727074392,0.8953279970420264],[-0.08339701747870619,0.9120764680659063]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.6598530921144106,-0.7631381738805236,0.71338606911949],"aabb_xy":[[-0.6707046983632862,-0.7739974646081746],[-0.649001485865535,-0.7522788831528726]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[0.6745461508064474,-0.10694179829538841,0.71338606911949],"aabb_xy":[[0.6711054745663902,-0.1108032312697529],[0.6779868270465046,-0.10308036532102395]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.27008067217382326,-2.1036560852925525,0.71338606911949],"aabb_xy":[[0.20608497477872667,-2.1676560835932612],[0.33407636956891984,-2.039656086991844]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[0.1645159529210456,-1.1437705560427154,0.71338606911949],"aabb_xy":[[0.10951595471930077,-1.1842925226691527],[0.21951595112279043,-1.1032485894162776]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[-0.024860041643788522,-1.2697821193565053,0.71338606911949],"aabb_xy":[[-0.08249051053105937,-1.3297821182832157],[0.03277042724348233,-1.2097821204297945]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[-0.11905164817696146,-0.24092234499428278,0.71338606911949],"aabb_xy":[[-0.1423334903750928,-0.3259223462915108],[-0.09576980597883011,-0.15592234369705468]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[0.4295555577321326,-1.4028691772562891,0.71338606911949],"aabb_xy":[[0.4215620679368507,-1.4108673091967647],[0.43754904752741475,-1.3948710453158135]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.21421137964237214,1.5634188673591942,0.71338606911949],"aabb_xy":[[-0.22213465988112044,1.540918867121191],[-0.20628809940362378,1.5859188675971978]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.10462071761978387,-2.5513475097938545,0.71338606911949],"aabb_xy":[[-0.11065773062044862,-2.557374210862803],[-0.09858370461911917,-2.545320808724907]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[0.23524561540506161,-1.5236359086483346,0.71338606911949],"aabb_xy":[[0.21002477854522195,-1.548859659501221],[0.2604664522649013,-1.4984121577954475]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.17442874185214263,-1.512006089843522,0.71338606911949],"aabb_xy":[[-0.18630082486364374,-1.5970060895371725],[-0.16255665884064152,-1.4270060901498718]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.26326955431943055,0.7692172733832208,0.71338606911949],"aabb_xy":[[0.20167879509543774,0.7052172752741739],[0.3248603135434234,0.8332172714922677]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[-0.17139147090831708,-2.0721621316673065,0.71338606911949],"aabb_xy":[[-0.20889146948393789,-2.084898427330864],[-0.13389147233269627,-2.059425836003748]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[0.5412287383435948,1.5313354000878774,0.71338606911949],"aabb_xy":[[0.5325147692936599,1.5088353994286887],[0.5499427073935289,1.5538354007470652]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.28908006673966147,-0.839162178275628,0.71338606911949],"aabb_xy":[[0.26123502995905434,-0.8699466770139398],[0.3169251035202686,-0.8083776795373164]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.11241345644879663,-1.1106698548704799,0.71338606911949],"aabb_xy":[[-0.12325393467531152,-1.1278561361611283],[-0.10157297822228172,-1.093483573579831]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.401893282179238,-2.267651956659469,0.71338606911949],"aabb_xy":[[-0.46189328304005073,-2.3190783866659546],[-0.3418932813184251,-2.2162255266529813]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_18","position":[0.48967134532318846,0.8039815652409255,0.71338606911949],"aabb_xy":[[0.475336920197025,0.7919213496863865],[0.5040057704493519,0.8160417807954642]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.21669518917922947,-1.8000086854073123,0.71338606911949],"aabb_xy":[[0.2054501336086116,-1.8112504831314074],[0.22794024474984728,-1.7887668876832168]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.5511841713352027,0.7963988242897546,0.71338606911949],"aabb_xy":[[-0.6161841724411461,0.7714334512216263],[-0.4861841702292595,0.8213641973578829]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.07244898049165616,-0.825216721756669,0.71338606911949],"aabb_xy":[[0.02247017198134027,-0.8752167217623881],[0.12242778900197204,-0.7752167217509505]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[-0.05610680630946374,-1.859396873996909,0.71338606911949],"aabb_xy":[[-0.12110680730996426,-1.9101832391515836],[0.008893194691036783,-1.8086105088422337]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698853303163255,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7068.png","name":"7068"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7068.png","name":"7068"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4664.png","name":"4664"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1093.png","name":"1093"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9576.png","name":"9576"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5603.png","name":"5603"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":682.9691689108846,"rotation_z_degrees":286.55995231118635,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001889300577907732,-0.00877159084361074,-0.0197267047493444]},{"name":"camera_2","offset_m":[-0.01077395024209065,0.003119849837675902,0.0017966913405547298]},{"name":"camera_3","offset_m":[-0.01873571908299565,-0.014192111773390468,0.014599075537110495]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021079249440257315,0.00036625034198434735,-0.0007353470862466605],"end_effector_yaw_offset_degrees":0.8921920557124914},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014774213792489825,-5.538664440221815e-05,0.0003170438472582496],"end_effector_yaw_offset_degrees":0.2032715709261832},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017316656399100428,0.001225236774357845,-0.00011574157304859462],"end_effector_yaw_offset_degrees":0.09859104658430073},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001481819004262913,0.001382537112888996,0.000942684873233221],"end_effector_yaw_offset_degrees":0.3795705415070083}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004066686421433353,0.0022513205732980395],"position_m":[0.31593331357856663,0.35535132057329805,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00026229888564975254,0.0012723175285965747],"position_m":[0.2722622988856498,-0.36602768247140344,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025172272088946172,0.0023953999163880135],"position_m":[0.1825172272088946,-0.031204600083611984,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019754083437873915,-0.00012990916442479072],"position_m":[0.3404754083437874,0.10837009083557521,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"918342cc7eed8b32ab0351c9822c659bc17107a8cc8c94cbb3adece44a50429b","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0046.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7068/tex_ceiling_textures_5603/tex_floor_textures_9576/tex_table_textures_4664/tex_wall_textures_1093","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7753134851670715720,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7753134851670715720,"visual_seed":7753134851670715720,"scene_id":"lab_003","finished_at":"2026-09-05T04:22:18"}
+{"episode_id":"ep_000032","started_at":"2026-09-05T04:22:22","dimensions":{"distractor":{"count":20,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[0.47260370430979814,0.24704977923064098,0.71338606911949],"aabb_xy":[[0.467145758672778,0.16704977592298184],[0.47806164994681816,0.3270497825383001]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.4188286946554319,-1.3739610051542355,0.71338606911949],"aabb_xy":[[-0.42416120931004486,-1.3792853333994712],[-0.4134961800008189,-1.3686366769090001]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[0.6015759984801436,-1.9156846511520063,0.71338606911949],"aabb_xy":[[0.5375803010850471,-1.979684649452715],[0.6655716958752402,-1.8516846528512976]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[-0.17197351456090693,0.37261420853608973,0.71338606911949],"aabb_xy":[[-0.21697351602713583,0.327614351674609],[-0.1269735130946781,0.4176140653975704]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[0.5866545129547573,-0.35378488920520423,0.71338606911949],"aabb_xy":[[0.50665451152463,-0.4333020442178137],[0.6666545143848844,-0.27426773419259476]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.2423965310015287,-2.14758846938233,0.71338606911949],"aabb_xy":[[0.16239653241420926,-2.226904071320491],[0.3223965295888481,-2.0682728674441693]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.06360993342747445,-1.4562077988667224,0.71338606911949],"aabb_xy":[[0.05568665318872612,-1.4787077991047257],[0.07153321366622278,-1.433707798628719]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[0.5805794799173583,-0.18143932190251055,0.71338606911949],"aabb_xy":[[0.5165794796568874,-0.22644812125543853],[0.6445794801778291,-0.13643052254958252]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.4989083932577829,-2.518683719536373,0.71338606911949],"aabb_xy":[[0.4942732781055495,-2.5225510546135212],[0.5035435084100162,-2.5148163844592237]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.20250688180171117,0.6403057768730696,0.71338606911949],"aabb_xy":[[-0.25652247808361117,0.5763057739808123],[-0.14849128551981114,0.7043057797653266]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.47182177173149165,-1.7720468679449977,0.71338606911949],"aabb_xy":[[-0.5068217717079875,-1.7815114839926143],[-0.43682177175499576,-1.762582251897381]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[0.5469309689437769,1.0133813288149982,0.71338606911949],"aabb_xy":[[0.45693096922060267,0.9903079762798183],[0.636930968666951,1.0364546813501778]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[-0.10332808042603647,-1.8093006901256583,0.71338606911949],"aabb_xy":[[-0.15332119253522836,-1.8593006907998542],[-0.053334968316844575,-1.759300689451463]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.25179150233419456,-2.5572406720743097,0.71338606911949],"aabb_xy":[[-0.2566350970954246,-2.5620923245532943],[-0.24694790757296464,-2.552389019595326]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.547662608721537,1.525809647852928,0.71338606911949],"aabb_xy":[[-0.6276626061251304,1.4458170766547451],[-0.46766261131794357,1.6058022190511108]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.3563487359383555,-1.6648097507214512,0.71338606911949],"aabb_xy":[[-0.3669162155964545,-1.6753547808344595],[-0.34578125628025647,-1.6542647206084424]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[-0.05486074988034173,1.5050331523751095,0.71338606911949],"aabb_xy":[[-0.11886075015431996,1.4549670521778215],[0.0091392503936365,1.5550992525723975]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[0.39184323192464965,-1.3310070404624141,0.71338606911949],"aabb_xy":[[0.3800750451299923,-1.4160070403676357],[0.40361141871930734,-1.2460070405571926]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[-0.2974603736025374,1.1385744955540305,0.71338606911949],"aabb_xy":[[-0.3614603759453389,1.0936336443098977],[-0.23346037125973582,1.1835153467981627]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[-0.5004327057051123,1.1872926713962926,0.71338606911949],"aabb_xy":[[-0.5654327067056127,1.1365063062416176],[-0.4354327047046117,1.2380790365509675]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943993641065709,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2997.png","name":"2997"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2997.png","name":"2997"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/361.png","name":"361"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4396.png","name":"4396"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8134.png","name":"8134"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2681.png","name":"2681"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":792.6343430967947,"rotation_z_degrees":242.9859162453398,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0005345529601567568,-0.01822761472873659,-0.01985850927982819]},{"name":"camera_2","offset_m":[0.00868435834120422,0.0037182411913145377,-0.014307149196043506]},{"name":"camera_3","offset_m":[-0.005509907407115749,-0.012633477568890893,-0.001028833038054927]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018457644610439137,2.8582764647015063e-06,-0.001763038683042081],"end_effector_yaw_offset_degrees":0.16084738429508505},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016546634635854031,-0.0013975597194694927,-0.001567433526244045],"end_effector_yaw_offset_degrees":0.9537542666363001},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000996472666166517,0.000781967237865703,-0.0004290789575680733],"end_effector_yaw_offset_degrees":0.20643549287569152},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00040534588265865937,0.001879968861662021,-0.0010485967949019441],"end_effector_yaw_offset_degrees":-0.9552410801446962}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013671793048769879,0.0048365727185005905],"position_m":[0.321367179304877,0.3579365727185006,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004442639749529692,0.0021279438913080493],"position_m":[0.26755736025047033,-0.36517205610869197,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007117790213355072,-0.00349506022978773],"position_m":[0.1807117790213355,-0.03709506022978773,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00333891770231345,0.0013227544447472952],"position_m":[0.34183891770231345,0.10982275444474729,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1cd47734826d07ee9bcc2ae43efbc9e6bd366ce83836a0fefe8e92200e2a435e","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2997/tex_ceiling_textures_2681/tex_floor_textures_8134/tex_table_textures_361/tex_wall_textures_4396","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":9114945687431529755,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":9114945687431529755,"visual_seed":9114945687431529755,"scene_id":"lab_003","finished_at":"2026-09-05T04:26:28"}
+{"episode_id":"ep_000033","started_at":"2026-09-05T04:29:17","dimensions":{"distractor":{"count":27,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.22506776292517439,-2.2609682395810538,0.71338606911949],"aabb_xy":[[0.14506775966116126,-2.274528271889967],[0.3050677661891875,-2.2474082072721404]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[0.08079889564703457,-1.141577848169005,0.71338606911949],"aabb_xy":[[0.0309821161821998,-1.1915778466533082],[0.13061567511186933,-1.0915778496847015]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[0.18845338375414422,-2.5689544884679405,0.71338606911949],"aabb_xy":[[0.1759860256444086,-2.581419813101264],[0.2009207418638799,-2.556489163834617]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[0.2747385102372125,-1.275534148124512,0.71338606911949],"aabb_xy":[[0.23740723371196995,-1.3101872029193642],[0.31206978676245517,-1.2408810933296597]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.2600322365353133,-1.4326651039459135,0.71338606911949],"aabb_xy":[[-0.27180042332997084,-1.5176651038511355],[-0.2482640497406558,-1.3476651040406922]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.43249673052126636,1.0937758854950177,0.71338606911949],"aabb_xy":[[0.42525296447502103,1.0137758872914153],[0.4397404965675117,1.17377588369862]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[0.20848855343058403,-1.5712491050025152,0.71338606911949],"aabb_xy":[[0.1184885566949738,-1.6244325683198095],[0.29848855016619424,-1.5180656416852205]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_7","position":[0.6025434339675781,-1.2091881632854269,0.71338606911949],"aabb_xy":[[0.5525434345273825,-1.2591560877697432],[0.6525434334077738,-1.1592202388011106]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[0.5542719993640064,0.3710355641750813,0.71338606911949],"aabb_xy":[[0.4942719985031934,0.31960913416859493],[0.614272000224819,0.4224619941815677]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[0.1736499312861597,-1.7753399632808184,0.71338606911949],"aabb_xy":[[0.1086499301802164,-1.8003053363489467],[0.23864993239210297,-1.7503745902126902]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.5990444151115522,0.7780106139402152,0.71338606911949],"aabb_xy":[[-0.6360785245396118,0.7436334066065058],[-0.5620103056834923,0.8123878212739246]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[0.3194600909547338,-1.0102916273454803,0.71338606911949],"aabb_xy":[[0.31204763541334535,-1.016142837767108],[0.3268725464961223,-1.004440416923852]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[0.5024172212184725,-0.9667781876378101,0.71338606911949],"aabb_xy":[[0.4524222102590205,-1.016778186673402],[0.5524122321779246,-0.9167781886022185]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[0.4177688852308097,1.3342384299666943,0.71338606911949],"aabb_xy":[[0.3537688819411015,1.2909035109627767],[0.48176888852051775,1.377573348970612]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.014029133536286209,-0.6789099051840086,0.71338606911949],"aabb_xy":[[-0.01746980977634338,-0.6827713381583731],[-0.010588457296229037,-0.6750484722096441]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.32251521904843083,-2.488210341375862,0.71338606911949],"aabb_xy":[[-0.3865152182182008,-2.5349770284948243],[-0.2585152198786609,-2.4414436542568994]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.5753514715319241,-0.4535062982807343,0.71338606911949],"aabb_xy":[[-0.6096483825496646,-0.48780318449067567],[-0.5410545605141834,-0.41920941207079293]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.540064821231893,-1.735759694257284,0.71338606911949],"aabb_xy":[[0.5324405531417149,-1.7433929177938279],[0.5476890893220714,-1.7281264707207404]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.08067819250859687,-0.9247977008459611,0.71338606911949],"aabb_xy":[[0.03070512697608143,-0.9747977006584942],[0.13065125804111238,-0.8747977010334285]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.4724892964010936,1.6137465865629967,0.71338606911949],"aabb_xy":[[0.41749704576558266,1.5587465848196842],[0.5274815470366045,1.6687465883063097]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.5225910573942918,-1.8989370157353411,0.71338606911949],"aabb_xy":[[0.45859105505149017,-1.9438778669794736],[0.5865910597370932,-1.8539961644912086]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_21","position":[0.6378222008397445,1.5083231207827619,0.71338606911949],"aabb_xy":[[0.582822201663155,1.4533334460078042],[0.692822200016334,1.5633127955577195]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[-0.15987085232446385,0.5703065565528589,0.71338606911949],"aabb_xy":[[-0.2495579286325793,0.48030655629840824],[-0.0701837760163484,0.6603065568073093]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_23","position":[0.008015743045604817,-2.1127026128480266,0.71338606911949],"aabb_xy":[[-0.03911363595623085,-2.176702613892428],[0.05514512204744049,-2.0487026118036242]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_24","position":[-0.4085777137617649,-0.8926934658297481,0.71338606911949],"aabb_xy":[[-0.48857771116535825,-0.9726860370279309],[-0.3285777163581714,-0.8127008946315653]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[-0.35531465403305246,1.6334640375846008,0.71338606911949],"aabb_xy":[[-0.3590179153621913,1.629762019275883],[-0.3516113927039136,1.6371660558933185]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[-0.5539175288963483,-1.9708904270635303,0.71338606911949],"aabb_xy":[[-0.6339175258593874,-2.0479660687073036],[-0.4739175319333091,-1.893814785419757]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6991061917916547,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5343.png","name":"5343"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5343.png","name":"5343"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9982.png","name":"9982"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8535.png","name":"8535"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4012.png","name":"4012"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2675.png","name":"2675"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":505.9907901813325,"rotation_z_degrees":152.46258909445805,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014391792059629708,-0.017562960652134346,-0.012641785078396955]},{"name":"camera_2","offset_m":[-0.004749749195470301,0.011531536295364114,-0.002280277633056625]},{"name":"camera_3","offset_m":[0.019543774144732722,-0.01916769163798882,-0.0065969117991963745]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006357883933443709,-0.0019065253290436047,0.001658397978469632],"end_effector_yaw_offset_degrees":0.7763725790542519},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011288101816371767,-0.00018623266427797696,-0.0015796663809885167],"end_effector_yaw_offset_degrees":-0.8524166970734717},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014956449175840322,-0.001294264763766108,-0.001858622372609299],"end_effector_yaw_offset_degrees":-0.8518711892326192},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00021030118124621506,0.00035837801985915503,-0.00114280612834076],"end_effector_yaw_offset_degrees":-0.8327905079509588}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014267645377894593,0.0041078285999419034],"position_m":[0.32142676453778946,0.35720782859994193,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025071537148637726,-0.0036710282106001313],"position_m":[0.26949284628513626,-0.37097102821060013,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011306409015184294,-0.001883411001872056],"position_m":[0.17886935909848156,-0.03548341100187205,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004271163002863094,-0.00356693553687372],"position_m":[0.34277116300286314,0.10493306446312628,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7d374c36c126dfe3f1b57ba45dfebcf598c68397bdb67221d253682ec27357d0","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0049.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5343/tex_ceiling_textures_2675/tex_floor_textures_4012/tex_table_textures_9982/tex_wall_textures_8535","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1082061066752298000,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1082061066752298000,"visual_seed":1082061066752298000,"scene_id":"lab_003","finished_at":"2026-09-05T04:33:09"}
+{"episode_id":"ep_000034","started_at":"2026-09-05T04:36:17","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.31263274874817293,1.089909636881465,0.71338606911949],"aabb_xy":[[-0.31796526340278597,1.0845853086362294],[-0.30730023409356,1.0952339651267005]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.2072298798204893,-1.2942247105685643,0.71338606911949],"aabb_xy":[[-0.23719743673031496,-1.32422471086645],[-0.17726232291066363,-1.2642247102706785]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[-0.17117764370972566,0.8127667119782873,0.71338606911949],"aabb_xy":[[-0.25117764236661166,0.7982618530540246],[-0.09117764505283965,0.8272715709025502]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[0.5448002716933795,-2.5373858066024213,0.71338606911949],"aabb_xy":[[0.5073002717496131,-2.545678896637258],[0.5823002716371459,-2.5290927165675847]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[-0.576995550565992,0.5561866291041291,0.71338606911949],"aabb_xy":[[-0.5944955498440788,0.5388485290377831],[-0.5594955512879051,0.573524729170475]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.4554956424412292,-0.9070657453602198,0.71338606911949],"aabb_xy":[[-0.5054956438021163,-0.9570436499356353],[-0.40549564108034186,-0.857087840784804]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.09523272941158101,0.9316231863328177,0.71338606911949],"aabb_xy":[[-0.15923272967205182,0.8866143869798897],[-0.031232729151110205,0.9766319856857457]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.1582683025067526,-0.9863755847416895,0.71338606911949],"aabb_xy":[[-0.18875255263378274,-1.0363755845231855],[-0.12778405237972243,-0.9363755849601936]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.06567868349851891,-1.3913856412237102,0.71338606911949],"aabb_xy":[[-0.07389322861420286,-1.4000622315213513],[-0.05746413838283491,-1.3827090509260687]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[0.008664987167524507,1.4010168478690632,0.71338606911949],"aabb_xy":[[-0.05533501605111335,1.3542937359700549],[0.07266499038616236,1.4477399597680716]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[-0.3655792120816543,-2.541723704154055,0.71338606911949],"aabb_xy":[[-0.4005792103923497,-2.5494387190776004],[-0.33057921377095884,-2.534008689230509]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[-0.36826597552015117,0.927290363931736,0.71338606911949],"aabb_xy":[[-0.4282659753667179,0.8704717417386972],[-0.3082659756735843,0.9841089861247746]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[0.1247678452986577,-1.066492922739477,0.71338606911949],"aabb_xy":[[0.09847902097821704,-1.092764356394128],[0.15105666961909836,-1.0402214890848256]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_13","position":[0.6548174322926921,-1.8027098453708694,0.71338606911949],"aabb_xy":[[0.6329087501533409,-1.82461051219096],[0.676726114432043,-1.7808091785507785]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[0.044129682191800135,-0.7656805901974588,0.71338606911949],"aabb_xy":[[-0.005870318168765923,-0.8156605774070617],[0.0941296825523662,-0.7157006029878558]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.2045730106344164,0.38692441139976896,0.71338606911949],"aabb_xy":[[-0.21088511017075487,0.38115747214655016],[-0.198260911098078,0.39269135065298777]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.03382348207210362,-2.036801185541731,0.71338606911949],"aabb_xy":[[-0.04727000870614694,-2.0502710371948223],[-0.020376955438060278,-2.0233313338886396]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[-0.4890213772382114,-0.22000126621139637,0.71338606911949],"aabb_xy":[[-0.5275670700634123,-0.258547037267585],[-0.4504756844130103,-0.18145549515520767]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_18","position":[0.26166149939304717,-1.3986395042388449,0.71338606911949],"aabb_xy":[[0.22603234349308743,-1.4342721709956976],[0.2972906552930069,-1.3630068374819917]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.39149512105462736,1.032996051800135,0.71338606911949],"aabb_xy":[[0.3314951208032262,0.9787147267636702],[0.45149512130602854,1.0872773768365995]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[-0.6752096717305239,-0.1515798256445473,0.71338606911949],"aabb_xy":[[-0.6832359423611499,-0.16033132062189992],[-0.6671834010998979,-0.1428283306671947]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.30951285189314864,-0.17789277047367102,0.71338606911949],"aabb_xy":[[-0.38950667547170686,-0.2578927730665126],[-0.22951902831459042,-0.09789276788082946]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.6030380859774642,1.157937879464221,0.71338606911949],"aabb_xy":[[0.594256858830228,1.149158132175691],[0.6118193131247006,1.1667176267527515]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_23","position":[0.5368106526230274,-0.5225541443296056,0.71338606911949],"aabb_xy":[[0.513528810424896,-0.6075541456268335],[0.5600924948211586,-0.43755414303237744]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[0.3202596897315233,0.8542385084844257,0.71338606911949],"aabb_xy":[[0.30763290244432695,0.8446924347828526],[0.33288647701871965,0.8637845821859984]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936967023786431,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7001.png","name":"7001"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7001.png","name":"7001"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/912.png","name":"912"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8958.png","name":"8958"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1060.png","name":"1060"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4411.png","name":"4411"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":748.1864220036106,"rotation_z_degrees":112.65801952579466,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005337048539176194,0.003794028004694642,0.012806693592590079]},{"name":"camera_2","offset_m":[-0.0009580336749788892,-0.003962472500687861,0.016856336321920993]},{"name":"camera_3","offset_m":[-0.015567571806769393,0.019441708640757883,0.00574961970838566]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014552446911916843,-0.0016661394336714066,0.001304006737026683],"end_effector_yaw_offset_degrees":0.631007604487527},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007531763639558621,-0.0002549100805564631,0.0016342620882242955],"end_effector_yaw_offset_degrees":-0.6373848092005281},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[5.553302657287278e-05,0.001495485281558679,-0.00012811117327484302],"end_effector_yaw_offset_degrees":-0.4357684699196005},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009269015062317977,0.001706880117841539,-0.0011219209767681627],"end_effector_yaw_offset_degrees":0.6662665304066737}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-5.507362959661106e-05,-0.00268397194105668],"position_m":[0.3199449263704034,0.35041602805894334,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036505430305253227,0.004754798678993353],"position_m":[0.2683494569694747,-0.36254520132100665,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00468517938607682,0.0009838385200775087],"position_m":[0.17531482061392317,-0.03261616147992249,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004641992250024432,-0.004872053042711142],"position_m":[0.3338580077499756,0.10362794695728886,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"babc21793c4411ba1726ca95437bd05ba41dcbbd25242ba4db85795834161cf6","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7001/tex_ceiling_textures_4411/tex_floor_textures_1060/tex_table_textures_912/tex_wall_textures_8958","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1526593301856461130,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1526593301856461130,"visual_seed":1526593301856461130,"scene_id":"lab_003","finished_at":"2026-09-05T04:40:09"}
+{"episode_id":"ep_000035","started_at":"2026-09-05T04:40:13","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[-0.5439501406807533,-0.6260610583255957,0.71338606911949],"aabb_xy":[[-0.5487937354419834,-0.6309127108045798],[-0.5391065459195234,-0.6212094058466116]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[-0.40451624124172536,1.4184600207094191,0.71338606911949],"aabb_xy":[[-0.46951624127602803,1.3717593440290918],[-0.3395162412074226,1.4651606973897464]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[0.04115538163309329,-1.6885795311053426,0.71338606911949],"aabb_xy":[[-0.03883844194546493,-1.7685795336981847],[0.12114920521165151,-1.6085795285125015]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.09068628750040986,-0.028410950864699025,0.71338606911949],"aabb_xy":[[-0.1281862882924053,-0.03477879182288912],[-0.053186286708414396,-0.02204310990650893]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_4","position":[0.11854716407442667,-1.961999949425675,0.71338606911949],"aabb_xy":[[0.08425025305668603,-1.996296835635616],[0.1528440750921673,-1.9277030632157335]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.32907600385788144,1.1296390725247667,0.71338606911949],"aabb_xy":[[-0.38407600347962734,1.074655379737294],[-0.27407600423613565,1.1846227653122394]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_6","position":[0.6958724247622241,0.6924718087719746,0.71338606911949],"aabb_xy":[[0.6783724913282406,0.67497180885174],[0.7133723581962074,0.7099718086922091]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[0.4168166177555723,-2.4458239618915494,0.71338606911949],"aabb_xy":[[0.410721989867454,-2.4543933564432177],[0.42291124564369065,-2.43725456733988]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.6947727572269911,1.5638564768382603,0.71338606911949],"aabb_xy":[[0.6906568071149182,1.5597409218054146],[0.6988887073390635,1.5679720318711057]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.43214488520136973,-2.0783255262805653,0.71338606911949],"aabb_xy":[[-0.5218319615094851,-2.168325526535016],[-0.3424578088932542,-1.9883255260261148]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[-0.1016381128890752,-1.0433421784812666,0.71338606911949],"aabb_xy":[[-0.1916381093899469,-1.0892538208997247],[-0.01163811638820343,-0.9974305360628083]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[0.6868681135350165,-2.190126947651545,0.71338606911949],"aabb_xy":[[0.6786535684193323,-2.198803537949186],[0.6950826586507003,-2.1814503573539032]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.46559323646204254,-0.8438973877027234,0.71338606911949],"aabb_xy":[[0.4524419904907533,-0.8688973874594101],[0.478744482433332,-0.8188973879460371]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[0.6380909445891743,-1.5828246675179214,0.71338606911949],"aabb_xy":[[0.5730909460321015,-1.612577200931804],[0.7030909431462472,-1.5530721341040388]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.3523605425577816,1.5276950496616402,0.71338606911949],"aabb_xy":[[0.2883605454456759,1.4786626798672295],[0.4163605396698873,1.5767274194560508]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.5673662882565467,-1.8357313989079052,0.71338606911949],"aabb_xy":[[0.48736628718342634,-1.8455094452452898],[0.647366289329667,-1.825953352570521]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[0.591956591496759,-0.23871256494285387,0.71338606911949],"aabb_xy":[[0.5636268815482188,-0.24317330713657093],[0.6202863014452993,-0.2342518227491368]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[0.5055707773911939,-0.07654718238852665,0.71338606911949],"aabb_xy":[[0.4880707782568267,-0.08642680942611446],[0.523070776525561,-0.06666755535093881]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[0.05155633982699459,1.1393699184939998,0.71338606911949],"aabb_xy":[[0.01655634063417632,1.1284028724963369],[0.08655633901981286,1.150336964491662]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.20769938105523506,-1.6178981907871406,0.71338606911949],"aabb_xy":[[-0.287699381328842,-1.6908477386128575],[-0.12769938078162807,-1.544948642961424]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.24067727578994957,1.215136341846979,0.71338606911949],"aabb_xy":[[0.22039297306655078,1.1948537167042699],[0.2609615785133483,1.2354189669896876]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[-0.4362898095896376,0.953793145692079,0.71338606911949],"aabb_xy":[[-0.5212898082817123,0.9218072822972],[-0.351289810897563,0.9857790090869577]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6996345051465017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1917.png","name":"1917"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1917.png","name":"1917"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7039.png","name":"7039"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8334.png","name":"8334"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7676.png","name":"7676"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6367.png","name":"6367"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":831.3545211253336,"rotation_z_degrees":122.28828348914014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028888268484936613,-0.01243812250549313,0.0005357529801740882]},{"name":"camera_2","offset_m":[0.002419404229996803,0.007738500764941952,0.006802659924198533]},{"name":"camera_3","offset_m":[0.007969746255548117,0.011368942635987655,-0.005337170342837951]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019047970802308105,-0.0012093535916175302,-0.00024146240785659595],"end_effector_yaw_offset_degrees":0.19298068941912394},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009290274889671621,0.001428152174799694,-0.0011322273028145102],"end_effector_yaw_offset_degrees":-0.0696617883292121},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016599302993785332,-0.00098838736712348,0.0008621708680355443],"end_effector_yaw_offset_degrees":0.19849241216705615},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002485613639523635,-0.0005552868568565379,-0.00181559536227681],"end_effector_yaw_offset_degrees":0.10122155900021568}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027570578455566007,0.004938079866858396],"position_m":[0.3227570578455566,0.3580380798668584,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000532753871624032,-0.00150173900020685],"position_m":[0.27146724612837597,-0.36880173900020685,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001748589990387077,-0.003649183734359197],"position_m":[0.18174858999038707,-0.0372491837343592,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028202090648529687,0.0035270463682621636],"position_m":[0.33567979093514705,0.11202704636826216,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2cc48ef6f907a17d33f112ff790f066b15d7a775d380bc903a0a2a4937e42997","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1917/tex_ceiling_textures_6367/tex_floor_textures_7676/tex_table_textures_7039/tex_wall_textures_8334","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7717585905083102459,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7717585905083102459,"visual_seed":7717585905083102459,"scene_id":"lab_003","finished_at":"2026-09-05T04:43:55"}
+{"episode_id":"ep_000036","started_at":"2026-09-05T04:43:58","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.18427245800130387,-0.11471397992782073,0.71338606911949],"aabb_xy":[[-0.18960497265591686,-0.12003830817305633],[-0.1789399433466909,-0.10938965168258513]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[-0.08824883765474012,-2.1311542083372004,0.71338606911949],"aabb_xy":[[-0.1432488368313296,-2.186143883112158],[-0.03324883847815062,-2.0761645335622427]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.17421200744536391,0.3788477471897691,0.71338606911949],"aabb_xy":[[-0.1917120076904133,0.36134795935020225],[-0.15671200720031453,0.39634753502933595]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[-0.6816313528213884,-1.7847709425867062,0.71338606911949],"aabb_xy":[[-0.686968928487393,-1.8097709435158458],[-0.6762937771553839,-1.7597709416575662]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.1627395284696932,-1.1495034057377882,0.71338606911949],"aabb_xy":[[-0.19058456525030035,-1.1802879044761],[-0.1348944916890861,-1.1187189069994767]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[0.36196807107957674,-0.6358996825174599,0.71338606911949],"aabb_xy":[[0.3500959880680757,-0.7208996822111102],[0.3738401540910779,-0.5508996828238095]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.24081903711250674,-1.0630892865313661,0.71338606911949],"aabb_xy":[[0.1947339458577753,-1.1270892837839213],[0.2869041283672382,-0.9990892892788111]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[-0.26116657000794447,-0.30673093723395706,0.71338606911949],"aabb_xy":[[-0.2687908380981227,-0.3143641607705008],[-0.2535423019177662,-0.29909771369741334]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_8","position":[-0.5622731978505688,0.9884498444898484,0.71338606911949],"aabb_xy":[[-0.6032911412369397,0.938449843858891],[-0.521255254464198,1.0384498451208057]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[0.22719726967318032,-1.2287010930557636,0.71338606911949],"aabb_xy":[[0.17720243674523875,-1.2787010919510071],[0.2771921026011219,-1.17870109416052]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.6368473962495822,-0.8572474867071185,0.71338606911949],"aabb_xy":[[0.5768473964030154,-0.914066108900157],[0.696847396096149,-0.8004288645140797]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[-0.1580082790276769,-1.7032339827236451,0.71338606911949],"aabb_xy":[[-0.20800827767359806,-1.7531535263831075],[-0.10800828038175567,-1.6533144390641827]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[-0.2845114222246443,1.50000411230315,0.71338606911949],"aabb_xy":[[-0.3344902307349602,1.450004112297431],[-0.23453261371432843,1.5500041123088686]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.06822245311392905,-0.6465538193249285,0.71338606911949],"aabb_xy":[[-0.08286585866796203,-0.6612125389817127],[-0.053579047559896065,-0.6318950996681443]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.42851634102048136,-0.2702587517417703,0.71338606911949],"aabb_xy":[[-0.4653109741453876,-0.30716462683835255],[-0.39172170789557503,-0.233352876645188]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[0.1176605561293218,-2.423971617251243,0.71338606911949],"aabb_xy":[[0.02797347982120635,-2.5139716175056934],[0.20734763243743726,-2.3339716169967923]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[0.4187013946397167,-1.2598511759713384,0.71338606911949],"aabb_xy":[[0.38120139434754186,-1.263892651371942],[0.4562013949318915,-1.255809700570735]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.5414682412508407,-1.734638169525261,0.71338606911949],"aabb_xy":[[-0.5478820548940255,-1.7410479897729292],[-0.5350544276076556,-1.7282283492775925]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_18","position":[0.42172095700465606,-1.8406646186131161,0.71338606911949],"aabb_xy":[[0.38580745257966637,-1.8765781268298707],[0.45763446142964576,-1.8047511103963616]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[0.4413097638690451,-1.5348122062712022,0.71338606911949],"aabb_xy":[[0.3773097606504072,-1.5815353181702105],[0.5053097670876829,-1.4880890943721938]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[-0.6257302702155764,-1.3682595492318717,0.71338606911949],"aabb_xy":[[-0.6482294059418033,-1.3907595500101344],[-0.6032311344893494,-1.3457595484536085]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_21","position":[-0.3988831740702847,0.9771002225748688,0.71338606911949],"aabb_xy":[[-0.40519527360662316,0.97133328332165],[-0.3925710745339463,0.9828671618280876]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[-0.5929208664929785,0.3824062135178301,0.71338606911949],"aabb_xy":[[-0.6779208649104017,0.2975319180555452],[-0.5079208680755553,0.46728050898011514]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[-0.6111172147435013,-0.09059734721355905,0.71338606911949],"aabb_xy":[[-0.6266729841537666,-0.10614778045796626],[-0.5955614453332361,-0.07504691396915186]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7013392487070116,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5452.png","name":"5452"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5452.png","name":"5452"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7455.png","name":"7455"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8245.png","name":"8245"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8901.png","name":"8901"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3349.png","name":"3349"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":802.5321921471657,"rotation_z_degrees":280.29274247687925,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005371929412644055,-0.006810650224206061,0.007504159120305099]},{"name":"camera_2","offset_m":[-0.006226716417212641,0.0034179652637815576,0.0048699867987524355]},{"name":"camera_3","offset_m":[-0.004264888865558012,-0.008185577795234647,-0.015777627081228665]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004445671547794075,-0.0015085286528654885,-0.0016619429770281108],"end_effector_yaw_offset_degrees":0.682657699743312},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007140840972735666,0.0015214298579086702,-0.0010873846384323782],"end_effector_yaw_offset_degrees":-0.41629342638381206},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00191917385119335,0.001530248465126722,0.0006714028353009219],"end_effector_yaw_offset_degrees":0.40339400752618526},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[2.330730880034486e-06,-0.0007031924021703789,-0.0017343008858029614],"end_effector_yaw_offset_degrees":0.38689735983286355}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018494784864405691,0.0008316329458515652],"position_m":[0.3218494784864406,0.3539316329458516,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00011528907622632492,-0.0036878776793479043],"position_m":[0.27211528907622634,-0.37098787767934793,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001303723907130178,-0.0018712773898436176],"position_m":[0.18130372390713018,-0.03547127738984362,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004375270420003313,0.002269917787945143],"position_m":[0.3428752704200033,0.11076991778794515,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b1e39ef93a6809cce32adb2e8a3c2150c459b5d447f1f58f95db6178c969f6e7","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5452/tex_ceiling_textures_3349/tex_floor_textures_8901/tex_table_textures_7455/tex_wall_textures_8245","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":9016268306416423749,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":9016268306416423749,"visual_seed":9016268306416423749,"scene_id":"lab_003","finished_at":"2026-09-05T04:47:47"}
+{"episode_id":"ep_000037","started_at":"2026-09-05T04:47:51","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[-0.25569292984290165,-1.2002374958423987,0.71338606911949],"aabb_xy":[[-0.2931929306348971,-1.2066053368005887],[-0.2181929290509062,-1.1938696548842083]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_1","position":[0.3687225579881821,0.46979591581324565,0.71338606911949],"aabb_xy":[[0.352838064722857,0.4554429755144216],[0.3846070512535073,0.4841488561120697]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.4787852208201719,-1.7354711861293977,0.71338606911949],"aabb_xy":[[-0.501281642254036,-1.7579711859361449],[-0.4562887993863078,-1.71297118632265]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[0.5080368297037676,-2.52524537214687,0.71338606911949],"aabb_xy":[[0.44303683154784845,-2.5515416166967824],[0.5730368278596866,-2.498949127596958]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.35448757531878655,0.24426501865689643,0.71338606911949],"aabb_xy":[[-0.40448757489512127,0.19428443970479045],[-0.30448757574245183,0.2942455976090024]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[-0.5009646457879436,1.5668048435187267,0.71338606911949],"aabb_xy":[[-0.5089586343656469,1.5588047634236364],[-0.49297065721024014,1.574804923613817]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[0.4052678022234486,-0.9932578052066379,0.71338606911949],"aabb_xy":[[0.35027459088631185,-1.0482578055454315],[0.4602610135605854,-0.9382578048678443]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[0.6475556082820875,-1.5219614536471084,0.71338606911949],"aabb_xy":[[0.5835556079045539,-1.5717067204979207],[0.7115556086596211,-1.4722161867962962]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.6013642724580326,-0.9536559859498448,0.71338606911949],"aabb_xy":[[-0.6513430809683485,-1.0036559859555636],[-0.5513854639477167,-0.9036559859441261]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.451436106527209,0.9884291133500849,0.71338606911949],"aabb_xy":[[0.43475897053411344,0.9717291893761548],[0.46811324252030445,1.0051290373240154]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.2828839449332523,0.9163198867013311,0.71338606911949],"aabb_xy":[[-0.29050821302343055,0.9086866631647874],[-0.27525967684307406,0.9239531102378749]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[-0.06628827392985037,1.0116753826635185,0.71338606911949],"aabb_xy":[[-0.11628827521369033,0.9616965282728963],[-0.0162882726460104,1.0616542370541404]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.5353084607132004,-0.24763107234831283,0.71338606911949],"aabb_xy":[[0.5175149537782839,-0.2654308179441105],[0.5531019676481168,-0.22983132675251516]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.6600327842799483,-1.9235672932863443,0.71338606911949],"aabb_xy":[[0.6508729053360717,-1.9300985113298814],[0.6691926632238249,-1.9170360752428073]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.6416195720379951,-1.3130751896176227,0.71338606911949],"aabb_xy":[[0.6241195727599083,-1.3304132896839687],[0.659119571316082,-1.2957370895512768]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[0.5429301885493252,0.4644807268997333,0.71338606911949],"aabb_xy":[[0.48293018690640344,0.4124805776077891],[0.6029301901922471,0.5164808761916775]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[-0.4942483613148858,-0.3692933774878968,0.71338606911949],"aabb_xy":[[-0.5050213352362536,-0.4042933757069358],[-0.4834753873935181,-0.3342933792688578]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_17","position":[-0.6018504934804572,1.4815698465291303,0.71338606911949],"aabb_xy":[[-0.639350493652329,1.448869111146223],[-0.5643504933085851,1.5142705819120374]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[0.33524529125652336,-0.509437187963449,0.71338606911949],"aabb_xy":[[0.2977452907591651,-0.5134058715115674],[0.3727452917538816,-0.5054685044153305]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.3848313964619736,-1.2228935461070372,0.71338606911949],"aabb_xy":[[0.31483139485969414,-1.2363263393086947],[0.4548313980642531,-1.2094607529053796]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.4153986892116115,-0.4538104377699881,0.71338606911949],"aabb_xy":[[0.3978986900772443,-0.4636900648075759],[0.43289868834597867,-0.44393081073240026]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[0.45185459373944536,0.82493143153535,0.71338606911949],"aabb_xy":[[0.3868545927823181,0.7729832196016444],[0.5168545946965725,0.8768796434690556]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[0.24723251199432772,-2.2961931081886284,0.71338606911949],"aabb_xy":[[0.21938747521372062,-2.32697760692694],[0.27507754877493484,-2.2654086094503167]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[0.062421617614004,1.277814756875057,0.71338606911949],"aabb_xy":[[0.024921617321829174,1.2737732814744536],[0.09992161790617882,1.2818562322756606]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[0.27028912293897644,1.2564529651994611,0.71338606911949],"aabb_xy":[[0.2102891223429602,1.2016404926542377],[0.33028912353499257,1.3112654377446846]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[0.44112921959740126,1.5542194616828477,0.71338606911949],"aabb_xy":[[0.40612922046744554,1.5484742406071839],[0.47612921872735686,1.559964682758512]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[0.28776799006704423,-0.6300484711428682,0.71338606911949],"aabb_xy":[[0.2376705260859706,-0.69404847165268],[0.33786545404811785,-0.5660484706330564]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_27","position":[-0.5071834387766809,0.47783003326792306,0.71338606911949],"aabb_xy":[[-0.5421834370873764,0.47011501834437736],[-0.4721834404659855,0.48554504819146865]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968395045622795,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8060.png","name":"8060"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8060.png","name":"8060"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7194.png","name":"7194"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4107.png","name":"4107"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4590.png","name":"4590"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8173.png","name":"8173"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":725.7486819089689,"rotation_z_degrees":154.4429360122014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01599600993349896,0.002375850291469167,0.00348780298272262]},{"name":"camera_2","offset_m":[0.007122332610413645,0.010532612719002993,0.0014037749814677439]},{"name":"camera_3","offset_m":[-0.017774793295635777,0.015362398582887401,-0.01848296804044982]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005943153737664178,0.00024044523294805597,0.0017390987902202839],"end_effector_yaw_offset_degrees":0.7872291628299326},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000291569566421789,0.0005997322070739053,0.0011357357412336501],"end_effector_yaw_offset_degrees":0.7028134057687367},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006541602851291425,0.001861118700466007,0.0005753112456565938],"end_effector_yaw_offset_degrees":0.012743617540108998},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017365717106984165,4.4056264618634947e-05,-0.0016135333516844983],"end_effector_yaw_offset_degrees":-0.5171329811635743}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017883293897122156,-0.0005631947365832514],"position_m":[0.32178832938971225,0.3525368052634168,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0046566955213624105,-0.0028326484969042375],"position_m":[0.26734330447863763,-0.37013264849690425,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003119525421759405,-0.0035924442973196548],"position_m":[0.17688047457824058,-0.03719244429731965,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004280479568072696,4.463586363187295e-05],"position_m":[0.3427804795680727,0.10854463586363187,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6e877d50a114b9d1fd2d554931922af946c4b99eaa2309a21175efa50387bb0a","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8060/tex_ceiling_textures_8173/tex_floor_textures_4590/tex_table_textures_7194/tex_wall_textures_4107","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2295353872560684142,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2295353872560684142,"visual_seed":2295353872560684142,"scene_id":"lab_003","finished_at":"2026-09-05T04:51:42"}
+{"episode_id":"ep_000038","started_at":"2026-09-05T04:51:47","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.23680182541221134,0.5930664212917072,0.71338606911949],"aabb_xy":[[-0.30080182732455374,0.5371552720336967],[-0.17280182349986903,0.6489775705497176]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.3297660491553981,-2.2054644183367023,0.71338606911949],"aabb_xy":[[-0.40976604713618314,-2.213065959298554],[-0.24976605117461306,-2.1978628773748503]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[0.18249856097820305,-2.560226920741803,0.71338606911949],"aabb_xy":[[0.15727772411836333,-2.5854506715946894],[0.20771939783804266,-2.5350031698889155]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[0.5837408420244679,1.5221661120183083,0.71338606911949],"aabb_xy":[[0.5037408450614287,1.4450904703745349],[0.663740838987507,1.5992417536620818]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.6091307326196124,-0.7214611474243062,0.71338606911949],"aabb_xy":[[-0.614712404253741,-0.7339611472420817],[-0.6035490609854836,-0.7089611476065307]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[0.4122578217868358,-0.7478136998312095,0.71338606911949],"aabb_xy":[[0.37877865452579484,-0.7812928132023165],[0.44573698904787673,-0.7143345864601025]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.36002122403707415,1.706479017028229,0.71338606911949],"aabb_xy":[[0.3187724130071594,1.6514790175160112],[0.4012700350669889,1.7614790165404461]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.506347043677079,1.0368759885806966,0.71338606911949],"aabb_xy":[[-0.5491137505564991,0.9728759851588942],[-0.46358033679765875,1.100875992002499]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[-0.49168238337025916,-0.7486138513687639,0.71338606911949],"aabb_xy":[[-0.5291823835421311,-0.7813145867516711],[-0.4541823831983872,-0.7159131159858567]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.4625438754093709,1.0626344797532399,0.71338606911949],"aabb_xy":[[0.4125438743902357,1.0261682640154122],[0.5125438764285062,1.099100695491068]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.1528319759068123,1.2296939863998708,0.71338606911949],"aabb_xy":[[-0.1657038794077524,1.1496939859860345],[-0.13996007240587213,1.3096939868137067]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[0.6964262215967045,0.7476374067249454,0.71338606911949],"aabb_xy":[[0.6855204455091418,0.6676374103261162],[0.7073319976842672,0.8276374031237745]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[-0.39922540349244756,-0.41059808175033385,0.71338606911949],"aabb_xy":[[-0.4892254002280577,-0.4637815450676283],[-0.3092254067568373,-0.3574146184330393]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[-0.4628878046828413,0.4085896753674718,0.71338606911949],"aabb_xy":[[-0.48538422611670534,0.3860896755607243],[-0.44039138324897714,0.4310896751742192]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[-0.1975413287542896,-2.582654143320237,0.71338606911949],"aabb_xy":[[-0.23504132925164783,-2.5866228268683553],[-0.16004132825693135,-2.5786854597721183]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[0.1350436948728171,-0.762882925043882,0.71338606911949],"aabb_xy":[[0.07104369459883886,-0.8129490252411699],[0.19904369514679532,-0.7128168248465939]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[-0.3708431057987252,1.8033687434615078,0.71338606911949],"aabb_xy":[[-0.38785320308877586,1.7872342549632338],[-0.35383300850867455,1.8195032319597817]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[-0.4359424310959987,-2.280409394279997,0.71338606911949],"aabb_xy":[[-0.46094243036796095,-2.296754757876159],[-0.4109424318240364,-2.2640640306838344]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.36408354083011685,-0.925818847435655,0.71338606911949],"aabb_xy":[[0.34665282575111034,-0.9430909620995058],[0.38151425590912336,-0.9085467327718042]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.16186931101695123,-2.2672289628158224,0.71338606911949],"aabb_xy":[[-0.16720182567156425,-2.272553291061058],[-0.15653679636233828,-2.2619046345705867]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[-0.02038335759009724,0.8636377458591986,0.71338606911949],"aabb_xy":[[-0.02742366752363424,0.7836377464595274],[-0.01334304765656025,0.9436377452588702]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_21","position":[-0.25174196785448166,-0.24445770491718033,0.71338606911949],"aabb_xy":[[-0.316741968960425,-0.2694230779853086],[-0.18674196674853843,-0.21949233184905206]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.02225388405677864,-2.493068721825815,0.71338606911949],"aabb_xy":[[-0.05788303995673838,-2.528701388582668],[0.013375271843181102,-2.4574360550689622]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[0.5377638474740689,-0.09337749250497085,0.71338606911949],"aabb_xy":[[0.4527638490566457,-0.17825178796725583],[0.6227638458914921,-0.008503197042685873]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[-0.3448648203537517,-0.9320869998798227,0.71338606911949],"aabb_xy":[[-0.37986481866444716,-0.9398020148033683],[-0.30986482204305626,-0.924371984956277]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_25","position":[0.2064996831358702,-2.2841962791857044,0.71338606911949],"aabb_xy":[[0.20154366295098905,-2.3066962793878267],[0.21145570332075145,-2.261696278983583]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_26","position":[-0.4004836972986992,0.2346199960955384,0.71338606911949],"aabb_xy":[[-0.46548369585577204,0.2048674626816558],[-0.33548369874162637,0.26437252950942103]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[-0.12931689876151597,-1.438216249561236,0.71338606911949],"aabb_xy":[[-0.13743055343489308,-1.4463220660152651],[-0.12120324408813887,-1.430110433107207]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[-0.5907972787696344,-1.3902267546823095,0.71338606911949],"aabb_xy":[[-0.648427747656905,-1.4502267536090196],[-0.5331668098823633,-1.3302267557555985]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_29","position":[0.08701612533386427,-1.2617734987858031,0.71338606911949],"aabb_xy":[[0.07726013582469038,-1.2715360328450376],[0.09677211484303816,-1.2520109647265687]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_30","position":[0.5573177190863146,-1.5070401331803644,0.71338606911949],"aabb_xy":[[0.5121464012381456,-1.571040130324903],[0.6024890369344835,-1.443040136035826]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_31","position":[-0.5229882596193252,-0.15242777890310055,0.71338606911949],"aabb_xy":[[-0.57298825919566,-0.20240835785520653],[-0.47298826004299055,-0.10244719995099463]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_32","position":[0.1650386605118701,-1.991005563302999,0.71338606911949],"aabb_xy":[[0.14376065236839783,-2.056005565629072],[0.18631666865534233,-1.9260055609769255]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_33","position":[-0.1068803366421035,-2.0778587471878827,0.71338606911949],"aabb_xy":[[-0.1868803338016788,-2.0894063481456997],[-0.0268803394825282,-2.0663111462300656]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_34","position":[0.47229272532149547,-2.4269235330162506,0.71338606911949],"aabb_xy":[[0.4418084751944653,-2.4769235327977466],[0.5027769754485256,-2.3769235332347547]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6980534604578272,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4841.png","name":"4841"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4841.png","name":"4841"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/676.png","name":"676"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/806.png","name":"806"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8108.png","name":"8108"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9961.png","name":"9961"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":614.4079586915026,"rotation_z_degrees":42.253515348087916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013573925840706113,0.01573588107966543,0.004022342004342056]},{"name":"camera_2","offset_m":[-0.016677492856516422,0.007584218838928257,-0.007859852567678582]},{"name":"camera_3","offset_m":[-0.004446424925866298,-0.013488185224798391,0.018462175634842867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005369765864604898,-0.00033228754688597434,-0.0007073813674320314],"end_effector_yaw_offset_degrees":-0.31539654055258537},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010635586186533855,-0.001847902859696053,0.0002209112976126813],"end_effector_yaw_offset_degrees":0.6774254218858147},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016117391851824562,0.0003348196861205719,-0.0012296976334293449],"end_effector_yaw_offset_degrees":0.2726829641863322},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004115705326733555,0.0011094473995344823,-0.00022998471244776216],"end_effector_yaw_offset_degrees":-0.3608645893237661}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033166868625086636,-0.004438074951421464],"position_m":[0.3233166868625087,0.34866192504857857,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00243616993658477,-0.0015693182172558306],"position_m":[0.2695638300634152,-0.3688693182172558,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008023516735293622,-0.0011922961246750487],"position_m":[0.17919764832647064,-0.03479229612467505,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011153613249394534,0.004889335221810487],"position_m":[0.33961536132493947,0.11338933522181048,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d5fbbc405b700e8c2a6c70782848375a147e1cb0f1be91f9c365c2fcd8a3ff6f","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0055.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4841/tex_ceiling_textures_9961/tex_floor_textures_8108/tex_table_textures_676/tex_wall_textures_806","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":819181938935168398,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":819181938935168398,"visual_seed":819181938935168398,"scene_id":"lab_003","finished_at":"2026-09-05T04:55:37"}
+{"episode_id":"ep_000039","started_at":"2026-09-05T04:55:41","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[-0.20647645547101617,-1.4565292177853904,0.71338606911949],"aabb_xy":[[-0.21732806171989175,-1.4673885085130414],[-0.19562484922214055,-1.4456699270577393]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[-0.5903673701350651,-1.2346767724299916,0.71338606911949],"aabb_xy":[[-0.6543673734247732,-1.278011691433909],[-0.526367366845357,-1.1913418534260738]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[-0.5023738686925118,-0.8373401280327242,0.71338606911949],"aabb_xy":[[-0.52004949928111,-0.8550203443121268],[-0.4846982381039134,-0.8196599117533213]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[-0.5594014587361804,-2.1782531035861212,0.71338606911949],"aabb_xy":[[-0.5846222955960199,-2.203476854439007],[-0.5341806218763405,-2.153029352733234]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[-0.13678592819471924,0.05639028163486648,0.71338606911949],"aabb_xy":[[-0.18678592763491486,0.006422357150550166],[-0.08678592875452362,0.10635820611918279]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[0.20067309097075037,-1.5815466838518333,0.71338606911949],"aabb_xy":[[0.1366730905932167,-1.6312919507026453],[0.26467309134828393,-1.5318014170010208]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_6","position":[0.6177647700195734,-2.4547408411940927,0.71338606911949],"aabb_xy":[[0.6136866121125237,-2.458821821442356],[0.6218429279266231,-2.4506598609458288]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.32913235371309096,0.5454752030264456,0.71338606911949],"aabb_xy":[[-0.36476150961305065,0.5098425362695926],[-0.29350319781313117,0.5811078697832985]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[-0.4209495203835376,-2.078429903638749,0.71338606911949],"aabb_xy":[[-0.45594952027955643,-2.0868041391506886],[-0.3859495204875187,-2.0700556681268085]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[0.15913998088300874,0.7010044531459387,0.71338606911949],"aabb_xy":[[0.15033792557403602,0.6931931269910094],[0.16794203619198145,0.7088157793008676]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[-0.5070514024171298,-2.428312322085903,0.71338606911949],"aabb_xy":[[-0.5720514024514325,-2.47501299876623],[-0.44205140238282703,-2.3816116454055756]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[0.5168262693579406,0.349788164290322,0.71338606911949],"aabb_xy":[[0.5007643418994229,0.2647881624777301],[0.5328881968164582,0.43478816610291376]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[-0.006297361015644265,-1.8961093672186444,0.71338606911949],"aabb_xy":[[-0.028793782449508365,-1.9186093670253914],[0.016199060418219835,-1.8736093674118965]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.607725350099906,0.9314765944177736,0.71338606911949],"aabb_xy":[[-0.687725347114154,0.9113420427443624],[-0.527725353085658,0.9516111460911849]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.08994316535382141,-2.2868685694584814,0.71338606911949],"aabb_xy":[[0.019943161962259422,-2.3221843431619114],[0.15994316874538336,-2.2515527957550496]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[0.4637934390195162,-0.41372948806279997,0.71338606911949],"aabb_xy":[[0.40379343815870333,-0.46515591806928624],[0.5237934398803289,-0.36230305805631347]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_16","position":[0.5751996590861419,-1.204347191670186,0.71338606911949],"aabb_xy":[[0.5376996582941465,-1.210715032628376],[0.6126996598781373,-1.197979350711996]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[0.3203745822124173,-0.7170850408518035,0.71338606911949],"aabb_xy":[[0.23037457987839827,-0.7945673954369161],[0.4103745845464364,-0.6396026862666908]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[-0.2150524699832504,-0.09983672299955026,0.71338606911949],"aabb_xy":[[-0.23022463926488376,-0.11500557992775362],[-0.19988030070161708,-0.08466786607134691]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[-0.04974413789462562,1.6629965256931043,0.71338606911949],"aabb_xy":[[-0.057368405984803875,1.6553633021565608],[-0.04211986980444738,1.6706297492296482]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6965712081749181,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1963.png","name":"1963"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1963.png","name":"1963"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1221.png","name":"1221"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2672.png","name":"2672"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2817.png","name":"2817"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8237.png","name":"8237"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":519.2831841083083,"rotation_z_degrees":243.31908839600882,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016996284855232226,0.009703613173709921,-0.008419249553526735]},{"name":"camera_2","offset_m":[-0.0030328674939882373,0.018137353020191874,-0.007711780866547216]},{"name":"camera_3","offset_m":[-0.005359190135160792,0.010682964460121808,0.013211172927522632]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008442835178508496,-0.0018298233470140075,-0.0011855090853183786],"end_effector_yaw_offset_degrees":-0.08519395732278623},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007993495089259112,-0.00094436498649454,0.0008301865543990997],"end_effector_yaw_offset_degrees":0.07293290545464326},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014557548997202298,0.0004158583045566133,-4.5792304288614066e-05],"end_effector_yaw_offset_degrees":-0.9943149623359353},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019297472566938093,-0.0005094821025377811,-0.0016031052068279652],"end_effector_yaw_offset_degrees":0.6610861522663847}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013768042350670606,-0.002125728121703181],"position_m":[0.3186231957649329,0.35097427187829683,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015765539534589867,0.0026387192991176537],"position_m":[0.270423446046541,-0.3646612807008824,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00024334856456616118,-0.004814048299347573],"position_m":[0.17975665143543385,-0.038414048299347574,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[3.9164915714881045e-05,-0.0031749952506337524],"position_m":[0.3385391649157149,0.10532500474936625,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"63d0d0f3414b462cc210c38e83c85e5aae32d6996dcff349cc812311818cd5ad","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0056.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1963/tex_ceiling_textures_8237/tex_floor_textures_2817/tex_table_textures_1221/tex_wall_textures_2672","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8693865751420355245,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8693865751420355245,"visual_seed":8693865751420355245,"scene_id":"lab_003","finished_at":"2026-09-05T04:59:40"}
+{"episode_id":"ep_000040","started_at":"2026-09-05T04:59:43","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.10793813328990642,-0.029763184028960055,0.71338606911949],"aabb_xy":[[-0.13842238341693658,-0.079763183810456],[-0.07745388316287627,0.020236815752535886]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[-0.16919851176925538,-0.9977208360363301,0.71338606911949],"aabb_xy":[[-0.1809666985639129,-1.0827208359415519],[-0.15743032497459786,-0.9127208361311088]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.17640556719042244,-1.378464347953747,0.71338606911949],"aabb_xy":[[0.12128036156083168,-1.438464349395034],[0.23153077282001322,-1.3184643465124597]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[0.6581519480500229,1.338675474741724,0.71338606911949],"aabb_xy":[[0.6410498700916547,1.3215686692104542],[0.675254026008391,1.3557822802729937]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.24265577697917917,-1.416109040389311,0.71338606911949],"aabb_xy":[[-0.26516946880263637,-1.4861090409903184],[-0.22014208515572198,-1.3461090397883033]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.2500890686807033,1.3228772916082199,0.71338606911949],"aabb_xy":[[-0.2542050187927759,1.318761736575374],[-0.24597311856863058,1.3269928466410652]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.04780847256613718,0.5660642854927374,0.71338606911949],"aabb_xy":[[-0.055090788942800825,0.4760642818832282],[-0.040526156189473514,0.6560642891022461]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[0.45847889171039724,-2.197940328034732,0.71338606911949],"aabb_xy":[[0.40847889034951,-2.2479182326101474],[0.5084788930712845,-2.147962423459316]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.28129046354320986,1.3346384386675663,0.71338606911949],"aabb_xy":[[0.26240607977469965,1.3157525138872133],[0.30017484731172006,1.3535243634479188]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.6991806398059675,-0.5662737857952433,0.71338606911949],"aabb_xy":[[0.69191939223556,-0.5790607960587529],[0.7064418873763749,-0.553486775531734]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.31894096889655765,-0.29001399643685266,0.71338606911949],"aabb_xy":[[-0.3889409704988372,-0.30344678963851024],[-0.24894096729427823,-0.2765812032351951]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.5548392591690652,-1.5721495482364058,0.71338606911949],"aabb_xy":[[0.5511359978399262,-1.5758515665451234],[0.558542520498204,-1.5684475299276874]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[0.02987658378215896,1.0989070147100395,0.71338606911949],"aabb_xy":[[-0.030123417860762895,1.0469068654180955],[0.08987658542508081,1.150907164001984]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.16383136492748918,-0.5088009521082113,0.71338606911949],"aabb_xy":[[-0.22783136518795996,-0.5538097514611392],[-0.09983136466701835,-0.46379215275528324]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[-0.22317364953517843,-1.9954024026299346,0.71338606911949],"aabb_xy":[[-0.2581736508866601,-2.015762138586755],[-0.1881736481836967,-1.9750426666731136]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.4768584087662716,0.6420531657366015,0.71338606911949],"aabb_xy":[[-0.5668584052671433,0.5961415233181431],[-0.38685841226539985,0.6879648081550596]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[-0.1258083045629519,0.40005977671350745,0.71338606911949],"aabb_xy":[[-0.13380179435823392,0.39206164477303185],[-0.11781481476766986,0.40805790865398317]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.15226182771190122,-1.9038935215871136,0.71338606911949],"aabb_xy":[[-0.18976182922753296,-1.9151202946032586],[-0.11476182619626954,-1.8926667485709685]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[0.1660073980259038,1.164377362093524,0.71338606911949],"aabb_xy":[[0.13816236124529668,1.1335928633552126],[0.19385243480651093,1.195161860831836]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[-0.4377287438957666,-1.1678399914026296,0.71338606911949],"aabb_xy":[[-0.4627287430613997,-1.1747922371079862],[-0.4127287447301335,-1.160887745697273]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.46242430007001545,-1.9424957361441835,0.71338606911949],"aabb_xy":[[0.4074243004482696,-1.9974794289316562],[0.5174242996917613,-1.8875120433567107]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[0.33740961060821806,-1.361668477516012,0.71338606911949],"aabb_xy":[[0.27340961330587166,-1.4060349044838685],[0.40140960791056446,-1.317302050548155]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.24582119390298252,1.7511165859934166,0.71338606911949],"aabb_xy":[[-0.2885879007824027,1.6871165825716141],[-0.20305448702356235,1.815116589415219]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[0.01630773784476025,0.9114136031664684,0.71338606911949],"aabb_xy":[[-0.01800853932985769,0.8614136031932906],[0.05062401501937819,0.9614136031396461]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[0.6811324216737276,1.0126785258356787,0.71338606911949],"aabb_xy":[[0.6589598946970766,0.9905028586795553],[0.7033049486503783,1.0348541929918016]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[-0.2765596046968951,-2.2024086766700424,0.71338606911949],"aabb_xy":[[-0.2859770792667578,-2.2118248538077614],[-0.2671421301270323,-2.1929924995323233]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_26","position":[-0.1305048297348569,1.3761273338059845,0.71338606911949],"aabb_xy":[[-0.18452042601675686,1.3121273309137271],[-0.07648923345295686,1.4401273366982414]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[0.08637561801365956,-2.505856124570153,0.71338606911949],"aabb_xy":[[0.08153202325242959,-2.5107077770491375],[0.09121921277488954,-2.5010044720911693]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_28","position":[0.23396278423305628,1.6726665167781776,0.71338606911949],"aabb_xy":[[0.2213359969458599,1.6631204430766044],[0.2465895715202526,1.6822125904797502]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_29","position":[0.1280775997037965,-1.8599320277917761,0.71338606911949],"aabb_xy":[[0.10307759977127862,-1.8668146960126997],[0.1530775996363144,-1.853049359570853]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_30","position":[-0.6365363139244602,-0.5146328505989435,0.71338606911949],"aabb_xy":[[-0.6676832327680433,-0.5846328492857507],[-0.6053893950808771,-0.4446328519121363]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_31","position":[-0.5378007127801203,-2.2011645541500258,0.71338606911949],"aabb_xy":[[-0.5427567329650016,-2.223664554352148],[-0.5328446925952393,-2.1786645539479044]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_32","position":[0.6268965330265543,-1.7046187811544251,0.71338606911949],"aabb_xy":[[0.6229826598311319,-1.713367796560982],[0.6308104062219768,-1.6958697657478683]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_33","position":[0.3969609313247566,0.39808772814774596,0.71338606911949],"aabb_xy":[[0.37174009446491696,0.37286397729485915],[0.4221817681845963,0.42331147900063265]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6993876027898639,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8201.png","name":"8201"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8201.png","name":"8201"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/828.png","name":"828"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1718.png","name":"1718"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1578.png","name":"1578"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1003.png","name":"1003"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":528.2915638472003,"rotation_z_degrees":13.877211703965383,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010764985910281109,-0.005262357580094763,-0.006259678562782129]},{"name":"camera_2","offset_m":[-0.009917384594504482,-0.006481684239305818,0.013760454379808464]},{"name":"camera_3","offset_m":[-0.015675838560117766,-0.007152683869715504,-0.0077649880935775385]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018084392729679228,-0.0002970868231461693,-0.001397335500462176],"end_effector_yaw_offset_degrees":0.7259305162525125},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0001795601664319013,0.0007007168077555362,0.0005285767160104356],"end_effector_yaw_offset_degrees":0.4464746099213013},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013984441934845942,0.001046641942473904,-0.0018767445786262175],"end_effector_yaw_offset_degrees":-0.42029643887541},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00036086498940171726,-0.0003876882850904835,0.0007787174306886696],"end_effector_yaw_offset_degrees":0.32848448361695826}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018154731799818278,0.0007010854942118968],"position_m":[0.3218154731799818,0.3538010854942119,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030720061105384616,0.004849841255952816],"position_m":[0.2750720061105385,-0.3624501587440472,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001958772617172543,-0.003094084662227218],"position_m":[0.17804122738282746,-0.03669408466222722,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013685308612995284,0.004790290076535436],"position_m":[0.3371314691387005,0.11329029007653543,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2abd381eb34c3f4d5ec408451d5167819a7e79f41be989fa7661b093e6a83294","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8201/tex_ceiling_textures_1003/tex_floor_textures_1578/tex_table_textures_828/tex_wall_textures_1718","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2757118517003420520,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2757118517003420520,"visual_seed":2757118517003420520,"scene_id":"lab_003","finished_at":"2026-09-05T05:03:55"}
+{"episode_id":"ep_000041","started_at":"2026-09-05T05:04:00","dimensions":{"distractor":{"count":28,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.005025688918481763,-1.082226540502232,0.71338606911949],"aabb_xy":[[-0.027525689161997158,-1.0944311751620037],[0.01747431132503363,-1.0700219058424598]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[-0.42991008030418926,0.8405392256684423,0.71338606911949],"aabb_xy":[[-0.4793905015181481,0.7765392277555905],[-0.3804296590902305,0.9045392235812941]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[-0.049816059798287404,-1.454598962185773,0.71338606911949],"aabb_xy":[[-0.08631188042556615,-1.4910829046125302],[-0.013320239171008656,-1.418115019759015]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[-0.33115293508409605,0.32073495867728186,0.71338606911949],"aabb_xy":[[-0.3961529336411689,0.29098242526339924],[-0.2661529365270232,0.3504874920911645]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_4","position":[-0.05944855647280234,0.954198703552231,0.71338606911949],"aabb_xy":[[-0.10221526335222253,0.8901987001304286],[-0.016681849593382148,1.0181987069740335]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.21979437931009627,-1.3699867820179492,0.71338606911949],"aabb_xy":[[-0.22720683485148477,-1.375837992439577],[-0.21238192376870782,-1.364135571596321]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.1346733643849366,-1.1221347715677115,0.71338606911949],"aabb_xy":[[-0.1986733647624702,-1.1718800384185237],[-0.07067336400740296,-1.0723895047168992]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.4233706716142532,-0.473723627502892,0.71338606911949],"aabb_xy":[[-0.4278013009690934,-0.4791719992375746],[-0.41894004225941306,-0.4682752557682094]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[-0.13868167873339787,-0.5891288973159963,0.71338606911949],"aabb_xy":[[-0.21868167671418293,-0.5967304382778482],[-0.05868168075261284,-0.5815273563541443]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.26856180251984385,-1.5349825106595718,0.71338606911949],"aabb_xy":[[-0.2968915124683841,-1.539443252853289],[-0.24023209257130362,-1.530521768465855]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.5877225518273775,-0.7063008531334529,0.71338606911949],"aabb_xy":[[-0.6110043940255089,-0.7913008544306808],[-0.5644407096292462,-0.6213008518362246]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.6831891451699492,-2.319709926308003,0.71338606911949],"aabb_xy":[[0.6656891449106126,-2.3338014684967763],[0.7006891454292858,-2.305618384119231]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[0.6333495297398142,-0.5147502373767439,0.71338606911949],"aabb_xy":[[0.5990526187220736,-0.5490471235866851],[0.6676464407575547,-0.4804533511668024]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.5958102602422044,0.04301775753109105,0.71338606911949],"aabb_xy":[[-0.6658102623736338,0.020255791905395386],[-0.5258102581107748,0.0657797231567867]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[0.15011805897016828,-0.7275572919436553,0.71338606911949],"aabb_xy":[[0.1091001155837974,-0.7775572925746126],[0.19113600235653916,-0.6775572913126979]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.17860220080707456,-0.352580091745879,0.71338606911949],"aabb_xy":[[-0.24019296003106738,-0.41658008985492595],[-0.11701144158308174,-0.2885800936368322]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[-0.41541403021464046,1.4777782486188316,0.71338606911949],"aabb_xy":[[-0.43320753714955684,1.459978503023034],[-0.39762052327972397,1.4955779942146292]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[-0.042637417357865526,0.8033723538485527,0.71338606911949],"aabb_xy":[[-0.06152180112637574,0.7844864290682],[-0.023753033589355328,0.8222582786289055]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[0.4782345720440686,-1.2618752026194946,0.71338606911949],"aabb_xy":[[0.3982345746404752,-1.3418677738176772],[0.558234569447662,-1.1818826314213116]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[0.07551064059482371,1.6498715939444284,0.71338606911949],"aabb_xy":[[0.015510640086970796,1.5930248602585069],[0.13551064110267663,1.7067183276303495]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_20","position":[-0.583698409920615,-2.461780161121136,0.71338606911949],"aabb_xy":[[-0.6336772184309308,-2.511780161126855],[-0.5337196014102991,-2.4117801611154173]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.10583780665171294,-0.9137117040048417,0.71338606911949],"aabb_xy":[[-0.14714234971544893,-0.9777117035729588],[-0.06453326358797694,-0.8497117044367246]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[0.18682059913351445,1.2420276817651574,0.71338606911949],"aabb_xy":[[0.10682060217047526,1.1649520401213838],[0.2668205960965536,1.3191033234089307]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[0.42221508169817556,-1.0518044278327847,0.71338606911949],"aabb_xy":[[0.3582150797858333,-1.1077155770907952],[0.48621508361051796,-0.9958932785747743]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_24","position":[-0.4157026945807852,1.1681036179529256,0.71338606911949],"aabb_xy":[[-0.4657026955999205,1.1316374022150977],[-0.3657026935616499,1.2045698336907535]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[-0.08534494476908094,0.35535327129177663,0.71338606911949],"aabb_xy":[[-0.14033719540459189,0.3003532695484639],[-0.030352694133569995,0.4103532730350895]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_26","position":[0.5019673280582793,1.2941102742920734,0.71338606911949],"aabb_xy":[[0.4669673297475838,1.2863952593685277],[0.5369673263689747,1.301825289215619]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_27","position":[-0.14290193085447545,1.5822931012262775,0.71338606911949],"aabb_xy":[[-0.18040193135183366,1.578324417678159],[-0.10540193035711717,1.586261784774396]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7023176276044416,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5714.png","name":"5714"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5714.png","name":"5714"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1919.png","name":"1919"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6615.png","name":"6615"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2893.png","name":"2893"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5084.png","name":"5084"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":565.9620312589407,"rotation_z_degrees":243.39746862490526,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00504146713394639,-0.011113259782914536,0.000493272386207378]},{"name":"camera_2","offset_m":[0.0036297281989898303,-0.013772382847588874,0.011648322083439664]},{"name":"camera_3","offset_m":[-0.00360959228145143,-0.0002592260301667454,0.01861645372962369]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00038168029222795897,-0.0006085769352350506,0.0010693574041822328],"end_effector_yaw_offset_degrees":-0.15064687040931934},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012566644943360922,-0.0016602150927143748,-0.00025152911741691854],"end_effector_yaw_offset_degrees":-0.49103406429530905},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019392147225027042,0.0006657049383952166,0.00024384727825791947],"end_effector_yaw_offset_degrees":-0.3516749915845494},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018962596783383087,0.00019054094567087397,-0.00026242338698457017],"end_effector_yaw_offset_degrees":-0.5009824546117618}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004624056855491049,0.003033171833105543],"position_m":[0.31537594314450895,0.35613317183310556,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002484706796109813,-0.0017247570101326815],"position_m":[0.2744847067961098,-0.3690247570101327,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013426159108440852,-0.0006389475884601261],"position_m":[0.18134261591084408,-0.03423894758846013,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004219109545331087,-0.00247811934006729],"position_m":[0.3342808904546689,0.1060218806599327,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4ab9518fc62cbcc5dd46cbafef6b30e16bbd07cd0c0f6d1805718cabcb5f7f82","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5714/tex_ceiling_textures_5084/tex_floor_textures_2893/tex_table_textures_1919/tex_wall_textures_6615","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6197369418844025873,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6197369418844025873,"visual_seed":6197369418844025873,"scene_id":"lab_003","finished_at":"2026-09-05T05:07:45"}
+{"episode_id":"ep_000042","started_at":"2026-09-05T05:19:48","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[0.42151639149410514,1.3644986544302333,0.71338606911949],"aabb_xy":[[0.3716336946164088,1.3144986551839586],[0.4713990883718013,1.414498653676508]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[-0.3923072982728923,1.0540274095750828,0.71338606911949],"aabb_xy":[[-0.42270540937203577,1.023620507573413],[-0.3619091871737486,1.084434311576752]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.09186165992565287,-1.771378678646601,0.71338606911949],"aabb_xy":[[0.05686166073283459,-1.782345724644263],[0.12686165911847114,-1.760411632648938]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.5425784360924824,0.895342716004206,0.71338606911949],"aabb_xy":[[0.4925791609240462,0.8453427147282588],[0.5925777112609185,0.9453427172801532]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[0.09560046178413861,-0.8068272894340123,0.71338606911949],"aabb_xy":[[0.03160046010614126,-0.8553446809133265],[0.15960046346213597,-0.758309897954698]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.22151539923484836,1.8026353101098276,0.71338606911949],"aabb_xy":[[-0.24401539974688893,1.780143451744429],[-0.19901539872280774,1.8251271684752257]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_6","position":[-0.23300919331774717,-1.0854161143587508,0.71338606911949],"aabb_xy":[[-0.2970091935917254,-1.1354822145560388],[-0.16900919304376893,-1.0353500141614629]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[0.458297311295196,-1.272811964759039,0.71338606911949],"aabb_xy":[[0.45179567478719157,-1.2825797867853488],[0.4647989478032008,-1.2630441427327292]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[-0.46166733059456344,0.9288274029192962,0.71338606911949],"aabb_xy":[[-0.47676963205558137,0.9137258812882341],[-0.4465650291335452,0.9439289245503577]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[0.08527501722178488,-1.6486614595581568,0.71338606911949],"aabb_xy":[[0.056945307273244664,-1.653122201751874],[0.11360472717032512,-1.64420071736444]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[-0.1842477874466829,1.4986658585012989,0.71338606911949],"aabb_xy":[[-0.18970573308370295,1.4186658551936395],[-0.17878984180966281,1.5786658618089577]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[-0.2690014565680606,0.369707483491418,0.71338606911949],"aabb_xy":[[-0.30754714939326167,0.33116171243522935],[-0.2304557637428596,0.4082532545476067]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.2893466272462143,-0.5569914475310851,0.71338606911949],"aabb_xy":[[-0.3143466271787322,-0.5638741157520084],[-0.2643466273136964,-0.5501087793101618]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.035561125023732876,0.9936863833937823,0.71338606911949],"aabb_xy":[[-0.06552868193355854,0.9636863830958967],[-0.005593568113907217,1.0236863836916683]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[0.6313023077881885,0.515570746316846,0.71338606911949],"aabb_xy":[[0.6063023085162262,0.49922538272068356],[0.6563023070601508,0.5319161099130082]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[0.5480382429668409,-0.05508706191450852,0.71338606911949],"aabb_xy":[[0.5067336999031049,-0.1190870614826256],[0.5893427860305769,0.008912937653608566]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.17695307540164817,0.8985113812019225,0.71338606911949],"aabb_xy":[[-0.2409530746958164,0.8345252408330684],[-0.11295307610747995,0.9624975215707768]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.3368138822782447,-1.1359099152182253,0.71338606911949],"aabb_xy":[[0.3275202640410941,-1.1734099137063592],[0.34610750051539524,-1.0984099167300914]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.6192606736805248,1.662906950364675,0.71338606911949],"aabb_xy":[[0.539260675023639,1.6484020914404123],[0.699260672337411,1.677411809288938]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.37818606630640605,-2.3559505998583643,0.71338606911949],"aabb_xy":[[0.3281860650225661,-2.405929454248986],[0.428186067590246,-2.3059717454677418]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[0.4257969769946883,-0.33727002256852057,0.71338606911949],"aabb_xy":[[0.37580386488549644,-0.38727002324271625],[0.4757900891038802,-0.28727002189432493]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.046647583423629846,1.4966150424515123,0.71338606911949],"aabb_xy":[[-0.13664757992450158,1.4507034000330536],[0.0433524130772419,1.5425266848699701]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.07584917594996965,0.6837472287369764,0.71338606911949],"aabb_xy":[[-0.14084917383161746,0.6326235650304355],[-0.010849178068321865,0.7348708924435172]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[0.5434962054608046,-1.9108377924674735,0.71338606911949],"aabb_xy":[[0.5246118216922944,-1.9297237172478265],[0.5623805892293148,-1.891951867687121]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[0.08826351253010523,0.9274192728241348,0.71338606911949],"aabb_xy":[[0.03828470401978934,0.8774192728184159],[0.1382423210404211,0.9774192728298535]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_25","position":[-0.1068848647905829,-2.384903403659923,0.71338606911949],"aabb_xy":[[-0.12451770038411046,-2.4025263496755453],[-0.08925202919705531,-2.3672804576442994]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[-0.3675973415241962,1.6110510159923765,0.71338606911949],"aabb_xy":[[-0.4525973402162708,1.5790651525974975],[-0.2825973428321215,1.6430368793872552]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[-0.4509741576741323,1.7442788127579845,0.71338606911949],"aabb_xy":[[-0.4617471315955001,1.7092788145389455],[-0.44020118375276457,1.7792788109770235]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_28","position":[-0.19655381331210925,-1.8250669518126459,0.71338606911949],"aabb_xy":[[-0.26054951070720583,-1.8890669501133546],[-0.13255811591701266,-1.7610669535119372]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_29","position":[-0.5782413795573407,0.06093282998793681,0.71338606911949],"aabb_xy":[[-0.6582413817201032,-0.019022353638206813],[-0.4982413773945782,0.14088801361408043]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_30","position":[-0.3091954549656831,0.6484065384682514,0.71338606911949],"aabb_xy":[[-0.3162357648992201,0.5684065390685801],[-0.30215514503214613,0.7284065378679229]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_31","position":[0.5710938353369586,-0.964967440750341,0.71338606911949],"aabb_xy":[[0.520996371355885,-1.0289674412601528],[0.6211912993180322,-0.9009674402405292]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698411657138659,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1371.png","name":"1371"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1371.png","name":"1371"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2110.png","name":"2110"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5167.png","name":"5167"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6589.png","name":"6589"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2056.png","name":"2056"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":768.4033430607077,"rotation_z_degrees":357.34666382789754,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00622126169339691,-0.00815525067367295,-0.002539061539237039]},{"name":"camera_2","offset_m":[0.019121385992639326,0.013982676383873138,-0.01426259821337382]},{"name":"camera_3","offset_m":[0.0042440243444065925,0.01512513457222257,-0.013951951532866814]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014533375823892088,0.0016562693495194877,-0.000833792471495641],"end_effector_yaw_offset_degrees":0.9741403747720532},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016911626238353978,0.000929570557173355,-0.0016826604017269214],"end_effector_yaw_offset_degrees":-0.48244587499103164},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005963490943904494,-0.0017652248226450928,-0.0004531819417156631],"end_effector_yaw_offset_degrees":0.313158765516494},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00044262993270500583,-0.0016633041570605252,0.00011520230862373856],"end_effector_yaw_offset_degrees":-0.44985555168955327}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019702763858037865,0.0007156615424182382],"position_m":[0.3219702763858038,0.3538156615424183,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024558309124301015,-0.0022782392501040417],"position_m":[0.2695441690875699,-0.3695782392501041,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031489731848039983,-0.0048014016310206345],"position_m":[0.176851026815196,-0.03840140163102063,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025208281150678083,0.0016194158871608464],"position_m":[0.3359791718849322,0.11011941588716084,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5976efcb26b80a5ea36d39b419e3e3ac54c2db87d4921617039ca3b3e58377fd","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1371/tex_ceiling_textures_2056/tex_floor_textures_6589/tex_table_textures_2110/tex_wall_textures_5167","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1514578307188285870,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1514578307188285870,"visual_seed":1514578307188285870,"scene_id":"lab_003","finished_at":"2026-09-05T05:23:38"}
+{"episode_id":"ep_000043","started_at":"2026-09-05T05:23:42","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.1894560895274887,1.6534645904100436,0.71338606911949],"aabb_xy":[[0.1094560873647262,1.5735094067839],[0.2694560916902512,1.7334197740361872]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_1","position":[0.04454781949779285,-2.2300860783376315,0.71338606911949],"aabb_xy":[[0.02448940788455256,-2.250151165246789],[0.06460623111103314,-2.210020991428474]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.5084433404495157,0.24290465254471005,0.71338606911949],"aabb_xy":[[-0.5429058184626034,0.23624097536178718],[-0.4739808624364279,0.24956832972763282]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.31884226183507414,1.4051106439473475,0.71338606911949],"aabb_xy":[[-0.3307143448465752,1.3201106442536972],[-0.30697017882357297,1.4901106436409979]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[-0.09186404981823837,-0.6265986214031607,0.71338606911949],"aabb_xy":[[-0.14174674669593457,-0.6765986206494354],[-0.041981352940542165,-0.576598622156886]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.03140208875981221,-0.3895684875691505,0.71338606911949],"aabb_xy":[[-0.04297106950674879,-0.4145684876860823],[-0.01983310801287564,-0.36456848745221887]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[-0.6498715779122829,-0.3715307123707956,0.71338606911949],"aabb_xy":[[-0.6723715779224312,-0.38562693201039894],[-0.6273715779021346,-0.3574344927311924]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.011226580102965067,-1.101713965349822,0.71338606911949],"aabb_xy":[[-0.07522658201530741,-1.1576251146078325],[0.052773421809377274,-1.0458028160918116]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.45774155859226234,1.0075223002531417,0.71338606911949],"aabb_xy":[[-0.46595610370794627,0.9988457099555],[-0.4495270134765783,1.0161988905507826]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[-0.2193406738334796,1.7380998341296876,0.71338606911949],"aabb_xy":[[-0.2443406737659975,1.7312171659087643],[-0.1943406739009617,1.744982502350611]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[-0.6231802104618432,-1.714868168103139,0.71338606911949],"aabb_xy":[[-0.6332619175404166,-1.7948681659952535],[-0.6130985033832697,-1.6348681702110242]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[0.6487789241770205,1.0869205074487058,0.71338606911949],"aabb_xy":[[0.5937866735415097,1.031920505705393],[0.7037711748125316,1.1419205091920186]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[-0.5060388093353708,-2.0981154937224096,0.71338606911949],"aabb_xy":[[-0.5140650799659968,-2.1068669886997626],[-0.4980125387047448,-2.0893639987450574]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.16826446757795366,1.5449964448740459,0.71338606911949],"aabb_xy":[[-0.2519866930780361,1.45499644133935],[-0.0845422420778712,1.6349964484087418]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[0.06768229039528884,1.2348020023104835,0.71338606911949],"aabb_xy":[[0.02251097254711987,1.1708020051659453],[0.11285360824345783,1.2988019994550222]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.18435676656949773,-0.8190818366456205,0.71338606911949],"aabb_xy":[[-0.26435676684310466,-0.892031384471337],[-0.10435676629589073,-0.7461322888199036]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[0.424547359963072,1.3513761203921133,0.71338606911949],"aabb_xy":[[0.39340044111948885,1.281376121705306],[0.4556942788066551,1.4213761190789203]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.14195918818779862,1.3830367294959687,0.71338606911949],"aabb_xy":[[0.13752855883295848,1.3775883577612864],[0.14638981754263883,1.3884851012306514]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.251274327891012,1.4457248980053694,0.71338606911949],"aabb_xy":[[0.23216202053303314,1.4265901191281274],[0.27038663524899087,1.4648596768826114]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.08620475459931765,0.7544529620462463,0.71338606911949],"aabb_xy":[[0.04870475341452484,0.7500347393501857],[0.12370475578411043,0.7588711847423067]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.6773886406414673,1.6920712522137795,0.71338606911949],"aabb_xy":[[0.6665481624149523,1.6748849709231308],[0.6882291188679821,1.7092575335044282]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7003925839310834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6542.png","name":"6542"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7278.png","name":"7278"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2423.png","name":"2423"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3844.png","name":"3844"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":740.7567965726253,"rotation_z_degrees":300.44798286342973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018754127426734435,0.016501897215554496,-0.009856419759441412]},{"name":"camera_2","offset_m":[0.008521915028928375,0.001732986534527109,0.017833531803502906]},{"name":"camera_3","offset_m":[-0.011216823543438803,-0.0058329919727603315,-0.015361137188207339]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00018093314764314932,0.001741092276036498,0.0007040588140470143],"end_effector_yaw_offset_degrees":0.8541132482766667},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017244067542215777,0.0017955287834805636,-0.001201976519192306],"end_effector_yaw_offset_degrees":0.5064115941791894},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008911399017507119,0.0014681791705554747,0.0012695978602601625],"end_effector_yaw_offset_degrees":-0.8922764174450748},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019199710551486761,0.00080823598343966,-0.0013144453161271414],"end_effector_yaw_offset_degrees":-0.4138030062571023}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033193540013295867,0.004417173805338356],"position_m":[0.3166806459986704,0.3575171738053384,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-2.0471214483530967e-05,-0.0021139208994045565],"position_m":[0.2719795287855165,-0.36941392089940456,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00465507428707178,-0.0007156367961000795],"position_m":[0.1753449257129282,-0.03431563679610008,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021467008985634486,0.0009347279127956513],"position_m":[0.3363532991014366,0.10943472791279565,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ddd1a893ff48413a8d9300e250480c1464774df38ae147c8c572f5b755580384","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9281/tex_ceiling_textures_3844/tex_floor_textures_2423/tex_table_textures_6542/tex_wall_textures_7278","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8489238034830017447,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8489238034830017447,"visual_seed":8489238034830017447,"scene_id":"lab_003","finished_at":"2026-09-05T05:27:47"}
+{"episode_id":"ep_000044","started_at":"2026-09-05T05:32:02","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.13331690965782428,-1.5888808008595163,0.71338606911949],"aabb_xy":[[-0.19731260705292084,-1.6528807991602248],[-0.06932121226272767,-1.5248808025588074]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[0.3159493219887053,-0.586295989219157,0.71338606911949],"aabb_xy":[[0.26597602798544484,-0.6362959897737043],[0.36592261599196574,-0.5362959886646096]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.08420065243219566,1.6584367669910516,0.71338606911949],"aabb_xy":[[-0.13420065187239127,1.6084688425067348],[-0.03420065299200002,1.7084046914753674]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.6580520956741094,-2.110109171073133,0.71338606911949],"aabb_xy":[[0.6205520955022373,-2.14280990645604],[0.6955520958459812,-2.077408435690226]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.1549899222570279,1.1246450501535588,0.71338606911949],"aabb_xy":[[-0.16311761045034112,1.1157314417428512],[-0.14686223406371468,1.1335586585642667]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[-0.04332290732976207,-1.7713301686353995,0.71338606911949],"aabb_xy":[[-0.09332290828029488,-1.8028793156389207],[0.006677093620770735,-1.7397810216318779]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.5128330458041043,-1.3893882758208542,0.71338606911949],"aabb_xy":[[-0.5193346823121089,-1.399156097847164],[-0.5063314092960997,-1.3796204537945445]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[-0.0570696128445215,-0.6527988251292969,0.71338606911949],"aabb_xy":[[-0.07224178212615484,-0.6679676820575002],[-0.04189744356288816,-0.6376299682010935]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.11848799137273036,-1.969407769372293,0.71338606911949],"aabb_xy":[[-0.15192816656874994,-2.0028513952032223],[-0.08504781617671074,-1.9359641435413626]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.5374282650847808,-2.012407863964484,0.71338606911949],"aabb_xy":[[0.5095832283041737,-2.0431923627027957],[0.5652733018653879,-1.9816233652261723]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.43767488429728374,0.8722684826455693,0.71338606911949],"aabb_xy":[[0.4337144005275494,0.8646006180600488],[0.4416353680670181,0.87993634723109]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[0.4268079732798751,-0.6462491117287592,0.71338606911949],"aabb_xy":[[0.4159021971923123,-0.7262491081275884],[0.43771374936743773,-0.56624911532993]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[-0.515207439336094,1.694629588324402,0.71338606911949],"aabb_xy":[[-0.5402074386080562,1.67828422472824],[-0.4902074400641317,1.7109749519205646]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.6201476301623543,0.206226893790042,0.71338606911949],"aabb_xy":[[-0.662332044323185,0.1422268935128308],[-0.5779632160015236,0.2702268940672532]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[-0.28214703849532724,-2.523595558027108,0.71338606911949],"aabb_xy":[[-0.337272244124918,-2.583595559468395],[-0.2270218328657365,-2.4635955565858207]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.45101787869748033,-1.6751142863491881,0.71338606911949],"aabb_xy":[[0.39602562806196956,-1.7301142880925011],[0.5060101293329915,-1.6201142846058756]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.42169674925990397,1.4829931748040752,0.71338606911949],"aabb_xy":[[0.399197613533677,1.460493174025812],[0.44419588498613094,1.505493175582338]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.172623085938728,0.6896928145938497,0.71338606911949],"aabb_xy":[[-0.18772538739974606,0.6745912929627876],[-0.15752078447770987,0.7047943362249113]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[-0.2442844206868307,-0.7920047803266503,0.71338606911949],"aabb_xy":[[-0.2942792536147723,-0.842004779221894],[-0.1942895877588891,-0.7420047814314069]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[0.04074082172151716,-1.0083558293012205,0.71338606911949],"aabb_xy":[[0.02373072443146651,-1.0244903177994944],[0.057750919011567814,-0.9922213408029465]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[0.6233249375525762,1.466507659238569,0.71338606911949],"aabb_xy":[[0.5933573806427506,1.436507658940683],[0.6532924944624019,1.4965076595364546]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.13587043401379995,1.631208408346915,0.71338606911949],"aabb_xy":[[0.07823996512652907,1.5712084094202037],[0.19350090290107075,1.6912084072736249]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.6107498595377143,1.1842368751185068,0.71338606911949],"aabb_xy":[[-0.6747498618805159,1.1392960238743743],[-0.5467498571949128,1.2291777263626393]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[-0.18519234868117984,1.2885251922911496,0.71338606911949],"aabb_xy":[[-0.207706040504637,1.218525191690142],[-0.16267865685772262,1.3585251928921571]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[0.7087275104372293,0.04503089120704562,0.71338606911949],"aabb_xy":[[0.7033949957826161,0.03970656296181002],[0.7140600250918422,0.05035521945228122]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[-0.3398617450858795,1.613938062048248,0.71338606911949],"aabb_xy":[[-0.349943452164453,1.5339380641561329],[-0.32978003800730604,1.6939380599403622]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_26","position":[-0.45143883635476734,-0.6844772213353159,0.71338606911949],"aabb_xy":[[-0.46893883548913456,-0.6943568483729036],[-0.4339388372204002,-0.6745975942977279]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_27","position":[0.23785349262452926,-1.389270149563638,0.71338606911949],"aabb_xy":[[0.21535349310082183,-1.4117660970142585],[0.2603534921482366,-1.366774202113017]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_28","position":[0.27652840857587524,0.6549769447122062,0.71338606911949],"aabb_xy":[[0.19652841161283607,0.5779013030684328],[0.3565284055389144,0.7320525863559797]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[0.32077314030006243,1.6746324701184068,0.71338606911949],"aabb_xy":[[0.2567731386220651,1.6261150786390925],[0.3847731419780598,1.723149861597721]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_30","position":[-0.5082925369307029,-2.1695678229813407,0.71338606911949],"aabb_xy":[[-0.5682925371821039,-2.223849148017805],[-0.4482925366793016,-2.1152864979448753]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_31","position":[0.5695815534905968,-1.4267763339399664,0.71338606911949],"aabb_xy":[[0.5651509241357566,-1.432224705674649],[0.574012182845437,-1.4213279622052837]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_32","position":[0.16378484371487834,-1.6974757108422576,0.71338606911949],"aabb_xy":[[0.10378484207195651,-1.7494758601342018],[0.22378484535780022,-1.6454755615503134]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.696464562444994,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3815.png","name":"3815"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3815.png","name":"3815"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5962.png","name":"5962"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1474.png","name":"1474"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1421.png","name":"1421"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/477.png","name":"477"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":848.2091980603361,"rotation_z_degrees":180.7502899833963,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002018168321757701,-0.004998459903078194,0.004811570215123559]},{"name":"camera_2","offset_m":[-0.012625792521818054,0.00421369146820208,0.005566637886397191]},{"name":"camera_3","offset_m":[-0.01940328589595036,0.006359556776690183,0.010913597844229187]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017478442076265081,0.0007543764878381563,-0.0009367939272535901],"end_effector_yaw_offset_degrees":-0.25309014507242744},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007128435089554055,-0.0004887753874806432,0.0006601883854114032],"end_effector_yaw_offset_degrees":0.7964090708949891},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017245354568178914,0.00031544532450353616,0.0005531370543550842],"end_effector_yaw_offset_degrees":-0.8232864849411754},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013488084794143456,0.0007553154739699084,0.00029281099814039294],"end_effector_yaw_offset_degrees":-0.847331564175354}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016358450919183678,0.0031444869496833625],"position_m":[0.3183641549080816,0.3562444869496834,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004871323204001278,0.004622436104577921],"position_m":[0.27151286767959987,-0.3626775638954221,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003829388463884105,-0.0031335756209838516],"position_m":[0.1838293884638841,-0.03673357562098385,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001071448207484632,0.000596369708384622],"position_m":[0.33957144820748464,0.10909636970838463,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"afe579a483c15c3999a595de0401f119722038d0f3326300aea9259a09e9b139","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3815/tex_ceiling_textures_477/tex_floor_textures_1421/tex_table_textures_5962/tex_wall_textures_1474","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4105923327933812184,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4105923327933812184,"visual_seed":4105923327933812184,"scene_id":"lab_003","finished_at":"2026-09-05T05:35:52"}
+{"episode_id":"ep_000045","started_at":"2026-09-05T05:47:10","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[0.4700345460645614,-1.7799054056173378,0.71338606911949],"aabb_xy":[[0.4598815305104119,-1.815974947190078],[0.4801875616187107,-1.7438358640445972]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_1","position":[0.24112890269829323,0.9392915536413233,0.71338606911949],"aabb_xy":[[0.2314972664778636,0.9296542408616144],[0.25076053891872285,0.9489288664210322]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_2","position":[-0.06766918217665951,1.014874276733448,0.71338606911949],"aabb_xy":[[-0.10266918352814125,0.9945145407766273],[-0.032669180825177786,1.0352340126902688]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.5088610302791579,0.548737314503398,0.71338606911949],"aabb_xy":[[0.4388610276425713,0.5286324495075323],[0.578861032915744,0.5688421794992633]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[0.4583847843490607,0.7396759646562434,0.71338606911949],"aabb_xy":[[0.4083847849088651,0.6897080401719271],[0.5083847837892563,0.7896438891405597]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[0.46338514409059517,-2.014977792717203,0.71338606911949],"aabb_xy":[[0.3733851475897234,-2.060889435135661],[0.5533851405914669,-1.9690661502987445]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[0.006219470235889091,-1.0217699454820546,0.71338606911949],"aabb_xy":[[-0.028096806938728847,-1.0717699454552323],[0.04053574741050703,-0.9717699455088769]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.5516906092560598,-2.5151426578452933,0.71338606911949],"aabb_xy":[[0.5291906092459115,-2.5292388774848966],[0.5741906092662081,-2.50104643820569]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[0.5469506677587812,-1.2829411195965068,0.71338606911949],"aabb_xy":[[0.5096193912335386,-1.317594174391359],[0.5842819442840238,-1.2482880648016546]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[0.2991997631366544,-0.6029650108317954,0.71338606911949],"aabb_xy":[[0.24419976351490857,-0.6579487036192682],[0.35419976275840026,-0.5479813180443227]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[0.20078270189006509,-1.1779370941836613,0.71338606911949],"aabb_xy":[[0.1927892120947831,-1.1859352261241372],[0.20877619168534717,-1.169938962243186]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[-0.30002301280811683,-1.4468875980389515,0.71338606911949],"aabb_xy":[[-0.36402300923543873,-1.4940572218610482],[-0.23602301638079493,-1.3997179742168553]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.6740197848994707,-0.6505869412211931,0.71338606911949],"aabb_xy":[[0.6365197864760703,-0.6637511551890236],[0.711519783322871,-0.6374227272533624]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[0.6253664234296559,-2.1703977945340593,0.71338606911949],"aabb_xy":[[0.6050821207062569,-2.190680419676768],[0.6456507261530544,-2.15011516939135]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[-0.10887594997657135,-1.4277012282791066,0.71338606911949],"aabb_xy":[[-0.13137594979047373,-1.4321758446495874],[-0.08637595016266897,-1.4232266119086259]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.18780420019848632,1.1824174765380762,0.71338606911949],"aabb_xy":[[0.13780419983792022,1.132437489328473],[0.23780420055905235,1.232397463747679]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[-0.3761428826773534,-1.8836500155101534,0.71338606911949],"aabb_xy":[[-0.4261428836278861,-1.9151991625136746],[-0.3261428817268205,-1.8521008685066318]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.49932449450629623,-0.2894057908234213,0.71338606911949],"aabb_xy":[[0.47682449498258883,-0.31190173827404205],[0.5218244940300036,-0.2669098433728005]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.12093414497573729,-2.5415049062357635,0.71338606911949],"aabb_xy":[[0.11117815546656337,-2.551267440294998],[0.13069013448491115,-2.531742372176529]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.48181795075301626,-0.9006153855045134,0.71338606911949],"aabb_xy":[[-0.5618179493403356,-0.9799309874426742],[-0.40181795216569677,-0.8212997835663524]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[-0.4110298977927019,-2.407485466160706,0.71338606911949],"aabb_xy":[[-0.4610249087521541,-2.4574854651962976],[-0.36103488683324997,-2.357485467125114]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[0.4344290746862727,0.4118340052900238,0.71338606911949],"aabb_xy":[[0.39692907350147977,0.4074157825939632],[0.47192907587106536,0.41625222798608424]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[-0.38729127053685286,0.23132899184912548,0.71338606911949],"aabb_xy":[[-0.4048695727257997,0.2137545022750206],[-0.369712968347906,0.2489034814232304]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[-0.6362385642069149,-1.3866498138011774,0.71338606911949],"aabb_xy":[[-0.6862116297394305,-1.4366498136137105],[-0.5862654986743996,-1.3366498139886447]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[-0.3784005412773365,0.9212349517405913,0.71338606911949],"aabb_xy":[[-0.38632382151608485,0.898734951502588],[-0.3704772610385882,0.9437349519785947]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[0.40925806121283914,-1.4059317305418109,0.71338606911949],"aabb_xy":[[0.3614518935990705,-1.4709317332488698],[0.45706422882660774,-1.340931727834752]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[-0.16099092784365676,-0.8520139977288472,0.71338606911949],"aabb_xy":[[-0.2459909265357314,-0.883999861123726],[-0.07599092915158212,-0.8200281343339683]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_27","position":[-0.6077727761725097,-0.3895618132542982,0.71338606911949],"aabb_xy":[[-0.6627727753490992,-0.44455148802925576],[-0.5527727769959202,-0.3345721384793405]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_28","position":[-0.16163046625422184,0.46098666109232633,0.71338606911949],"aabb_xy":[[-0.1669680419202264,0.4359866601631865],[-0.15629289058821727,0.48598666202146606]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7015706463670209,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1999.png","name":"1999"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1999.png","name":"1999"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6359.png","name":"6359"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2056.png","name":"2056"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/147.png","name":"147"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8130.png","name":"8130"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":690.0917605841394,"rotation_z_degrees":177.7933414466937,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007209459974321427,0.013763762377135568,0.0031063867217163837]},{"name":"camera_2","offset_m":[-0.009948091716262174,0.0021874376783601636,0.00664326396536449]},{"name":"camera_3","offset_m":[0.016272299387406906,0.007885977238128596,-0.014259802448544497]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006329470365575136,-0.0002927288356231973,-0.0018733308236488827],"end_effector_yaw_offset_degrees":0.7839255557358327},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003653446309795209,0.0019543367851473804,-0.0005622416509347263],"end_effector_yaw_offset_degrees":-0.25596489042102677},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019067345429635183,0.001486123499520427,0.00048692897883859197],"end_effector_yaw_offset_degrees":-0.05336556450795027},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009247004399936247,-0.0010869843487679894,-0.0009361544016483299],"end_effector_yaw_offset_degrees":-0.2297422462357075}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00010584017359442296,-0.0029619312212217455],"position_m":[0.32010584017359445,0.3501380687787783,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00341216271310578,0.0012106970138019814],"position_m":[0.2754121627131058,-0.366089302986198,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003957801571700497,-0.0022846049254755907],"position_m":[0.1839578015717005,-0.035884604925475586,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003946151616394746,0.0036826587300908603],"position_m":[0.3345538483836053,0.11218265873009085,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6f17fcefa59a69a42a02beb7b58658891dc530d9da911a4ebdf3ee229f483973","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0071.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1999/tex_ceiling_textures_8130/tex_floor_textures_147/tex_table_textures_6359/tex_wall_textures_2056","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7238308962489321947,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7238308962489321947,"visual_seed":7238308962489321947,"scene_id":"lab_003","finished_at":"2026-09-05T05:50:55"}
+{"episode_id":"ep_000046","started_at":"2026-09-05T05:50:59","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.36445298454670194,-2.339945963032526,0.71338606911949],"aabb_xy":[[0.3285394801217122,-2.37585947124928],[0.4003664889716916,-2.3040324548157707]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.07616872538542796,-1.82610773231971,0.71338606911949],"aabb_xy":[[0.02618991687511206,-1.8761077323254287],[0.12614753389574385,-1.776107732313991]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[-0.44628146272327296,-1.1544839971324117,0.71338606911949],"aabb_xy":[[-0.5062814625698397,-1.2113026193254501],[-0.38628146287670617,-1.0976653749393728]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.26210081605490465,-0.4690707454177421,0.71338606911949],"aabb_xy":[[-0.2866470316776554,-0.49931964196677914],[-0.23755460043215396,-0.438821848868705]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[0.6336840085060369,-0.017126481709132335,0.71338606911949],"aabb_xy":[[0.5992215304929491,-0.023790158892055154],[0.6681464865191247,-0.01046280452620951]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.24408743616151551,-2.4799274872284816,0.71338606911949],"aabb_xy":[[0.23767362251833057,-2.48633730747615],[0.25050124980470045,-2.473517666980813]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.18381880215864843,1.5986284692537196,0.71338606911949],"aabb_xy":[[-0.24881880315914895,1.5478421040990449],[-0.11881880115814791,1.6494148344083948]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[0.06738412053165421,-1.3189907182268046,0.71338606911949],"aabb_xy":[[0.04238412125969194,-1.335336081822967],[0.0923841198036165,-1.3026453546306422]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.1606838022578856,1.656416988088909,0.71338606911949],"aabb_xy":[[0.11080110538018939,1.6064169888426345],[0.2105664991355818,1.706416987335184]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[-0.4306469806871301,1.380479364516499,0.71338606911949],"aabb_xy":[[-0.5206469804103041,1.357406011981319],[-0.34064698096395585,1.4035527170516786]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.511274416142017,1.2029806791437356,0.71338606911949],"aabb_xy":[[-0.5612694271014691,1.1529806801081441],[-0.46127940518256505,1.2529806781793276]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[0.009169803824495504,-0.7370370252115239,0.71338606911949],"aabb_xy":[[-0.013330196419019889,-0.7492416598712959],[0.0316698040680109,-0.724832390551752]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.42607715995316675,-1.1909159104708997,0.71338606911949],"aabb_xy":[[0.3709519543235759,-1.2509159119121867],[0.4812023655827575,-1.1309159090296124]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[0.5307334652483731,-1.6172331670694937,0.71338606911949],"aabb_xy":[[0.49827176436644555,-1.647365999184396],[0.5631951661303004,-1.587100334954591]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.4280999545720814,-2.2312039102141163,0.71338606911949],"aabb_xy":[[-0.4920999567924884,-2.2755769943394046],[-0.36409995235167436,-2.186830826088828]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[-0.13331431180954334,0.7775175815676838,0.71338606911949],"aabb_xy":[[-0.19731431372188568,0.7216064323096735],[-0.069314309897201,0.8334287308256944]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.004687832011787907,1.2169771566007248,0.71338606911949],"aabb_xy":[[-0.08468783308490824,1.2071991102633404],[0.07531216906133242,1.2267552029381092]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_17","position":[-0.3508732022820815,-0.9395270306708201,0.71338606911949],"aabb_xy":[[-0.41087320392500337,-0.9915271799627644],[-0.29087320063915967,-0.887526881378876]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[-0.4711434641908687,-1.5179945638574381,0.71338606911949],"aabb_xy":[[-0.5015415752900122,-1.5484014658591074],[-0.4407453530917251,-1.4875876618557684]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.1784297198829483,-2.397695677322826,0.71338606911949],"aabb_xy":[[0.16326684690601123,-2.412861134617945],[0.19359259285988542,-2.3825302200277076]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.47430685462812927,0.9293174897383158,0.71338606911949],"aabb_xy":[[0.41030685435415104,0.8792513895410279],[0.5383068549021075,0.9793835899356038]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.6256172802192865,0.6596506676408578,0.71338606911949],"aabb_xy":[[-0.6872080394432795,0.5956506695318109],[-0.5640265209952938,0.7236506657499047]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.187746844262487,-1.3252352930439453,0.71338606911949],"aabb_xy":[[-0.232918162110656,-1.389235290188484],[-0.14257552641431803,-1.261235295899407]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_23","position":[-0.5877633202102475,0.4005594747088721,0.71338606911949],"aabb_xy":[[-0.6377462703977268,0.35055947506631163],[-0.5377803700227681,0.45055947435143245]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.4038692399216634,0.16973693581006977,0.71338606911949],"aabb_xy":[[-0.4158019742834915,0.1573547830022104],[-0.3919365055598354,0.18211908861792914]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[-0.5952041227238208,-2.460199600025364,0.71338606911949],"aabb_xy":[[-0.6177032584500478,-2.4826996008036266],[-0.5727049869975939,-2.437699599247101]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7021920950853457,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7383.png","name":"7383"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7383.png","name":"7383"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3196.png","name":"3196"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3687.png","name":"3687"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3366.png","name":"3366"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6839.png","name":"6839"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":716.8941688244882,"rotation_z_degrees":312.6149760476357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01745368049790725,0.0013092211374735319,0.014446055815873948]},{"name":"camera_2","offset_m":[0.016725263294577696,-0.006073842787550446,-0.016513606914061577]},{"name":"camera_3","offset_m":[0.01732679313598177,-0.00024253666026758172,0.0028172572541321737]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007921573946667148,0.0009324574271380921,-0.0005080688218557646],"end_effector_yaw_offset_degrees":0.36541389725194473},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010267033884159196,0.00035436143869805627,0.001622061335124345],"end_effector_yaw_offset_degrees":0.7124653233879339},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013692095454400951,-0.0006188639510568414,0.0017681975684331157],"end_effector_yaw_offset_degrees":-0.7383528833689452},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001177438043671741,-0.0011293979569546616,0.0008959251992685475],"end_effector_yaw_offset_degrees":0.09026789367445942}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001629216079157262,0.0006666221490610556],"position_m":[0.3183707839208427,0.35376662214906107,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003899247875229013,0.0008160539281634712],"position_m":[0.275899247875229,-0.36648394607183654,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004733437330098902,-0.0018438248988297923],"position_m":[0.1847334373300989,-0.03544382489882979,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004206811010930429,0.0035153871828657477],"position_m":[0.3427068110109305,0.11201538718286574,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4de21f7320cc104a441a6c1f808d4f3aacfaa5b39b23345cd34bf14ab71b197e","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7383/tex_ceiling_textures_6839/tex_floor_textures_3366/tex_table_textures_3196/tex_wall_textures_3687","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1555743478461938487,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1555743478461938487,"visual_seed":1555743478461938487,"scene_id":"lab_003","finished_at":"2026-09-05T05:55:31"}
+{"episode_id":"ep_000047","started_at":"2026-09-05T05:55:35","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[-0.16887475756772286,1.1443530287932515,0.71338606911949],"aabb_xy":[[-0.21885770775520214,1.0943530291506909],[-0.11889180738024348,1.1943530284358117]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[-0.0020062593713656707,-1.8899630582446352,0.71338606911949],"aabb_xy":[[-0.015157505342655034,-1.914963058001322],[0.011144986599923691,-1.8649630584879489]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.3580184725603392,-1.9501128696062517,0.71338606911949],"aabb_xy":[[-0.3805184720840465,-1.9726088170568723],[-0.3355184730366317,-1.9276169221556307]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[-0.3506077719022701,-0.8143341866933325,0.71338606911949],"aabb_xy":[[-0.414607768329592,-0.8615038105154291],[-0.2866077754749482,-0.7671645628712362]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[0.45216751859676263,-1.2555900682541654,0.71338606911949],"aabb_xy":[[0.39716751897501684,-1.3105737610416381],[0.5071675182185085,-1.2006063754666927]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_5","position":[-0.21366186919022745,1.4294338914688596,0.71338606911949],"aabb_xy":[[-0.23866186846218976,1.413088527872697],[-0.1886618699182652,1.4457792550650217]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[0.2317024379762277,1.3570489309435976,0.71338606911949],"aabb_xy":[[0.18670243650999885,1.3120490740821171],[0.27670243944245654,1.4020487878050785]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[0.021516260183150115,-2.155388503218065,0.71338606911949],"aabb_xy":[[0.01136324462900073,-2.1914580447908047],[0.03166927573729948,-2.119318961645324]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[-0.524604525944315,-1.0263875672647942,0.71338606911949],"aabb_xy":[[-0.5421828281332618,-1.043962056838899],[-0.5070262237553681,-1.0088130776906894]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[0.7037067436935982,-2.1562404440848564,0.71338606911949],"aabb_xy":[[0.6929337697722303,-2.1912404423038954],[0.7144797176149659,-2.1212404458658174]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_10","position":[-0.28350061839461305,1.6674263651614782,0.71338606911949],"aabb_xy":[[-0.33850061659635783,1.6269043985350404],[-0.22850062019286818,1.7079483317879156]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[0.5829387794779495,-1.459226993352421,0.71338606911949],"aabb_xy":[[0.5668768520194318,-1.5442269951650127],[0.5990007069364671,-1.374226991539829]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.6181916693926419,-1.8485866899870282,0.71338606911949],"aabb_xy":[[0.5581916687966259,-1.9033991625322517],[0.6781916699886582,-1.7937742174418048]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[0.48918794564186396,1.4060210155263997,0.71338606911949],"aabb_xy":[[0.4091941220633058,1.3260210129335581],[0.5691817692204222,1.4860210181192413]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[0.1412937718188848,-0.760748775034011,0.71338606911949],"aabb_xy":[[0.13583582618186474,-0.8407487783416701],[0.14675171745590487,-0.6807487717263518]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[-0.026877220298955118,0.9613935334548156,0.71338606911949],"aabb_xy":[[-0.04355435629205062,0.9446936094808853],[-0.010200084305859617,0.9780934574287459]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[0.47058114479556257,1.723086065886688,0.71338606911949],"aabb_xy":[[0.38058114246154345,1.6456037113015753],[0.5605811471295816,1.8005684204718007]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.34876339340897955,0.7125468442447267,0.71338606911949],"aabb_xy":[[0.2987683824495275,0.662546845209135],[0.39875840436843163,0.7625468432803185]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.3001505170180556,1.0101134644547423,0.71338606911949],"aabb_xy":[[0.2875237297308592,1.0005673907531691],[0.3127773043052519,1.019659538156315]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.4577557467306126,0.47678303418360235,0.71338606911949],"aabb_xy":[[0.41921005390541155,0.4382372631274137],[0.49630143955581363,0.515328805239791]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.2411278203982094,0.2608284953155673,0.71338606911949],"aabb_xy":[[-0.30512781898478186,0.21382153191605863],[-0.17712782181163694,0.30783545871507606]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[-0.0517105217064715,0.4412648132357946,0.71338606911949],"aabb_xy":[[-0.09389493586730224,0.3772648129585834],[-0.00952610754564076,0.5052648135130058]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[-0.3787946625528613,0.7434367496099115,0.71338606911949],"aabb_xy":[[-0.4437946607087803,0.7171405050599993],[-0.3137946643969422,0.7697329941598237]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_23","position":[0.2805179619359419,-1.115761148146824,0.71338606911949],"aabb_xy":[[0.27240430726256476,-1.1238669646008528],[0.28863161660931896,-1.1076553316927946]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972889690944192,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3981.png","name":"3981"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3981.png","name":"3981"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/885.png","name":"885"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1207.png","name":"1207"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4389.png","name":"4389"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1980.png","name":"1980"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":637.5640841729859,"rotation_z_degrees":229.22141379811245,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007042460231695479,-0.012185991411218199,-0.004818281445637286]},{"name":"camera_2","offset_m":[0.005975378492510418,-0.0006674874496410549,0.018201130406505044]},{"name":"camera_3","offset_m":[-0.01827404596424897,0.010099070781897656,0.0065976133957904096]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013620696650816257,-0.0012149286808684119,-0.0010351167630332538],"end_effector_yaw_offset_degrees":0.43037285070980014},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[6.178691981732895e-05,0.0006573857099778529,6.113352281791624e-05],"end_effector_yaw_offset_degrees":0.14327144831179184},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008563352677000658,-0.0011096900934917553,0.0018050207194011724],"end_effector_yaw_offset_degrees":0.6738401661914808},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005936624595563199,-0.000401457852126677,-0.0012077063474054967],"end_effector_yaw_offset_degrees":-0.4865680989655883}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004109427327429408,-0.00221427665245728],"position_m":[0.3158905726725706,0.35088572334754276,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017217601705330145,0.0010342247594642019],"position_m":[0.270278239829467,-0.36626577524053583,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004354735017226237,-0.0048432619570270485],"position_m":[0.17564526498277375,-0.03844326195702705,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00015936602602825267,0.0033577958731441813],"position_m":[0.33865936602602825,0.11185779587314418,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"08f3aba4197ccf29a4a48894ee08088d09d8dec7611dfaffe0b4712d8dbade20","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3981/tex_ceiling_textures_1980/tex_floor_textures_4389/tex_table_textures_885/tex_wall_textures_1207","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6966180573079080544,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6966180573079080544,"visual_seed":6966180573079080544,"scene_id":"lab_003","finished_at":"2026-09-05T05:59:32"}
+{"episode_id":"ep_000048","started_at":"2026-09-05T05:59:36","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[0.3609110256351127,1.5804933965727908,0.71338606911949],"aabb_xy":[[0.3109110252745466,1.5305134093631876],[0.41091102599567875,1.6304733837823935]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_1","position":[0.6453669768743471,-1.7382905619796438,0.71338606911949],"aabb_xy":[[0.6352852697957735,-1.8182905598717582],[0.6554486839529204,-1.658290564087529]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.2867824835969547,-1.5352806640909777,0.71338606911949],"aabb_xy":[[-0.35178248623474817,-1.5867602627904245],[-0.2217824809591612,-1.4838010653915306]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.6458312702526909,-2.5646170638503905,0.71338606911949],"aabb_xy":[[-0.6522450838958757,-2.571026884098058],[-0.6394174566095058,-2.558207243602722]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.26586681952993424,0.300369617801008,0.71338606911949],"aabb_xy":[[-0.28254395552302974,0.2836696938270777],[-0.24918968353683874,0.31706954177493823]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[0.4292148946811609,-1.2344043376777665,0.71338606911949],"aabb_xy":[[0.42271325817315636,-1.2441721597040762],[0.4357165311891656,-1.2246365156514567]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.08290465836998517,-0.27009039011420555,0.71338606911949],"aabb_xy":[[-0.08686514213971955,-0.27775825469972615],[-0.0789441746002508,-0.26242252552868495]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[-0.46836723405651004,0.9099662023148554,0.71338606911949],"aabb_xy":[[-0.5583672377334281,0.8485337957377508],[-0.3783672303795918,0.9713986088919595]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[0.4552766393470711,-0.601208060977185,0.71338606911949],"aabb_xy":[[0.4099980244659218,-0.6652080603253687],[0.5005552542282203,-0.5372080616290014]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.5994701732544845,1.2684911066904614,0.71338606911949],"aabb_xy":[[0.5444701740778949,1.2135014319155037],[0.6544701724310739,1.323480781465419]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.41556377293959257,-0.5790399181342303,0.71338606911949],"aabb_xy":[[-0.4228460893162561,-0.669039921743739],[-0.4082814565629288,-0.4890399145247211]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[0.0448164011521649,1.3540986969378892,0.71338606911949],"aabb_xy":[[-0.019183599108305912,1.3090898975849612],[0.1088164014126357,1.3991074962908172]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[0.29235443924452054,-0.7802646176041204,0.71338606911949],"aabb_xy":[[0.22235443711309094,-0.8030265832298158],[0.36235444137595,-0.7575026519784245]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[0.20726719506995572,-2.207861134480253,0.71338606911949],"aabb_xy":[[0.14326719864263385,-2.2550307583023494],[0.2712671914972776,-2.1606915106581566]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[-0.4667021159195843,-0.0517242550418433,0.71338606911949],"aabb_xy":[[-0.50170211504954,-0.05746947611750741],[-0.4317021167896286,-0.045979033966179195]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.6863693343767896,0.22538001065654267,0.71338606911949],"aabb_xy":[[0.6613693352111564,0.2184277649511861],[0.7113693335424226,0.23233225636189925]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[0.3288407484314666,-1.9447951928070752,0.71338606911949],"aabb_xy":[[0.2588407468291871,-1.958227986008733],[0.3988407500337461,-1.931362399605418]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[0.5009283093166492,1.523232489663458,0.71338606911949],"aabb_xy":[[0.45962376625291324,1.4592324900953404],[0.5422328523803852,1.5872324892315746]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.14169390736435028,-0.6432329840025217,0.71338606911949],"aabb_xy":[[-0.17669390563447016,-0.6503071116975099],[-0.10669390909423035,-0.6361588563075335]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_19","position":[0.6041432727927931,-1.5664571912992955,0.71338606911949],"aabb_xy":[[0.5862741650383376,-1.5802900992765063],[0.6220123805472486,-1.5526242833220847]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[-0.5762078893149918,1.1622198703254463,0.71338606911949],"aabb_xy":[[-0.6462078911237372,1.140866101561259],[-0.5062078875062463,1.1835736390896336]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[-0.13885586972165298,-0.09227264254073253,0.71338606911949],"aabb_xy":[[-0.1558659670117036,-0.10840713103900644],[-0.1218457724316023,-0.07613815404245859]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[-0.6000774211875027,-0.25094154234152244,0.71338606911949],"aabb_xy":[[-0.6082051093808161,-0.2598551507522301],[-0.5919497329941896,-0.2420279339308148]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[-0.11759330835236737,1.624814350920372,0.71338606911949],"aabb_xy":[[-0.18159331157100522,1.5780912390213637],[-0.05359330513372952,1.6715374628193804]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.5640292113858767,-0.1966247799327543,0.71338606911949],"aabb_xy":[[0.5265292110937019,-0.20066625533335786],[0.6015292116780515,-0.19258330453215067]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[0.26073091225494804,-1.1112919971420072,0.71338606911949],"aabb_xy":[[0.24484641898962295,-1.1256449374408313],[0.27661540552027325,-1.0969390568431832]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[-0.28543791059578827,0.143506339583773,0.71338606911949],"aabb_xy":[[-0.2926816766420336,0.06350634138017064],[-0.27819414454954294,0.2235063377873754]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_27","position":[-0.5980899225843234,0.1478887669618425,0.71338606911949],"aabb_xy":[[-0.6216750460482182,0.08288876471641071],[-0.5745047991204285,0.2128887692072743]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957981770992702,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9000.png","name":"9000"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9000.png","name":"9000"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1962.png","name":"1962"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/860.png","name":"860"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4301.png","name":"4301"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9584.png","name":"9584"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":527.1429181336836,"rotation_z_degrees":34.52352850340267,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011059220005524777,0.018256496343717548,-0.0170925638053445]},{"name":"camera_2","offset_m":[-0.01921677885774009,0.01182006905696038,-0.0063598783566748505]},{"name":"camera_3","offset_m":[-0.012211466462327104,0.007846402489610323,-0.004703682225225721]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012355111104527334,0.0014206109923994726,-0.0010132940142077783],"end_effector_yaw_offset_degrees":-0.1670287861306079},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-7.534105910910415e-05,-0.0010453021412977948,0.0017229418747653682],"end_effector_yaw_offset_degrees":0.30157043789712934},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017775529179131105,-0.0013176083402509616,0.0006509253722999805],"end_effector_yaw_offset_degrees":0.4930721271913239},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012590888436316973,-0.0015969321148990598,0.0007468690763699046],"end_effector_yaw_offset_degrees":0.6111164451398232}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021303899071355215,0.0023407153562970814],"position_m":[0.31786961009286446,0.3554407153562971,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035761286594571083,0.000870026166726318],"position_m":[0.2684238713405429,-0.3664299738332737,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001308856618201556,0.000560185467614039],"position_m":[0.17869114338179845,-0.033039814532385955,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003612706536338265,-0.0015942382242651165],"position_m":[0.3421127065363383,0.10690576177573488,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f1be6bd838636fc7b73aa4f5244ba4cd6ace6cd15b906b1153c049e88b746c56","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0074.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9000/tex_ceiling_textures_9584/tex_floor_textures_4301/tex_table_textures_1962/tex_wall_textures_860","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1171563024990172068,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1171563024990172068,"visual_seed":1171563024990172068,"scene_id":"lab_003","finished_at":"2026-09-05T06:03:29"}
+{"episode_id":"ep_000049","started_at":"2026-09-05T06:03:32","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_0","position":[-0.20301504382087204,-1.74507913642422,0.71338606911949],"aabb_xy":[[-0.2670150440813428,-1.790087935777148],[-0.1390150435604012,-1.700070337071292]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[-0.46854744806600934,-2.017260477025017,0.71338606911949],"aabb_xy":[[-0.5060474481716022,-2.024082638877998],[-0.43104744796041633,-2.0104383151720353]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_2","position":[-0.18795283143673625,1.661925319766961,0.71338606911949],"aabb_xy":[[-0.2378355283144325,1.611925320520687],[-0.13807013455904008,1.7119253190132364]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.05705256260402791,0.19981916749634232,0.71338606911949],"aabb_xy":[[-0.07455249603801127,0.18231916757610778],[-0.039552629170044526,0.21731916741657686]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[-0.20311287481135099,0.8772332372769176,0.71338606911949],"aabb_xy":[[-0.23960869543862973,0.84074929485016],[-0.16661705418407224,0.9137171797036752]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.12359652964137702,-2.3930517202384025,0.71338606911949],"aabb_xy":[[0.11633528207096959,-2.405838730501912],[0.13085777721178443,-2.380264709974893]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[-0.08752474049778647,1.1862967431803901,0.71338606911949],"aabb_xy":[[-0.14252021831844586,1.1312967417464828],[-0.032529262677127066,1.2412967446142966]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_7","position":[0.21407823285311034,-1.498809705697568,0.71338606911949],"aabb_xy":[[0.1862331960725032,-1.5295942044358797],[0.24192326963371744,-1.4680252069592563]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[0.45460499114544684,0.8791507096299109,0.71338606911949],"aabb_xy":[[0.37460499248856083,0.8646458507056481],[0.5346049898023328,0.8936555685541737]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.3949814293593741,-1.524478696366427,0.71338606911949],"aabb_xy":[[0.3309857319642775,-1.5884786946671352],[0.45897712675447067,-1.4604786980657178]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[-0.6761046959674042,-1.2294133054126306,0.71338606911949],"aabb_xy":[[-0.6887314832546004,-1.2389593791142035],[-0.6634779086802077,-1.2198672317110577]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[-0.3574584435203342,1.398533437324574,0.71338606911949],"aabb_xy":[[-0.4424584419377574,1.3136591418622887],[-0.27245844510291095,1.4834077327868587]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[0.6877490364736862,-0.8068280526961045,0.71338606911949],"aabb_xy":[[0.6702490371955993,-0.8241661527624503],[0.705249035751773,-0.7894899526297584]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.4158824930384928,-2.5536802366158344,0.71338606911949],"aabb_xy":[[-0.42834985114822843,-2.5661455612491584],[-0.40341513492875714,-2.5412149119825114]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[-0.3128166251694953,-2.2800088941149856,0.71338606911949],"aabb_xy":[[-0.33781662510201327,-2.286891562335909],[-0.2878166252369775,-2.273126225894062]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_15","position":[0.23487141627700459,-1.9586585045333487,0.71338606911949],"aabb_xy":[[0.15487141520388426,-1.9684365508707333],[0.3148714173501249,-1.9488804581959644]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[-0.188409822876905,1.3273112765132469,0.71338606911949],"aabb_xy":[[-0.20274424800306845,1.315251060958708],[-0.17407539775074155,1.3393714920677857]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.28714314728684004,0.12217784721076619,0.71338606911949],"aabb_xy":[[-0.3176273974138702,0.07217784742927023],[-0.2566588971598099,0.17217784699226213]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[0.23123978960127667,-1.0835487116927636,0.71338606911949],"aabb_xy":[[0.16623978956697394,-1.1302493883730909],[0.2962397896355794,-1.0368480350124363]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_19","position":[-0.6204234716116964,-0.29649363289482,0.71338606911949],"aabb_xy":[[-0.6284668315376516,-0.38149363399018643],[-0.6123801116857412,-0.21149363179945357]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[0.4869549946418634,-0.8766213748995502,0.71338606911949],"aabb_xy":[[0.4804533581338588,-0.88638919692586],[0.49345663114986804,-0.8668535528732405]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[0.2983176855177322,-2.188725202096365,0.71338606911949],"aabb_xy":[[0.26331768720703674,-2.19644021701991],[0.33331768382842764,-2.1810101871728187]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_22","position":[-0.06090390804839385,-0.9020626939716134,0.71338606911949],"aabb_xy":[[-0.0844890315122887,-0.9670626962170452],[-0.037318784584499,-0.8370626917261816]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[-0.1081821048642787,-0.4051957618845461,0.71338606911949],"aabb_xy":[[-0.13009078700362975,-0.42709642870463677],[-0.08627342272492766,-0.3832950950644553]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_24","position":[0.6109255774380802,1.60171498159464,0.71338606911949],"aabb_xy":[[0.5309255800344866,1.5217224103964573],[0.6909255748416735,1.681707552792823]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[-0.39111631982123224,1.0537484626181004,0.71338606911949],"aabb_xy":[[-0.40247805447451834,1.042379996211812],[-0.379754585167946,1.0651169290243883]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_26","position":[-0.36775450310624724,-2.0768105350263433,0.71338606911949],"aabb_xy":[[-0.37968723746807537,-2.0891926878342026],[-0.35582176874441923,-2.064428382218484]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_27","position":[-0.3499475677899105,-1.59193789472295,0.71338606911949],"aabb_xy":[[-0.3874475680820853,-1.5959793701235534],[-0.31244756749773567,-1.5878964193223464]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[-0.01294648518441166,-2.1528844878182714,0.71338606911949],"aabb_xy":[[-0.030048563142779816,-2.169991293349541],[0.004155592773956496,-2.1357776822870016]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[-0.26617895972063416,-1.0614339637622605,0.71338606911949],"aabb_xy":[[-0.30748350278437014,-1.1254339633303774],[-0.22487441665689817,-0.9974339641941432]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_30","position":[0.13476656039314294,0.6760688213737813,0.71338606911949],"aabb_xy":[[0.08476728522470678,0.6260688200978342],[0.1847658355615791,0.7260688226497285]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_31","position":[-0.4238272293963581,0.9528068615841407,0.71338606911949],"aabb_xy":[[-0.42846234454859133,0.948939526506992],[-0.4191921142441246,0.9566741966612893]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_32","position":[-0.5634841821003145,-2.5537580715805337,0.71338606911949],"aabb_xy":[[-0.5837684848237131,-2.5740406967232423],[-0.5431998793769156,-2.533475446437824]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_33","position":[-0.4197669253978759,-0.5519726749853797,0.71338606911949],"aabb_xy":[[-0.4847669265038192,-0.5769380480535081],[-0.35476692429193263,-0.5270073019172515]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956503131373226,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/826.png","name":"826"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/826.png","name":"826"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4567.png","name":"4567"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9603.png","name":"9603"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7809.png","name":"7809"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3946.png","name":"3946"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":508.1623020449716,"rotation_z_degrees":192.50446643030236,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0036880848371404137,0.013548205930135396,0.0177268422491058]},{"name":"camera_2","offset_m":[0.01206611394174215,0.00511209714423274,0.01263160062308168]},{"name":"camera_3","offset_m":[-0.004032136089958355,0.013622030456254496,0.0025552619921065736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002674406759126558,0.0005347127150825267,0.0009232812363723737],"end_effector_yaw_offset_degrees":-0.14683649426666223},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018582809576941114,0.000449458650810751,0.000553351508965412],"end_effector_yaw_offset_degrees":0.5395551842982507},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016869691961164156,-0.0014464583910919094,-0.0012784629230145695],"end_effector_yaw_offset_degrees":0.6393349297639852},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010476745207664653,-0.0016419942558518518,0.00038336894536258447],"end_effector_yaw_offset_degrees":-0.3746854486383011}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016813278078186568,0.002405914906983813],"position_m":[0.31831867219218135,0.35550591490698386,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00369603226329339,0.0009572495746864237],"position_m":[0.2683039677367066,-0.3663427504253136,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017812300605174526,-0.004928120213737389],"position_m":[0.17821876993948255,-0.03852812021373739,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004626850589350591,0.002334084394914231],"position_m":[0.33387314941064944,0.11083408439491423,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dff29c904f53675e9856d293f53e442e2a0c890f814e2804d8b14c0c4d7eb5fb","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_826/tex_ceiling_textures_3946/tex_floor_textures_7809/tex_table_textures_4567/tex_wall_textures_9603","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6260039477150538199,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6260039477150538199,"visual_seed":6260039477150538199,"scene_id":"lab_003","finished_at":"2026-09-05T06:07:25"}
+{"episode_id":"ep_000050","started_at":"2026-09-05T06:17:46","dimensions":{"distractor":{"count":30,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.18681603908316258,-0.24050685196592347,0.71338606911949],"aabb_xy":[[-0.2218160390596584,-0.2499714680135401],[-0.15181603910666674,-0.23104223591830686]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[0.31392998799925653,0.5267316830435544,0.71338606911949],"aabb_xy":[[0.3025682533459703,0.5153632166372664],[0.32529172265254264,0.5381001494498425]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[0.44175565607205525,1.4568770091273842,0.71338606911949],"aabb_xy":[[0.3922752348580965,1.3928770112145323],[0.4912360772860141,1.520877007040236]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_3","position":[-0.4925901117589049,-0.2879186533327416,0.71338606911949],"aabb_xy":[[-0.49670606187097743,-0.292034208365587],[-0.4884741616468321,-0.28380309829989603]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[-0.23031990108639616,1.5492053149913274,0.71338606911949],"aabb_xy":[[-0.24465432621255956,1.5371450994367886],[-0.21598547596023265,1.5612655305458663]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[0.005440514708889177,-2.174151376719053,0.71338606911949],"aabb_xy":[[-0.007710731262400187,-2.19915137647574],[0.018591760680178537,-2.149151376962367]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.04101834322310338,-2.261960376066283,0.71338606911949],"aabb_xy":[[-0.04497882699283775,-2.2696282406518042],[-0.037057859453369,-2.254292511480763]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.2624606254482648,-0.41029357802395117,0.71338606911949],"aabb_xy":[[-0.34246062403558425,-0.489609179962112],[-0.1824606268609454,-0.3309779760857902]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[-0.24318939199164025,1.765885902083261,0.71338606911949],"aabb_xy":[[-0.25199144730061285,1.7580745759283316],[-0.23438733668266748,1.7736972282381898]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.08639567093381872,-1.5584072327100482,0.71338606911949],"aabb_xy":[[-0.10340576822386936,-1.5745417212083221],[-0.06938557364376806,-1.5422727442117743]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.6114155760113054,1.3144363043082579,0.71338606911949],"aabb_xy":[[-0.6289155094452887,1.296936304388023],[-0.593915642577322,1.3319363042284922]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.6068767402042727,-2.020734804284361,0.71338606911949],"aabb_xy":[[0.5519030181679399,-2.075734803848594],[0.6618504622406056,-1.9657348047201277]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[0.12781816727645323,-1.3326356187415511,0.71338606911949],"aabb_xy":[[0.10259733041661352,-1.3578593695944376],[0.15303900413629284,-1.3074118678886641]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[-0.27180745993393457,-0.6985301164784448,0.71338606911949],"aabb_xy":[[-0.30612373710855245,-0.7485301164516225],[-0.23749118275931658,-0.648530116505267]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.6448544758009565,0.8702631988798788,0.71338606911949],"aabb_xy":[[0.6368111158750013,0.7852631977845124],[0.6528978357269116,0.9552631999752452]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.4057362675814231,0.8124481834437067,0.71338606911949],"aabb_xy":[[0.3757446048475528,0.7824481841069061],[0.43572793031529344,0.8424481827805071]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.4301661330119648,-0.7735062716548506,0.71338606911949],"aabb_xy":[[0.3916204401867638,-0.8120520427110393],[0.46871182583716586,-0.734960500598662]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[0.4785876743428401,1.6290388095378359,0.71338606911949],"aabb_xy":[[0.38858767492446916,1.5956633126936461],[0.568587673761211,1.6624143063820256]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[-0.5664046486638448,0.8897538757340757,0.71338606911949],"aabb_xy":[[-0.5889183404873019,0.8197538751330682],[-0.5438909568403875,0.9597538763350832]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[0.6199930157560452,-2.4751475770734133,0.71338606911949],"aabb_xy":[[0.5559930140780478,-2.5236649685527275],[0.6839930174340425,-2.426630185594099]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[0.4560853193963783,1.0937833486634672,0.71338606911949],"aabb_xy":[[0.44679170115922767,1.0562833501753333],[0.46537893763352883,1.131283347151601]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[-0.3953348687716895,-0.7893688473592224,0.71338606911949],"aabb_xy":[[-0.4128348690167389,-0.8068686351987893],[-0.3778348685266401,-0.7718690595196556]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[-0.5130774832040594,-2.224542540592033,0.71338606911949],"aabb_xy":[[-0.5680774823806488,-2.27953221536699],[-0.45807748402746984,-2.169552865817075]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_23","position":[0.22198526221958303,1.0282619463553466,0.71338606911949],"aabb_xy":[[0.21735014706734965,1.0243946112781976],[0.22662037737181642,1.0321292814324952]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_24","position":[-0.5652488996696605,1.08685789980989,0.71338606911949],"aabb_xy":[[-0.5712154386103963,1.0808967551505257],[-0.5592823607289248,1.092819044469254]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.3505559219798164,-2.353944843459248,0.71338606911949],"aabb_xy":[[-0.40055592364131104,-2.4039432857149508],[-0.3005559203183215,-2.3039464012035453]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_26","position":[0.39899732734119353,-2.1615491972446534,0.71338606911949],"aabb_xy":[[0.37445111171844286,-2.19179809379369],[0.4235435429639443,-2.131300300695616]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[0.605771543820999,-0.1506542466203471,0.71338606911949],"aabb_xy":[[0.571309196422857,-0.18514812901816974],[0.6402338912191406,-0.11616036422252436]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[-0.3800070302558528,0.45067660022843326,0.71338606911949],"aabb_xy":[[-0.45000703206459824,0.4293228314642459],[-0.31000702844710737,0.47203036899262063]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_29","position":[-0.4900601275611338,-1.4110811970475163,0.71338606911949],"aabb_xy":[[-0.5250601258312537,-1.4181553247425045],[-0.4550601292910139,-1.4040070693525282]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7031755584075273,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5900.png","name":"5900"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5900.png","name":"5900"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4275.png","name":"4275"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8055.png","name":"8055"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8436.png","name":"8436"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1537.png","name":"1537"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":594.7677545166654,"rotation_z_degrees":254.65628657668057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014725833842524069,0.01870472701657318,-0.012897678139441617]},{"name":"camera_2","offset_m":[-0.0008734755233362305,-0.011008152043338852,0.015014922010767724]},{"name":"camera_3","offset_m":[-0.013337365101035576,-0.0042083842563417385,0.01322177947613758]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005649049039019301,5.967674547688925e-06,-0.0007414728909508534],"end_effector_yaw_offset_degrees":0.7731029676676944},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008292874558991554,-0.0018995953561068678,-0.00019479130481836774],"end_effector_yaw_offset_degrees":-0.16604707041187505},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007819700923494936,-0.0008398235939813001,-0.0002071453173293318],"end_effector_yaw_offset_degrees":0.7117650404617506},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017214756797566198,0.0018635511815864232,0.0006062717253361703],"end_effector_yaw_offset_degrees":0.9326803703823991}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005830578936614197,-0.0003491485838571749],"position_m":[0.3194169421063386,0.3527508514161429,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004310987747871684,-0.0003944211396370509],"position_m":[0.2763109877478717,-0.3676944211396371,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014270792671573678,-0.0017817760408550066],"position_m":[0.18142707926715737,-0.035381776040855004,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000592323134439559,0.002348683612317253],"position_m":[0.3390923231344396,0.11084868361231726,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d1d928e38a2c70cfc925da9cf8fb284126a3043a636739174eb6719798fd7ea0","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0079.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5900/tex_ceiling_textures_1537/tex_floor_textures_8436/tex_table_textures_4275/tex_wall_textures_8055","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7599962420396444070,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7599962420396444070,"visual_seed":7599962420396444070,"scene_id":"lab_003","finished_at":"2026-09-05T06:21:08"}
+{"episode_id":"ep_000051","started_at":"2026-09-05T06:25:31","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[-0.5866953898392916,-1.8796326602388906,0.71338606911949],"aabb_xy":[[-0.5975469960881672,-1.8904919509665419],[-0.575843783590416,-1.8687733695112398]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[0.45366565883862586,1.220847700293779,0.71338606911949],"aabb_xy":[[0.43038381664049447,1.135847698996551],[0.47694750103675715,1.305847701591007]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[-0.5639475054410598,0.9451642496657495,0.71338606911949],"aabb_xy":[[-0.6279475077838613,0.900223398421617],[-0.49994750309825825,0.990105100909882]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[0.2952150719901442,-0.8099761418396467,0.71338606911949],"aabb_xy":[[0.2702150727181819,-0.8263215054358091],[0.32021507126210647,-0.7936307782434844]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[-0.5325475559219004,-1.2976553464684508,0.71338606911949],"aabb_xy":[[-0.544315742716558,-1.3826553463736726],[-0.520779369127243,-1.2126553465632295]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.15102669254599455,-0.7097245406348722,0.71338606911949],"aabb_xy":[[0.12318165576538742,-0.7405090393731838],[0.17887172932660167,-0.6789400418965604]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[0.1119354684368219,1.2560478630562222,0.71338606911949],"aabb_xy":[[0.047935469850249435,1.2090408996567135],[0.17593546702339435,1.303054826455731]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[-0.33770292995866535,-1.9347332444248226,0.71338606911949],"aabb_xy":[[-0.37520293013053724,-1.9674339798077294],[-0.30020292978679336,-1.902032509041915]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.31534278668962146,1.0910386202361089,0.71338606911949],"aabb_xy":[[0.29978701727935625,1.0754881869917017],[0.3308985560998868,1.106589053480516]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.611290786435253,-2.2584435836663466,0.71338606911949],"aabb_xy":[[-0.6304030937932319,-2.277578362543588],[-0.5921784790772742,-2.239308804789104]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[0.5160208277033302,0.3586123439911515,0.71338606911949],"aabb_xy":[[0.4520208244846924,0.31188923209214314],[0.5800208309219681,0.40533545589015985]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[-0.5773623157540133,-1.9894894488737422,0.71338606911949],"aabb_xy":[[-0.6273465514621905,-2.039489447687238],[-0.5273780800458361,-1.9394894500602464]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[0.6288800811088158,-2.242442436244105,0.71338606911949],"aabb_xy":[[0.6215977647321519,-2.332442439853613],[0.6361623974854792,-2.152442432634595]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.35092019408635805,0.8383474110870814,0.71338606911949],"aabb_xy":[[-0.3624891748332946,0.8133474109701497],[-0.3393512133394215,0.8633474112040131]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.23851760675040506,-2.509346365471797,0.71338606911949],"aabb_xy":[[-0.24501924325840968,-2.519114187498107],[-0.23201597024240045,-2.4995785434454874]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.4574702218522724,0.5737951083351764,0.71338606911949],"aabb_xy":[[-0.5411924473523548,0.4837951048004804],[-0.37374799635218997,0.6637951118698723]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.40541543713814837,-0.7797039526392429,0.71338606911949],"aabb_xy":[[-0.4704154371724511,-0.8264046293195703],[-0.34041543710384564,-0.7330032759589157]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[-0.195934264068367,-0.37836971497964855,0.71338606911949],"aabb_xy":[[-0.28562134037648246,-0.46836971523409904],[-0.10624718776025155,-0.28836971472519796]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[0.45824863966359963,-1.163143690006598,0.71338606911949],"aabb_xy":[[0.4357486391515589,-1.185635548371996],[0.4807486401756401,-1.1406518316411993]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[-0.3273114268462492,-1.4000132562616026,0.71338606911949],"aabb_xy":[[-0.35779567697327935,-1.4500132560430985],[-0.29682717671921904,-1.3500132564801066]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[0.5888736447744467,-1.5327984359567708,0.71338606911949],"aabb_xy":[[0.5840300500132168,-1.537650088435755],[0.5937172395356768,-1.5279467834777867]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_21","position":[-0.02117328250442474,-2.343965891882037,0.71338606911949],"aabb_xy":[[-0.1011732804852098,-2.3515674328438885],[0.0588267154763603,-2.3363643509201846]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[0.6644587295159143,1.3731718522460037,0.71338606911949],"aabb_xy":[[0.6419595937896873,1.3506718514677407],[0.6869578652421412,1.3956718530242667]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.27465116925747085,-0.5945511759239699,0.71338606911949],"aabb_xy":[[-0.34465117138890033,-0.6173131415496654],[-0.20465116712604126,-0.5717892102982741]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_24","position":[-0.033204480909883816,1.5953920416700664,0.71338606911949],"aabb_xy":[[-0.043977454831251594,1.5603920434510274],[-0.022431506988516037,1.6303920398891054]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_25","position":[0.6847328745343157,0.379641858835575,0.71338606911949],"aabb_xy":[[0.6478823265973281,0.3421418580125413],[0.7215834224713034,0.4171418596586088]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[0.02343337907773313,-1.6476295193866282,0.71338606911949],"aabb_xy":[[-0.011566620052222535,-1.6533747404622925],[0.05843337820768879,-1.6418842983109643]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[0.6795654129858959,-2.4717582891303764,0.71338606911949],"aabb_xy":[[0.6628882769928003,-2.488458213104307],[0.6962425489789913,-2.4550583651564466]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[-0.20608744217986535,-2.1882676320088135,0.71338606911949],"aabb_xy":[[-0.27008744422959735,-2.228362115098121],[-0.14208744013013336,-2.148173148919505]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_29","position":[-0.17583786645154897,-0.06307662690278892,0.71338606911949],"aabb_xy":[[-0.1870829220221668,-0.07431842462688419],[-0.16459281088093114,-0.05183482917869363]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[-0.5192126260489769,-0.1256200021586391,0.71338606911949],"aabb_xy":[[-0.5808033852729697,-0.18962000026768597],[-0.45762186682498407,-0.0616200040495922]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_31","position":[-0.29368693491548653,0.08977446881105955,0.71338606911949],"aabb_xy":[[-0.31059766735182825,0.07630226321844501],[-0.2767762024791447,0.10324667440367406]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951361625280914,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3962.png","name":"3962"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3962.png","name":"3962"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/214.png","name":"214"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8497.png","name":"8497"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2272.png","name":"2272"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1318.png","name":"1318"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":549.8702434836242,"rotation_z_degrees":284.58968036038493,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008499876654516205,-0.0038523952777252055,0.00032374121137260237]},{"name":"camera_2","offset_m":[-0.0011856586539815868,-0.010490144680465581,-0.018298053299282368]},{"name":"camera_3","offset_m":[-0.006447921139682809,-0.01007935015903528,-0.008077771152588502]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013094585311865833,-0.0007421087798077583,-0.0007617377812093333],"end_effector_yaw_offset_degrees":0.9670667354176588},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019106212119913103,-0.0015923225012945213,-0.0014539478873142246],"end_effector_yaw_offset_degrees":-0.3637560093282435},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003088101755539085,-0.00028783161974571536,0.000582153762930106],"end_effector_yaw_offset_degrees":-0.9553162751154638},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012825308503908257,-0.0009317470200675081,0.0011432519009812129],"end_effector_yaw_offset_degrees":0.653570767578666}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012670779912799376,-0.004370612244673332],"position_m":[0.32126707799127996,0.3487293877553267,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026028216731552,0.0037098399006616134],"position_m":[0.26939717832684484,-0.3635901600993384,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023612201472859064,0.0021475123589990023],"position_m":[0.1776387798527141,-0.031452487641001,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004756041742162023,-0.004343086813795111],"position_m":[0.34325604174216207,0.10415691318620489,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9bef9b4b1f2b2a0685cbb0a4299fabab17bf20d6c534c4ac5d273dacf94f5702","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3962/tex_ceiling_textures_1318/tex_floor_textures_2272/tex_table_textures_214/tex_wall_textures_8497","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3692331849520463803,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3692331849520463803,"visual_seed":3692331849520463803,"scene_id":"lab_003","finished_at":"2026-09-05T06:29:12"}
+{"episode_id":"ep_000052","started_at":"2026-09-05T06:29:17","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[0.5981866750073339,0.6739492417310715,0.71338606911949],"aabb_xy":[[0.5483698955424992,0.623949243246768],[0.6480034544721687,0.7239492402153748]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.5871559583028275,-0.7864360859151354,0.71338606911949],"aabb_xy":[[-0.5953705034185113,-0.7951126762127765],[-0.5789414131871433,-0.7777594956174938]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.48364948411020103,-1.5945740688387495,0.71338606911949],"aabb_xy":[[0.47356777703162745,-1.674574066730864],[0.4937311911887744,-1.5145740709466347]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.37709387576730335,-1.3411623310035374,0.71338606911949],"aabb_xy":[[-0.40209387531904184,-1.3513048148686722],[-0.35209387621556487,-1.3310198471384027]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.554641632896647,-1.9245373934628764,0.71338606911949],"aabb_xy":[[0.5371416994626635,-1.9420373933831108],[0.5721415663306303,-1.9070373935426417]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.18369198650759955,-1.7103586583249837,0.71338606911949],"aabb_xy":[[0.12869198733101003,-1.7653483330999409],[0.238691985684189,-1.6553689835500256]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.5757775476517629,-0.8672697604749473,0.71338606911949],"aabb_xy":[[-0.6132775462273836,-0.8800060561385052],[-0.538277549076142,-0.8545334648113894]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.37196248505738705,1.780665116402933,0.71338606911949],"aabb_xy":[[0.33696248586456873,1.76969807040527],[0.40696248425020526,1.791632162400595]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[0.2002290922295742,1.0093496262838215,0.71338606911949],"aabb_xy":[[0.16522909309961853,1.0036044052081574],[0.23522909135952985,1.0150948473594856]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[-0.3942941901785723,-0.8526612430817924,0.71338606911949],"aabb_xy":[[-0.41880781427557817,-0.8769258363838289],[-0.36978056608156645,-0.828396649779756]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.15093299393838178,-2.2481844843720893,0.71338606911949],"aabb_xy":[[0.10093299449818613,-2.298152408856405],[0.20093299337857737,-2.1982165598877725]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.205463736344345,-2.458109364312487,0.71338606911949],"aabb_xy":[[-0.2206266093212821,-2.4732748216076064],[-0.19030086336740795,-2.442943907017369]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.18826314373415487,1.588538587869604,0.71338606911949],"aabb_xy":[[-0.21866125483329843,1.5581316858679344],[-0.15786503263501125,1.6189454898712734]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.5665934211041385,-2.126410798896419,0.71338606911949],"aabb_xy":[[-0.6165722296144543,-2.176410798902138],[-0.5166146125938226,-2.0764107988907003]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.07472616183558445,0.9008206836476811,0.71338606911949],"aabb_xy":[[0.06702297116150739,0.8931113129489431],[0.08242935250966148,0.9085300543464191]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.03256603593944374,1.5867281881200461,0.71338606911949],"aabb_xy":[[-0.037465328246007235,1.5590512688174771],[-0.027666743632880242,1.6144051074226147]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_16","position":[-0.5471060472650449,0.15329133941363615,0.71338606911949],"aabb_xy":[[-0.5709422649056499,0.06329133860514967],[-0.5232698296244398,0.24329134022212265]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.23097065753844248,1.3858218736934225,0.71338606911949],"aabb_xy":[[-0.28594437957477536,1.3308218741291893],[-0.17599693550210957,1.4408218732576556]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.59726420292905,-0.537370784654875,0.71338606911949],"aabb_xy":[[0.5672966460192244,-0.5673707849527607],[0.6272317598388757,-0.5073707843569892]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.02230912960495124,1.285500107080371,0.71338606911949],"aabb_xy":[[0.014195474931574133,1.2773942906263422],[0.030422784278328337,1.2936059235344004]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.2474785655583474,-1.529508164333487,0.71338606911949],"aabb_xy":[[-0.281775476576088,-1.5638050505434282],[-0.21318165454060672,-1.4952112781235456]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[-0.42500212252360625,0.025683767012385506,0.71338606911949],"aabb_xy":[[-0.4536514548840225,-0.002961792264690292],[-0.39635279016319,0.0543293262894613]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_22","position":[-0.19116751941607757,-2.2759671242539223,0.71338606911949],"aabb_xy":[[-0.24116235234401917,-2.325967123149166],[-0.14117268648813597,-2.225967125358679]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[-0.4211732323425343,1.0663393823956824,0.71338606911949],"aabb_xy":[[-0.43723515980105193,0.9813393805830904],[-0.40511130488401664,1.151339384208274]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.660133225930463,-1.7754819302449547,0.71338606911949],"aabb_xy":[[-0.6713782815010808,-1.78672372796905],[-0.6488881703598451,-1.7642401325208594]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_25","position":[-0.2955920308144274,-1.8565273755091312,0.71338606911949],"aabb_xy":[[-0.3655920342059894,-1.891843149212562],[-0.22559202742286547,-1.8212116018057003]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_26","position":[0.1746269550498858,-0.8723638831158307,0.71338606911949],"aabb_xy":[[0.16659062034860092,-0.8804020024202475],[0.1826632897511706,-0.8643257638114139]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_27","position":[0.5385601759283059,-2.0324570183357142,0.71338606911949],"aabb_xy":[[0.5160637544944418,-2.0549570181424617],[0.56105659736217,-2.009957018528967]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[0.594766108425594,0.15407565563981995,0.71338606911949],"aabb_xy":[[0.514766109768708,0.13957079671555717],[0.67476610708248,0.16858051456408274]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[-0.5023099556198629,-1.5775830607457062,0.71338606911949],"aabb_xy":[[-0.5444943697806938,-1.6415830610229176],[-0.4601255414590323,-1.5135830604684952]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7042021930264536,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3956.png","name":"3956"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3956.png","name":"3956"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5582.png","name":"5582"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8037.png","name":"8037"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3353.png","name":"3353"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6167.png","name":"6167"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":527.6470850271628,"rotation_z_degrees":160.49363776108274,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005643932732362354,0.006432369168172431,-0.009107226148352363]},{"name":"camera_2","offset_m":[0.0065972126557208854,-0.01963164653757519,-0.005641855766461656]},{"name":"camera_3","offset_m":[-0.001870272076536228,0.015590751065234328,0.019339771730247996]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00019761096644738,-0.0019438047329816289,-0.0015823320289364774],"end_effector_yaw_offset_degrees":-0.0031636562011616576},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005441076509278397,-0.0015984937542036556,0.0012205795323675223],"end_effector_yaw_offset_degrees":0.44158858817350444},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005741486541565532,5.1914089138598105e-05,0.00043118737683528604],"end_effector_yaw_offset_degrees":-0.5293306724761999},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00034071871504751496,-5.9295931871289126e-05,0.0017206151346308616],"end_effector_yaw_offset_degrees":0.36062262213876894}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035436146335167474,0.0004497837233049598],"position_m":[0.3235436146335168,0.353549783723305,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004247038432109018,-0.00245758683872538],"position_m":[0.276247038432109,-0.3697575868387254,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002768807157957267,0.003227809290520003],"position_m":[0.18027688071579573,-0.030372190709479996,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028281944397140404,-0.0026636695350156347],"position_m":[0.335671805560286,0.10583633046498436,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f03bd926ab4915fb63ae37a651783a06f5e6be824b7c6954233d5510ea0a678d","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0082.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3956/tex_ceiling_textures_6167/tex_floor_textures_3353/tex_table_textures_5582/tex_wall_textures_8037","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8378738622628016834,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8378738622628016834,"visual_seed":8378738622628016834,"scene_id":"lab_003","finished_at":"2026-09-05T06:33:10"}
+{"episode_id":"ep_000053","started_at":"2026-09-05T06:33:14","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.15345765918654053,0.3460254940952421,0.71338606911949],"aabb_xy":[[-0.21845766182433404,0.29454589539579507],[-0.08845765654874707,0.397505092794689]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_1","position":[0.19977454341408307,1.4153367801786625,0.71338606911949],"aabb_xy":[[0.11977454639983509,1.3952022285052512],[0.27977454042833105,1.4354713318520738]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[0.24533542456297086,-1.4561737319173234,0.71338606911949],"aabb_xy":[[0.22283542405093026,-1.4786655902827215],[0.26783542507501146,-1.4336818735519248]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.1916729570111182,1.213378720576359,0.71338606911949],"aabb_xy":[[-0.19770997001178298,1.2073520195074112],[-0.1856359440104535,1.2194054216453074]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_4","position":[-0.018704540149438342,-1.04894466053393,0.71338606911949],"aabb_xy":[[-0.03859558002977859,-1.0616004718186272],[0.0011864997309019058,-1.0362888492492335]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[0.36552206494191175,-2.002033088428549,0.71338606911949],"aabb_xy":[[0.2755220682063015,-2.055216551745843],[0.4555220616775219,-1.948849625111254]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_6","position":[-0.6174600291732831,0.40848791909572757,0.71338606911949],"aabb_xy":[[-0.6724600273750279,0.3679659524692899],[-0.5624600309715382,0.4490098857221651]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.45972089414418016,1.1663876523989396,0.71338606911949],"aabb_xy":[[-0.5397208911072193,1.0893120107551661],[-0.37972089718114094,1.243463294042713]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[-0.05517750261639731,0.7652762901668106,0.71338606911949],"aabb_xy":[[-0.08865666987743825,0.7317971767957038],[-0.021698335355356375,0.7987554035379177]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[0.27512796621232616,-1.7257518194747157,0.71338606911949],"aabb_xy":[[0.19512796593871914,-1.7987013673004324],[0.3551279664859331,-1.652802271648999]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.42659569949032106,-0.5979010719360731,0.71338606911949],"aabb_xy":[[0.4226352157205867,-0.6055689365215937],[0.4305561832600554,-0.5902332073505525]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.05709583493444992,-0.8953611796647245,0.71338606911949],"aabb_xy":[[-0.002904164912116869,-0.9521798018577631],[0.1170958347810167,-0.8385425574716857]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.2349473240319674,-2.3369521387098713,0.71338606911949],"aabb_xy":[[0.1921806171525472,-2.4009521421316733],[0.2777140309113876,-2.2729521352880684]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_13","position":[0.3253792645849498,-1.313758275329814,0.71338606911949],"aabb_xy":[[0.300865640487944,-1.3380228686318507],[0.3498928886819557,-1.2894936820277778]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_14","position":[0.5541512763582808,0.39710616645957764,0.71338606911949],"aabb_xy":[[0.5041512753391455,0.3606399507217497],[0.604151277377416,0.4335723821974056]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[-0.08603973001055687,1.2740759185208805,0.71338606911949],"aabb_xy":[[-0.11232855433099752,1.2478044848662289],[-0.0597509056901162,1.3003473521755313]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[0.10736475562306891,1.50838665627561,0.71338606911949],"aabb_xy":[[0.0884803718545587,1.489500731495257],[0.1262491393915791,1.5272725810559626]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[0.3800661662433098,0.6102441295948804,0.71338606911949],"aabb_xy":[[0.3625194713271908,0.572744128030629],[0.3976128611594287,0.6477441311591315]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[0.5679348754994347,-1.3152634829658454,0.71338606911949],"aabb_xy":[[0.5039348752389637,-1.3602722823187734],[0.6319348757599054,-1.2702546836129174]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[0.28954833648586453,-0.9892474822940354,0.71338606911949],"aabb_xy":[[0.22554833480786712,-1.0377648737733494],[0.35354833816386183,-0.940730090814721]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.2351178850732411,0.5384602996783316,0.71338606911949],"aabb_xy":[[-0.258033597958291,0.5155560025419083],[-0.2122021721881912,0.5613645968147553]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[0.025361742798196363,-2.0927166123880414,0.71338606911949],"aabb_xy":[[-0.012138255625203986,-2.1058808263558717],[0.06286174122159671,-2.0795523984202102]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[0.06025133786852965,1.0647193171733464,0.71338606911949],"aabb_xy":[[0.02170564504332862,1.0261735461171577],[0.09879703069373069,1.1032650882295352]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[-0.02781520140223015,0.05623806253992747,0.71338606911949],"aabb_xy":[[-0.045608708337146586,0.0384383169441298],[-0.010021694467313713,0.07403780813572514]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[0.5399898010451503,1.2119807071338151,0.71338606911949],"aabb_xy":[[0.4849943232244909,1.156980705699908],[0.5949852788658097,1.2669807085677218]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[-0.5993840868543407,-0.774855776354052,0.71338606911949],"aabb_xy":[[-0.61688408709939,-0.7923555641936187],[-0.5818840866092913,-0.757355988514485]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[-0.16413377654849814,-0.6110676556396388,0.71338606911949],"aabb_xy":[[-0.20004728097348787,-0.6469811638563935],[-0.12822027212350848,-0.5751541474228842]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_27","position":[0.5382321020454239,-1.5278899413969218,0.71338606911949],"aabb_xy":[[0.4881346380643503,-1.5918899419067336],[0.5883295660264976,-1.46388994088711]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[0.23990342740997028,1.3320424331462881,0.71338606911949],"aabb_xy":[[0.2232262914168748,1.3153425091723578],[0.2565805634030658,1.3487423571202184]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961959760163179,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8710.png","name":"8710"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8710.png","name":"8710"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5100.png","name":"5100"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5398.png","name":"5398"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/572.png","name":"572"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8207.png","name":"8207"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":587.477481060714,"rotation_z_degrees":117.22156720583341,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0024288076539101394,0.010641456432091134,0.01700366977817137]},{"name":"camera_2","offset_m":[-0.0008251992339304744,-0.011508832900481561,0.01202048786113669]},{"name":"camera_3","offset_m":[0.002272791631059236,0.015580015526334322,-0.019498380543201025]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016510081135025572,-0.0010156365268589687,-0.0018692291807707205],"end_effector_yaw_offset_degrees":0.2887641881435725},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000918249435369002,0.0004518474244136132,-0.0019303265326668165],"end_effector_yaw_offset_degrees":0.2924117813977911},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001006907149542132,-0.0016042834964694387,0.0016025441170916437],"end_effector_yaw_offset_degrees":-0.42820892206642625},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006111507790285394,-0.001705145541264896,-0.000668199392403626],"end_effector_yaw_offset_degrees":-0.7635082401453155}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021001807704337607,0.0027645279457656716],"position_m":[0.3178998192295662,0.3558645279457657,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003340066800583503,0.0004957712294066004],"position_m":[0.2686599331994165,-0.36680422877059343,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012120541704236142,-0.001531793051515511],"position_m":[0.1812120541704236,-0.03513179305151551,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006140497396683355,0.002471062291795444],"position_m":[0.33911404973966836,0.11097106229179544,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d4b004374ed473eeb2b0e6b906a51748fc17d4b7c730f956a9e76367fe9fce8c","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8710/tex_ceiling_textures_8207/tex_floor_textures_572/tex_table_textures_5100/tex_wall_textures_5398","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3699557710139306982,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3699557710139306982,"visual_seed":3699557710139306982,"scene_id":"lab_003","finished_at":"2026-09-05T06:37:05"}
+{"episode_id":"ep_000054","started_at":"2026-09-05T06:37:11","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_0","position":[-0.024100601474555616,-2.262879632255965,0.71338606911949],"aabb_xy":[[-0.04298498524306582,-2.281765557036317],[-0.005216217706045415,-2.2439937074756116]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.47391122394601515,-2.285625487337788,0.71338606911949],"aabb_xy":[[-0.4964112241895305,-2.29783012199756],[-0.4514112237024997,-2.273420852678016]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[-0.09165869476968647,-0.9978832202176882,0.71338606911949],"aabb_xy":[[-0.15565869798832432,-1.0446063321166963],[-0.02765869155104861,-0.9511601083186797]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.6965543520132764,1.667007496782246,0.71338606911949],"aabb_xy":[[0.6853092964426586,1.6557656990581504],[0.7077994075838943,1.678249294506341]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.5370888528874335,0.832143911521062,0.71338606911949],"aabb_xy":[[-0.6170888561452764,0.7521474037290778],[-0.4570888496295905,0.9121404193130458]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[0.4865981038233982,-1.843087558993036,0.71338606911949],"aabb_xy":[[0.43659810438320246,-1.8930554834773523],[0.5365981032635937,-1.7931196345087197]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[0.4014404720810145,1.5281527692275803,0.71338606911949],"aabb_xy":[[0.32144046991825204,1.4481975856014364],[0.481440474243777,1.6081079528537237]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.04635145494016202,1.4222894353087123,0.71338606911949],"aabb_xy":[[0.009855634312883277,1.3858054928819548],[0.08284727556744076,1.45877337773547]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.6739615063639719,0.6221627209630274,0.71338606911949],"aabb_xy":[[-0.6914615066090213,0.6046629331234605],[-0.6564615061189225,0.6396625088025942]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.3331870768554243,-0.7221725849977119,0.71338606911949],"aabb_xy":[[-0.40318707845770385,-0.7356053781993694],[-0.2631870752531449,-0.7087397917960543]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[-0.09353942129084458,0.8349149520444286,0.71338606911949],"aabb_xy":[[-0.12402367141787472,0.7849149522629325],[-0.06305517116381441,0.8849149518259244]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[0.5423968258584264,0.9113096766589126,0.71338606911949],"aabb_xy":[[0.4523968293575547,0.8653980342404541],[0.6323968223592982,0.9572213190773706]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[-0.4646974073080846,-0.5139866870637579,0.71338606911949],"aabb_xy":[[-0.47934081286211755,-0.528645406720542],[-0.4500540017540516,-0.49932796740697355]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.17950661065791162,-0.08299622549636476,0.71338606911949],"aabb_xy":[[-0.22950661167704692,-0.11946244123419272],[-0.12950660963877636,-0.046530009758536835]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[0.04779544879545594,1.268616559125288,0.71338606911949],"aabb_xy":[[0.041381635152270994,1.2622067388776197],[0.054209262438640875,1.2750263793729564]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.38025363768558196,0.3406809464796181,0.71338606911949],"aabb_xy":[[-0.38515292999214534,0.31300402717704934],[-0.37535434537901835,0.3683578657821869]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[0.5765446935438256,-0.9576846240506931,0.71338606911949],"aabb_xy":[[0.49654469211369845,-1.0372017790633026],[0.6565446949739528,-0.8781674690380836]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[0.1379074999184049,1.7546054418512802,0.71338606911949],"aabb_xy":[[0.1075093888192613,1.7241985398496105],[0.16830561101754846,1.7850123438529495]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_18","position":[0.017170374414182343,-1.6033842559763016,0.71338606911949],"aabb_xy":[[0.002068072953164242,-1.6184857776073631],[0.03227267587520043,-1.5882827343452393]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.11384594565278161,-2.522481176241024,0.71338606911949],"aabb_xy":[[0.06776085439805014,-2.586481173493579],[0.1599310369075131,-2.458481178988469]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[-0.09513598764318065,1.6536024993281937,0.71338606911949],"aabb_xy":[[-0.11263592107716403,1.636102499407959],[-0.07763605420919728,1.671102499248428]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[-0.5987682340354838,-2.1552105032508395,0.71338606911949],"aabb_xy":[[-0.6627682343094621,-2.205276603448127],[-0.5347682337615056,-2.105144403053551]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_22","position":[0.6687054331481888,-2.2261070864516257,0.71338606911949],"aabb_xy":[[0.6535425601712518,-2.241272543746745],[0.683868306125126,-2.2109416291565074]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[-0.14778825083352087,-2.0494804762811234,0.71338606911949],"aabb_xy":[[-0.23278824952559551,-2.0814663396760023],[-0.06278825214144623,-2.0174946128862445]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.4525374319954274,1.0765155217728535,0.71338606911949],"aabb_xy":[[-0.4644701663572554,1.064133368964994],[-0.4406046976335993,1.0888976745807128]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6987723466657273,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7064.png","name":"7064"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7064.png","name":"7064"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2129.png","name":"2129"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2323.png","name":"2323"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9006.png","name":"9006"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7679.png","name":"7679"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":719.2114123799211,"rotation_z_degrees":279.99184291115427,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008141454770094366,-0.012648391698354914,-0.015688254976924755]},{"name":"camera_2","offset_m":[-0.008899669826384708,-0.011422704686594197,-0.017847524843702813]},{"name":"camera_3","offset_m":[0.005754451986887,-0.016413184643168908,0.012819690765702895]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007916252632643845,-0.001838074222147676,-0.0016865702034061156],"end_effector_yaw_offset_degrees":-0.09339458358020902},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000930569504580397,-0.00040261017432158524,0.001479669494960196],"end_effector_yaw_offset_degrees":0.5935927080917809},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009018480952921607,-0.001656779847998239,0.0009361657902934718],"end_effector_yaw_offset_degrees":-0.3539854140957337},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013512505970614767,0.0018129025504602073,0.0014947230446475382],"end_effector_yaw_offset_degrees":-0.38035456034398685}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004379792312473652,-0.003247911190044688],"position_m":[0.32437979231247366,0.34985208880995533,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012106596405016216,0.0029744922514016664],"position_m":[0.2732106596405016,-0.36432550774859834,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027307435603832406,0.000542417558531052],"position_m":[0.18273074356038324,-0.03305758244146895,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003435786126434294,0.0016566288387629665],"position_m":[0.3419357861264343,0.11015662883876297,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6d2661ffae3bb0a205b51ea179b89908a9219c0580d15f29777fdd0ff2580d13","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0084.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7064/tex_ceiling_textures_7679/tex_floor_textures_9006/tex_table_textures_2129/tex_wall_textures_2323","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7916824388970401260,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7916824388970401260,"visual_seed":7916824388970401260,"scene_id":"lab_003","finished_at":"2026-09-05T06:41:15"}
+{"episode_id":"ep_000055","started_at":"2026-09-05T06:44:01","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.4076093619036396,-0.04013965723931223,0.71338606911949],"aabb_xy":[[-0.44979377606447035,-0.10413965751652343],[-0.36542494774280887,0.023860343037898968]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[-0.4476100948449799,1.1845384436546613,0.71338606911949],"aabb_xy":[[-0.4701100953570204,1.1620465852892627],[-0.4251100943329392,1.2070303020200595]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[0.5714567489188969,-2.516856341747025,0.71338606911949],"aabb_xy":[[0.5621097413366016,-2.531159963964669],[0.5808037565011921,-2.502552719529381]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.6071285612830417,-2.338356046252448,0.71338606911949],"aabb_xy":[[0.5571285602639064,-2.374822261990276],[0.657128562302177,-2.3018898305146203]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.13901682901500545,0.3344197876556265,0.71338606911949],"aabb_xy":[[-0.156649664608533,0.3167968416400035],[-0.12138399342147786,0.35204273367124944]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[0.5269235323227339,-0.7309563373967536,0.71338606911949],"aabb_xy":[[0.4982741999623176,-0.7596018966738293],[0.55557286468315,-0.7023107781196777]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[-0.5608585303722533,0.41775721623976336,0.71338606911949],"aabb_xy":[[-0.5797429141407635,0.3988712914594106],[-0.5419741466037431,0.43664314102011614]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[-0.04874874078507929,-0.17101205165380184,0.71338606911949],"aabb_xy":[[-0.09005328384881528,-0.2350120512219189],[-0.007444197721343297,-0.10701205208568473]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[0.21516301532114535,1.4090558162969598,0.71338606911949],"aabb_xy":[[0.20553137910071576,1.3994185035172508],[0.224794651541575,1.4186931290766687]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.4851687487169827,-2.3945750661899723,0.71338606911949],"aabb_xy":[[-0.5491687507667147,-2.4346695492792807],[-0.4211687466672507,-2.3544805831006648]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.07306666702776365,1.6005538577465006,0.71338606911949],"aabb_xy":[[0.05486084336651598,1.5895284571645092],[0.09127249068901133,1.6115792583284925]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.07013404302612247,1.7619268914725663,0.71338606911949],"aabb_xy":[[0.052703327947115956,1.7446547768087153],[0.08756475810512897,1.779199006136417]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[-0.29572982758565913,0.8779679058971794,0.71338606911949],"aabb_xy":[[-0.3256973844954848,0.8479679055992937],[-0.26576227067583347,0.9079679061950652]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[0.42573610420924024,1.546232049365853,0.71338606911949],"aabb_xy":[[0.3707361060074954,1.5057100827394154],[0.4807361024109851,1.5867540159922906]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.1310821109034439,-1.9339092633440205,0.71338606911949],"aabb_xy":[[-0.13758374741144852,-1.9436770853703305],[-0.12458047439543929,-1.924141441317711]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[-0.14599845642145148,-2.126543715768996,0.71338606911949],"aabb_xy":[[-0.22599845500877092,-2.2058593177071564],[-0.06599845783413207,-2.0472281138308346]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[0.19484408523573182,-0.7217354782365211,0.71338606911949],"aabb_xy":[[0.1698440856839933,-0.7318779621016558],[0.21984408478747028,-0.7115929943713863]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.3444565531726323,-0.6839650389319911,0.71338606911949],"aabb_xy":[[-0.37444821590650257,-0.7139650382687917],[-0.3144648904387619,-0.6539650395951906]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_18","position":[0.41871608781322145,-0.4953016739554963,0.71338606911949],"aabb_xy":[[0.36871608686268864,-0.5268508209590177],[0.46871608876375426,-0.4637525269519749]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[-0.2805342507736203,1.3339027135364825,0.71338606911949],"aabb_xy":[[-0.3705342475092305,1.280719250219188],[-0.19053425403801005,1.387086176853777]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_20","position":[-0.5999912083465145,0.15591633716661235,0.71338606911949],"aabb_xy":[[-0.6649912065024336,0.12962009261670016],[-0.5349912101905955,0.18221258171652455]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.1434982021142378,-0.952050297088707,0.71338606911949],"aabb_xy":[[-0.16129170904915424,-0.9698500426845047],[-0.12570469517932137,-0.9342505514929094]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.31685045530298944,1.778670016281525,0.71338606911949],"aabb_xy":[[-0.35062601449368236,1.7646315210683599],[-0.2830748961122964,1.7927085114946897]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[0.015799977655179043,-1.7815157909218913,0.71338606911949],"aabb_xy":[[-0.034178830855136844,-1.8315157909276096],[0.06577878616549493,-1.731515790916172]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[0.6235296937851145,-0.36747637137867484,0.71338606911949],"aabb_xy":[[0.610298748250433,-0.3807037904006742],[0.6367606393197955,-0.35424895235667536]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[0.2943716851955307,-2.3931572283928793,0.71338606911949],"aabb_xy":[[0.23037168351753334,-2.4416746198721935],[0.35837168687352805,-2.344639836913565]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_26","position":[-0.4489082886030267,-0.9263248730220279,0.71338606911949],"aabb_xy":[[-0.4570359767963399,-0.9352384814327355],[-0.44078060040971345,-0.9174112646113202]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7024437242524897,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3614.png","name":"3614"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3614.png","name":"3614"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8714.png","name":"8714"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4887.png","name":"4887"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4467.png","name":"4467"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5875.png","name":"5875"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":576.3946889354279,"rotation_z_degrees":252.4464327123491,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010527895801613684,0.012534156123789494,-0.008068414450311829]},{"name":"camera_2","offset_m":[0.007930916676863124,0.01872378668440394,-0.011642129213679495]},{"name":"camera_3","offset_m":[-0.01135028646339963,-0.0017300184399615982,-0.0072280195138526345]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011187374420635566,0.0006428384334163455,-0.00041638336276913677],"end_effector_yaw_offset_degrees":0.536662042249294},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015887205753388608,-0.0005665604767345455,-0.0016176249164388712],"end_effector_yaw_offset_degrees":0.6949680514509289},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001068991226663344,-0.000387072620903759,-0.0007973088891774457],"end_effector_yaw_offset_degrees":0.16840793165066903},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00028470477538970057,-0.0002732304874252275,-0.0008891413871671397],"end_effector_yaw_offset_degrees":0.8972683182656613}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029057253373908952,-0.002283951394965047],"position_m":[0.3229057253373909,0.35081604860503496,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00457897554503101,0.0014459123260656273],"position_m":[0.276578975545031,-0.3658540876739344,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00455600805744327,-0.0036002467626902812],"position_m":[0.18455600805744327,-0.03720024676269028,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004206554408317521,-0.0038970410014953364],"position_m":[0.34270655440831754,0.10460295899850466,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cc3b58e6ff0481bade2ca4eff7361d9a5480d4be9d8a3f16cf98b136ca6a4642","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3614/tex_ceiling_textures_5875/tex_floor_textures_4467/tex_table_textures_8714/tex_wall_textures_4887","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8885016304997804633,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8885016304997804633,"visual_seed":8885016304997804633,"scene_id":"lab_003","finished_at":"2026-09-05T06:47:47"}
+{"episode_id":"ep_000056","started_at":"2026-09-05T06:56:21","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.31502108255069283,-1.2187581939591006,0.71338606911949],"aabb_xy":[[-0.38502107896065446,-1.2391961296107818],[-0.2450210861407309,-1.1983202583074184]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[-0.43980329288765135,-1.0122252704416679,0.71338606911949],"aabb_xy":[[-0.48979812581559296,-1.0622252693369114],[-0.38980845995970975,-0.9622252715464243]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[0.5337059580329988,0.8125953208263561,0.71338606911949],"aabb_xy":[[0.4876208667782674,0.7485953235738011],[0.5797910492877303,0.8765953180789113]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_3","position":[-0.34358260510944066,-2.154435789255489,0.71338606911949],"aabb_xy":[[-0.423582606182561,-2.1642138355928733],[-0.26358260403632033,-2.1446577429181044]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.6205903754603895,-1.1242383836296983,0.71338606911949],"aabb_xy":[[-0.684590376163859,-1.1702567661026193],[-0.5565903747569203,-1.0782200011567773]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[-0.33821809784213064,-0.4575175779221654,0.71338606911949],"aabb_xy":[[-0.3552281951321813,-0.4736520664204392],[-0.32120800055208,-0.4413830894238914]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.14041464406428106,0.7999622990401023,0.71338606911949],"aabb_xy":[[-0.14531393637084455,0.7722853797375334],[-0.13551535175771756,0.827639218342671]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.46320522723633506,0.28721116039899064,0.71338606911949],"aabb_xy":[[-0.5272052304549729,0.2404880484999823],[-0.3992052240176972,0.333934272297999]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[0.27602579764635715,1.4183244634331387,0.71338606911949],"aabb_xy":[[0.2338413834855264,1.3543244631559277],[0.3182102118071879,1.48232446371035]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[-0.6143568564191028,0.7945760336184726,0.71338606911949],"aabb_xy":[[-0.651151489544009,0.7576701585218903],[-0.5775622232941965,0.8314819087150549]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[0.4284086723998648,-0.5787819781590842,0.71338606911949],"aabb_xy":[[0.4175681941733499,-0.595968259449733],[0.4392491506263797,-0.5615956968684354]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[0.30652566549472837,1.1757233040753814,0.71338606911949],"aabb_xy":[[0.2637589586153082,1.111723300653579],[0.34929237237414856,1.2397233074971838]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[0.35807716732316575,-1.9469276070802743,0.71338606911949],"aabb_xy":[[0.32307716742714687,-1.9553018425922144],[0.3930771672191846,-1.9385533715683347]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[-0.5314360172656416,0.5893742136535365,0.71338606911949],"aabb_xy":[[-0.5764286039840919,0.5443742143790876],[-0.4864434305471911,0.6343742129279851]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[0.26667074707767024,-1.0104297848838955,0.71338606911949],"aabb_xy":[[0.2116775357405335,-1.065429785222689],[0.321663958414807,-0.9554297845451019]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[-0.40478766137029676,1.0471654987870243,0.71338606911949],"aabb_xy":[[-0.4404168172702565,1.011532832030171],[-0.369158505470337,1.082798165543877]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[-0.10969521024526696,0.42972766593918266,0.71338606911949],"aabb_xy":[[-0.1996952139221851,0.3682952593620783],[-0.019695206568348774,0.49116007251628696]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.6108529144371233,1.6727431071065682,0.71338606911949],"aabb_xy":[[0.5723072216119223,1.6341973360503794],[0.6493986072623243,1.7112888781627569]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_18","position":[-0.5083896663891495,-1.2421820025162287,0.71338606911949],"aabb_xy":[[-0.5433896677406311,-1.2625417384730495],[-0.4733896650376677,-1.2218222665594078]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[-0.6616643310021488,-1.6138628330889866,0.71338606911949],"aabb_xy":[[-0.6729093865727667,-1.6251046308130819],[-0.650419275431531,-1.6026210353648913]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.6688250620187901,-1.1961366516989314,0.71338606911949],"aabb_xy":[[0.6313250619131971,-1.2029588135519123],[0.7063250621243831,-1.18931448984595]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[0.4149916313179096,-2.432771827595219,0.71338606911949],"aabb_xy":[[0.39587932395993075,-2.451906606472461],[0.4341039386758885,-2.413637048717977]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7022496838806856,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7093.png","name":"7093"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7093.png","name":"7093"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/126.png","name":"126"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3899.png","name":"3899"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4774.png","name":"4774"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4666.png","name":"4666"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":806.0327409795805,"rotation_z_degrees":171.64435155388887,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005681677910917076,-0.000777824377183562,-0.010131975174067822]},{"name":"camera_2","offset_m":[-0.0043756241994292785,-0.001360288817900613,-0.005747409484957692]},{"name":"camera_3","offset_m":[-0.013475833685778697,0.012636006591597328,0.017384793979920484]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006148496048459192,-0.0007196515002074037,0.0007971216838331911],"end_effector_yaw_offset_degrees":0.8979546088187849},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000127910222364188,0.0011811544074567149,0.0006676641741417966],"end_effector_yaw_offset_degrees":0.13148774358302528},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004745540519128788,0.0001913763603189453,0.0004901754568521835],"end_effector_yaw_offset_degrees":0.2186225227929297},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012618895504263779,-8.155819505356945e-06,-0.0018322538267113867],"end_effector_yaw_offset_degrees":0.3380156155852738}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004369015176172422,0.001566585530197724],"position_m":[0.31563098482382757,0.35466658553019775,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018227189634415098,-0.00266557594208348],"position_m":[0.2738227189634415,-0.3699655759420835,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001563260923994672,-0.00018498797517913033],"position_m":[0.18156326092399466,-0.03378498797517913,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031298919341108894,-0.0034319446010575103],"position_m":[0.3416298919341109,0.10506805539894248,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ee41ba7600326136ee2d0595605e747c06dd90b780e382145daa2823844f2880","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0090.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7093/tex_ceiling_textures_4666/tex_floor_textures_4774/tex_table_textures_126/tex_wall_textures_3899","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6765210147671850686,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6765210147671850686,"visual_seed":6765210147671850686,"scene_id":"lab_003","finished_at":"2026-09-05T07:00:12"}
+{"episode_id":"ep_000057","started_at":"2026-09-05T07:00:17","dimensions":{"distractor":{"count":33,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.4595777141061108,-0.8112466293894214,0.71338606911949],"aabb_xy":[[0.44247563614774266,-0.8283534349206911],[0.47667979206447897,-0.7941398238581516]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.3084493946304045,-1.9766235359915014,0.71338606911949],"aabb_xy":[[-0.33893364475743465,-2.0266235357729974],[-0.27796514450337434,-1.9266235362100055]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.5099299087522917,0.36118730742346594,0.71338606911949],"aabb_xy":[[0.4966989632176102,0.34795988840146647],[0.5231608542869728,0.3744147264454653]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[0.6236690935756739,1.3215496445801258,0.71338606911949],"aabb_xy":[[0.5436752699971157,1.2415496419872842],[0.7036629171542321,1.4015496471729674]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[0.28434361740965086,-1.0605163163368319,0.71338606911949],"aabb_xy":[[0.2770823698392434,-1.0733033266003413],[0.2916048649800582,-1.0477293060733224]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.3804121720175699,-1.217639597906052,0.71338606911949],"aabb_xy":[[-0.43041217303670526,-1.2541058136438799],[-0.3304121709984347,-1.181173382168224]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[-0.512832807248493,1.6984264946989716,0.71338606911949],"aabb_xy":[[-0.5728328074998941,1.6441451696625067],[-0.4528328069970917,1.752707819735436]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[-0.4448188891451216,-1.5126478938403283,0.71338606911949],"aabb_xy":[[-0.45445052536555114,-1.5222852066200374],[-0.4351872529246919,-1.5030105810606196]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[0.17377970189362113,-1.7871372466098125,0.71338606911949],"aabb_xy":[[0.1640237123844472,-1.796899780669047],[0.183535691402795,-1.777374712550578]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[0.511121353124973,-2.345526462534189,0.71338606911949],"aabb_xy":[[0.5031273645472695,-2.3535265426292793],[0.5191153417026763,-2.337526382439098]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.4724250471931387,0.5573927747766647,0.71338606911949],"aabb_xy":[[-0.47732433949970215,0.5297158554740958],[-0.46752575488657516,0.5850696940792334]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.13691635795224322,0.9616465513181351,0.71338606911949],"aabb_xy":[[-0.14333017159542813,0.9552367310704667],[-0.13050254430905825,0.9680563715658034]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[-0.04930693290205601,0.3601209116484503,0.71338606911949],"aabb_xy":[[-0.05301019423119487,0.3564188933397324],[-0.045603671572917136,0.36382292995716814]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[-0.5522546013389006,-0.4248169155830648,0.71338606911949],"aabb_xy":[[-0.5892887107669603,-0.45919412291677425],[-0.5152204919108408,-0.3904397082493553]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[-0.6019396721801956,0.763387249815696,0.71338606911949],"aabb_xy":[[-0.612092687734345,0.7273177082429555],[-0.5917866566260462,0.7994567913884361]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[0.42302909859572635,-1.8917874817764009,0.71338606911949],"aabb_xy":[[0.3430290999388404,-1.906292340700664],[0.5030290972526124,-1.8772826228521382]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.4362730357815122,-1.7065955604376009,0.71338606911949],"aabb_xy":[[-0.45844556275816295,-1.7287712275937235],[-0.41410050880486127,-1.6844198932814773]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.30247355883329846,1.5399575297378427,0.71338606911949],"aabb_xy":[[-0.3664735592108321,1.4902122628870305],[-0.23847355845576484,1.589702796588655]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.5718192455144696,-1.2751207637388626,0.71338606911949],"aabb_xy":[[-0.6268114961499806,-1.3301207654821756],[-0.5168269948789587,-1.22012076199555]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[0.3520842979747374,1.5646570074266237,0.71338606911949],"aabb_xy":[[0.3450428470239898,1.557630255688829],[0.359125748925485,1.571683759164418]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.0772038991400652,0.6483892797078941,0.71338606911949],"aabb_xy":[[-0.12720389950063124,0.5984092924982911],[-0.027203898779499133,0.698369266917497]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[-0.6224879928402834,-2.0233527110527088,0.71338606911949],"aabb_xy":[[-0.670294160454052,-2.0883527137597677],[-0.5746818252265147,-1.9583527083456498]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[0.22663705974217718,1.4552468165990642,0.71338606911949],"aabb_xy":[[0.21075256647685203,1.4408938763002401],[0.24252155300750233,1.4695997568978882]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[0.34022280364156976,-2.4215772007286693,0.71338606911949],"aabb_xy":[[0.32279208856256325,-2.4388493153925204],[0.35765351872057627,-2.4043050860648183]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_24","position":[-0.6550451882478034,0.457227905463228,0.71338606911949],"aabb_xy":[[-0.6630815229490882,0.44918978615881117],[-0.6470088535465185,0.4652660247676447]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[-0.3529521926092437,-0.5564737524902226,0.71338606911949],"aabb_xy":[[-0.375452192619392,-0.5705699721298259],[-0.3304521925990954,-0.5423775328506193]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_26","position":[-0.6082994420703913,0.9000487166985942,0.71338606911949],"aabb_xy":[[-0.6146115416067297,0.8942817774453753],[-0.601987342534053,0.9058156559518129]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_27","position":[0.5772106186261123,-0.4252355082540218,0.71338606911949],"aabb_xy":[[0.513210616948115,-0.473752899733336],[0.6412106203041097,-0.37671811677470757]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_28","position":[0.21044553006758782,0.8044934176806482,0.71338606911949],"aabb_xy":[[0.16062875060275306,0.7544934191963448],[0.2602623095324226,0.8544934161649516]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_29","position":[-0.5551096716413664,1.5294809817729305,0.71338606911949],"aabb_xy":[[-0.5770183537807174,1.5075803149528397],[-0.5332009895020153,1.5513816485930212]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_30","position":[-0.423312325152273,1.2766668853263181,0.71338606911949],"aabb_xy":[[-0.4452020727412138,1.186666888037069],[-0.4014225775633322,1.3666668826155672]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_31","position":[0.4392953440830769,-1.6403579458860946,0.71338606911949],"aabb_xy":[[0.4217953449487097,-1.6502375729236827],[0.456795343217444,-1.630478318848507]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_32","position":[-0.2289708607508983,-1.6868136330465688,0.71338606911949],"aabb_xy":[[-0.2789441547541587,-1.736813633601116],[-0.1789975667476378,-1.6368136324920213]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956984374521068,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9341.png","name":"9341"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9341.png","name":"9341"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8914.png","name":"8914"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7648.png","name":"7648"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6433.png","name":"6433"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6164.png","name":"6164"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":846.6952584366377,"rotation_z_degrees":335.3568653011096,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013537044676593678,-0.009030877035942155,-0.012799263655864]},{"name":"camera_2","offset_m":[0.01565211182268225,0.009086733390352725,0.010230530700931495]},{"name":"camera_3","offset_m":[0.00012702906163799405,-0.008641133411091517,-0.006017131177014372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006409348788661568,0.0012449636044314628,0.001945875311479956],"end_effector_yaw_offset_degrees":0.9847612572986879},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002109949314787504,-0.0017711600684909806,-0.0008022865556502716],"end_effector_yaw_offset_degrees":0.29524243063069977},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005492557904448838,0.001353098542015267,0.000465570182903548],"end_effector_yaw_offset_degrees":0.6837714140871638},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015001962969018504,-0.0009524811091659964,0.0002673390309363699],"end_effector_yaw_offset_degrees":0.07918939903572397}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035041603433029435,-0.001087486912427201],"position_m":[0.3235041603433029,0.3520125130875728,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017655160512432457,0.003999853475991885],"position_m":[0.27023448394875677,-0.3633001465240081,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004897149061242929,-0.00021075210657073816],"position_m":[0.17510285093875708,-0.03381075210657074,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002728365152064072,-0.0036062311239957205],"position_m":[0.33577163484793593,0.10489376887600428,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d627aa31a18cec35d38a9a049267f271d34c8fba7d2dc9bbb2a14945521d85a8","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0091.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9341/tex_ceiling_textures_6164/tex_floor_textures_6433/tex_table_textures_8914/tex_wall_textures_7648","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5377941356141535556,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5377941356141535556,"visual_seed":5377941356141535556,"scene_id":"lab_003","finished_at":"2026-09-05T07:04:08"}
+{"episode_id":"ep_000058","started_at":"2026-09-05T07:07:05","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.5050974127103871,-1.3479530183512247,0.71338606911949],"aabb_xy":[[0.44009741482873943,-1.3990766820577658],[0.570097410592035,-1.296829354644684]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[-0.4437217336489535,-1.2027684737994004,0.71338606911949],"aabb_xy":[[-0.5237217308085287,-1.2143160747572173],[-0.3637217364893781,-1.1912208728415832]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[0.18320505312778923,-0.9674351907728114,0.71338606911949],"aabb_xy":[[0.11920505078498768,-1.0123760420169439],[0.2472050554705908,-0.9224943395286789]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[0.42176081563659396,0.8147088986700655,0.71338606911949],"aabb_xy":[[0.38929911475466644,0.7845760665551628],[0.45422251651852136,0.8448417307849679]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[0.257666674977995,1.5666204088898472,0.71338606911949],"aabb_xy":[[0.2511650384699904,1.5568525868635377],[0.2641683114859996,1.5763882309161572]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[-0.1553566260686925,-0.3980317008715062,0.71338606911949],"aabb_xy":[[-0.16339998599464767,-0.4830317019668726],[-0.14731326614273732,-0.31303169977613976]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[0.08185268788417599,0.8876968914733641,0.71338606911949],"aabb_xy":[[0.07841201164411882,0.8838354584989997],[0.08529336412423316,0.8915583244477286]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[0.22427993251458822,1.7110585069923485,0.71338606911949],"aabb_xy":[[0.18981745450150042,1.7043948298094256],[0.258742410527676,1.717722184175271]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.10526360309861238,1.3067858201207727,0.71338606911949],"aabb_xy":[[-0.1852636041717327,1.2970077737833883],[-0.025263602025492063,1.3165638664581572]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.399763659844172,0.8704088354895236,0.71338606911949],"aabb_xy":[[-0.4637636571465184,0.8260424085216669],[-0.3357636625418256,0.9147752624573804]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[0.3825112617486637,1.337174925213402,0.71338606911949],"aabb_xy":[[0.34547715232060394,1.3027977178796926],[0.4195453711767234,1.3715521325471114]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[0.4168444851351969,-0.5453384146140818,0.71338606911949],"aabb_xy":[[0.40892120489644856,-0.5678384148520852],[0.4247677653739452,-0.5228384143760785]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.34818448674634755,-0.42067341462332264,0.71338606911949],"aabb_xy":[[-0.35226264465339724,-0.42475439487158595],[-0.34410632883929776,-0.41659243437505933]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.03786653910660087,1.0712369731364997,0.71338606911949],"aabb_xy":[[-0.11786036268515909,0.9912369705436583],[0.04212728447195734,1.1512369757293415]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[-0.3842918696687608,0.03529695273616529,0.71338606911949],"aabb_xy":[[-0.3915356357150061,-0.044703045467437086],[-0.37704810362251545,0.11529695093976766]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[0.5107260620513392,-2.461113765509317,0.71338606911949],"aabb_xy":[[0.47572606207484347,-2.4705783815569333],[0.5457260620278351,-2.4516491494617005]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[0.6593661900421737,0.91099261854818,0.71338606911949],"aabb_xy":[[0.641935474963167,0.8937205038843289],[0.6767969051211801,0.9282647332120305]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[-0.26185522362824176,-1.8290265334145,0.71338606911949],"aabb_xy":[[-0.34185522409845776,-1.8373372410288487],[-0.18185522315802585,-1.8207158258001521]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[-0.6211517916501748,-0.04853415813829276,0.71338606911949],"aabb_xy":[[-0.6851474890452712,-0.11253415643900144],[-0.5571560942550781,0.01546584016241593]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.5170925555259858,1.6731058528251936,0.71338606911949],"aabb_xy":[[0.4520925544200425,1.6481404797570656],[0.582092556631929,1.6980712258933222]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_20","position":[0.5591369678587967,1.3141792337055138,0.71338606911949],"aabb_xy":[[0.5291453051249264,1.284179234368713],[0.5891286305926671,1.3441792330423141]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.6453886880736532,0.3458078369141582,0.71338606911949],"aabb_xy":[[0.5953894129052171,0.295807835638211],[0.6953879632420894,0.39580783819010534]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[-0.538950334533008,-2.200624902747498,0.71338606911949],"aabb_xy":[[-0.5498561106205707,-2.280624899146327],[-0.5280445584454453,-2.120624906348669]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[0.0800561396737175,0.6304922217843281,0.71338606911949],"aabb_xy":[[0.07562551031887732,0.6250438500496455],[0.08448676902855767,0.6359405935190107]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_24","position":[0.02524405964055243,-0.7396179797252533,0.71338606911949],"aabb_xy":[[0.0027440593970370353,-0.7518226143850254],[0.047744059884067824,-0.7274133450654815]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[0.21031879185932711,1.2211063443287227,0.71338606911949],"aabb_xy":[[0.13031879489628795,1.1440307026849492],[0.2903187888223663,1.2981819859724961]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.6629614980669873,-1.2764429742951955,0.71338606911949],"aabb_xy":[[-0.6754288561767232,-1.288908298928519],[-0.6504941399572519,-1.263977649661872]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[-0.488295657989978,-2.4382040011909147,0.71338606911949],"aabb_xy":[[-0.5135164948498175,-2.4634277520438013],[-0.46307482113013826,-2.4129802503380273]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_28","position":[0.2125161230760675,-1.9337387719868002,0.71338606911949],"aabb_xy":[[0.16252129014812589,-1.9837387708820438],[0.2625109560040091,-1.8837387730915567]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[0.153272730057204,-2.076669768862213,0.71338606911949],"aabb_xy":[[0.10828014333875358,-2.1216697681366616],[0.1982653167756544,-2.031669769587764]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_30","position":[-0.6870813902711929,-0.3929632468148827,0.71338606911949],"aabb_xy":[[-0.6943426378416002,-0.40575025707839224],[-0.6798201427007855,-0.3801762365513733]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_31","position":[0.38009723602918144,-0.7389869892473369,0.71338606911949],"aabb_xy":[[0.290410159721066,-0.8289869895017873],[0.4697843123372969,-0.6489869889928862]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_32","position":[-0.1804360641466186,-1.1126575320153027,0.71338606911949],"aabb_xy":[[-0.18434993734204114,-1.1214065474218593],[-0.1765221909511961,-1.1039085166087457]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_33","position":[-0.17986120452472643,-2.2589822493742178,0.71338606911949],"aabb_xy":[[-0.26986120126033664,-2.312165712691512],[-0.08986120778911619,-2.205798786056923]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_34","position":[0.6049739961657077,-1.096487414729166,0.71338606911949],"aabb_xy":[[0.5449739959143065,-1.1507687397656308],[0.6649739964171089,-1.0422060896927015]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6978028419168739,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8411.png","name":"8411"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8411.png","name":"8411"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3119.png","name":"3119"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5905.png","name":"5905"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9856.png","name":"9856"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9731.png","name":"9731"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":842.2958485516485,"rotation_z_degrees":118.09019021638309,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010926107265749573,0.0018630110175946422,0.016938966441219613]},{"name":"camera_2","offset_m":[-0.016589261096524043,0.005052155398056236,-0.003480865682006593]},{"name":"camera_3","offset_m":[-0.012892722563977537,0.010298139218094467,-0.008321913062779256]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008263393270803361,-0.0018203227401390808,-0.0018885814299573452],"end_effector_yaw_offset_degrees":-0.018827255638704132},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008793830168842237,0.0014294717896941901,0.0015340647806097048],"end_effector_yaw_offset_degrees":-0.32867779335599967},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000525851173099398,0.0008874330464610611,-0.0008196348491909401],"end_effector_yaw_offset_degrees":-0.3166305193310195},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003048973779071593,0.0013768626121441045,0.0006545871611898825],"end_effector_yaw_offset_degrees":0.8119181389558547}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004311189246803841,0.0006236910938832631],"position_m":[0.31568881075319616,0.3537236910938833,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00420669478994554,-0.003927829075346786],"position_m":[0.26779330521005446,-0.3712278290753468,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003906993470591896,0.0031669763804463196],"position_m":[0.1760930065294081,-0.03043302361955368,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006405061106508451,-0.001683249576780821],"position_m":[0.33785949388934916,0.10681675042321918,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"25952a729217eb4b8f168f77b90e07d834213a8b053b96455d47eddd31906dc4","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8411/tex_ceiling_textures_9731/tex_floor_textures_9856/tex_table_textures_3119/tex_wall_textures_5905","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6241845970142336475,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6241845970142336475,"visual_seed":6241845970142336475,"scene_id":"lab_003","finished_at":"2026-09-05T07:10:59"}
+{"episode_id":"ep_000059","started_at":"2026-09-05T07:14:00","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.6072658619643161,-1.2867736836205468,0.71338606911949],"aabb_xy":[[-0.657265863248156,-1.3367525380111687],[-0.557265860680476,-1.2367948292299245]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[-0.20577565937399112,1.7902093931546559,0.71338606911949],"aabb_xy":[[-0.24327566016598656,1.7838415521964657],[-0.16827565858199567,1.796577234112846]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_2","position":[-0.34842460944948295,-2.360602505690707,0.71338606911949],"aabb_xy":[[-0.3592650876759978,-2.3777887869813554],[-0.337584131222968,-2.343416224400058]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.6248276575593816,0.39600302919757935,0.71338606911949],"aabb_xy":[[0.5873276591359812,0.3828388152297487],[0.6623276559827819,0.40916724316541]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.439850397694894,-0.5305812947642363,0.71338606911949],"aabb_xy":[[0.4231732617017985,-0.5472812187381666],[0.4565275336879895,-0.513881370790306]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.040427350213153135,1.3770422283745605,0.71338606911949],"aabb_xy":[[-0.04329487528692933,1.2870422248398645],[0.1241495757132356,1.4670422319092564]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.24148005197050704,0.8951110578643684,0.71338606911949],"aabb_xy":[[0.23423628592426166,0.8151110596607659],[0.2487238180167523,0.9751110560679707]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.4424386141214789,-1.3395009740287438,0.71338606911949],"aabb_xy":[[0.4112916952778958,-1.4095009727155507],[0.473585532965062,-1.2695009753419364]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[0.07493083409787715,-2.2737446453814316,0.71338606911949],"aabb_xy":[[0.052466064126472034,-2.2962446462602917],[0.09739560406928227,-2.2512446445025707]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[-0.08160209492929293,-0.30546802011363194,0.71338606911949],"aabb_xy":[[-0.087060040566313,-0.385468023421291],[-0.07614414929227287,-0.22546801680597278]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[-0.15172025959170377,-2.207367188732737,0.71338606911949],"aabb_xy":[[-0.16605468471786722,-2.219427404287276],[-0.1373858344655403,-2.195306973178198]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[-0.47705146799392806,1.5758583422617796,0.71338606911949],"aabb_xy":[[-0.48112962590097774,1.5717773620135163],[-0.47297331008687826,1.5799393225100429]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.43994800956735536,0.9258948641672533,0.71338606911949],"aabb_xy":[[0.42207890181289986,0.9120619561900423],[0.45781711732181085,0.9397277721444641]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.2478205565888149,1.5945540280437354,0.71338606911949],"aabb_xy":[[-0.2949499355906505,1.530554026999333],[-0.2006911775869792,1.6585540290881369]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.14771993140962347,-1.6260601627998286,0.71338606911949],"aabb_xy":[[0.09772065624118734,-1.6760601640757755],[0.19771920657805966,-1.5760601615238812]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.14300818702024987,1.0465460595569342,0.71338606911949],"aabb_xy":[[-0.19300818838113706,0.9965681549815187],[-0.09300818565936263,1.0965239641323499]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_16","position":[0.21224774967351268,-1.0539428205857855,0.71338606911949],"aabb_xy":[[0.20593565013717424,-1.0597097598390044],[0.2185598492098511,-1.0481758813325666]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_17","position":[0.4511778128207282,1.7785946735749918,0.71338606911949],"aabb_xy":[[0.3871778095310201,1.735259754571074],[0.5151778161104363,1.8219295925789092]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[0.12749834317947184,-0.7159993953064254,0.71338606911949],"aabb_xy":[[0.10500192174560774,-0.7384993951131729],[0.14999476461333594,-0.693499395499678]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[0.40981296257480526,0.7393572359398752,0.71338606911949],"aabb_xy":[[0.38792321498586446,0.6493572386506261],[0.43170271016374606,0.8293572332291244]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.2929695349030881,-0.6685807166948825,0.71338606911949],"aabb_xy":[[-0.35796953600903136,-0.6935460897630109],[-0.2279695337971448,-0.6436153436267543]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.384403222208209,1.3133758444866483,0.71338606911949],"aabb_xy":[[0.3044032248046155,1.2333832732884653],[0.46440321961180236,1.393368415684831]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[0.13515144425799586,-1.3810143016720766,0.71338606911949],"aabb_xy":[[0.12810999330724826,-1.3880410534098713],[0.14219289520874345,-1.3739875499342824]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6999355945428307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6122.png","name":"6122"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6122.png","name":"6122"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/930.png","name":"930"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6882.png","name":"6882"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4328.png","name":"4328"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2839.png","name":"2839"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":830.5889126932705,"rotation_z_degrees":22.37989397823992,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016618050502681083,0.014830554165232736,-0.00905093110310482]},{"name":"camera_2","offset_m":[-0.016753223660992127,-0.017019539035868964,-0.015601008442574362]},{"name":"camera_3","offset_m":[0.008700146954571254,-0.013962290893480524,0.009888553014180991]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014896535783097717,-0.0003674379031367802,-0.0005933038277856984],"end_effector_yaw_offset_degrees":0.5318579848059664},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007285638729425722,-0.0003094248831167943,-0.0011393236139429015],"end_effector_yaw_offset_degrees":-0.5461713168887776},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003857068877138707,-0.0011946976587395132,-0.0004922413407385977],"end_effector_yaw_offset_degrees":0.6917120121249225},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017340345723255487,0.0009599646428974339,-0.00100390730940597],"end_effector_yaw_offset_degrees":0.4962164790744672}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003677663203968209,-0.003074468693950265],"position_m":[0.32367766320396824,0.35002553130604974,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009528408995189133,0.0003293286487103999],"position_m":[0.27295284089951893,-0.36697067135128963,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036522675164523686,0.004587886218951683],"position_m":[0.17634773248354763,-0.029012113781048315,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014605014162077734,-0.0014682968240186936],"position_m":[0.3399605014162078,0.1070317031759813,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fa2cfeaf0e7c3fb593e8191605ba16439ff825206114c448221cdb14cd44cb2b","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6122/tex_ceiling_textures_2839/tex_floor_textures_4328/tex_table_textures_930/tex_wall_textures_6882","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5906744179340887935,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5906744179340887935,"visual_seed":5906744179340887935,"scene_id":"lab_003","finished_at":"2026-09-05T07:17:48"}
+{"episode_id":"ep_000060","started_at":"2026-09-05T07:17:52","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.6463396366622487,0.7468113164736541,0.71338606911949],"aabb_xy":[[0.6250616285187763,0.6818113141475809],[0.6676176448057208,0.811811318799727]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.6181709798473183,0.16569003899545187,0.71338606911949],"aabb_xy":[[-0.6481385367571441,0.13569003869756616],[-0.5882034229374927,0.19569003929333764]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[0.6104822242341643,-1.141475446224847,0.71338606911949],"aabb_xy":[[0.5204822245109899,-1.1645487987600267],[0.7004822239573383,-1.118402093689667]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_3","position":[-0.15649926129424807,-1.3717821767657796,0.71338606911949],"aabb_xy":[[-0.1786717882708989,-1.3939578439219027],[-0.13432673431759723,-1.3496065096096561]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.19447880367530213,-2.3386126276141743,0.71338606911949],"aabb_xy":[[-0.25847880010262403,-2.385782251436271],[-0.13047880724798022,-2.2914430037920783]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.4570635176250889,0.6340578605925264,0.71338606911949],"aabb_xy":[[-0.46648099219495165,0.6246416834548074],[-0.44764604305522615,0.6434740377302455]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[0.09360016836880014,1.1481410436738093,0.71338606911949],"aabb_xy":[[0.043600169722878945,1.098221500014347],[0.14360016701472134,1.1980605873332717]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.5929319470340444,-0.6495056542336268,0.71338606911949],"aabb_xy":[[-0.603343505714528,-0.6548513875695252],[-0.5825203883535606,-0.6441599208977282]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[-0.42633644049251707,-2.2405173978098674,0.71338606911949],"aabb_xy":[[-0.4863364403390839,-2.297336020002906],[-0.36633644064595033,-2.1836987756168287]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[0.4937639596384136,-0.7936237859918684,0.71338606911949],"aabb_xy":[[0.443790665635153,-0.8436237865464158],[0.5437372536416739,-0.7436237854373211]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.5328452314450713,-2.4700712976054287,0.71338606911949],"aabb_xy":[[-0.5519575388030502,-2.4892060764826702],[-0.5137329240870925,-2.450936518728186]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.34178922246148646,1.7768258375836674,0.71338606911949],"aabb_xy":[[0.2918118055962329,1.726825836094419],[0.39176663932674005,1.8268258390729162]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[0.39952196960287445,-1.4739949835395862,0.71338606911949],"aabb_xy":[[0.36267142166588684,-1.5114949843626202],[0.43637251753986206,-1.4364949827165527]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[-0.39980931165062467,-1.0536113936426978,0.71338606911949],"aabb_xy":[[-0.41730931092871154,-1.0709494937090438],[-0.3823093123725378,-1.036273293576352]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[-0.3302055787241922,-0.23291773956641837,0.71338606911949],"aabb_xy":[[-0.3952055796813194,-0.2848659515001239],[-0.265205577767065,-0.18096952763271276]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[0.4389341226961745,0.6526801222211693,0.71338606911949],"aabb_xy":[[0.406472421814247,0.6225472901062665],[0.4713958235781019,0.6828129543360717]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[0.46670340737283866,0.748330794911575,0.71338606911949],"aabb_xy":[[0.4417034078211002,0.7381883110464401],[0.49170340692457715,0.7584732787767096]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.06112582367204633,-2.0359713527602503,0.71338606911949],"aabb_xy":[[0.03279611372350611,-2.0404320949539674],[0.08945553362058656,-2.0315106105665333]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[-0.33824165116620664,-2.49589139546915,0.71338606911949],"aabb_xy":[[-0.3475886587485019,-2.510195017686794],[-0.32889464358391146,-2.481587773251506]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.08557264963720057,-2.128360868578897,0.71338606911949],"aabb_xy":[[-0.004427349781170334,-2.161736365423087],[0.17557264905557146,-2.0949853717347073]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[0.17997377182042384,0.799962344234145,0.71338606911949],"aabb_xy":[[0.14649460455938293,0.766483230863038],[0.21345293908146482,0.833441457605252]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[0.0970296965110401,1.609810161299977,0.71338606911949],"aabb_xy":[[0.0560117531246692,1.5598101606690196],[0.13804763989741098,1.6598101619309342]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[0.6414190772112727,0.36422732145287284,0.71338606911949],"aabb_xy":[[0.5914190759274326,0.3142484670622507],[0.6914190784951125,0.4142061758434949]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_23","position":[-0.1354501631845788,-0.935370264817754,0.71338606911949],"aabb_xy":[[-0.2054501653160083,-0.9581322304434498],[-0.06545016105314921,-0.9126082991920584]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[-0.3055094429184081,-0.9184525251269817,0.71338606911949],"aabb_xy":[[-0.3254004827987484,-0.9311083364116787],[-0.2856184030380679,-0.905796713842285]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_25","position":[0.6215464902732839,-1.6604288706944987,0.71338606911949],"aabb_xy":[[0.5990464907495764,-1.682924818145119],[0.6440464897969912,-1.6379329232438775]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_26","position":[0.24855923163003257,-0.9366514011093099,0.71338606911949],"aabb_xy":[[0.2260592316198843,-0.9507476207489133],[0.27105923164018086,-0.9225551814697067]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_27","position":[-0.6598189454261442,1.547640544197669,0.71338606911949],"aabb_xy":[[-0.6689788243700208,1.5411093261541318],[-0.6506590664822676,1.554171762241206]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[-0.07755456616923528,-1.9003962264361676,0.71338606911949],"aabb_xy":[[-0.14155456821896728,-1.9404907095254755],[-0.013554564119503287,-1.8603017433468596]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_29","position":[-0.5171200250335553,1.653032056700059,0.71338606911949],"aabb_xy":[[-0.6071200236280253,1.636781470386638],[-0.4271200264390854,1.66928264301348]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_30","position":[-0.4381226255752104,0.2908102894795377,0.71338606911949],"aabb_xy":[[-0.47562262586738524,0.286768814078934],[-0.4006226252830356,0.29485176488014125]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_31","position":[0.6350148868704262,-2.5370451610391744,0.71338606911949],"aabb_xy":[[0.6000148868939303,-2.546509777086791],[0.670014886846922,-2.527580544991558]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_32","position":[-0.42881098711013954,-1.2910083273385442,0.71338606911949],"aabb_xy":[[-0.5138109855275628,-1.3758826228008292],[-0.3438109886927163,-1.2061340318762592]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_33","position":[-0.21988784846273418,0.317946973424299,0.71338606911949],"aabb_xy":[[-0.2373878487220708,0.30385543123552644],[-0.20238784820339756,0.3320385156130717]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_34","position":[-0.11117448072990177,-0.7570746381191602,0.71338606911949],"aabb_xy":[[-0.13617448066241966,-0.7639573063400835],[-0.08617448079738389,-0.7501919698982369]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7010342762816556,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3612.png","name":"3612"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3612.png","name":"3612"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/934.png","name":"934"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9582.png","name":"9582"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3400.png","name":"3400"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5114.png","name":"5114"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":827.8921476702576,"rotation_z_degrees":138.1519586165399,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017721046449339747,-0.0006319941248421473,0.016247935713398828]},{"name":"camera_2","offset_m":[-0.013469035916160403,0.008577488810113883,0.019378705005261492]},{"name":"camera_3","offset_m":[0.0010275230582046484,0.00018177812630278817,0.0017356928355877176]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011851066025284737,0.0004116060962397086,-0.001962112180540525],"end_effector_yaw_offset_degrees":0.7646081388664325},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012649201375994408,0.00031295108245567565,0.0005989999970522136],"end_effector_yaw_offset_degrees":0.2863812065715421},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007987846757927853,-0.0003430382449462193,0.00019764573617188624],"end_effector_yaw_offset_degrees":-0.6780742167958524},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00041831289718374494,0.0016588631454780337,-0.0008282824924027024],"end_effector_yaw_offset_degrees":0.0013024931964316089}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022243458444099317,-0.0007765732706828095],"position_m":[0.32222434584440995,0.3523234267293172,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00015490481493267167,-0.003544815560024792],"position_m":[0.27184509518506733,-0.3708448155600248,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0047960211351005975,-0.0013825979026105984],"position_m":[0.1847960211351006,-0.034982597902610595,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035519496575550334,0.0038456661520415653],"position_m":[0.334948050342445,0.11234566615204157,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f3939ff83571cc0117c28c2da1507bd5d11d332136292794884c5de46149a254","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0096.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3612/tex_ceiling_textures_5114/tex_floor_textures_3400/tex_table_textures_934/tex_wall_textures_9582","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2053493970505677184,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2053493970505677184,"visual_seed":2053493970505677184,"scene_id":"lab_003","finished_at":"2026-09-05T07:21:41"}
+{"episode_id":"ep_000061","started_at":"2026-09-05T07:21:47","dimensions":{"distractor":{"count":22,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.5680371191792257,-1.8680582997041522,0.71338606911949],"aabb_xy":[[0.47803711684520656,-1.945540654289265],[0.6580371215132447,-1.7905759451190397]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[0.5930491976455463,-2.1799339028842146,0.71338606911949],"aabb_xy":[[0.5555491975399534,-2.1867560647371955],[0.6305491977511393,-2.173111741031233]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.12458617584720533,-1.455741699538231,0.71338606911949],"aabb_xy":[[-0.15243121262781245,-1.486526198276543],[-0.09674113906659819,-1.4249572007999196]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[-0.41261273129128506,1.4588027547413245,0.71338606911949],"aabb_xy":[[-0.47261273154268624,1.4045214297048596],[-0.3526127310398839,1.513084079777789]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[-0.01842232941542543,0.6809215871017322,0.71338606911949],"aabb_xy":[[-0.043422328687387705,0.6645762235055699],[0.006577669856536849,0.6972669506978946]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.4383455692183993,-1.632293903540691,0.71338606911949],"aabb_xy":[[0.37434556754040194,-1.6808112950200051],[0.5023455708963966,-1.5837765120613767]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[0.45057428015239287,-0.6999880475086333,0.71338606911949],"aabb_xy":[[0.4280742796403523,-0.7224799058740315],[0.47307428066443347,-0.6774961891432348]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[0.34656926340791316,-1.25887015804235,0.71338606911949],"aabb_xy":[[0.34025716387157473,-1.264637097295569],[0.3528813629442516,-1.2531032187891311]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[-0.42570165931058807,0.5762248629808542,0.71338606911949],"aabb_xy":[[-0.44125742872085344,0.560674429736447],[-0.4101458899003229,0.5917752962252614]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[0.3371955914070197,1.0955696152813967,0.71338606911949],"aabb_xy":[[0.2471955916838455,1.0724962627462167],[0.42719559113019384,1.1186429678165764]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.3561267133263879,-1.7632913363137965,0.71338606911949],"aabb_xy":[[0.3409638403494508,-1.7784567936089153],[0.371289586303325,-1.7481258790186778]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[-0.3694944585142748,0.699889870409923,0.71338606911949],"aabb_xy":[[-0.42949446015719667,0.6478897211179788],[-0.30949445687135296,0.7518900197018672]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.44623441180039425,-1.1463422679804325,0.71338606911949],"aabb_xy":[[-0.4503503619124668,-1.1504578230132776],[-0.4421184616883215,-1.1422267129475865]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[0.5526926544431126,-2.3757354308360514,0.71338606911949],"aabb_xy":[[0.5151926539457543,-2.3797041143841704],[0.5901926549404708,-2.3717667472879334]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[-0.6105127647208364,-1.1514923174193938,0.71338606911949],"aabb_xy":[[-0.6645283610027363,-1.215492320311651],[-0.5564971684389363,-1.0874923145271367]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[0.48536197523715785,1.744100184310319,0.71338606911949],"aabb_xy":[[0.47724832056378075,1.73599436785629],[0.49347562991053495,1.752206000764348]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.4433559549988006,1.0827074353906965,0.71338606911949],"aabb_xy":[[-0.5073559541685706,1.0359407482717338],[-0.37935595582903064,1.1294741225096587]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.027670586208398795,-2.1726305044175636,0.71338606911949],"aabb_xy":[[-0.03566407600368083,-2.1806286363580396],[-0.01967709641311677,-2.1646323724770884]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[-0.534856555897688,-2.3409144664329062,0.71338606911949],"aabb_xy":[[-0.6148565591617011,-2.3544744987418196],[-0.45485655263367486,-2.327354434123993]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[-0.525239976741833,-1.602287473616121,0.71338606911949],"aabb_xy":[[-0.5563868955854161,-1.6722874723029282],[-0.49409305789824987,-1.5322874749293138]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[0.6937454727186751,1.5326091082191255,0.71338606911949],"aabb_xy":[[0.6873316590754901,1.526199287971457],[0.70015928636186,1.5390189284667937]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[-0.09966801643751766,1.6513090864459943,0.71338606911949],"aabb_xy":[[-0.17966801345176564,1.6311745347725828],[-0.019668019423269664,1.6714436381194053]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6974297288774272,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8284.png","name":"8284"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8284.png","name":"8284"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4042.png","name":"4042"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/256.png","name":"256"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4899.png","name":"4899"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":787.5275271381313,"rotation_z_degrees":70.32383686587822,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01529114813509527,-0.019076372172262254,-4.277119972865423e-06]},{"name":"camera_2","offset_m":[0.008615492110050384,0.009937483467486036,0.009384215198442142]},{"name":"camera_3","offset_m":[0.009497152489238297,0.012349408741972542,-0.01618948687737981]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013965045009780171,0.0005060634066777142,-0.000269837046311034],"end_effector_yaw_offset_degrees":0.45519914702828257},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00024041228887435127,0.0009370604136440031,0.00016096316872897098],"end_effector_yaw_offset_degrees":-0.6316406403928057},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017398976356161485,0.0005348988087095791,-0.0018662739096837893],"end_effector_yaw_offset_degrees":0.7574398423907607},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00012161371869530034,-0.0007665900307786586,0.0003784848049863442],"end_effector_yaw_offset_degrees":0.44404377929180794}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004342508132647975,-6.292155104653183e-05],"position_m":[0.31565749186735204,0.3530370784489535,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003584330126646931,0.002982460266536583],"position_m":[0.2716415669873353,-0.3643175397334634,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-6.906989608267047e-05,-0.003297342316697002],"position_m":[0.17993093010391734,-0.036897342316697,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010157375636105524,-0.0010327373223911872],"position_m":[0.33748426243638946,0.10746726267760881,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7738886fde01ede336c06a1f4cfb2d265e6d7b1a599a12370063306931f5410e","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0097.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8284/tex_ceiling_textures_4899/tex_floor_textures_256/tex_table_textures_4042/tex_wall_textures_9650","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6990489209208198223,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6990489209208198223,"visual_seed":6990489209208198223,"scene_id":"lab_003","finished_at":"2026-09-05T07:25:38"}
+{"episode_id":"ep_000062","started_at":"2026-09-05T07:25:42","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.24825795925740252,-0.21629723100541565,0.71338606911949],"aabb_xy":[[-0.2659335898460008,-0.2339774472848184],[-0.23058232866880418,-0.1986170147260129]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[-0.5298747704511988,0.4118252120902155,0.71338606911949],"aabb_xy":[[-0.5523395404226039,0.38932521121135505],[-0.5074100004797937,0.43432521296907606]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.5027458397028868,0.27928134769538326,0.71338606911949],"aabb_xy":[[0.4805733127262358,0.2571056805392601],[0.5249183666795375,0.30145701485150644]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.18417133516460094,0.46744938204725983,0.71338606911949],"aabb_xy":[[-0.2186336825627427,0.432955499649437],[-0.1497089877664591,0.5019432644450823]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.32308019955627415,-0.8153154347057454,0.71338606911949],"aabb_xy":[[-0.3682515174044432,-0.8793154318502839],[-0.27790888170810524,-0.7513154375612071]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[-0.6243196708368095,0.5529159459463155,0.71338606911949],"aabb_xy":[[-0.640381598295327,0.46791594413372367],[-0.6082577433782917,0.6379159477589073]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[-0.5047108183514597,0.8090654513182374,0.71338606911949],"aabb_xy":[[-0.5381509935474792,0.7756218254873072],[-0.47127064315544004,0.8425090771491673]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[-0.38678336914990685,1.3566828319168387,0.71338606911949],"aabb_xy":[[-0.3969363847040561,1.320613290344098],[-0.37663035359575736,1.3927523734895786]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[0.19043058021209724,-2.361089365449562,0.71338606911949],"aabb_xy":[[0.1772793342408079,-2.386089365206249],[0.20358182618338666,-2.336089365692876]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.19704225915976448,-1.3746329905477888,0.71338606911949],"aabb_xy":[[-0.2064597337296272,-1.3840491676855078],[-0.1876247845899017,-1.3652168134100697]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.6471043056887235,-2.2285548289936803,0.71338606911949],"aabb_xy":[[-0.6721043049606857,-2.2449001925898426],[-0.6221043064167612,-2.212209465397518]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[0.16718801326031463,-2.05072354952947,0.71338606911949],"aabb_xy":[[0.13218801336429573,-2.0590977850414096],[0.20218801315633347,-2.0423493140175295]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[0.12001231668870393,1.5331311945098745,0.71338606911949],"aabb_xy":[[0.10865058203541776,1.521762728103586],[0.1313740513419901,1.544499660916162]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.5268437900496408,-1.3526395659770194,0.71338606911949],"aabb_xy":[[0.49819445768922443,-1.3812851252540952],[0.5554931224100569,-1.3239940066999436]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[0.5216042792538473,1.1228377000235126,0.71338606911949],"aabb_xy":[[0.4516042766172609,1.1027328350276466],[0.5916042818904336,1.1429425650193776]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[-0.41464491819885585,-1.9330490958298276,0.71338606911949],"aabb_xy":[[-0.44093374251929646,-1.9593205294844787],[-0.38835609387841513,-1.9067776621751762]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[0.35410507026035876,-2.2196342603889185,0.71338606911949],"aabb_xy":[[0.3311893573753089,-2.2425385575253425],[0.37702078314540877,-2.1967299632524955]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[0.010753765708578666,-1.263065555503123,0.71338606911949],"aabb_xy":[[0.003713455775041675,-1.3430655549027946],[0.017794075642115662,-1.1830655561034518]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.36534615752798866,-0.23607057240716234,0.71338606911949],"aabb_xy":[[-0.39531371443781427,-0.2660705727050481],[-0.33537860061816294,-0.20607057210927662]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.6284072349802916,-1.3536038443858192,0.71338606911949],"aabb_xy":[[-0.6486915377036901,-1.3738864695285278],[-0.6081229322568926,-1.33332121924311]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6992086279934656,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7797.png","name":"7797"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7797.png","name":"7797"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8492.png","name":"8492"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2828.png","name":"2828"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/815.png","name":"815"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1405.png","name":"1405"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":638.1997219253873,"rotation_z_degrees":171.99402802121872,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011533767257508468,0.008079912650737073,-0.006112079492473197]},{"name":"camera_2","offset_m":[0.015248161018007144,0.0014894207055215596,0.014578914280174885]},{"name":"camera_3","offset_m":[-0.015821365816357843,-0.009571315788869503,0.0009429999646529061]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00101165618045107,0.001260096447785301,-0.00025528670883230293],"end_effector_yaw_offset_degrees":0.7752025446893773},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018524423092547621,-0.00019554124497471025,0.001989176729185871],"end_effector_yaw_offset_degrees":-0.0071573757332741295},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006019953056467609,-7.812236763372394e-05,0.0012079722546721413],"end_effector_yaw_offset_degrees":0.2557475262935953},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014123224083709327,0.0011511183147480146,-0.0013240429283296305],"end_effector_yaw_offset_degrees":-0.2908712181132569}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038259378241500682,0.00030817222555271605],"position_m":[0.3238259378241501,0.35340817222555276,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[7.610583978044476e-05,0.00029227273043409656],"position_m":[0.2720761058397805,-0.36700772726956593,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002056115943218233,0.004317229854595028],"position_m":[0.17794388405678177,-0.02928277014540497,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00020267904828120097,0.0030103860940439093],"position_m":[0.3382973209517188,0.11151038609404391,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c5bb30b3aa0fcf37885f2e42de60efaf509fbf811406394004e5bf7c78a833fe","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7797/tex_ceiling_textures_1405/tex_floor_textures_815/tex_table_textures_8492/tex_wall_textures_2828","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8515290907800170771,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8515290907800170771,"visual_seed":8515290907800170771,"scene_id":"lab_003","finished_at":"2026-09-05T07:29:27"}
+{"episode_id":"ep_000063","started_at":"2026-09-05T07:32:25","dimensions":{"distractor":{"count":22,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.10943313977365055,1.6792760420991573,0.71338606911949],"aabb_xy":[[-0.19943313627452225,1.6333643996806986],[-0.01943314327277877,1.725187684517615]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[0.42093110460402605,-0.8007272710074425,0.71338606911949],"aabb_xy":[[0.37145068339006726,-0.8647272689202943],[0.47041152581798484,-0.7367272730945906]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[-0.16342807261024983,-1.0028187646658466,0.71338606911949],"aabb_xy":[[-0.2134110227977291,-1.0528187643084068],[-0.11344512242277045,-0.9528187650232861]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[0.27697060516399763,-1.1230295346485748,0.71338606911949],"aabb_xy":[[0.2550808575750568,-1.213029531937824],[0.2988603527529384,-1.0330295373593257]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.3558344040143522,0.9147444919999876,0.71338606911949],"aabb_xy":[[0.32798936723374505,0.8839599932616761],[0.3836794407949593,0.9455289907382994]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.4657638687228973,0.5491010008314912,0.71338606911949],"aabb_xy":[[-0.49575553145676765,0.5191010014946906],[-0.435772205989027,0.5791010001682917]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.6372605000366908,0.6907493984551079,0.71338606911949],"aabb_xy":[[-0.6445042660829361,0.6107494002515054],[-0.6300167339904454,0.7707493966587101]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[0.23290416686733484,-0.62129421639744,0.71338606911949],"aabb_xy":[[0.18293110133481935,-0.671294216209973],[0.2828772323998503,-0.5712942165849072]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[-0.2056846452658206,0.11431177594039932,0.71338606911949],"aabb_xy":[[-0.21372800519177573,0.029311774845032876],[-0.19764128533986539,0.19931177703576575]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.6768127616551081,-0.6706410310064206,0.71338606911949],"aabb_xy":[[0.6569217217747679,-0.6832968422911174],[0.6967038015354484,-0.6579852197217237]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[0.6732208056560236,-1.5991557009455848,0.71338606911949],"aabb_xy":[[0.663589169435594,-1.6087930137252937],[0.6828524418764532,-1.5895183881658759]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[0.7029130701614554,-0.9643376448487213,0.71338606911949],"aabb_xy":[[0.6828546585482151,-0.9844027317578788],[0.7229714817746957,-0.9442725579395638]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.621410559328921,-2.395473888416166,0.71338606911949],"aabb_xy":[[0.5314105625933108,-2.4486573517334604],[0.7114105560645312,-2.3422904250988714]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.08916585048752812,1.5715825768742326,0.71338606911949],"aabb_xy":[[0.03918843362227454,1.521582575384984],[0.1391432673527817,1.6215825783634812]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_14","position":[0.02309164132778385,1.2680247976464383,0.71338606911949],"aabb_xy":[[-0.0021291955320558195,1.242801046793551],[0.048312478187623506,1.2932485484993246]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[-0.22008695584699567,1.0047953120271544,0.71338606911949],"aabb_xy":[[-0.2752121614765864,0.9447953105858674],[-0.16496175021740486,1.0647953134684416]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.517366635281522,1.76927951232854,0.71338606911949],"aabb_xy":[[-0.5523666352580178,1.7598148962809235],[-0.4823666353050261,1.7787441283761567]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.4753462181554997,-1.3817354483406117,0.71338606911949],"aabb_xy":[[0.4441992993119166,-1.4517354470274186],[0.5064931369990828,-1.3117354496538043]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[-0.22728641928353027,-1.1388630607633439,0.71338606911949],"aabb_xy":[[-0.2641369672205179,-1.1763630615863776],[-0.19043587134654266,-1.1013630599403101]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.6310427005517953,-1.768475490569235,0.71338606911949],"aabb_xy":[[-0.6910427021947172,-1.8204756398611792],[-0.5710426989088735,-1.7164753412772908]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[-0.10516406002909784,-0.10258230473361696,0.71338606911949],"aabb_xy":[[-0.14016405915905347,-0.10832752580928107],[-0.07016406089914215,-0.09683708365795285]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[-0.6337960160777113,0.9557298109074059,0.71338606911949],"aabb_xy":[[-0.6937960169385241,0.9043033809009194],[-0.5737960152168985,1.007156240913892]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7035059586685983,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6443.png","name":"6443"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6443.png","name":"6443"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5059.png","name":"5059"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5085.png","name":"5085"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5854.png","name":"5854"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8577.png","name":"8577"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":769.965671059744,"rotation_z_degrees":341.42126030917774,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01700126415632028,-0.011060101211515039,0.008319243777281403]},{"name":"camera_2","offset_m":[0.009427235795350226,-0.00318025132545802,0.005936974516395896]},{"name":"camera_3","offset_m":[0.010490967701645343,-0.0010284359085995752,-0.01724711291272259]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017276323104271731,0.0015321400231503952,0.0007586759466050737],"end_effector_yaw_offset_degrees":-0.3744344965133015},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010945923444598852,0.0001307136398896653,0.001442333270240351],"end_effector_yaw_offset_degrees":-0.3868045937482967},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001721879752015605,0.0007293681138770807,0.0017403528894976645],"end_effector_yaw_offset_degrees":0.3383594362608635},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014359099891447574,0.00011077538007817902,0.001192959225262941],"end_effector_yaw_offset_degrees":0.9312019323323424}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002723041159155404,-0.0014342384431998822],"position_m":[0.3227230411591554,0.3516657615568001,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004353446156684257,-0.0009567686144374308],"position_m":[0.2763534461566843,-0.36825676861443746,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00425437099188307,-0.003704845899629967],"position_m":[0.18425437099188308,-0.037304845899629964,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022520324387585826,-0.0030824391952746248],"position_m":[0.3407520324387586,0.10541756080472538,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"52850bf8b50197fc6cbc8a3a89756bc35f3766a135a8dbe4a05c1348cc90e855","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6443/tex_ceiling_textures_8577/tex_floor_textures_5854/tex_table_textures_5059/tex_wall_textures_5085","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5723868469147290355,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5723868469147290355,"visual_seed":5723868469147290355,"scene_id":"lab_003","finished_at":"2026-09-05T07:36:28"}
+{"episode_id":"ep_000064","started_at":"2026-09-05T07:36:32","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.6343872907013522,-2.3106005985900575,0.71338606911949],"aabb_xy":[[-0.6518872899794391,-2.3279386986564035],[-0.6168872914232654,-2.2932624985237116]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[-0.368819383968336,-0.7354281478144309,0.71338606911949],"aabb_xy":[[-0.43281938601806796,-0.7755226309037387],[-0.30481938191860397,-0.6953336647251228]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.3896299781471632,-1.7600445888561107,0.71338606911949],"aabb_xy":[[-0.4071299784064999,-1.7741361310448835],[-0.3721299778878266,-1.7459530466673383]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[0.3335289172505256,-1.3463883979574567,0.71338606911949],"aabb_xy":[[0.2695289179563573,-1.4103745383263107],[0.39752891654469374,-1.2824022575886023]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.2781548885596644,0.9772150068414036,0.71338606911949],"aabb_xy":[[-0.28744850679681494,0.9397150083532696],[-0.2688612703225138,1.0147150053295375]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_5","position":[0.4063268707465111,-2.082578257034425,0.71338606911949],"aabb_xy":[[0.3423268704860402,-2.1275870563873527],[0.47032687100698184,-2.0375694576814967]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.5648310740741755,-2.4022772843095583,0.71338606911949],"aabb_xy":[[-0.6448310712337507,-2.413824885267375],[-0.48483107691460015,-2.390729683351741]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[-0.21551955138234236,1.5637517319362906,0.71338606911949],"aabb_xy":[[-0.22148609032307814,1.5577905872769267],[-0.20955301244160657,1.569712876595655]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_8","position":[-0.48556373911847583,0.8143028353432546,0.71338606911949],"aabb_xy":[[-0.5495637377050483,0.767295871943746],[-0.4215637405319034,0.8613097987427635]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[-0.2795945582525403,-2.1035695342388525,0.71338606911949],"aabb_xy":[[-0.314056905650682,-2.1380634166366748],[-0.24513221085439843,-2.0690756518410294]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[-0.28600874867799325,1.3610289981748211,0.71338606911949],"aabb_xy":[[-0.33599169886547253,1.3110289985322605],[-0.2360257984905139,1.4110289978173813]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.2926630261714922,-0.8286957319471271,0.71338606911949],"aabb_xy":[[0.20266302757702231,-0.8449463182605483],[0.3826630247659622,-0.8124451456337063]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.015490190835435014,1.0938624023029893,0.71338606911949],"aabb_xy":[[-0.06950980785663963,1.0618765389081104],[0.10049018952750965,1.1258482656978681]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[-0.39508774903734817,1.5724859823263588,0.71338606911949],"aabb_xy":[[-0.4052407645914975,1.536416440753618],[-0.38493473348319873,1.6085555238990987]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.014058889937783148,-1.8121629569040274,0.71338606911949],"aabb_xy":[[-0.09405889021139012,-1.8851125047297441],[0.06594111033582382,-1.7392134090783107]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.051901233700677785,1.4541197617407904,0.71338606911949],"aabb_xy":[[-0.1159012369903859,1.4107848427368728],[0.012098769589030325,1.497454680744708]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.373100209686491,-1.1643056979950486,0.71338606911949],"aabb_xy":[[-0.40306776659631666,-1.1943056982929343],[-0.3431326527766653,-1.1343056976971628]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[0.28372183900184555,-1.1842439627671775,0.71338606911949],"aabb_xy":[[0.2487218406911501,-1.1919589776907233],[0.318721837312541,-1.176528947843632]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.48919704108892714,-2.1244520471361685,0.71338606911949],"aabb_xy":[[-0.5531970433093343,-2.168825131261457],[-0.42519703886852017,-2.0800789630108802]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[0.31443685008583655,-1.6474972519252686,0.71338606911949],"aabb_xy":[[0.25443684957798357,-1.7043439856111897],[0.3744368505936894,-1.590650518239347]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.5729096858777563,1.492788724182351,0.71338606911949],"aabb_xy":[[0.4829096835437372,1.4153063695972385],[0.6629096882117753,1.5702710787674639]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[0.421842312277533,-2.4524646850103995,0.71338606911949],"aabb_xy":[[0.36184231063461114,-2.5044648343023437],[0.48184231392045485,-2.4004645357184553]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[-0.6212815553642665,-0.2288340279125558,0.71338606911949],"aabb_xy":[[-0.6912815580008529,-0.24893889290842122],[-0.5512815527276802,-0.20872916291669022]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[-0.5199031396143341,-0.9330672933954689,0.71338606911949],"aabb_xy":[[-0.5316713264089916,-1.0180672933006907],[-0.5081349528196766,-0.8480672934902475]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[-0.2754668860876809,-1.3017711773658502,0.71338606911949],"aabb_xy":[[-0.3110960419876406,-1.3374038441227032],[-0.23983773018772114,-1.2661385106089973]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_25","position":[0.5397469392468184,-0.7489589487047945,0.71338606911949],"aabb_xy":[[0.5119019024662114,-0.7797434474431062],[0.5675919760274256,-0.7181744499664828]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[-0.4349708002413229,1.3504311625390621,0.71338606911949],"aabb_xy":[[-0.44375202738855923,1.3416514152505319],[-0.4261895730940868,1.3592109098275924]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_27","position":[-0.1261836834067842,-2.3044828143160565,0.71338606911949],"aabb_xy":[[-0.17331306240861985,-2.368482815360458],[-0.07905430440494851,-2.240482813271654]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_28","position":[0.18075490169842467,-1.0727511802710905,0.71338606911949],"aabb_xy":[[0.1757988815135435,-1.0952511804732123],[0.1857109218833059,-1.0502511800689691]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_29","position":[-0.48407295549223633,0.3287374722848484,0.71338606911949],"aabb_xy":[[-0.5292442733404052,0.26473747514031004],[-0.4389016376440674,0.3927374694293869]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_30","position":[-0.35733510850484107,-2.355987115318051,0.71338606911949],"aabb_xy":[[-0.3742458409411828,-2.369459320910665],[-0.34042437606849923,-2.342514909725436]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_31","position":[-0.357448175792311,0.8522817382759338,0.71338606911949],"aabb_xy":[[-0.3745502537506791,0.8351749327446641],[-0.34034609783394276,0.8693885438072037]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_32","position":[0.02794417451376896,-0.7824266466831793,0.71338606911949],"aabb_xy":[[-0.007969329911220721,-0.818340154899934],[0.06385767893875864,-0.7465131384664246]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_33","position":[0.37812473334022023,-0.969884608309493,0.71338606911949],"aabb_xy":[[0.3720877203395555,-0.9759113093784411],[0.384161746340885,-0.9638579072405447]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_34","position":[0.5847291354369399,-1.6208046235149487,0.71338606911949],"aabb_xy":[[0.504729136780054,-1.6353094824392118],[0.6647291340938261,-1.606299764590686]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6969984915637373,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1900.png","name":"1900"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1900.png","name":"1900"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7382.png","name":"7382"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9270.png","name":"9270"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9107.png","name":"9107"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3691.png","name":"3691"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":593.8600148709843,"rotation_z_degrees":52.50776445307674,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0029289406926245078,-0.0011809686159335274,-0.005606813714774037]},{"name":"camera_2","offset_m":[0.010885543463856024,0.011305071577993212,-0.006785335270828008]},{"name":"camera_3","offset_m":[0.019758649209723696,-0.01249599028397876,-0.0008380711815642247]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008887059921298241,0.0012486748610226225,-0.0005268285498056669],"end_effector_yaw_offset_degrees":0.2922116744282268},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006074108403478959,-0.0010093661623875034,-0.0008543699355127105],"end_effector_yaw_offset_degrees":-0.5108365142107381},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013155766790104693,-0.001376397446500685,0.0018356153759027374],"end_effector_yaw_offset_degrees":0.05728410358824121},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000644816002408339,0.0003608702081904858,-0.00021059279719677984],"end_effector_yaw_offset_degrees":0.3171556962864688}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00038646456147151207,0.0027851323482884043],"position_m":[0.3196135354385285,0.35588513234828845,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00010262872859806513,0.004227503659224166],"position_m":[0.27189737127140196,-0.3630724963407759,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0042887263957279475,0.0026932302091719883],"position_m":[0.18428872639572794,-0.030906769790828008,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033348456222220676,-0.0011241310326679287],"position_m":[0.3418348456222221,0.10737586896733207,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"41b901b8ef76503e11b4d6951b29fb68a03da64c4204c6332c80ea18e166fe8a","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0101.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1900/tex_ceiling_textures_3691/tex_floor_textures_9107/tex_table_textures_7382/tex_wall_textures_9270","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5177858522214975562,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5177858522214975562,"visual_seed":5177858522214975562,"scene_id":"lab_003","finished_at":"2026-09-05T07:40:15"}
+{"episode_id":"ep_000065","started_at":"2026-09-05T07:40:19","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.570300911685469,-0.3960496400560318,0.71338606911949],"aabb_xy":[[-0.5794607906293456,-0.4025808580995689],[-0.5611410327415924,-0.38951842201249487]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[-0.28954139404779006,-1.7630500241113125,0.71338606911949],"aabb_xy":[[-0.34954139389435684,-1.8198686463043512],[-0.22954139420122327,-1.7062314019182738]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[-0.07885368877098697,-0.025707831870606324,0.71338606911949],"aabb_xy":[[-0.14285369017897762,-0.07749678339453102],[-0.014853687362996302,0.02608111965331838]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[-0.4073688799710772,-0.413402720125279,0.71338606911949],"aabb_xy":[[-0.4573619920802692,-0.4634027207994747],[-0.35737576786188535,-0.3634027194510834]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.44107683478684995,-2.337203940401323,0.71338606911949],"aabb_xy":[[-0.4910768343631848,-2.3871845193534296],[-0.39107683521051534,-2.2872233614492177]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.5312437602098168,-2.3912767380974924,0.71338606911949],"aabb_xy":[[0.5211620531312432,-2.471276735989606],[0.5413254672883901,-2.311276740205377]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[-0.2752916712530294,-1.9529521782590749,0.71338606911949],"aabb_xy":[[-0.3102916712295252,-1.9624167943066915],[-0.24029167127653356,-1.9434875622114582]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[-0.05177230039861136,-1.914989544572952,0.71338606911949],"aabb_xy":[[-0.0695658073335278,-1.9327892901687496],[-0.03397879346369493,-1.8971897989771542]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[-0.5400413223625207,0.34750417916244736,0.71338606911949],"aabb_xy":[[-0.5619310699514614,0.25750418187319823],[-0.5181515747735798,0.4375041764516965]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[-0.22697161530443027,0.4698167967051319,0.71338606911949],"aabb_xy":[[-0.3069716132852153,0.46221525574328],[-0.14697161732364522,0.4774183376669839]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[-0.42480320265179555,-2.5003310686846376,0.71338606911949],"aabb_xy":[[-0.5148032012462656,-2.5165816549980593],[-0.33480320405732567,-2.484080482371217]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.014285448782680343,-0.8105679970527617,0.71338606911949],"aabb_xy":[[-0.04776461604372128,-0.8440471104238688],[0.019193718478360593,-0.7770888836816549]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[-0.28969482884691494,-1.3227365800989725,0.71338606911949],"aabb_xy":[[-0.3536905262420115,-1.3867365783996812],[-0.22569913145181836,-1.2587365817982639]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[-0.5855811404673268,-0.6421384939118582,0.71338606911949],"aabb_xy":[[-0.6505811415732701,-0.6671038669799865],[-0.5205811393613835,-0.6171731208437299]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.11331578001784415,1.1906459534970715,0.71338606911949],"aabb_xy":[[0.05831578084125465,1.1356562787221136],[0.16831577919443363,1.245635628272029]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[0.2262527068262984,-2.32166241491032,0.71338606911949],"aabb_xy":[[0.19792299687775813,-2.3261231571040373],[0.2545824167748386,-2.317201672716603]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.15944638927344001,0.5833867506378967,0.71338606911949],"aabb_xy":[[-0.16907802549386963,0.5737494378581878],[-0.1498147530530104,0.5930240634176056]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[-0.2825659565474096,-2.1542118599637163,0.71338606911949],"aabb_xy":[[-0.2919129641297049,-2.168515482181361],[-0.27321894896511445,-2.1399082377460727]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[-0.5376483389392305,-1.1817913667863484,0.71338606911949],"aabb_xy":[[-0.5528205082208638,-1.1969602237145518],[-0.5224761696575971,-1.166622509858145]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[0.5336444377016891,-0.13248104334523214,0.71338606911949],"aabb_xy":[[0.5160661355127423,-0.15005553291933704],[0.551222739890636,-0.11490655377112724]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[0.609162240698937,-1.7786132267027328,0.71338606911949],"aabb_xy":[[0.5716622400343582,-1.7943002847029548],[0.6466622413635156,-1.7629261687025104]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.5265797214125864,1.296565106442206,0.71338606911949],"aabb_xy":[[-0.6165797250895044,1.2351326998651013],[-0.43657971773566806,1.35799751301931]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[0.14595172291847225,1.4254254266149498,0.71338606911949],"aabb_xy":[[0.08195172374870228,1.378658739495987],[0.20995172208824217,1.472192113733912]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[-0.12944009627872022,-1.2413573816392598,0.71338606911949],"aabb_xy":[[-0.14711572686731852,-1.2590375979186623],[-0.11176446569012187,-1.2236771653598568]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_24","position":[0.2844964429485026,1.4081533930447394,0.71338606911949],"aabb_xy":[[0.2594964437828695,1.4012011473393828],[0.30949644211413574,1.415105638750096]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[-0.1547735794896421,-0.6837002001743862,0.71338606911949],"aabb_xy":[[-0.22477358212622842,-0.7038050651702515],[-0.08477357685305573,-0.6635953351785205]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_26","position":[-0.15103329733273851,1.2733638623672743,0.71338606911949],"aabb_xy":[[-0.18853329762491336,1.2693223869666708],[-0.11353329704056372,1.2774053377678778]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[0.4926298287408306,-1.3483840296669227,0.71338606911949],"aabb_xy":[[0.4376375781053197,-1.4033840314102357],[0.5476220793763416,-1.2933840279236102]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[-0.24125558325855967,1.1026719883104916,0.71338606911949],"aabb_xy":[[-0.24851683082896708,1.0898849780469821],[-0.23399433568815226,1.115458998574001]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_29","position":[0.40342163815705434,1.396199773844252,0.71338606911949],"aabb_xy":[[0.39165345136239693,1.3111997739390304],[0.41518982495171197,1.4811997737494735]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_30","position":[0.23578255882235677,0.986699128104894,0.71338606911949],"aabb_xy":[[0.18578255753851675,0.9367202737142718],[0.2857825601061966,1.036677982495516]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_31","position":[-0.014964229288463748,1.7454411204126,0.71338606911949],"aabb_xy":[[-0.03713675626511458,1.7232654532564764],[0.00720829768818709,1.7676167875687225]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001241367412997,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6605.png","name":"6605"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6605.png","name":"6605"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/204.png","name":"204"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2478.png","name":"2478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4905.png","name":"4905"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9682.png","name":"9682"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":557.1624418871992,"rotation_z_degrees":201.13724799005576,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006152506593604534,0.0053404221442279465,-0.015248710472905387]},{"name":"camera_2","offset_m":[-0.017136819373967018,0.016204398930395148,-0.007990698420791911]},{"name":"camera_3","offset_m":[-0.007127426922476166,0.004976202758820426,-0.000773870571585452]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013481609316441778,0.0015593700100936742,0.00035073949539375345],"end_effector_yaw_offset_degrees":0.935297991535323},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000876070882714193,-0.00023764463774469252,-5.147607518068585e-05],"end_effector_yaw_offset_degrees":0.957164800663608},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019472722373727867,-0.0007308848988690623,0.0012396481777971259],"end_effector_yaw_offset_degrees":-0.3816345913780903},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.0022697727567718e-05,0.0002666727818210375,0.0011481316469442453],"end_effector_yaw_offset_degrees":-0.8564642288837865}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007028464960899886,-0.004770459107995351],"position_m":[0.31929715350391,0.3483295408920047,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009484965560330825,-0.0030974019669616285],"position_m":[0.27105150344396695,-0.37039740196696164,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004998870846998513,-0.0038942143873134005],"position_m":[0.1849988708469985,-0.0374942143873134,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038863268879162924,0.0009708750251332032],"position_m":[0.3423863268879163,0.1094708750251332,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7298cd8746f746ff3f4e6ba140fae57014bc24e891f29adaf076dadbdecd1346","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0102.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6605/tex_ceiling_textures_9682/tex_floor_textures_4905/tex_table_textures_204/tex_wall_textures_2478","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8641636769361471045,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8641636769361471045,"visual_seed":8641636769361471045,"scene_id":"lab_003","finished_at":"2026-09-05T07:44:08"}
+{"episode_id":"ep_000066","started_at":"2026-09-05T07:44:12","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[-0.6283581310915942,-1.7740846394615912,0.71338606911949],"aabb_xy":[[-0.6508581313351097,-1.786289274121363],[-0.6058581308480789,-1.761880004801819]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[-0.10193734994151826,-2.1930081274055784,0.71338606911949],"aabb_xy":[[-0.11703965140253635,-2.2081096490366394],[-0.08683504848050015,-2.1779066057745156]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.3747793988766379,-0.2964108800688887,0.71338606911949],"aabb_xy":[[-0.40724109975856526,-0.32654371218379125],[-0.34231769799471035,-0.26627804795398596]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.38150412481396634,1.6411616956752693,0.71338606911949],"aabb_xy":[[-0.4455041267263087,1.585250546417259],[-0.317504122901624,1.69707284493328]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[-0.5119327654144035,0.710253899489746,0.71338606911949],"aabb_xy":[[-0.5424170155414336,0.6602538997082501],[-0.4814485152873733,0.760253899271242]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[-0.5865471137712271,-2.4016774045853047,0.71338606911949],"aabb_xy":[[-0.5952610828211615,-2.424177405244492],[-0.5778331447212925,-2.3791774039261155]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.16193903275148258,-2.395126313221129,0.71338606911949],"aabb_xy":[[-0.22593903442947993,-2.443643704700443],[-0.09793903107348523,-2.3466089217418147]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.6489435639781477,-1.0546723237685518,0.71338606911949],"aabb_xy":[[-0.6718592768631976,-1.0775766209049755],[-0.6260278510930978,-1.0317680266321285]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[0.7083016150798904,1.2624892622272794,0.71338606911949],"aabb_xy":[[0.6951503691086012,1.2374892624705929],[0.7214528610511799,1.287489261983966]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[-0.05287361622686848,1.1263569960541844,0.71338606911949],"aabb_xy":[[-0.08718989340148642,1.0763569960810067],[-0.018557339052250536,1.176356996027362]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.031518458575403585,0.723723464300829,0.71338606911949],"aabb_xy":[[-0.01845895828985,0.6737234628115805],[0.08149587544065716,0.7737234657900776]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.4264910697688913,-1.211247231855536,0.71338606911949],"aabb_xy":[[0.3624910683609006,-1.2630361833794608],[0.49049107117688195,-1.1594582803316114]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[-0.4581419779917506,0.5284317216305823,0.71338606911949],"aabb_xy":[[-0.46542429436841415,0.4384317180210731],[-0.45085966161508684,0.618431725240091]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.05960965012189334,-2.0238555189178182,0.71338606911949],"aabb_xy":[[-0.0003903501295078396,-2.0781368439542827],[0.11960965037329452,-1.9695741938813531]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[-0.3622434434206483,-1.096929882215501,0.71338606911949],"aabb_xy":[[-0.3997434435262412,-1.1037520440684818],[-0.3247434433150553,-1.0901077203625196]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[0.039812874210979676,1.0004887406492537,0.71338606911949],"aabb_xy":[[0.002778764782919954,0.9661115333155441],[0.07684698363903938,1.034865947982963]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[-0.025998449900313414,-0.1595723472429249,0.71338606911949],"aabb_xy":[[-0.04363128549384099,-0.17719529325854788],[-0.008365614306785845,-0.14194940122730193]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[0.5490142062739634,1.0339601022943277,0.71338606911949],"aabb_xy":[[0.5029291150192319,0.9699601050417727],[0.5950992975286948,1.0979600995468828]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[-0.01186551270332492,-2.5647642076454336,0.71338606911949],"aabb_xy":[[-0.02703768198495826,-2.5799330645736367],[0.00330665657830842,-2.5495953507172304]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.624415083692736,-1.6483764702917671,0.71338606911949],"aabb_xy":[[0.5744150833321698,-1.69835645750137],[0.674415084053302,-1.5983964830821642]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.3547921763655341,-1.525188031937768,0.71338606911949],"aabb_xy":[[-0.3627856661608162,-1.5331861638782438],[-0.34679868657025215,-1.5171898999972926]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[0.6417962007482181,-2.4287694991904853,0.71338606911949],"aabb_xy":[[0.6241205701596196,-2.446449715469888],[0.6594718313368163,-2.4110892829110826]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_22","position":[0.5500681520942885,-1.809001528655342,0.71338606911949],"aabb_xy":[[0.4900681514982723,-1.8638140012005657],[0.6100681526903047,-1.7541890561101188]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[0.42365473883328986,0.4961976673783246,0.71338606911949],"aabb_xy":[[0.41724092519010486,0.48978784713065615],[0.43006855247647474,0.5026074876259927]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[-0.2968217741917006,-0.9320229511436826,0.71338606911949],"aabb_xy":[[-0.3193217747037411,-0.9545148095090809],[-0.27432177367965993,-0.9095310927782841]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[0.03086836522823544,-2.434996307358195,0.71338606911949],"aabb_xy":[[-0.019131635790899836,-2.4714625230960228],[0.0808683662473707,-2.398530091620367]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[0.6179046544160132,0.8122115803589716,0.71338606911949],"aabb_xy":[[0.5539046558294407,0.7652046169594627],[0.6819046530025856,0.8592185437584802]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_27","position":[-0.6480287693338053,0.6465059539115914,0.71338606911949],"aabb_xy":[[-0.6529847895186865,0.6240059537094698],[-0.6430727491489242,0.669005954113713]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[-0.21132467295862156,0.5472548999790208,0.71338606911949],"aabb_xy":[[-0.29132467342883756,0.5389441923646725],[-0.13132467248840565,0.5555656075933693]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_29","position":[-0.5517863381945901,-2.2402424435294246,0.71338606911949],"aabb_xy":[[-0.6355085636946726,-2.3302424470641205],[-0.46806411269450765,-2.1502424399947286]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_30","position":[0.6164722868338297,0.43802070900817336,0.71338606911949],"aabb_xy":[[0.5514722886779106,0.4117244644582611],[0.6814722849897488,0.4643169535580855]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_31","position":[0.602525897224159,-2.210595552194979,0.71338606911949],"aabb_xy":[[0.5650258986485381,-2.2233318478585367],[0.6400258957997798,-2.197859256531421]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7017287596070342,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8594.png","name":"8594"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8594.png","name":"8594"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4138.png","name":"4138"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8212.png","name":"8212"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9192.png","name":"9192"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9552.png","name":"9552"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":617.3180556369382,"rotation_z_degrees":143.43625867855823,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0034683029050126893,-0.010346422845959552,-0.00983980702050863]},{"name":"camera_2","offset_m":[-0.0051324944676381535,-0.0005477539084384336,-0.01661240936402338]},{"name":"camera_3","offset_m":[0.011897619031907999,-0.018763381824962386,-0.009809500091302534]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002931695017639928,0.0013817775056839993,0.0017487427077034299],"end_effector_yaw_offset_degrees":-0.20888943229090828},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007441333681291952,-0.0016695341504364488,0.0005925106508000463],"end_effector_yaw_offset_degrees":-0.12508854779739575},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016226890292201273,-0.001759366404216798,-0.00013681578461308738],"end_effector_yaw_offset_degrees":-0.0661290155272396},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00037642536095777767,-0.0011984712331821338,0.0012273349038385726],"end_effector_yaw_offset_degrees":0.06983064769368674}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003107613354659096,0.0016723485493655033],"position_m":[0.3168923866453409,0.3547723485493655,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004385398072121969,0.002502228974074935],"position_m":[0.276385398072122,-0.3647977710259251,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002862125925898046,-0.004771179476874864],"position_m":[0.17713787407410195,-0.038371179476874864,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012381766017422972,-0.00017532824745552806],"position_m":[0.3397381766017423,0.10832467175254447,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9b8a3a36a385950c1aa22d9bd3825b2adbaa9228001f0f3c8c6503ebc1619640","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0103.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8594/tex_ceiling_textures_9552/tex_floor_textures_9192/tex_table_textures_4138/tex_wall_textures_8212","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2280011006087885364,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2280011006087885364,"visual_seed":2280011006087885364,"scene_id":"lab_003","finished_at":"2026-09-05T07:48:12"}
+{"episode_id":"ep_000067","started_at":"2026-09-05T07:48:17","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[-0.08867511532021422,-1.8217875713231604,0.71338606911949],"aabb_xy":[[-0.15367511627734143,-1.873735783256866],[-0.023675114363087012,-1.7698393593894548]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.39352097697633615,0.8400684142162,0.71338606911949],"aabb_xy":[[0.3753151533150885,0.8290430136342085],[0.4117268006375839,0.8510938147981918]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_2","position":[0.05600813519496639,-1.5507504409910862,0.71338606911949],"aabb_xy":[[-0.02399186346191961,-1.565255299915349],[0.1360081338518524,-1.5362455820668233]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[0.48711304272393763,-0.8734479886166004,0.71338606911949],"aabb_xy":[[0.44961304120830586,-0.8846747616327456],[0.5246130442395693,-0.8622212156004555]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.5871681702564777,-0.7181915957878682,0.71338606911949],"aabb_xy":[[0.5496681699643029,-0.7222330711884718],[0.6246681705486525,-0.7141501203872646]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.05249112197621353,1.6419052898512123,0.71338606911949],"aabb_xy":[[-0.06165100092009013,1.6353740718076752],[-0.04333124303233693,1.6484365078947494]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[-0.6631713118817537,-0.10667936289070123,0.71338606911949],"aabb_xy":[[-0.685671311891902,-0.12077558253030453],[-0.6406713118716054,-0.09258314325109797]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.599199302719029,0.9614939524452755,0.71338606911949],"aabb_xy":[[-0.649199304002869,0.9115150980546532],[-0.549199301435189,1.0114728068358974]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.5156730643746374,1.7703725601153901,0.71338606911949],"aabb_xy":[[0.4982423492956309,1.7531004454515393],[0.5331037794536438,1.787644674779241]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.35683001678569226,-2.5397722583817846,0.71338606911949],"aabb_xy":[[-0.391830018137174,-2.560131994338605],[-0.3218300154342105,-2.5194125224249633]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[-0.14405042406629676,1.0484792813412205,0.71338606911949],"aabb_xy":[[-0.15129419011254205,0.9684792831376181],[-0.1368066580200514,1.1284792795448229]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[-0.10429059128274454,-1.3006731831649792,0.71338606911949],"aabb_xy":[[-0.10924661146762575,-1.323173183367101],[-0.09933457109786335,-1.2781731829628578]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[-0.31721373254873775,1.4756336711904292,0.71338606911949],"aabb_xy":[[-0.3232507455494025,1.4696069701214811],[-0.311176719548073,1.4816603722593773]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.19538595347270454,-1.6357872863326453,0.71338606911949],"aabb_xy":[[-0.2503596755090374,-1.6907872858968787],[-0.14041223143637166,-1.5807872867684123]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[-0.48057611455269744,-0.42322015176429284,0.71338606911949],"aabb_xy":[[-0.506864938873138,-0.449491585418944],[-0.4542872902322567,-0.39694871810964155]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[0.3368196075783336,-1.1481298143405523,0.71338606911949],"aabb_xy":[[0.25681961041875834,-1.159677415298369],[0.4168196047379089,-1.136582213382735]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.48951276002624977,1.700633794832131,0.71338606911949],"aabb_xy":[[-0.5070127591606168,1.6907541677945432],[-0.4720127608918826,1.7105134218697189]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.08861336675525,0.776928526190082,0.71338606911949],"aabb_xy":[[0.08135211918484259,0.7641415159265725],[0.09587461432565741,0.7897155364535915]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_18","position":[-0.19110717114019704,-0.692342152911096,0.71338606911949],"aabb_xy":[[-0.23235598217011175,-0.7473421524233134],[-0.14985836011028228,-0.6373421533988785]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.5557891096406485,-1.8303006271554607,0.71338606911949],"aabb_xy":[[-0.6057891110015358,-1.8802785317308761],[-0.5057891082797613,-1.7803227225800449]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[-0.6023488817161593,-1.5535684378991224,0.71338606911949],"aabb_xy":[[-0.6060521430452981,-1.55727045620784],[-0.5986456203870203,-1.5498664195904042]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[0.6026008638646263,0.20008935670854067,0.71338606911949],"aabb_xy":[[0.5386008674690531,0.1361260682898071],[0.6666008602601993,0.2640526451272742]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[0.5301164819299957,-2.2291187745036622,0.71338606911949],"aabb_xy":[[0.5252728871687659,-2.2339704269826464],[0.5349600766912258,-2.224267122024678]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[0.6173359742623477,-1.941803662413586,0.71338606911949],"aabb_xy":[[0.5997892793462286,-1.9793036639778372],[0.6348826691784665,-1.9043036608493347]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[0.6816611941724875,0.6768810829003908,0.71338606911949],"aabb_xy":[[0.6729472251225529,0.6543810822412024],[0.6903751632224219,0.6993810835595788]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_25","position":[0.34966074662984714,-2.4001640566072755,0.71338606911949],"aabb_xy":[[0.2596607442958281,-2.477646411192388],[0.4396607489638662,-2.322681702022163]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_26","position":[-0.3596088434754739,-0.27377914620318,0.71338606911949],"aabb_xy":[[-0.3971088439728322,-0.2777478297512984],[-0.3221088429781157,-0.2698104626550616]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_27","position":[0.20380237341475993,0.7493562945758239,0.71338606911949],"aabb_xy":[[0.16630237222996708,0.7449380718797632],[0.24130237459955267,0.7537745172718843]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_28","position":[-0.4603440867898456,-0.20077568097470877,0.71338606911949],"aabb_xy":[[-0.47294678592692213,-0.21337107719957427],[-0.4477413876527692,-0.18818028474984327]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_29","position":[-0.4455837639107533,1.4139611147856272,0.71338606911949],"aabb_xy":[[-0.45599532259123704,1.4086153814497286],[-0.4351722052302696,1.4193068481215254]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_30","position":[-0.3722125994821446,-0.015919657434180667,0.71338606911949],"aabb_xy":[[-0.4097125979055449,-0.029083871402011293],[-0.3347126010587442,-0.0027554434663500348]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_31","position":[0.4506431774995572,0.9599729924475442,0.71338606911949],"aabb_xy":[[0.4045580862448257,0.8959729951949891],[0.49672826875428866,1.0239729897000993]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_32","position":[-0.3352966431280595,1.0458077732862954,0.71338606911949],"aabb_xy":[[-0.3766011861917955,0.9818077737181781],[-0.2939921000643235,1.1098077728544122]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_33","position":[-0.04901937436076609,-2.4931221502729204,0.71338606911949],"aabb_xy":[[-0.07353299845777195,-2.5173867435749573],[-0.024505750263760236,-2.4688575569708844]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_34","position":[0.3029062574489414,1.5429527975421382,0.71338606911949],"aabb_xy":[[0.24290625685292516,1.4881403249969147],[0.3629062580449575,1.5977652700873617]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951005633407678,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3626.png","name":"3626"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3626.png","name":"3626"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3995.png","name":"3995"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8620.png","name":"8620"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7247.png","name":"7247"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2481.png","name":"2481"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":587.0156218596171,"rotation_z_degrees":34.797234057454325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013267411088103752,0.01509744382165502,-0.018382799459915573]},{"name":"camera_2","offset_m":[-0.01428115817286828,-0.019740074309532892,-0.0021260030057286307]},{"name":"camera_3","offset_m":[-0.01838351717617821,-0.01996614182952791,-0.005274474545273713]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001193089910376852,-0.0006521121670539189,-7.436243110354426e-05],"end_effector_yaw_offset_degrees":0.8894370352076213},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012626801383601811,-0.0008563673051776037,-0.0014748972262085048],"end_effector_yaw_offset_degrees":0.6755838926876805},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012256706910158894,-0.0003834971153560832,-0.001618206429658583],"end_effector_yaw_offset_degrees":-0.2653423324998345},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018605385599190973,-0.0010293315278074645,-0.0008758502698423697],"end_effector_yaw_offset_degrees":-0.706183495533542}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004671337248732948,0.001097482800961628],"position_m":[0.3246713372487329,0.35419748280096164,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001993916376816771,0.0047721348690699375],"position_m":[0.27000608362318324,-0.3625278651309301,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004250152067594766,-0.00029566254100230754],"position_m":[0.17574984793240522,-0.033895662541002305,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00018468245828518175,-0.001046075994324421],"position_m":[0.33831531754171484,0.10745392400567558,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f111e33b3bc5687418fc14adbb939d6a1ae0f2a4e5d5ce161b492a84a6c10719","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0104.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3626/tex_ceiling_textures_2481/tex_floor_textures_7247/tex_table_textures_3995/tex_wall_textures_8620","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":353393674478002283,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":353393674478002283,"visual_seed":353393674478002283,"scene_id":"lab_003","finished_at":"2026-09-05T07:52:08"}
+{"episode_id":"ep_000068","started_at":"2026-09-05T07:52:11","dimensions":{"distractor":{"count":20,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[-0.0709051119879952,-0.15198631466502066,0.71338606911949],"aabb_xy":[[-0.10336681286992265,-0.18211914677992322],[-0.03844341110606774,-0.121853482550118]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[-0.3785420859041206,1.0288269806940806,0.71338606911949],"aabb_xy":[[-0.46854208263973074,0.9756435173767859],[-0.2885420891685103,1.082010444011375]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[0.4018353411316822,-0.5663893958314197,0.71338606911949],"aabb_xy":[[0.3643353399468893,-0.5708076185274801],[0.4393353423164749,-0.561971173135359]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.18931655009896176,-1.941560853121975,0.71338606911949],"aabb_xy":[[-0.274316548516385,-2.0264351485842598],[-0.10431655168153856,-1.85668655765969]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.24494872973169157,-0.13242554607750723,0.71338606911949],"aabb_xy":[[-0.2509152686724273,-0.13838669073687127],[-0.23898219079095576,-0.1264644014181432]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[-0.05640698642204922,-1.5513586754317845,0.71338606911949],"aabb_xy":[[-0.06440047621733126,-1.5593568073722608],[-0.04841349662676721,-1.5433605434913096]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.5587961440351046,-0.892424194484631,0.71338606911949],"aabb_xy":[[0.4947961476077827,-0.9395938183067275],[0.6227961404624265,-0.8452545706625346]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.5766506509660201,-2.497501702078702,0.71338606911949],"aabb_xy":[[-0.6216432376844704,-2.5425017013531503],[-0.5316580642475696,-2.452501702804253]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_8","position":[-0.5451547258800711,-1.510959072149175,0.71338606911949],"aabb_xy":[[-0.6091547231824175,-1.5553254991170318],[-0.4811547285777247,-1.4665926451813183]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[-0.014215922691317995,-2.4232534160519816,0.71338606911949],"aabb_xy":[[-0.036715922701466286,-2.4373496356915845],[0.008284077318830295,-2.409157196412378]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.6234688716848245,1.30124767656688,0.71338606911949],"aabb_xy":[[-0.6834688721926774,1.2444009428809586],[-0.5634688711769715,1.3580944102528012]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.21674117099408113,1.261240958893124,0.71338606911949],"aabb_xy":[[-0.24722542112111126,1.211240959111628],[-0.18625692086705095,1.3112409586746199]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_12","position":[-0.3598386267157755,0.560235396548161,0.71338606911949],"aabb_xy":[[-0.4498386290497946,0.48275304196304836],[-0.2698386243817565,0.6377177511332737]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[0.41275080896071237,1.2710888196832704,0.71338606911949],"aabb_xy":[[0.38891459132010736,1.181088818874784],[0.4365870266013175,1.3610888204917568]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.5793610145961892,-2.450773762398698,0.71338606911949],"aabb_xy":[[0.5243610154195996,-2.505763437173655],[0.6343610137727785,-2.3957840876237397]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.07903885956233281,1.7781245873868143,0.71338606911949],"aabb_xy":[[0.01503885815434215,1.7263356358628894],[0.14303886097032348,1.8299135389107388]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.37826332968740767,-1.5614971468360488,0.71338606911949],"aabb_xy":[[-0.38841634524155694,-1.5975666884087887],[-0.36811031413325823,-1.525427605263308]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[-0.454744797764271,-0.6614648218945851,0.71338606911949],"aabb_xy":[[-0.48514290886341455,-0.6918717238962546],[-0.42434668666512737,-0.6310579198929156]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[0.4488894984248244,-0.48855288131841235,0.71338606911949],"aabb_xy":[[0.4447735483127516,-0.4926684363512578],[0.45300544853689695,-0.4844373262855668]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[0.23261571853112017,-1.3792750849797684,0.71338606911949],"aabb_xy":[[0.2026481616212945,-1.409275085277654],[0.26258327544094584,-1.3492750846818826]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970353085109862,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7894.png","name":"7894"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7894.png","name":"7894"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3025.png","name":"3025"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5331.png","name":"5331"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8802.png","name":"8802"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1226.png","name":"1226"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":673.0591515125284,"rotation_z_degrees":219.37627383426366,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017650621215672967,-0.012211442621383824,-0.011649036701353489]},{"name":"camera_2","offset_m":[0.016542117469086254,0.005740875566719834,-0.007838176900940623]},{"name":"camera_3","offset_m":[0.018140909873625172,0.007603065373285273,0.0036975409661235137]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012668239994908085,-0.0016594417891198665,0.001985426433892678],"end_effector_yaw_offset_degrees":0.1769303920307863},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-8.781940025257245e-05,0.0014503933547981157,-0.0005299588682736798],"end_effector_yaw_offset_degrees":0.029921899407407082},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017046594135510956,-0.0006293998955971634,-0.0016396202309518532],"end_effector_yaw_offset_degrees":-0.8495669700391142},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015528682230455076,0.0010990907044760015,0.0003124387530627384],"end_effector_yaw_offset_degrees":-0.1866558768232338}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017540607383511233,0.004628924927580171],"position_m":[0.3217540607383511,0.3577289249275802,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00018689863972855356,0.0040188057896925625],"position_m":[0.2718131013602715,-0.36328119421030747,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013737349785478171,-0.0029661788280909386],"position_m":[0.17862626502145218,-0.036566178828090934,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003519667684945861,-0.004901238735770399],"position_m":[0.33498033231505414,0.1035987612642296,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"591e1d86abec55dbcdd00c3a9768ec687f953ef07919b71f00ad32cf8ee896d2","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0105.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7894/tex_ceiling_textures_1226/tex_floor_textures_8802/tex_table_textures_3025/tex_wall_textures_5331","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8136001818455047935,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8136001818455047935,"visual_seed":8136001818455047935,"scene_id":"lab_003","finished_at":"2026-09-05T07:56:01"}
+{"episode_id":"ep_000069","started_at":"2026-09-05T07:56:05","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_0","position":[-0.35875158127991813,-0.17399255341794895,0.71338606911949],"aabb_xy":[[-0.37198252681459937,-0.18721997243994834],[-0.3455206357452368,-0.1607651343959495]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[-0.47219207603970714,-2.1920010692209804,0.71338606911949],"aabb_xy":[[-0.47981634412988544,-2.199634292757524],[-0.46456780794952895,-2.1843678456844366]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.08200869815253808,-2.4063808222147864,0.71338606911949],"aabb_xy":[[-0.09070666044325337,-2.418505796522261],[-0.0733107358618228,-2.3942558479073117]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.19149793851778163,-1.2241787320405857,0.71338606911949],"aabb_xy":[[0.17399793938341443,-1.2340583590781735],[0.20899793765214877,-1.2142991050029979]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[0.6786852130004657,1.423619244327146,0.71338606911949],"aabb_xy":[[0.6536852130679479,1.416736576106223],[0.7036852129329837,1.4305019125480696]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[0.46247018879939783,-2.1095709503526754,0.71338606911949],"aabb_xy":[[0.3974701861616044,-2.1610505490521223],[0.5274701914371913,-2.0580913516532284]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[0.6516219590980554,-0.00863838663465799,0.71338606911949],"aabb_xy":[[0.5966287477609188,-0.0636383869734516],[0.7066151704351923,0.046361613704135614]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[0.26997816368054306,0.5501450745844347,0.71338606911949],"aabb_xy":[[0.25330102768744756,0.5334451506105045],[0.28665529967363856,0.566844998558365]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[-0.4121620259624219,-1.9605360189686523,0.71338606911949],"aabb_xy":[[-0.4771620269195491,-2.012484230902358],[-0.3471620250052947,-1.908587807034947]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[-0.359288624177473,0.5809594665433164,0.71338606911949],"aabb_xy":[[-0.4392886256076002,0.501442311530707],[-0.2792886227473458,0.6604766215559259]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[-0.05420261861345721,-0.8800598244371303,0.71338606911949],"aabb_xy":[[-0.12420262125004355,-0.9001646894329958],[0.015797384023129142,-0.8599549594412648]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.43588506040126873,-1.585915655889759,0.71338606911949],"aabb_xy":[[-0.44197968828938716,-1.5944850504414276],[-0.4297904325131505,-1.5773462613380902]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[-0.26289054152786573,1.051309862144263,0.71338606911949],"aabb_xy":[[-0.31289054281170564,1.0013310077536406],[-0.21289054024402573,1.1012887165348848]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[0.3517581287971472,-1.4194652258225364,0.71338606911949],"aabb_xy":[[0.2877581273891565,-1.471254177346461],[0.41575813020513785,-1.3676762742986115]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.592308863392722,-1.4517370005981702,0.71338606911949],"aabb_xy":[[0.5423095882242859,-1.5017370018741174],[0.6423081385611582,-1.401736999322223]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_15","position":[0.2165116300244999,-1.7761657235855313,0.71338606911949],"aabb_xy":[[0.15251162932103057,-1.8221841060584525],[0.28051163072796925,-1.7301473411126105]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[-0.3120861496590201,-0.8312240044162647,0.71338606911949],"aabb_xy":[[-0.3620703853671973,-0.8812240032297601],[-0.26210191395084287,-0.781224005602769]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[-0.3336606991528205,-2.3293257144926294,0.71338606911949],"aabb_xy":[[-0.3479951242789839,-2.341385930047168],[-0.319326274026657,-2.3172654989380908]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[-0.1867924496132657,-2.1001876775036337,0.71338606911949],"aabb_xy":[[-0.22809699267700165,-2.1641876770717507],[-0.14548790654952967,-2.0361876779355166]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[0.5544296278983698,-2.390512710483128,0.71338606911949],"aabb_xy":[[0.5452697489544932,-2.397043928526665],[0.5635895068422464,-2.3839814924395912]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[-0.30064033769346643,-1.297707407621641,0.71338606911949],"aabb_xy":[[-0.35465593397536643,-1.361707410513898],[-0.24662474141156643,-1.2337074047293837]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[-0.06548510628642379,-1.2127534958072328,0.71338606911949],"aabb_xy":[[-0.1023356542234114,-1.2502534966302665],[-0.02863455834943618,-1.175253494984199]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[-0.3248696559243393,0.09957905118575416,0.71338606911949],"aabb_xy":[[-0.34986965508997236,0.09262680548039759],[-0.29986965675870614,0.10653129689111074]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.36633107256549424,-0.9316956711659954,0.71338606911949],"aabb_xy":[[0.286337248986936,-1.011695673758837],[0.44632489614405246,-0.8516956685731538]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[0.3798906326789533,1.665775305958101,0.71338606911949],"aabb_xy":[[0.2998906294149402,1.6522152736491877],[0.4598906359429665,1.6793353382670144]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[0.6732537850832494,1.6064599266001331,0.71338606911949],"aabb_xy":[[0.628261198364799,1.5614599273256844],[0.7182463718016998,1.651459925874582]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[0.4795149539678485,0.9015615180925143,0.71338606911949],"aabb_xy":[[0.42953753710259485,0.8515615166032657],[0.529492370833102,0.9515615195817628]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[-0.3298525472438558,-0.551217383510302,0.71338606911949],"aabb_xy":[[-0.40985254464744925,-0.6312099547084847],[-0.24985254984026242,-0.47122481231211916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6981149942629685,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8540.png","name":"8540"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8540.png","name":"8540"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6572.png","name":"6572"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1147.png","name":"1147"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/622.png","name":"622"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1357.png","name":"1357"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":515.0326465605765,"rotation_z_degrees":128.1477392323571,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01898876740729945,-0.010368781409479758,0.01727730642343069]},{"name":"camera_2","offset_m":[-0.018836648971028692,-0.011055034064128137,0.0023615572704320763]},{"name":"camera_3","offset_m":[0.01794051000402037,-0.012554637123018542,-0.01833477525605423]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017406558738418594,0.0013834975561929884,-0.0014854074551394817],"end_effector_yaw_offset_degrees":0.6367845746352772},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007384099595043356,0.0019381647834625934,0.001981424895357445],"end_effector_yaw_offset_degrees":-0.7499260577610605},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012374235725279904,0.001243863022099485,0.0011910437184616358],"end_effector_yaw_offset_degrees":0.7864035541141818},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003982370934384684,-0.0008442834877897916,-0.0007468347559613192],"end_effector_yaw_offset_degrees":-0.3393501904129781}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00012867410228095677,-0.0006476355934419645],"position_m":[0.32012867410228096,0.3524523644065581,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025155206130363507,-0.001813161895156964],"position_m":[0.2694844793869637,-0.36911316189515697,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019882214812634814,-0.00440600220907926],"position_m":[0.18198822148126348,-0.03800600220907926,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004863131650724345,0.0009514621194765269],"position_m":[0.34336313165072435,0.10945146211947653,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"612457346d7245b2aeb4b7f8841a6c3af5839c34c2ac36004812c2f4607a41c9","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0106.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8540/tex_ceiling_textures_1357/tex_floor_textures_622/tex_table_textures_6572/tex_wall_textures_1147","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1226349947348564642,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1226349947348564642,"visual_seed":1226349947348564642,"scene_id":"lab_003","finished_at":"2026-09-05T08:00:00"}
+{"episode_id":"ep_000070","started_at":"2026-09-05T08:02:47","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.20158017942489326,1.6512546062107138,0.71338606911949],"aabb_xy":[[0.1845700821348426,1.63512011771244],[0.2185902767149439,1.6673890947089878]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.0849661783064436,-1.8977961652398947,0.71338606911949],"aabb_xy":[[-0.0888800515018661,-1.9065451806464515],[-0.08105230511102106,-1.8890471498333379]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[-0.12690820357011534,-0.8153605935575721,0.71338606911949],"aabb_xy":[[-0.19090820579052234,-0.8597336776828602],[-0.06290820134970829,-0.7709875094322837]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.6294429556211016,-1.360109825627379,0.71338606911949],"aabb_xy":[[0.5644429545151584,-1.3850751986955074],[0.6944429567270449,-1.3351444525592508]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.13704757802058076,1.2067180406717979,0.71338606911949],"aabb_xy":[[0.0570475777469738,1.1337684928460812],[0.21704757829418775,1.2796675884975146]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[0.3328701898968036,-0.6359206842717131,0.71338606911949],"aabb_xy":[[0.302902632986978,-0.665920684569599],[0.36283774680662934,-0.6059206839738275]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_6","position":[0.4795446843973561,-1.673625546620968,0.71338606911949],"aabb_xy":[[0.41954468414595486,-1.7279068716574326],[0.5395446846487573,-1.6193442215845033]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[0.5447963086633201,-2.0152690828788424,0.71338606911949],"aabb_xy":[[0.5259119248948099,-2.034155007659195],[0.5636806924318303,-1.9963831580984897]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.3034509471705811,-1.0901197896820942,0.71338606911949],"aabb_xy":[[0.2689884691574933,-1.096783466865017],[0.33791342518366885,-1.083456112499171]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[-0.047903022332349554,-1.124773281252385,0.71338606911949],"aabb_xy":[[-0.09787608786486504,-1.1747732810649179],[0.0020700432001659057,-1.074773281439852]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.5378421977996638,0.7762982286622515,0.71338606911949],"aabb_xy":[[-0.5458361863773672,0.768298148567161],[-0.5298482092219604,0.7842983087573417]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[0.6482838927376349,0.5749180222858827,0.71338606911949],"aabb_xy":[[0.6429463170716303,0.549918021356743],[0.6536214684036394,0.5999180232150225]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[-0.19179228239792456,1.242055642140981,0.71338606911949],"aabb_xy":[[-0.19575276616765894,1.2343877775554606],[-0.1878317986281902,1.2497235067265018]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.5699304266339309,0.5625518923195223,0.71338606911949],"aabb_xy":[[-0.6299304272299471,0.5077394197742988],[-0.5099304260379147,0.6173643648647458]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.5930283842514974,-0.8051300560480277,0.71338606911949],"aabb_xy":[[-0.6082005535331307,-0.820298912976231],[-0.5778562149698641,-0.7899611991198243]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.28263603516395774,0.168547917505538,0.71338606911949],"aabb_xy":[[-0.3466360384536658,0.12521299850162038],[-0.2186360318742496,0.2118828365094556]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[0.2345155093920741,-1.5472431838679546,0.71338606911949],"aabb_xy":[[0.17951551119032924,-1.587765150494392],[0.2895155075938189,-1.5067212172415168]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_17","position":[0.06807887121546441,-0.905379058097213,0.71338606911949],"aabb_xy":[[0.00307887118116168,-0.9520797347775404],[0.13307887124976714,-0.8586783814168858]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[-0.29672808585717464,1.036515922150437,0.71338606911949],"aabb_xy":[[-0.366728088493761,1.0164110571545715],[-0.2267280832205883,1.0566207871463025]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.35763115022394687,-0.2025497883187306,0.71338606911949],"aabb_xy":[[-0.39513115016771333,-0.2108428783535672],[-0.3201311502801805,-0.19425669828389402]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.5021589130544158,0.3787667980744067,0.71338606911949],"aabb_xy":[[-0.5661589123485841,0.3147806577055525],[-0.4381589137602476,0.4427529384432609]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[0.6527407535886129,-2.198017693075969,0.71338606911949],"aabb_xy":[[0.6426590465100394,-2.278017690968083],[0.6628224606671863,-2.1180176951838536]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.18739511224239858,1.3255701641290911,0.71338606911949],"aabb_xy":[[-0.19343212524306333,1.319543463060143],[-0.18135809924173385,1.3315968651980392]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[0.46774462258367167,-1.5109095620848414,0.71338606911949],"aabb_xy":[[0.45690414435715676,-1.5280958433754903],[0.47858510081018657,-1.4937232807941925]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[-0.4815741874249023,1.243496540898243,0.71338606911949],"aabb_xy":[[-0.5265667741433527,1.198496541623794],[-0.4365816007064519,1.2884965401726916]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[-0.2099168873525799,-1.7898299903854409,0.71338606911949],"aabb_xy":[[-0.21869811449981616,-1.798609737673972],[-0.2011356602053437,-1.7810502430969115]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_26","position":[0.2725595815417243,0.7223476923482259,0.71338606911949],"aabb_xy":[[0.23755958164570548,0.713973456836286],[0.3075595814377432,0.7307219278601659]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[0.20389999527072178,-1.6806841961629808,0.71338606911949],"aabb_xy":[[0.19348843659023804,-1.6860299294988788],[0.21431155395120546,-1.675338462827082]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7040657661339714,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7126.png","name":"7126"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7126.png","name":"7126"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2825.png","name":"2825"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6570.png","name":"6570"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1216.png","name":"1216"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2053.png","name":"2053"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":701.5692782356319,"rotation_z_degrees":164.22080619839167,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005656047321332246,-0.019259186678969614,-0.011447433751214677]},{"name":"camera_2","offset_m":[0.010824355175349885,-0.002594241802268131,-0.006137124988281064]},{"name":"camera_3","offset_m":[-0.004521108251124156,-0.01787732541547114,0.013635011284095357]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002955410620285024,0.0009648920216062287,-0.0016061363511035793],"end_effector_yaw_offset_degrees":0.5994663840046819},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001921134749614745,0.001308567989273993,-0.0004969817970508826],"end_effector_yaw_offset_degrees":-0.2714926971513896},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005524177283915271,0.00012019344278620808,0.0002915871230129018],"end_effector_yaw_offset_degrees":0.5287509183084789},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008002014027693885,-6.891017111534036e-05,0.0017555176260934057],"end_effector_yaw_offset_degrees":0.9587714663052682}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004899101884844051,-0.003965061893597712],"position_m":[0.31510089811515596,0.34913493810640234,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037148697603105107,-0.00305945297215921],"position_m":[0.2757148697603105,-0.3703594529721592,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017749653981140832,-0.0034993630810143837],"position_m":[0.18177496539811408,-0.03709936308101438,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017876215265359317,-0.003160844747913516],"position_m":[0.3367123784734641,0.10533915525208648,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6f4ce12c20b360a43ac79e7e665e60881d530ac1fc86a586f804d3feda32f03c","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0108.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7126/tex_ceiling_textures_2053/tex_floor_textures_1216/tex_table_textures_2825/tex_wall_textures_6570","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2017058067454662552,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2017058067454662552,"visual_seed":2017058067454662552,"scene_id":"lab_003","finished_at":"2026-09-05T08:06:35"}
+{"episode_id":"ep_000071","started_at":"2026-09-05T08:06:40","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.54390202580479,-0.31096445066169576,0.71338606911949],"aabb_xy":[[-0.6239020227678291,-0.3880400923054692],[-0.4639020288417508,-0.2338888090179223]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.6137418075579677,0.41716325235441776,0.71338606911949],"aabb_xy":[[0.5787418062064859,0.3968035163975969],[0.6487418089094493,0.4375229883112386]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[0.5050611853435683,-2.3968102340868707,0.71338606911949],"aabb_xy":[[0.5001051651586872,-2.4193102342889925],[0.5100172055284495,-2.3743102338847497]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.39291499522566253,0.32216544321999807,0.71338606911949],"aabb_xy":[[-0.4047870782371636,0.23716544352634766],[-0.38104291221416137,0.40716544291364837]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.5189976119694752,-1.0835429770495963,0.71338606911949],"aabb_xy":[[-0.5415113037929323,-1.1535429776506039],[-0.49648392014601794,-1.0135429764485888]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[0.6130253226499922,0.8880562554372871,0.71338606911949],"aabb_xy":[[0.5911166405106412,0.8661555886171963],[0.6349340047893433,0.9099569222573778]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.09028711310651882,0.6888253302921075,0.71338606911949],"aabb_xy":[[-0.15528711410701934,0.6380389651374324],[-0.025287112106018306,0.7396116954467823]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.3538437684482425,-1.919311210646557,0.71338606911949],"aabb_xy":[[0.33167124147159166,-1.9414868778026797],[0.3760162954248933,-1.8971355434904336]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.5147715124518659,0.32256000222455894,0.71338606911949],"aabb_xy":[[-0.5256119906783808,0.3053737209339101],[-0.503931034225351,0.3397462835152077]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[0.20657646414892605,-0.915011503792247,0.71338606911949],"aabb_xy":[[0.15657646319839322,-0.9465606507957683],[0.25657646509945886,-0.8834623567887255]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_10","position":[-0.47747487078261996,-1.6551260200022928,0.71338606911949],"aabb_xy":[[-0.5424748686642678,-1.7062496837088337],[-0.41247487290097223,-1.604002356295752]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[0.3994240843519976,-2.321950720692065,0.71338606911949],"aabb_xy":[[0.3581195412882616,-2.385950720260182],[0.4407286274157336,-2.257950721123948]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.19160140498910883,-1.479692155600198,0.71338606911949],"aabb_xy":[[-0.28160140358357877,-1.495942741913619],[-0.10160140639463888,-1.463441569286777]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_13","position":[-0.5162242158463779,-1.8525917276537756,0.71338606911949],"aabb_xy":[[-0.5223188437344961,-1.8611611222054445],[-0.5101295879582595,-1.844022333102107]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.4451315304645495,0.7742754916154042,0.71338606911949],"aabb_xy":[[-0.47013152973651184,0.7579301280192419],[-0.4201315311925873,0.7906208552115666]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_15","position":[-0.17232513772359392,-0.0997098858315999,0.71338606911949],"aabb_xy":[[-0.19260944044699263,-0.11999251097430873],[-0.1520408350001951,-0.07942726068889104]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[0.5380229492862028,-0.3089899761223349,0.71338606911949],"aabb_xy":[[0.5278699337320533,-0.34505951769507515],[0.548175964840352,-0.27292043454959447]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[-0.6072532047557583,-2.359232169390591,0.71338606911949],"aabb_xy":[[-0.6522532062219871,-2.404232026252072],[-0.5622532032895294,-2.3142323125291107]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.26444212165534786,-1.3490014029488684,0.71338606911949],"aabb_xy":[[-0.3019421220035756,-1.3607927985299517],[-0.2269421213071201,-1.3372100073677846]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[0.26684831276873044,-0.7645358153371786,0.71338606911949],"aabb_xy":[[0.25743083819886775,-0.7739519924748975],[0.27626578733859325,-0.7551196381994595]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_20","position":[0.34366208799256537,1.5841831325206148,0.71338606911949],"aabb_xy":[[0.29366208670872535,1.5342042781299925],[0.3936620892764053,1.6341619869112367]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[-0.6685059397222495,-2.179069095953837,0.71338606911949],"aabb_xy":[[-0.6828403648484128,-2.1911293115083756],[-0.6541715145960859,-2.1670088803992984]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[-0.13652372864105422,-0.763345707542525,0.71338606911949],"aabb_xy":[[-0.15943944152610412,-0.7862500046789487],[-0.11360801575600432,-0.7404414104061016]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[0.5660421762244259,1.8117485169304168,0.71338606911949],"aabb_xy":[[0.556286186715252,1.8019859828711824],[0.5757981657335998,1.8215110509896513]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7000497554976229,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3710.png","name":"3710"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3710.png","name":"3710"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5525.png","name":"5525"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7407.png","name":"7407"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/381.png","name":"381"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8147.png","name":"8147"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":792.1042898889823,"rotation_z_degrees":348.986250343692,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01260063656822577,-0.009745831004906039,-0.01598463843445956]},{"name":"camera_2","offset_m":[-0.0009454945107152911,0.0025560561253057043,-0.0035652895750426725]},{"name":"camera_3","offset_m":[0.00043915157201888586,0.010516972165119418,-0.011690890403726955]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008647696632652373,0.0004438017625235484,4.144981001959506e-05],"end_effector_yaw_offset_degrees":-0.06437787699123798},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007413307632015652,-0.0007534527165349273,0.0002643782502365394],"end_effector_yaw_offset_degrees":-0.7000267666812268},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014096633227659216,0.001531270918142165,0.0018001190705221343],"end_effector_yaw_offset_degrees":-0.6945989654443052},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004504659007215717,-0.000869902437263495,-0.0016337729989459038],"end_effector_yaw_offset_degrees":0.9569340216470106}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035371849942960236,-0.004521665021280889],"position_m":[0.323537184994296,0.34857833497871915,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000684697754601434,-0.0003232461443611664],"position_m":[0.27268469775460147,-0.3676232461443612,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00030041766611567464,-0.004906700990881653],"position_m":[0.18030041766611568,-0.03850670099088165,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019111564604237796,-0.00173388591344567],"position_m":[0.33658884353957624,0.10676611408655433,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e9a801af2ebd8b5480362a53bd4bcc0e0adcefa1968ac5f7ac72bf0a9fb7bd24","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0109.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3710/tex_ceiling_textures_8147/tex_floor_textures_381/tex_table_textures_5525/tex_wall_textures_7407","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4369090145895548919,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4369090145895548919,"visual_seed":4369090145895548919,"scene_id":"lab_003","finished_at":"2026-09-05T08:10:26"}
+{"episode_id":"ep_000072","started_at":"2026-09-05T08:13:31","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[0.49299096353211813,-0.3523050613411929,0.71338606911949],"aabb_xy":[[0.4229909617233728,-0.37365883010538026],[0.5629909653408637,-0.3309512925770055]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[-0.08092544505195554,0.9039743431435325,0.71338606911949],"aabb_xy":[[-0.1309254460710908,0.8675081274057048],[-0.030925444032820264,0.9404405588813607]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[0.20935322894244324,1.148327948310472,0.71338606911949],"aabb_xy":[[0.14535323164009684,1.1039615213426153],[0.27335322624478964,1.1926943752783288]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[0.4597034198207792,-1.9028803345269332,0.71338606911949],"aabb_xy":[[0.42320759919350043,-1.9393642769536903],[0.4961992404480579,-1.8663963921001752]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[0.26890508534113755,-0.9789014697588805,0.71338606911949],"aabb_xy":[[0.20490508299833596,-1.0238423210030128],[0.33290508768393906,-0.9339606185147479]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[0.2785344332786336,-1.5688741549317786,0.71338606911949],"aabb_xy":[[0.1885344367777618,-1.6147857973502366],[0.3685344297795053,-1.5229625125133202]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.3521454039910108,1.7330893395740365,0.71338606911949],"aabb_xy":[[0.3346454047129239,1.7157512395076908],[0.36964540326909767,1.7504274396403827]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.4188509423611542,-2.253885735651433,0.71338606911949],"aabb_xy":[[-0.4687336392388505,-2.303885734897708],[-0.368968245483458,-2.2038857364051587]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[0.3759903762301797,-1.3774151869378637,0.71338606911949],"aabb_xy":[[0.32600742604270033,-1.4274151865804239],[0.425973326417659,-1.327415187295303]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.39982343030105666,0.5825963017477354,0.71338606911949],"aabb_xy":[[-0.4898234297194275,0.5492208049035456],[-0.3098234308826857,0.6159717985919251]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.4425007364270275,-0.7695977925918871,0.71338606911949],"aabb_xy":[[-0.49247403043028787,-0.8195977931464343],[-0.39252744242376697,-0.7195977920373396]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[-0.09480886087807583,1.4093956480391854,0.71338606911949],"aabb_xy":[[-0.14980885907982067,1.3688736814127476],[-0.039808862676331,1.4499176146656227]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[-0.29209126670321633,0.36166835416603327,0.71338606911949],"aabb_xy":[[-0.30959126694826566,0.34416856632646636],[-0.2745912664581669,0.37916814200560006]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[0.17517577649730265,-1.750412039325306,0.71338606911949],"aabb_xy":[[0.15017577656478479,-1.7572947075462293],[0.20017577642982057,-1.7435293711043827]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[0.2988448100534238,0.8188781914933165,0.71338606911949],"aabb_xy":[[0.21884480898030345,0.8091001451559321],[0.3788448111265441,0.828656237830701]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[0.3302584472913217,-2.2018846138420693,0.71338606911949],"aabb_xy":[[0.30775844728117346,-2.215980833481673],[0.35275844730147005,-2.1877883942024665]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[-0.37830665636769195,-1.0948735218282764,0.71338606911949],"aabb_xy":[[-0.42358527124884116,-1.15887352117646],[-0.33302804148654264,-1.0308735224800927]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[0.5251250162872629,-1.2426821853231953,0.71338606911949],"aabb_xy":[[0.48235830940784286,-1.3066821887449978],[0.5678917231666832,-1.1786821819013928]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.1748352445085809,0.6547341696824427,0.71338606911949],"aabb_xy":[[0.12983524304235206,0.609734312820962],[0.21983524597480977,0.6997340265439234]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.5246210055734355,-1.0942479267188268,0.71338606911949],"aabb_xy":[[-0.547121005816951,-1.106452561378599],[-0.5021210053299202,-1.082043292059055]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[-0.21886668391799718,-0.786962445141935,0.71338606911949],"aabb_xy":[[-0.22821369150029244,-0.8012660673595793],[-0.20951967633570198,-0.7726588229242912]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[0.6158376161257597,-1.4472276657371381,0.71338606911949],"aabb_xy":[[0.6039655331142585,-1.5322276654307883],[0.6277096991372607,-1.3622276660434876]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[0.5605565111652495,-2.2868507713505446,0.71338606911949],"aabb_xy":[[0.5255565128545541,-2.2945657862740902],[0.595556509475945,-2.279135756426999]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.6083476790720866,-1.209363190814291,0.71338606911949],"aabb_xy":[[-0.6235105520490237,-1.22452864810941],[-0.5931848060951496,-1.1941977335191725]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[0.5311208577445474,-1.6297951150353547,0.71338606911949],"aabb_xy":[[0.5075357342806526,-1.6947951172807865],[0.5547059812084423,-1.564795112789923]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_25","position":[0.5536902663097896,-0.0004048837019769991,0.71338606911949],"aabb_xy":[[0.4896902646317921,-0.04892227518129122],[0.6176902679877868,0.04811250777733722]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.1632498562638257,-1.2971309761786671,0.71338606911949],"aabb_xy":[[-0.1851396038527665,-1.387130973467916],[-0.1413601086748849,-1.2071309788894178]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7033895671844843,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4509.png","name":"4509"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4509.png","name":"4509"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2726.png","name":"2726"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7842.png","name":"7842"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4718.png","name":"4718"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3306.png","name":"3306"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":539.2749900568361,"rotation_z_degrees":204.77485846595536,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000662476078307727,-0.0077301997411418095,0.002735702987681766]},{"name":"camera_2","offset_m":[-0.0031564690127463095,0.0070929694798205385,0.009030508306666438]},{"name":"camera_3","offset_m":[0.008445170572170719,0.0015442647592218486,-0.009802617564164416]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007407786055103733,-0.00021738712541251553,-0.0016076792052010722],"end_effector_yaw_offset_degrees":0.2063978452215065},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006650143569829664,0.00033842059440987015,0.001069615961804122],"end_effector_yaw_offset_degrees":0.8961803303448697},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012882260281000058,-0.0015771055216909425,-0.001832140492943337],"end_effector_yaw_offset_degrees":-0.8040060478197972},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017616675056945454,-0.0007598341679596978,0.001277324122880866],"end_effector_yaw_offset_degrees":-0.09156196911230907}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0046963068912718245,-6.516023568711032e-05],"position_m":[0.3153036931087282,0.35303483976431294,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003936178392686254,-0.0014131015706841444],"position_m":[0.27593617839268625,-0.36871310157068415,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011625191562891512,-0.0018323690848543127],"position_m":[0.17883748084371084,-0.03543236908485431,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036324430093343852,0.0034076329701403967],"position_m":[0.3348675569906656,0.11190763297014039,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2d961bef3ba586a1332cc206332d7d5fd7433c80e64ff19974bbc9e6f1c10e21","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0111.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4509/tex_ceiling_textures_3306/tex_floor_textures_4718/tex_table_textures_2726/tex_wall_textures_7842","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8310025697313969937,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8310025697313969937,"visual_seed":8310025697313969937,"scene_id":"lab_003","finished_at":"2026-09-05T08:17:36"}
+{"episode_id":"ep_000073","started_at":"2026-09-05T08:17:41","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[-0.16273519881152498,-0.7445656835729884,0.71338606911949],"aabb_xy":[[-0.2127181489990043,-0.7945656832155487],[-0.11275224862404563,-0.6945656839304278]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[-0.45401165583879277,-0.9509116363153922,0.71338606911949],"aabb_xy":[[-0.5091368614683836,-1.0109116377566791],[-0.398886450209202,-0.890911634874105]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[0.5475745960954206,-2.081545507102004,0.71338606911949],"aabb_xy":[[0.46757459582181365,-2.1544950549277204],[0.6275745963690276,-2.008595959276287]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.3299636376989393,1.1623997482565502,0.71338606911949],"aabb_xy":[[-0.41996363629340927,1.146149161943129],[-0.23996363910446938,1.178650334569971]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.49702596205280725,-1.1695819520187527,0.71338606911949],"aabb_xy":[[-0.5248709988334144,-1.2003664507570644],[-0.46918092527220007,-1.138797453280441]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[-0.29343392146782155,-2.1571014585384,0.71338606911949],"aabb_xy":[[-0.35743392184535516,-2.2068467253892123],[-0.22943392109028793,-2.107356191687588]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.530195612335917,-0.6946913456091102,0.71338606911949],"aabb_xy":[[0.5069137701377857,-0.7796913469063382],[0.5534774545340484,-0.6096913443118821]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[0.005131955926373166,1.155235779073445,0.71338606911949],"aabb_xy":[[-0.003566006364342124,1.1431108047659704],[0.013829918217088458,1.1673607533809198]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[-0.6659818926861548,1.2662264439953042,0.71338606911949],"aabb_xy":[[-0.676134908240304,1.2301569024225634],[-0.6558288771320052,1.302295985568044]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.4226142794841645,-0.2790898562881208,0.71338606911949],"aabb_xy":[[0.40560418219411387,-0.29522434478639464],[0.4396243767742152,-0.2629553677898468]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[-0.11993457691432985,-1.609325584249941,0.71338606911949],"aabb_xy":[[-0.18393457882667222,-1.6652367335079514],[-0.055934575001987535,-1.5534144349919305]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[-0.5551811573214787,-2.4567681350570583,0.71338606911949],"aabb_xy":[[-0.5712430847799963,-2.5417681368696496],[-0.539119229862961,-2.371768133244466]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[-0.1431764929753352,1.1310556577687878,0.71338606911949],"aabb_xy":[[-0.16817649224729747,1.1147102941726252],[-0.11817649370337292,1.14740102136495]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.4094013268054123,-0.24557243792171635,0.71338606911949],"aabb_xy":[[-0.4554864180601437,-0.30957243517427147],[-0.36331623555068077,-0.18157244066916126]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.5663416411185047,-0.4730532244445307,0.71338606911949],"aabb_xy":[[0.5023416378287964,-0.5163881434484483],[0.6303416444082126,-0.42971830544061307]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_15","position":[-0.3855295558025961,1.6476737157915538,0.71338606911949],"aabb_xy":[[-0.39609703546069513,1.6371286856785454],[-0.3749620761444971,1.6582187459045625]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[0.42305438446856103,1.0794242743186069,0.71338606911949],"aabb_xy":[[0.3430543839983451,1.0711135667042586],[0.503054384938777,1.0877349819329551]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.3014579857272315,-0.40353091026891486,0.71338606911949],"aabb_xy":[[-0.3514579853035662,-0.4535114892210209],[-0.25145798615089676,-0.353550331316809]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.012218505825657311,0.7943215826456873,0.71338606911949],"aabb_xy":[[-0.042774705511479445,0.7393215823068937],[0.06721171716279407,0.849321582984481]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[0.5215785024274899,-1.845812052956042,0.71338606911949],"aabb_xy":[[0.45657850147036266,-1.8977602648897476],[0.586578503384617,-1.7938638410223364]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951882281059866,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2276.png","name":"2276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2276.png","name":"2276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/955.png","name":"955"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3955.png","name":"3955"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5324.png","name":"5324"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4207.png","name":"4207"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":770.5050293805203,"rotation_z_degrees":86.20307627948335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0175573187521858,0.00409282317435801,0.010021699658781646]},{"name":"camera_2","offset_m":[0.0028230483564950087,0.007526101339897836,0.008533600918355196]},{"name":"camera_3","offset_m":[-0.018390088871142442,0.016978319832279782,-0.0023599435454894103]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00012111674537854935,-0.00045691267924832953,-0.0006632780361158338],"end_effector_yaw_offset_degrees":0.36105105513775104},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017337887339649851,0.0009286930513396712,-0.00022593455703450848],"end_effector_yaw_offset_degrees":0.1956443284077587},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00024380093506560737,0.0011892318157930813,-9.15387713645837e-05],"end_effector_yaw_offset_degrees":0.03193133295316275},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011294546676436283,-0.0007615266563983886,0.000675319020989106],"end_effector_yaw_offset_degrees":0.6876424181342629}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003762825591652699,0.004341492971626878],"position_m":[0.3162371744083473,0.3574414929716269,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004170107423911458,0.0010694601851294148],"position_m":[0.2678298925760886,-0.3662305398148706,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006551394505721854,0.0014710064848154078],"position_m":[0.1793448605494278,-0.03212899351518459,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002081062488951072,0.001797947518641473],"position_m":[0.33641893751104895,0.11029794751864147,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba347dfc7cb43962b184d61be01664b08a6792d302123e9037a245a3f9ee93ec","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0112.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2276/tex_ceiling_textures_4207/tex_floor_textures_5324/tex_table_textures_955/tex_wall_textures_3955","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5800626713770638033,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5800626713770638033,"visual_seed":5800626713770638033,"scene_id":"lab_003","finished_at":"2026-09-05T08:21:28"}
+{"episode_id":"ep_000074","started_at":"2026-09-05T08:21:32","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[0.14575575136872887,-1.6146227573601295,0.71338606911949],"aabb_xy":[[0.10445120830499285,-1.6786227569282468],[0.18706029443246483,-1.5506227577920126]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.6121875573283342,-1.2257860124211513,0.71338606911949],"aabb_xy":[[0.5987410306942907,-1.2392558640742422],[0.6256340839623774,-1.21231616076806]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[-0.09613752003333875,1.2668801476544065,0.71338606911949],"aabb_xy":[[-0.1861375223673578,1.1893977930692938],[-0.006137517699319681,1.3443625022395191]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.1893793116382938,-2.1093691040088993,0.71338606911949],"aabb_xy":[[-0.23156372579912454,-2.1733691042861105],[-0.14719489747746306,-2.045369103731688]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[0.37497978331718573,1.2474146975281792,0.71338606911949],"aabb_xy":[[0.3632115965225282,1.162414697622958],[0.3867479701118433,1.332414697433401]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[-0.619493729495765,-0.8224924209842739,0.71338606911949],"aabb_xy":[[-0.6282749566430013,-0.8312721682728043],[-0.6107125023485287,-0.813712673695744]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[-0.6722772324881161,1.322758044326671,0.71338606911949],"aabb_xy":[[-0.6823589395666894,1.2427580464345562],[-0.6621955254095424,1.4027580422187855]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.5118591938248167,0.07358356377641062,0.71338606911949],"aabb_xy":[[-0.5618542047842687,0.023583564740818914],[-0.4618641828653647,0.12358356281200236]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.567849667533243,1.6662282085668285,0.71338606911949],"aabb_xy":[[0.5465716593897707,1.6012282062407552],[0.5891276756767152,1.7312282108929014]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.6007742615049667,-1.03946465784413,0.71338606911949],"aabb_xy":[[-0.6507584972131439,-1.0894646566576254],[-0.5507900257967895,-0.9894646590306342]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.41080142063629826,0.8289704456369797,0.71338606911949],"aabb_xy":[[-0.4708014211441512,0.7721237119510584],[-0.35080142012844534,0.885817179322901]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.10606319371393313,-2.543014852776106,0.71338606911949],"aabb_xy":[[0.08356319370378483,-2.5571110724157093],[0.12856319372408143,-2.528918633136503]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.18260534079508528,0.692671870745178,0.71338606911949],"aabb_xy":[[0.1647362330406298,0.678838962767967],[0.20047444854954077,0.7065047787223888]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[-0.4213875739724497,-1.322815254178779,0.71338606911949],"aabb_xy":[[-0.4395933976336974,-1.3338406547607708],[-0.40318175031120207,-1.3117898535967876]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[0.616447547354795,1.3275095175215363,0.71338606911949],"aabb_xy":[[0.5564475467587788,1.272697044976313],[0.6764475479508112,1.38232199006676]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.27397502735460055,-1.9443411266430948,0.71338606911949],"aabb_xy":[[0.2698391710219004,-1.981841126087452],[0.2781108836873008,-1.906841127198738]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[0.3714756330968376,-1.9387461376958433,0.71338606911949],"aabb_xy":[[0.3215025675643221,-1.9887461375083764],[0.4214486986293531,-1.8887461378833106]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[0.29598706412736375,1.0499651415424824,0.71338606911949],"aabb_xy":[[0.27992513666884605,0.9649651397298905],[0.31204899158588134,1.134965143355074]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.34836071960407977,-1.103136362905317,0.71338606911949],"aabb_xy":[[-0.41336071748572767,-1.154260026611858],[-0.28336072172243204,-1.0520126991987762]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[0.6770900016646944,-2.1641740345534366,0.71338606911949],"aabb_xy":[[0.6360720582783234,-2.2141740351843935],[0.7181079450510651,-2.114174033922479]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.18162253277994322,-0.2493435343078576,0.71338606911949],"aabb_xy":[[-0.2466225354177367,-0.30082313300730457],[-0.11662253014214974,-0.19786393560841065]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_21","position":[0.5577520137484944,-1.8153836770210285,0.71338606911949],"aabb_xy":[[0.5425891407715573,-1.8305491343161477],[0.5729148867254314,-1.8002182197259102]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[-0.03889479122847972,-2.0155328157910217,0.71338606911949],"aabb_xy":[[-0.05322921635464317,-2.0275930313455603],[-0.024560366102316267,-2.003472600236483]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[-0.540039976603261,-0.6899781742204674,0.71338606911949],"aabb_xy":[[-0.5619297241922017,-0.7799781715097164],[-0.5181502290143201,-0.5999781769312181]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[0.28083216234376707,-2.487067193980217,0.71338606911949],"aabb_xy":[[0.2192414031197743,-2.551067192089264],[0.34242292156775994,-2.42306719587117]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[-0.03690758130885219,0.9625159705516584,0.71338606911949],"aabb_xy":[[-0.12690758103202635,0.9394426180164784],[0.05309241841432199,0.9855893230868381]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_26","position":[-0.021595758826248646,-1.1687976806006504,0.71338606911949],"aabb_xy":[[-0.034747004797538006,-1.1937976803573371],[-0.008444512854959283,-1.143797680843964]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_27","position":[-0.4860231919030824,-0.48850080543257235,0.71338606911949],"aabb_xy":[[-0.5006665974571154,-0.5031595250893566],[-0.47137978634904937,-0.473842085775788]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_28","position":[-0.3509331595595624,-0.8878747749022635,0.71338606911949],"aabb_xy":[[-0.3570277874476807,-0.8964441694539322],[-0.34483853167144407,-0.8793053803505948]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_29","position":[-0.004823444745316929,-2.287451392982693,0.71338606911949],"aabb_xy":[[-0.011863754678853925,-2.3674513923823644],[0.0022168651882200634,-2.2074513935830216]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_30","position":[0.6762599498246049,-0.20386597261631811,0.71338606911949],"aabb_xy":[[0.6675619875338896,-0.21599094692379284],[0.6849579121153202,-0.1917409983088434]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_31","position":[0.42828918031275354,-0.49477970782482483,0.71338606911949],"aabb_xy":[[0.36428918391718046,-0.5587429962435583],[0.4922891767083266,-0.43081641940609117]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_32","position":[-0.4485115990413567,-0.17106705308049364,0.71338606911949],"aabb_xy":[[-0.49848901590661027,-0.22106705456974216],[-0.3985341821761031,-0.12106705159124508]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7008256430448104,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6214.png","name":"6214"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6214.png","name":"6214"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5419.png","name":"5419"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3693.png","name":"3693"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/846.png","name":"846"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6642.png","name":"6642"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":798.0137826476468,"rotation_z_degrees":270.2951761922494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017822190298134644,-0.007131648822653856,-0.0033420975718678053]},{"name":"camera_2","offset_m":[0.016636031859477592,0.009238597138506673,-0.013349044185549368]},{"name":"camera_3","offset_m":[0.004640554935611128,-0.004045906052486045,0.013678219087354736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018284795722059459,-0.00138675116335721,-0.0011256236314228598],"end_effector_yaw_offset_degrees":0.21717108036889776},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014126176131950654,0.00031355277530010486,-0.0007006413536361799],"end_effector_yaw_offset_degrees":0.931787646175871},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016800165117611776,-0.0008719954733541712,0.001162700035581491],"end_effector_yaw_offset_degrees":0.3610990154972804},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017884266665506923,-0.0005450757149742893,0.0016871847502570696],"end_effector_yaw_offset_degrees":0.9578647011027219}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00042633360796093256,-0.0012440270797689523],"position_m":[0.3195736663920391,0.3518559729202311,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-9.219305509601539e-07,-0.0029028865328123254],"position_m":[0.27199907806944906,-0.37020288653281236,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008236904253359932,-8.08345315923397e-05],"position_m":[0.180823690425336,-0.03368083453159234,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019973090301208265,-0.0006750776914425825],"position_m":[0.33650269096987917,0.10782492230855742,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"015fe6354b554fe544167acc8ef61fa187082cfd2b89d583e0ea4f41fab80bda","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0113.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6214/tex_ceiling_textures_6642/tex_floor_textures_846/tex_table_textures_5419/tex_wall_textures_3693","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6407338349802711166,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6407338349802711166,"visual_seed":6407338349802711166,"scene_id":"lab_003","finished_at":"2026-09-05T08:25:11"}
+{"episode_id":"ep_000075","started_at":"2026-09-05T08:25:17","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.05902364770705393,-2.248068673411236,0.71338606911949],"aabb_xy":[[-0.0009763528889622508,-2.3028811459564595],[0.1190236483030701,-2.1932562008660126]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[-0.1365738848155652,1.1181479527152915,0.71338606911949],"aabb_xy":[[-0.14068983492763784,1.1140323976824458],[-0.1324579347034925,1.1222635077481369]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[0.5422418946290646,1.4132667436323048,0.71338606911949],"aabb_xy":[[0.5342479060513611,1.4052666635372144],[0.5502358832067679,1.421266823727395]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[-0.4822783471130697,-1.905106487022468,0.71338606911949],"aabb_xy":[[-0.5165946242876877,-1.9551064869956456],[-0.4479620699384518,-1.8551064870492902]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.5453027900909841,1.4984353537216797,0.71338606911949],"aabb_xy":[[0.5373093002957021,1.4904372217812045],[0.5532962798862662,1.506433485662156]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[-0.17811128588043934,0.5282542575020681,0.71338606911949],"aabb_xy":[[-0.20194750352104449,0.43825425669358176],[-0.15427506823983433,0.6182542583105547]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.6161071006267644,-1.9762439121594593,0.71338606911949],"aabb_xy":[[0.5521114032316677,-2.040243910460168],[0.6801027980218609,-1.9122439138587506]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.5488564800514556,0.9762885158234869,0.71338606911949],"aabb_xy":[[-0.5713701718749127,0.9062885152224794],[-0.5263427882279983,1.0462885164244944]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.034998749764437176,1.677516433146764,0.71338606911949],"aabb_xy":[[0.0310382659947028,1.6698485685612439],[0.03895923353417155,1.685184297732285]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[0.15568450411878743,1.717255691374357,0.71338606911949],"aabb_xy":[[0.14864305316803983,1.7102289396365626],[0.16272595506953502,1.7242824431121515]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[-0.4687232076913015,-1.4371440769964159,0.71338606911949],"aabb_xy":[[-0.48195415322598273,-1.450371496018415],[-0.45549226215662014,-1.4239166579744162]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.6244823496587241,-1.666570640324387,0.71338606911949],"aabb_xy":[[-0.6341139858791536,-1.6762079531040959],[-0.6148507134382943,-1.656933327544678]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[0.31324087256921795,0.6330242583554662,0.71338606911949],"aabb_xy":[[0.30452690351928335,0.6105242576962777],[0.32195484161915233,0.6555242590146542]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.30007284398032635,-2.5539448663117934,0.71338606911949],"aabb_xy":[[-0.3375728441521983,-2.5866456016947006],[-0.2625728438084544,-2.521244130928886]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.3636590366807905,1.555179313833421,0.71338606911949],"aabb_xy":[[-0.37876133814180857,1.5400777922023587],[-0.3485567352197724,1.5702808354644826]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[0.3898172883543136,-0.9297020071201325,0.71338606911949],"aabb_xy":[[0.3652710727315629,-0.9599509036691697],[0.41436350397706434,-0.8994531105710956]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[0.4299359668606042,1.5392841591541528,0.71338606911949],"aabb_xy":[[0.3846573519794549,1.475284159805969],[0.4752145817417534,1.6032841585023363]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[0.59113210715268,0.6339577630755397,0.71338606911949],"aabb_xy":[[0.5261321061955527,0.5820095511418341],[0.6561321081098072,0.6859059750092452]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.4170215623214417,0.6387412952930669,0.71338606911949],"aabb_xy":[[0.3720215608552129,0.5937414384315862],[0.4620215637876706,0.6837411521545476]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.15769874116040017,-1.5790253048189473,0.71338606911949],"aabb_xy":[[0.11915304833519913,-1.6175710758751358],[0.1962444339856012,-1.5404795337627584]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[0.34266140258149913,-1.8940770017526827,0.71338606911949],"aabb_xy":[[0.2876681912443624,-1.9490770020914765],[0.39765461391863594,-1.8390770014138893]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[-0.6516390240209814,-1.138307747193024,0.71338606911949],"aabb_xy":[[-0.6691390231553483,-1.1481873742306117],[-0.634139024886614,-1.128428120155436]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_22","position":[-0.5491303573227484,-1.1877735889713614,0.71338606911949],"aabb_xy":[[-0.558290236266625,-1.1943048070148985],[-0.5399704783788718,-1.1812423709278244]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[0.02295430954998312,-1.4047682153827936,0.71338606911949],"aabb_xy":[[0.007398540139717859,-1.4203186486272008],[0.03851007896024839,-1.3892177821383864]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.4003254233918683,1.333409532330096,0.71338606911949],"aabb_xy":[[0.38253191645695184,1.3156097867342986],[0.4181189303267847,1.351209277925894]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[-0.11408418073522919,0.8053533545588145,0.71338606911949],"aabb_xy":[[-0.16408418109579523,0.7553733673492116],[-0.06408418037466311,0.8553333417684175]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[-0.37238769596024557,1.2524665072240686,0.71338606911949],"aabb_xy":[[-0.4523876929232847,1.1753908655802952],[-0.29238769899720635,1.329542148867842]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_27","position":[-0.3756528741727815,-1.2832481867147052,0.71338606911949],"aabb_xy":[[-0.4254696536376162,-1.3332481851990086],[-0.32583609470794667,-1.2332481882304018]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_28","position":[-0.08130931623897342,1.5474903408982805,0.71338606911949],"aabb_xy":[[-0.08501257756811229,1.5437883225895623],[-0.07760605490983455,1.5511923592069978]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_29","position":[0.1862654794334364,-0.7248433494413371,0.71338606911949],"aabb_xy":[[0.18212962310073624,-0.7623433488856942],[0.19040133576613663,-0.6873433499969802]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[0.5594738006092188,-1.0522510375730878,0.71338606911949],"aabb_xy":[[0.5434118731507012,-1.1372510393856794],[0.5755357280677365,-0.9672510357604959]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970626296909818,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8714.png","name":"8714"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8714.png","name":"8714"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1362.png","name":"1362"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/338.png","name":"338"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/648.png","name":"648"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/624.png","name":"624"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":731.7431039352695,"rotation_z_degrees":125.36353473458323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006772225279145325,-0.019143109866711815,-0.0004547900802332437]},{"name":"camera_2","offset_m":[0.004128015277462583,0.014245060472673318,-0.0025755774490986254]},{"name":"camera_3","offset_m":[-0.014434538484444571,0.008772213320888941,0.015410453424331071]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-7.901415661061388e-06,-0.0018372312234260107,-2.3891733420684704e-05],"end_effector_yaw_offset_degrees":0.6416465826315483},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013278469205272416,0.0009167855069956627,0.0008742868659114989],"end_effector_yaw_offset_degrees":-0.07174354602961786},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004889707161381354,0.0014233280761458624,0.0017772731217498704],"end_effector_yaw_offset_degrees":0.5258989063299664},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00016606411122056883,-0.0006049124120942758,0.0012733038462234645],"end_effector_yaw_offset_degrees":0.20551357642307488}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023928538066572734,-0.003101980249200915],"position_m":[0.31760714619334274,0.3499980197507991,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00026877573544678655,0.003832369330283021],"position_m":[0.2717312242645532,-0.363467630669717,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0040882657103837585,-0.0037058062503322886],"position_m":[0.18408826571038375,-0.03730580625033229,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005486451502619925,0.0025569887090584314],"position_m":[0.33795135484973804,0.11105698870905843,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"84b28ed698e7b0c92e2bc863299660c372e24b718e790ae0042db5cf3cb3b558","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0114.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8714/tex_ceiling_textures_624/tex_floor_textures_648/tex_table_textures_1362/tex_wall_textures_338","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5425120483515767383,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5425120483515767383,"visual_seed":5425120483515767383,"scene_id":"lab_003","finished_at":"2026-09-05T08:29:08"}
+{"episode_id":"ep_000076","started_at":"2026-09-05T08:29:13","dimensions":{"distractor":{"count":22,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[0.6517054989739366,-1.6118108322015792,0.71338606911949],"aabb_xy":[[0.6444231825972727,-1.7018108358110877],[0.6589878153506,-1.5218108285920697]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.1978634100680371,-2.3415964752221394,0.71338606911949],"aabb_xy":[[-0.2430347279162061,-2.4055964723666783],[-0.15269209221986813,-2.2775964780776015]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.6271114289494093,0.6214950042279663,0.71338606911949],"aabb_xy":[[0.6200711190158724,0.5414950048282949],[0.6341517388829464,0.7014950036276377]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[-0.4355654494043395,0.42623834279617334,0.71338606911949],"aabb_xy":[[-0.4995654510823368,0.37772095131685907],[-0.3715654477263421,0.4747557342754875]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[0.4136899761952977,0.9211663267767274,0.71338606911949],"aabb_xy":[[0.3436899745930182,0.90773353357507],[0.48368997779757716,0.9345991199783852]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.33678952613077,1.6445155531618334,0.71338606911949],"aabb_xy":[[-0.34049278745990885,1.6408135348531154],[-0.33308626480163117,1.648217571470551]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[0.5144032619810579,-1.6744827926418777,0.71338606911949],"aabb_xy":[[0.5042502464269083,-1.7105523342146176],[0.5245562775352071,-1.638413251069137]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[0.3940337617200049,1.3256654343252756,0.71338606911949],"aabb_xy":[[0.3815664036102693,1.3132001096919521],[0.4065011198297406,1.3381307589585991]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[-0.20969994816037152,-1.357366724684529,0.71338606911949],"aabb_xy":[[-0.21579457604848987,-1.3659361192361978],[-0.20360532027225323,-1.3487973301328604]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[0.011442865562297677,-1.1433427745918003,0.71338606911949],"aabb_xy":[[-0.038550246546894214,-1.1933427752659962],[0.061435977671489575,-1.093342773917605]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[-0.2224587193586161,0.4872925350441877,0.71338606911949],"aabb_xy":[[-0.23995871849298328,0.4774129080065998],[-0.20495872022424894,0.49717216208177545]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[0.5971580278197044,0.18514603615276304,0.71338606911949],"aabb_xy":[[0.5171580267465841,0.17536798981537857],[0.6771580288928247,0.19492408249014745]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.372088824971315,-2.3811757037544585,0.71338606911949],"aabb_xy":[[0.361521345313216,-2.391720733867467],[0.382656304629414,-2.37063067364145]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.27651094160619627,-0.44293153940699836,0.71338606911949],"aabb_xy":[[-0.28184345626080926,-0.44825586765223396],[-0.2711784269515833,-0.43760721116176277]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.10681916978651196,0.9306086412677099,0.71338606911949],"aabb_xy":[[-0.18681916837383136,0.8512930393295491],[-0.026819171199192523,1.0099242432058708]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.5697819225917775,-1.1917147868144022,0.71338606911949],"aabb_xy":[[0.5057819232976093,-1.2557009271832564],[0.6337819218859457,-1.127728646445548]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.6165678071158254,-0.5355891984783039,0.71338606911949],"aabb_xy":[[-0.636852109839224,-0.5558718236210126],[-0.5962835043924265,-0.5153065733355949]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[0.3804711716916749,0.7994199744754402,0.71338606911949],"aabb_xy":[[0.3696195654427993,0.7885606837477892],[0.3913227779405505,0.8102792652030912]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[-0.17492286554667058,0.19133774272558624,0.71338606911949],"aabb_xy":[[-0.2124228653637041,0.18669953141444434],[-0.137422865729637,0.19597595403672807]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.6355724899033706,-2.4413544231413606,0.71338606911949],"aabb_xy":[[-0.6507353628803078,-2.4565198804364794],[-0.6204096169264336,-2.426188965846242]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.28889988859332794,0.07415593556773548,0.71338606911949],"aabb_xy":[[-0.3263998897781207,0.06973771287167492],[-0.2513998874085351,0.078574158263796]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[-0.2494130086958053,-0.3078054313386822,0.71338606911949],"aabb_xy":[[-0.33941300519667705,-0.3537170737571404],[-0.15941301219493353,-0.2618937889202239]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968882821087391,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/112.png","name":"112"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/112.png","name":"112"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8451.png","name":"8451"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3411.png","name":"3411"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2088.png","name":"2088"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7965.png","name":"7965"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":779.7713418837767,"rotation_z_degrees":270.6684657777789,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015711219890164,-0.0045811880181810104,-0.0005398514691530958]},{"name":"camera_2","offset_m":[0.018676612583812136,-0.00101854570675345,-0.01961845518962289]},{"name":"camera_3","offset_m":[-0.006151460954947523,0.010107205825897064,0.008577786625749165]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001033081104945822,0.0007381193563399187,0.001013471814231583],"end_effector_yaw_offset_degrees":-0.11016068566803594},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-6.864089818037124e-05,-0.0005986080212111754,0.0008816084570634126],"end_effector_yaw_offset_degrees":0.0503672606617096},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007754707090137051,0.001317482447748011,0.0016957163911323339],"end_effector_yaw_offset_degrees":0.36443731965482495},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017655483772565717,-1.2618306688997813e-05,-0.0018433590205224806],"end_effector_yaw_offset_degrees":-0.6295321294002985}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012012341690125043,-0.003980923752170492],"position_m":[0.32120123416901253,0.3491190762478295,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031422225988370555,-0.0004983004349788968],"position_m":[0.26885777740116296,-0.3677983004349789,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014445053325704916,-0.002845773297408699],"position_m":[0.18144450533257048,-0.036445773297408696,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005409709544309006,0.0034795092651479257],"position_m":[0.3390409709544309,0.11197950926514792,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"80ee512791968fb3a7bc4ffbd4a464fd009bcb241b921894ad09965da64b32ad","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0115.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_112/tex_ceiling_textures_7965/tex_floor_textures_2088/tex_table_textures_8451/tex_wall_textures_3411","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7202450008633680552,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7202450008633680552,"visual_seed":7202450008633680552,"scene_id":"lab_003","finished_at":"2026-09-05T08:32:48"}
+{"episode_id":"ep_000077","started_at":"2026-09-05T08:32:52","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.4297109484706285,-1.5737024485733706,0.71338606911949],"aabb_xy":[[0.39471094934067286,-1.5794476696490347],[0.4647109476005842,-1.5679572274977065]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[-0.5220793092848228,0.443941859416197,0.71338606911949],"aabb_xy":[[-0.5297035773750011,0.43630863587965335],[-0.5144550411946446,0.4515750829527408]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[0.6146210283810485,0.6657051750117282,0.71338606911949],"aabb_xy":[[0.5990652589707833,0.650154741767321],[0.6301767977913139,0.6812556082561354]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[0.2625678436989959,0.7624476844835604,0.71338606911949],"aabb_xy":[[0.25793272854676247,0.7585803494064115],[0.2672029588512292,0.7663150195607088]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[-0.16792743298775703,-1.969289851895295,0.71338606911949],"aabb_xy":[[-0.23192743520816408,-2.0136629360205833],[-0.10392743076735003,-1.9249167677700068]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[0.6704204863027394,0.32400770034284543,0.71338606911949],"aabb_xy":[[0.6204204850188993,0.2740288459522232],[0.7204204875865793,0.3739865547334674]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.08028840886354482,-2.142693430233497,0.71338606911949],"aabb_xy":[[0.02028840835569191,-2.1995401639194183],[0.14028840937139775,-2.0858466965475753]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[-0.03141119556316074,-2.4826279642041023,0.71338606911949],"aabb_xy":[[-0.08641119518490659,-2.537611656991575],[0.0235888040585851,-2.4276442714166295]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[0.07247930422107574,1.6724241083921805,0.71338606911949],"aabb_xy":[[0.0349793040492038,1.639723373009273],[0.10997930439294767,1.7051248437750874]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_9","position":[-0.3428448045109898,-0.2245165120326571,0.71338606911949],"aabb_xy":[[-0.34888181751165454,-0.23054321310160533],[-0.3368077915103251,-0.21848981096370892]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_10","position":[-0.46210806308145524,0.7226778371402287,0.71338606911949],"aabb_xy":[[-0.4980215675064449,0.686764328923474],[-0.4261945586564655,0.7585913453569834]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.6102553325724043,-0.5445075634221683,0.71338606911949],"aabb_xy":[[-0.6742553358621124,-0.5878424824260858],[-0.5462553292826962,-0.5011726444182506]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.21206865347752157,-2.389417435701759,0.71338606911949],"aabb_xy":[[-0.2620686551390162,-2.4394158779574613],[-0.16206865181602675,-2.339418993446056]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_13","position":[0.2923876003250312,1.257912316914421,0.71338606911949],"aabb_xy":[[0.2748876010469443,1.2405742168480751],[0.30988759960311807,1.275250416980767]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_14","position":[-0.3387506632793966,1.1922744329177957,0.71338606911949],"aabb_xy":[[-0.42375066169681985,1.1074001374555107],[-0.2537506648619734,1.2771487283800806]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[-0.6269507738626635,-2.1766788733560674,0.71338606911949],"aabb_xy":[[-0.6644507746546588,-2.183046714314257],[-0.589450773070668,-2.1703110323978767]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_16","position":[-0.4217673954304777,0.9385288530505629,0.71338606911949],"aabb_xy":[[-0.45909867195572035,0.9038757982557107],[-0.38443611890523516,0.9731819078454153]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.23481601455886986,-1.3715231962017285,0.71338606911949],"aabb_xy":[[-0.29881601623686715,-1.4200405876810427],[-0.17081601288087248,-1.3230058047224142]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[0.040193088138491206,-1.2641788996109402,0.71338606911949],"aabb_xy":[[0.022614785949544358,-1.281753389185045],[0.057771390327438055,-1.246604410036835]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.39290433412788844,-0.8547833673800249,0.71338606911949],"aabb_xy":[[-0.4279043340239073,-0.8631576028919649],[-0.35790433423186957,-0.846409131868085]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.012406513157162458,-0.9585114158732657,0.71338606911949],"aabb_xy":[[-0.0250934869484305,-0.9653335777262467],[0.04990651326275541,-0.9516892540202845]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[-0.6247711343316196,0.11052949224291453,0.71338606911949],"aabb_xy":[[-0.6747661452910716,0.060529493207322815],[-0.5747761233721675,0.16052949127850624]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.6594187265388192,1.5868196377705268,0.71338606911949],"aabb_xy":[[0.6094187269624844,1.536839058818421],[0.7094187261151539,1.636800216722633]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6985439956775505,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2285.png","name":"2285"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2285.png","name":"2285"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5015.png","name":"5015"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1299.png","name":"1299"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2225.png","name":"2225"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9247.png","name":"9247"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":603.3487210946303,"rotation_z_degrees":182.05904718287707,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019512407551508862,-0.0012674212365414474,0.013911679431739352]},{"name":"camera_2","offset_m":[0.0021593400061519254,0.005342067735508334,-0.00608217953182931]},{"name":"camera_3","offset_m":[-0.0019170828549658382,-0.012741424602013907,0.005899986583681328]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008878898463766038,-0.000461361245409544,-0.00026458412207956976],"end_effector_yaw_offset_degrees":0.6346985457954779},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008507915234314007,0.0014274288263853552,0.0012052822356935907],"end_effector_yaw_offset_degrees":0.4892507852150345},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009576234143127014,-3.9129839961483774e-05,0.0004730398255022852],"end_effector_yaw_offset_degrees":-0.6031014939355268},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017036459646698407,0.0009707161567492563,-0.000797761239748389],"end_effector_yaw_offset_degrees":-0.35137650896006223}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004837000668679293,-0.0011259955863711668],"position_m":[0.3151629993313207,0.35197400441362886,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035945363712974413,-0.00434664722191496],"position_m":[0.2684054636287026,-0.371646647221915,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004479820220171138,0.001895405968222602],"position_m":[0.17552017977982887,-0.031704594031777396,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012101036804526566,0.0020349662701231843],"position_m":[0.3397101036804527,0.11053496627012319,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7402d254f7a84f86d9add1cfcdbf10141263a59c8c8afaf2b3d0b57906019ac3","episode_index":116,"episode_name":"episode_0116"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0116.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2285/tex_ceiling_textures_9247/tex_floor_textures_2225/tex_table_textures_5015/tex_wall_textures_1299","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6971986414823208020,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6971986414823208020,"visual_seed":6971986414823208020,"scene_id":"lab_003","finished_at":"2026-09-05T08:36:37"}
+{"episode_id":"ep_000078","started_at":"2026-09-05T08:39:56","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.09313911720409418,0.7765658342622275,0.71338606911949],"aabb_xy":[[0.02813911904817512,0.7502695897123154],[0.15813911536001324,0.8028620788121398]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[-0.590168263299935,-0.09538577154417638,0.71338606911949],"aabb_xy":[[-0.6078010988934625,-0.11300871755979935],[-0.5725354277064073,-0.0777628255285534]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[-0.6156705770730343,-2.3477829196734037,0.71338606911949],"aabb_xy":[[-0.6617556683277658,-2.4117829169259593],[-0.5695854858183028,-2.283782922420849]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.49144358950185074,-0.3545704874304647,0.71338606911949],"aabb_xy":[[-0.5464173115381836,-0.4095704869946979],[-0.43646986746551786,-0.2995704878662315]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[0.6083926558939057,-2.508923760053947,0.71338606911949],"aabb_xy":[[0.5779084057668755,-2.558923759835443],[0.6388769060209358,-2.458923760272451]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[-0.500853916359855,0.052677294209754866,0.71338606911949],"aabb_xy":[[-0.5354449992139001,-0.012322706075276189],[-0.4662628335058097,0.11767729449478591]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.19739887685371427,-0.8146258388296821,0.71338606911949],"aabb_xy":[[0.16148537242872454,-0.8505393470464366],[0.23331238127870393,-0.7787123306129273]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[0.5297946340253006,-0.8587375715508205,0.71338606911949],"aabb_xy":[[0.4885458229953858,-0.9137375710630379],[0.5710434450552152,-0.803737572038603]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.12035525789543,0.9930539139605346,0.71338606911949],"aabb_xy":[[-0.1311957361219449,0.9758676326698856],[-0.1095147796689151,1.0102401952511832]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[0.23570164185129017,0.9203398508806706,0.71338606911949],"aabb_xy":[[0.14570163817437198,0.858907444303566],[0.32570164552820835,0.9817722574577747]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[0.2560471695870068,-1.4797607685045746,0.71338606911949],"aabb_xy":[[0.19104716858650628,-1.5305471336592495],[0.3210471705875073,-1.4289744033498997]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[0.36190004383745245,-0.7125062074020871,0.71338606911949],"aabb_xy":[[0.33940004402355,-0.7169808237725679],[0.3844000436513548,-0.7080315910316064]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_12","position":[-0.015466720387705912,-1.8322193661564865,0.71338606911949],"aabb_xy":[[-0.0804667214936492,-1.8571847392246148],[0.04953328071823737,-1.8072539930883582]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[-0.2900290798930661,-1.1134182899777947,0.71338606911949],"aabb_xy":[[-0.354029076320388,-1.1605879137998911],[-0.22602908346574418,-1.0662486661556982]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.33311553078463957,1.3463247927029127,0.71338606911949],"aabb_xy":[[-0.3831155321455268,1.2963468881274969],[-0.28311552942375234,1.3963026972783281]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.21711981427891358,-2.0429556604873755,0.71338606911949],"aabb_xy":[[0.2057580796256274,-2.0543241268936634],[0.2284815489321997,-2.031587194081087]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_16","position":[0.0348055403070483,-1.591104162935797,0.71338606911949],"aabb_xy":[[0.023899764219485586,-1.6711041593346259],[0.04571131639461101,-1.5111041665369676]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[-0.5672325314869675,0.2586572313770321,0.71338606911949],"aabb_xy":[[-0.6472263550655257,0.1786572287841906],[-0.4872387079084093,0.33865723396987374]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.07402975835290626,-0.24066342796602713,0.71338606911949],"aabb_xy":[[-0.08366139457333588,-0.25030074074573605],[-0.06439812213247664,-0.23102611518631821]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[-0.25478423055050353,-0.07912706852741058,0.71338606911949],"aabb_xy":[[-0.258698103745926,-0.08787608393396733],[-0.25087035735508095,-0.07037805312085381]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[0.5334554723829048,-0.6731146301917086,0.71338606911949],"aabb_xy":[[0.5270416587397198,-0.6795244504393768],[0.5398692860260896,-0.6667048099440401]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[0.1707110796253266,-2.3827487020354456,0.71338606911949],"aabb_xy":[[0.1423813696767864,-2.387209444229163],[0.19904078957386687,-2.378287959841729]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_22","position":[0.39091508580885814,-2.474208355361115,0.71338606911949],"aabb_xy":[[0.3774685591748148,-2.487678207014206],[0.4043616124429015,-2.4607385037080234]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945799469621782,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7140.png","name":"7140"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7140.png","name":"7140"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3087.png","name":"3087"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7182.png","name":"7182"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8264.png","name":"8264"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2172.png","name":"2172"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":534.1294168568279,"rotation_z_degrees":19.50668623659404,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010070495123662355,-0.014422206234837658,0.0029420361928964994]},{"name":"camera_2","offset_m":[0.0156690363246017,-0.007895465422000637,-0.017447818495371806]},{"name":"camera_3","offset_m":[0.01466103659656404,0.01559384447342443,-0.0024722227387089964]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008040671567727013,-0.0012729593888619445,-0.0007994520480368061],"end_effector_yaw_offset_degrees":0.11360364546261303},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013673455025535828,0.0005949099738762676,-0.00018564293877207003],"end_effector_yaw_offset_degrees":0.9546725434977521},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00016347773800915203,-0.0008417266550984036,-0.0016700369015151058],"end_effector_yaw_offset_degrees":-0.6120399321086001},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005323788697541255,-0.0006083297041378924,-0.0010453775471256392],"end_effector_yaw_offset_degrees":0.3223392385844115}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001975130071827181,-0.0021400998901301505],"position_m":[0.3180248699281728,0.3509599001098699,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036506491490576574,0.0030675055932993254],"position_m":[0.26834935085094236,-0.3642324944067007,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003343268151733441,0.003268740971793335],"position_m":[0.17665673184826655,-0.030331259028206662,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026101437853448617,-0.000361002214267],"position_m":[0.3411101437853449,0.108138997785733,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f5af69992be1d5444b45da362d5966dae234e96b90541de2c93c943f9789fdd9","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0118.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7140/tex_ceiling_textures_2172/tex_floor_textures_8264/tex_table_textures_3087/tex_wall_textures_7182","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4931605679346502390,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4931605679346502390,"visual_seed":4931605679346502390,"scene_id":"lab_003","finished_at":"2026-09-05T08:43:37"}
+{"episode_id":"ep_000079","started_at":"2026-09-05T08:49:11","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.2343722536546144,-1.4737361927829309,0.71338606911949],"aabb_xy":[[-0.2518721870885977,-1.4912361927031654],[-0.216872320220631,-1.4562361928626963]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.43339587081236663,-0.42342628341768407,0.71338606911949],"aabb_xy":[[-0.4536801735357654,-0.44370890856039286],[-0.4131115680889679,-0.40314365827497517]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.6456542808814552,-0.6682373430685999,0.71338606911949],"aabb_xy":[[-0.6511122265184752,-0.748237346376259],[-0.6401963352444351,-0.5882373397609408]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.5061823962620194,1.4846193808821115,0.71338606911949],"aabb_xy":[[-0.5411823962385153,1.4751547648344951],[-0.4711823962855236,1.4940839969297284]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.45781484996310673,-2.0787224189937135,0.71338606911949],"aabb_xy":[[0.3938148480507644,-2.134633568251724],[0.5218148518754491,-2.022811269735703]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[0.44859300668707536,0.9403005558446669,0.71338606911949],"aabb_xy":[[0.44467913349165283,0.9315515404381101],[0.4525068798824979,0.9490495712512237]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.5443480011982986,-1.0972565605472042,0.71338606911949],"aabb_xy":[[0.5087188452983389,-1.1328892273040572],[0.5799771570982584,-1.0616238937903513]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[-0.5605456578697721,-1.2164262578095344,0.71338606911949],"aabb_xy":[[-0.6405456611337852,-1.2299862901184477],[-0.48054565460575893,-1.202866225500621]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.17098904416531535,1.3809745389510173,0.71338606911949],"aabb_xy":[[-0.2359890420469632,1.3298508752444766],[-0.10598904628366759,1.4320982026575584]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[0.3225300863513765,0.7895864870175,0.71338606911949],"aabb_xy":[[0.25853008607739825,0.739520386820212],[0.3865300866253547,0.839652587214788]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[-0.14084906530661334,0.3988156755576644,0.71338606911949],"aabb_xy":[[-0.15864257224152978,0.38101592996186673],[-0.1230555583716969,0.41661542115346206]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.08250718814781055,-1.4664167277841504,0.71338606911949],"aabb_xy":[[0.03253389414455009,-1.5164167283386978],[0.132480482151071,-1.416416727229603]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[-0.07485735996188836,-1.4091183242981753,0.71338606911949],"aabb_xy":[[-0.10985735915470661,-1.4200853702958376],[-0.03985736076907008,-1.3981512783005126]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.5829628545303187,0.7730270165073985,0.71338606911949],"aabb_xy":[[0.5029628523675561,0.6930718328812547],[0.6629628566930811,0.852982200133542]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.5922208888175475,-0.9383130829876982,0.71338606911949],"aabb_xy":[[0.5745452582289492,-0.9559932992671009],[0.6098965194061459,-0.9206328667082954]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.1615799680392026,0.8387340964261272,0.71338606911949],"aabb_xy":[[0.1390835466053385,0.8162340966193798],[0.1840763894730667,0.8612340962328747]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[-0.48133814527562757,-0.5725784977382045,0.71338606911949],"aabb_xy":[[-0.4894517999490046,-0.5806843141922335],[-0.4732244906022504,-0.5644726812841754]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.15323060048332748,-1.2929132279138962,0.71338606911949],"aabb_xy":[[0.10323558952387549,-1.3429132269494881],[0.20322561144277956,-1.2429132288783047]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[0.6641206424493982,-0.6351443794768314,0.71338606911949],"aabb_xy":[[0.6522485594378971,-0.7201443791704818],[0.6759927254608993,-0.5501443797831811]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[-0.5775647499599309,-2.3879784293684283,0.71338606911949],"aabb_xy":[[-0.6275647486058521,-2.4378979730278907],[-0.5275647513140097,-2.338058885708966]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[-0.49418551607836886,-0.1329375807717219,0.71338606911949],"aabb_xy":[[-0.5055472507316549,-0.14430604717801],[-0.4828237814250826,-0.12156911436543383]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.15334300629996223,-0.3001975712570064,0.71338606911949],"aabb_xy":[[-0.16126628653871056,-0.32269757149500977],[-0.1454197260612139,-0.27769757101900305]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[0.5589348723022067,-1.3861622453529114,0.71338606911949],"aabb_xy":[[0.549517397732344,-1.3955784224906302],[0.5683523468720695,-1.3767460682151922]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_23","position":[0.2418786090562577,1.4115179282191028,0.71338606911949],"aabb_xy":[[0.17187860641967131,1.3914130632232369],[0.31187861169284403,1.4316227932149679]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_24","position":[-0.418629722381423,0.20866576597819542,0.71338606911949],"aabb_xy":[[-0.46862972404291775,0.1586673237224927],[-0.3686297207199282,0.25866420823389813]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[-0.07641835937718455,-0.7457548538990977,0.71338606911949],"aabb_xy":[[-0.16141835779460778,-0.8306291493613828],[0.008581639040238676,-0.6608805584368128]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[-0.07103655851574664,1.787815635922684,0.71338606911949],"aabb_xy":[[-0.15103655717263265,1.7733107769984213],[0.008963440141139367,1.8023204948469471]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_27","position":[0.12700151097618861,-2.175265242287594,0.71338606911949],"aabb_xy":[[0.037001507299270424,-2.2366976488646975],[0.21700151465310674,-2.1138328357104887]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[-0.44058853719325575,-1.6677926302670838,0.71338606911949],"aabb_xy":[[-0.45726567318635125,-1.6844925542410139],[-0.42391140120016024,-1.6510927062931533]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_29","position":[0.0015490550865078223,1.3626209902416075,0.71338606911949],"aabb_xy":[[-0.06244664230858876,1.2986209919408989],[0.0655447524816044,1.4266209885423162]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698355107191854,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5752.png","name":"5752"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5752.png","name":"5752"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7485.png","name":"7485"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7189.png","name":"7189"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7632.png","name":"7632"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6371.png","name":"6371"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":526.2095917969202,"rotation_z_degrees":321.8449236578007,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005004168065918559,-0.00037971618141300137,0.0014394632606030792]},{"name":"camera_2","offset_m":[-0.012344688299341789,0.016668188691151792,0.010210957853798126]},{"name":"camera_3","offset_m":[0.003943897945285189,0.014466751408276145,-0.0004049287923220818]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008626219942082342,0.0001990527532422636,0.0012953233341561777],"end_effector_yaw_offset_degrees":0.370139674645247},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005036260058495609,0.0003312103486242655,-0.0016412434030590802],"end_effector_yaw_offset_degrees":-0.433552079891119},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000539880574216141,0.00044311237498051437,-0.0017092485021068722],"end_effector_yaw_offset_degrees":0.4568188764879513},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010423863788081417,0.0012185701533245523,-0.0011986330901035563],"end_effector_yaw_offset_degrees":0.2951850834786258}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014584179065656377,9.299855305436745e-05],"position_m":[0.31854158209343436,0.3531929985530544,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003626353632394984,0.0023880625088793465],"position_m":[0.2723626353632395,-0.36491193749112066,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038565675483343055,0.002942544331496569],"position_m":[0.1761434324516657,-0.03065745566850343,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004971984601179836,0.0018663679018957706],"position_m":[0.338997198460118,0.11036636790189577,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"028938f9a884c207e11787331b862a08d6c32c5d22c56a8c2917c122c8454740","episode_index":121,"episode_name":"episode_0121"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0121.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5752/tex_ceiling_textures_6371/tex_floor_textures_7632/tex_table_textures_7485/tex_wall_textures_7189","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4462568157294174817,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4462568157294174817,"visual_seed":4462568157294174817,"scene_id":"lab_003","finished_at":"2026-09-05T08:53:03"}
+{"episode_id":"ep_000080","started_at":"2026-09-05T08:55:57","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[0.36094627533761003,-1.5269257877892657,0.71338606911949],"aabb_xy":[[0.3138168963357743,-1.5909257888336672],[0.40807565433944565,-1.4629257867448633]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.3724476853684952,0.5114886752873162,0.71338606911949],"aabb_xy":[[-0.4424476880050815,0.49138381029145073],[-0.3024476827319088,0.5315935402831817]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.5057255155063443,1.1555966871280683,0.71338606911949],"aabb_xy":[[0.4257255133435818,1.0756415035019244],[0.5857255176691067,1.2355518707542117]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[-0.4135131355569656,-0.041136646570210544,0.71338606911949],"aabb_xy":[[-0.47351313580836674,-0.0954179716066752],[-0.3535131353055644,0.013144678466254112]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_4","position":[-0.31028489761897127,0.3709365364845403,0.71338606911949],"aabb_xy":[[-0.3149200127712046,0.3670692014073915],[-0.3056497824667379,0.3748038715616888]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.43362437638372087,-2.52905365369073,0.71338606911949],"aabb_xy":[[0.4111243765698185,-2.5335282700612107],[0.45612437619762325,-2.5245790373202497]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.3721196465591326,-0.7516248861496244,0.71338606911949],"aabb_xy":[[-0.38645407168529605,-0.7636851017041633],[-0.35778522143296915,-0.7395646705950856]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.5326099848531468,-2.273123858178105,0.71338606911949],"aabb_xy":[[-0.622609981588757,-2.326307321495399],[-0.4426099881175366,-2.21994039486081]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[-0.09109248459683617,-1.4610862770568849,0.71338606911949],"aabb_xy":[[-0.09505296836657054,-1.4687541416424055],[-0.08713200082710179,-1.4534184124713643]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_9","position":[0.16696321204110043,-1.5317688734398498,0.71338606911949],"aabb_xy":[[0.11686574806002681,-1.5957688739496618],[0.21706067602217405,-1.4677688729300382]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[0.4337288427857293,-2.035153830247229,0.71338606911949],"aabb_xy":[[0.42602565211165233,-2.042863200945967],[0.4414320334598064,-2.027444459548491]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[-0.28317944512707655,-1.1533531739858622,0.71338606911949],"aabb_xy":[[-0.2902208960778242,-1.1603799257236567],[-0.276137994176329,-1.1463264222480678]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[-0.18327905020382107,-0.6565505000883955,0.71338606911949],"aabb_xy":[[-0.20518773234317206,-0.6784511669084863],[-0.16137036806446997,-0.6346498332683048]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.3305015045118185,-2.404245313974425,0.71338606911949],"aabb_xy":[[-0.41050150167139376,-2.415792914932242],[-0.2505015073522432,-2.392697713016608]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.2403512515938615,-0.870900049922124,0.71338606911949],"aabb_xy":[[0.20605434057612088,-0.9051969361320652],[0.27464816261160213,-0.8366031637121826]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[0.5961391975591976,-0.12689357078393737,0.71338606911949],"aabb_xy":[[0.5867921899769024,-0.1411971930015814],[0.6054862051414929,-0.11258994856629334]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[0.2928232058857716,-1.6903367200797375,0.71338606911949],"aabb_xy":[[0.27532320660768467,-1.7076748201460834],[0.3103232051638584,-1.6729986200133915]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.4558059881060491,-2.109590798637282,0.71338606911949],"aabb_xy":[[-0.49265653604303666,-2.1470907994603157],[-0.41895544016906144,-2.072090797814248]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.5400304134091973,1.445512462432553,0.71338606911949],"aabb_xy":[[-0.6040304141126668,1.3994940799596323],[-0.4760304127057281,1.4915308449054743]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[0.4739738878536397,-0.4047433605296793,0.71338606911949],"aabb_xy":[[0.3839738881304655,-0.4278167130648591],[0.5639738875768139,-0.3816700079944994]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[0.5482221502544069,-2.00961756191284,0.71338606911949],"aabb_xy":[[0.5170752314108238,-2.079617560599647],[0.57936906909799,-1.9396175632260326]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[-0.6373484925125975,-1.606729085763535,0.71338606911949],"aabb_xy":[[-0.6414266504196473,-1.6108100660117983],[-0.6332703346055477,-1.6026481055152717]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[0.5703498499130784,0.024386028038613894,0.71338606911949],"aabb_xy":[[0.5534391174767365,0.01091382244599936],[0.58726058234942,0.03785823363122841]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[-0.045338566467928554,1.5799452794905124,0.71338606911949],"aabb_xy":[[-0.06522960634826881,1.5672894682058158],[-0.025447526587588316,1.5926010907752095]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_24","position":[-0.35670291459502107,1.754227617002131,0.71338606911949],"aabb_xy":[[-0.44670291827193914,1.692795210425026],[-0.26670291091810283,1.8156600235792346]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[0.0011430598266038983,0.7741963909804763,0.71338606911949],"aabb_xy":[[-0.027506272533812326,0.7455508317034005],[0.029792392187020122,0.8028419502575521]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[-0.5368899261049146,0.0819441273203605,0.71338606911949],"aabb_xy":[[-0.5410058762169871,0.07782857228751498],[-0.5327739759928418,0.08605968235320598]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6978977642011792,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8509.png","name":"8509"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8509.png","name":"8509"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4886.png","name":"4886"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2653.png","name":"2653"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9273.png","name":"9273"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3879.png","name":"3879"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":645.4402120221764,"rotation_z_degrees":212.26621740878912,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017139528592195006,0.001973251173656574,-0.0014693073549831362]},{"name":"camera_2","offset_m":[0.003054216919409755,-0.0008992098656830268,0.003994287278717746]},{"name":"camera_3","offset_m":[0.006778341397684358,-0.002889788327346262,0.0049283993138019705]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007153096417139523,8.596183442589195e-05,-0.0011814207771534547],"end_effector_yaw_offset_degrees":0.7864862463380236},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00034882645910431836,0.0005733684066219656,0.000698423896584885],"end_effector_yaw_offset_degrees":0.6533021372537111},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003732920717970261,0.00045019035260816234,0.001703226866909794],"end_effector_yaw_offset_degrees":0.8609345324368765},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017009637106288568,-0.001156692082218525,-0.001247174539245187],"end_effector_yaw_offset_degrees":-0.17159285520985734}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015320566091565424,0.0024284250738333445],"position_m":[0.31846794339084344,0.35552842507383337,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014261681811851413,0.00035432518153433873],"position_m":[0.2705738318188149,-0.3669456748184657,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008870531476469481,-0.0013914633904986186],"position_m":[0.17911294685235304,-0.03499146339049862,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004752489536295579,-0.004972052525300503],"position_m":[0.33374751046370443,0.1035279474746995,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f265bd262eb945bd2e1bad800c84f131df8fea37196adf632d9a8023ee08bfc9","episode_index":123,"episode_name":"episode_0123"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0123.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8509/tex_ceiling_textures_3879/tex_floor_textures_9273/tex_table_textures_4886/tex_wall_textures_2653","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2907014551666395716,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2907014551666395716,"visual_seed":2907014551666395716,"scene_id":"lab_003","finished_at":"2026-09-05T08:59:54"}
+{"episode_id":"ep_000081","started_at":"2026-09-05T08:59:57","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_0","position":[0.42585769697624953,0.9342081839692606,0.71338606911949],"aabb_xy":[[0.36185769492651754,0.8941137008799527],[0.48985769902598153,0.9743026670585686]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[0.612437214300932,-1.7395489321151976,0.71338606911949],"aabb_xy":[[0.5948589121119852,-1.7571234216893026],[0.6300155164898789,-1.7219744425410926]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[-0.3406181823298635,-2.438790415319551,0.71338606911949],"aabb_xy":[[-0.3440588585699207,-2.4426518482939157],[-0.33717750608980634,-2.4349289823451867]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.7059839102924594,-0.8711989451961746,0.71338606911949],"aabb_xy":[[0.6995700966492745,-0.8776087654438429],[0.7123977239356444,-0.8647891249485062]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_4","position":[0.2597472412469861,-1.3710160239619196,0.71338606911949],"aabb_xy":[[0.2293491301478425,-1.4014229259635889],[0.29014535234612965,-1.3406091219602498]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[-0.5320994346017547,-2.560934596671105,0.71338606911949],"aabb_xy":[[-0.5425109932822384,-2.566280330007003],[-0.521687875921271,-2.555588863335206]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_6","position":[0.4858095577043906,0.6376466304038364,0.71338606911949],"aabb_xy":[[0.4308140798837311,0.5826466289699294],[0.5408050355250499,0.6926466318377432]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[0.21946716012014278,-2.1556883417630286,0.71338606911949],"aabb_xy":[[0.21066510481117004,-2.1634996679179572],[0.22826921542911546,-2.147877015608099]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.4638320899888364,1.3603155502444801,0.71338606911949],"aabb_xy":[[0.413859024456321,1.3103155504319473],[0.5138051555213519,1.410315550057013]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.11360100174963195,-0.7173256841929221,0.71338606911949],"aabb_xy":[[0.0686010002834031,-0.762325541054403],[0.1586010032158608,-0.6723258273314415]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.5412161900370052,0.8351225896839152,0.71338606911949],"aabb_xy":[[-0.6052161922574123,0.7907495055586269],[-0.47721618781659825,0.8794956738092035]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.16919531202078042,-1.2469800493459293,0.71338606911949],"aabb_xy":[[0.07919531260240953,-1.280355546190119],[0.2591953114391513,-1.2136045525017396]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.6685863925319842,0.12971659162154836,0.71338606911949],"aabb_xy":[[0.638102142404954,0.07971659184005242],[0.6990706426590143,0.1797165914030443]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[-0.5545989311896623,0.632246491683599,0.71338606911949],"aabb_xy":[[-0.5770989307133697,0.609750544232978],[-0.5320989316659549,0.6547424391342196]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[-0.0424463116738818,-0.9645373393330989,0.71338606911949],"aabb_xy":[[-0.13244631139705595,-0.9876106918682787],[0.04755368804929238,-0.941463986797919]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[-0.455244421434934,-1.113801164248416,0.71338606911949],"aabb_xy":[[-0.4785262636330653,-1.198801165545644],[-0.4319625792368026,-1.028801162951188]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[-0.6245594682349221,-0.5447292550502008,0.71338606911949],"aabb_xy":[[-0.6745594691854548,-0.5762784020537222],[-0.5745594672843892,-0.5131801080466794]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_17","position":[-0.1379209191628542,0.3963076873015492,0.71338606911949],"aabb_xy":[[-0.1624345432598601,0.37204309399951274],[-0.11340729506584837,0.42057228060358565]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.1576005417725429,1.3646284924752998,0.71338606911949],"aabb_xy":[[-0.16629850406325822,1.352503518167825],[-0.14890257948182764,1.3767534667827745]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.22596018797883632,0.8303809272683043,0.71338606911949],"aabb_xy":[[0.21162576285267284,0.8183207117137653],[0.24029461310499975,0.842441142822843]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[0.06874704296398437,1.4699927107798811,0.71338606911949],"aabb_xy":[[-0.011252954050263608,1.4498581591064696],[0.14874703997823235,1.4901272624532922]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[-0.2814563688899403,0.8305111132931131,0.71338606911949],"aabb_xy":[[-0.3189563689955332,0.8236889514401319],[-0.24395636878434732,0.8373332751460941]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[-0.579053058248163,-1.7151335138222428,0.71338606911949],"aabb_xy":[[-0.5961551362065312,-1.7322403193535125],[-0.5619509802897948,-1.698026708290973]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[-0.15472874618848687,-2.1791403318597156,0.71338606911949],"aabb_xy":[[-0.23472874416927192,-2.186741872821567],[-0.07472874820770183,-2.171538790897863]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[-0.18325301169357167,-1.2857828646350287,0.71338606911949],"aabb_xy":[[-0.2007530108279388,-1.2956624916726165],[-0.16575301255920447,-1.2759032375974408]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[0.6269730087598013,-1.4048038037510218,0.71338606911949],"aabb_xy":[[0.5842063018803811,-1.4688038071728242],[0.6697397156392215,-1.3408038003292193]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6969114148317839,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5012.png","name":"5012"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5012.png","name":"5012"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5223.png","name":"5223"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5820.png","name":"5820"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8216.png","name":"8216"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5964.png","name":"5964"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":610.1012291767686,"rotation_z_degrees":340.1256369557386,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013474568127464285,-0.012024125166784434,0.00933339081388311]},{"name":"camera_2","offset_m":[-0.01904810149948919,0.008694060760991378,-0.014145784565922734]},{"name":"camera_3","offset_m":[-0.0070572791860338754,0.014873814870781533,-0.014127751885564345]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00013859470184437962,0.001501689250710481,0.00088307951530579],"end_effector_yaw_offset_degrees":0.7160650979666481},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015326524203105054,-0.00035114495493218504,0.0012781112101659942],"end_effector_yaw_offset_degrees":-0.2402117109068267},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00030670858902854593,0.0011369043090060037,0.0007595042786306362],"end_effector_yaw_offset_degrees":0.9836516381218421},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00016058883220378822,-3.311088016855158e-05,0.00019394246401628797],"end_effector_yaw_offset_degrees":0.12155274347467526}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025705890250965003,0.003605087156563055],"position_m":[0.3225705890250965,0.35670508715656307,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018631219015233058,0.0015241514373824762],"position_m":[0.2701368780984767,-0.3657758485626175,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007040957515094814,-0.0019575219685466373],"position_m":[0.1792959042484905,-0.03555752196854663,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000778221458105314,0.0013374176667650343],"position_m":[0.3377217785418947,0.10983741766676504,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f6f27bee5dc0ed40e2b9b1b6cd7519b31556e1cdf1396931d47e3f1ee756c83f","episode_index":124,"episode_name":"episode_0124"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0124.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5012/tex_ceiling_textures_5964/tex_floor_textures_8216/tex_table_textures_5223/tex_wall_textures_5820","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1085919996129370747,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1085919996129370747,"visual_seed":1085919996129370747,"scene_id":"lab_003","finished_at":"2026-09-05T09:03:50"}
+{"episode_id":"ep_000082","started_at":"2026-09-05T09:08:11","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[0.4201488619969602,0.3093192704261254,0.71338606911949],"aabb_xy":[[0.4121548734192568,0.301319190331035],[0.42814285057466356,0.3173193505212157]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.3587062040351936,0.9162481130106488,0.71338606911949],"aabb_xy":[[-0.36366222422007477,0.8937481128085273],[-0.3537501838503124,0.9387481132127705]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[-0.27534326718186025,-2.12947809517612,0.71338606911949],"aabb_xy":[[-0.2924453451402284,-2.1465849007073903],[-0.2582411892234921,-2.1123712896448508]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[0.015056802536961955,-2.125730030816349,0.71338606911949],"aabb_xy":[[0.007644346995573481,-2.1315812412379764],[0.02246925807835043,-2.1198788203947205]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.5732738910447459,-1.7667371124062212,0.71338606911949],"aabb_xy":[[-0.5954464180213968,-1.7889127795623438],[-0.5511013640680951,-1.7445614452500977]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[0.11455397038930115,1.5382268028701902,0.71338606911949],"aabb_xy":[[0.09692113479577358,1.520603856854567],[0.13218680598282873,1.555849748885813]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_6","position":[0.4105723000884065,-1.5372526632394663,0.71338606911949],"aabb_xy":[[0.3605722987275193,-1.587230567814882],[0.46057230144929373,-1.4872747586640507]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_7","position":[-0.6462724649067014,-2.4321303777408314,0.71338606911949],"aabb_xy":[[-0.6712724641786637,-2.4484757413369933],[-0.6212724656347391,-2.4157850141446686]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[-0.3595799599331518,1.4654212974760692,0.71338606911949],"aabb_xy":[[-0.41457995910974127,1.4104316227011113],[-0.3045799607565623,1.5204109722510266]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[0.41033404538808993,0.9780865049039624,0.71338606911949],"aabb_xy":[[0.3997665657299909,0.9675414747909538],[0.42090152504618894,0.9886315350169709]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_10","position":[-0.5877242471251902,-2.017138616234283,0.71338606911949],"aabb_xy":[[-0.5992932278721269,-2.0421386163512145],[-0.5761552663782538,-1.992138616117351]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.2939914324291698,0.8645449952582052,0.71338606911949],"aabb_xy":[[0.23899822109203306,0.8095449949194117],[0.34898464376630656,0.9195449955969989]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[0.04472489503415766,1.4598518683302975,0.71338606911949],"aabb_xy":[[0.02781416259781588,1.4463796627376828],[0.061635627470499436,1.473324073922912]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[-0.3916256687862656,-1.101108731484462,0.71338606911949],"aabb_xy":[[-0.47162566925648164,-1.1094194390988108],[-0.3116256683160497,-1.0927980238701138]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[0.5929743438461503,-0.38048932583508055,0.71338606911949],"aabb_xy":[[0.5554743433487921,-0.38445800938319896],[0.6304743443435086,-0.37652064228696214]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.026999385602150205,0.9365552704516258,0.71338606911949],"aabb_xy":[[-0.0008456511784569187,0.9057707717133142],[0.05484442238275733,0.9673397691899376]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.39333982241290494,-0.36274437992644204,0.71338606911949],"aabb_xy":[[-0.40349283796705415,-0.3988139214991822],[-0.3831868068587554,-0.3266748383537016]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.6437018132286896,1.7602961345917243,0.71338606911949],"aabb_xy":[[-0.6805523611656772,1.7227961337686908],[-0.606851265291702,1.7977961354147582]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.48481204171450953,0.0405141715442463,0.71338606911949],"aabb_xy":[[-0.548812042417979,-0.00550421092867471],[-0.42081204101104025,0.0865325540171673]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[-0.2934947296099972,0.11812739388542326,0.71338606911949],"aabb_xy":[[-0.3197835539304377,0.09185596023077201],[-0.2672059052895564,0.14439882754007446]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6981993672007833,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4011.png","name":"4011"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4011.png","name":"4011"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4074.png","name":"4074"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3266.png","name":"3266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7181.png","name":"7181"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4601.png","name":"4601"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":730.2061580794663,"rotation_z_degrees":17.214587683290294,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013198591301998599,0.01341113690943541,-0.01338117484859589]},{"name":"camera_2","offset_m":[-0.009853711605786844,-0.01371686777615892,0.0005043388291196167]},{"name":"camera_3","offset_m":[-0.006212198095693275,-0.015080238467216844,-0.010005351143644457]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001551569244816805,0.00019869596066950665,0.0004306468149135518],"end_effector_yaw_offset_degrees":0.6796159230650891},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008183095138564679,-0.0017607094925274388,-0.0006599682129577395],"end_effector_yaw_offset_degrees":-0.9669148559889083},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009523422341862248,4.4220500083263625e-05,-6.341277465024358e-05],"end_effector_yaw_offset_degrees":0.5743723788887585},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010324050080044893,-0.000582962471455569,-0.0018443182446754346],"end_effector_yaw_offset_degrees":-0.8280682064553642}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013950979168370426,-0.0025918700102655124],"position_m":[0.32139509791683707,0.3505081299897345,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002571964602351601,-0.0020632656163430208],"position_m":[0.2694280353976484,-0.36936326561634303,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030410737461910873,0.004706394122947883],"position_m":[0.18304107374619108,-0.028893605877052114,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003204372686687125,-0.002218912054838451],"position_m":[0.34170437268668713,0.10628108794516154,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10972a06a167310ebaf1ed2ab6c9a12aea5d4308f229f6c2b0317c27ed9dbd63","episode_index":126,"episode_name":"episode_0126"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0126.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4011/tex_ceiling_textures_4601/tex_floor_textures_7181/tex_table_textures_4074/tex_wall_textures_3266","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6651241808419131928,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6651241808419131928,"visual_seed":6651241808419131928,"scene_id":"lab_003","finished_at":"2026-09-05T09:11:55"}
+{"episode_id":"ep_000083","started_at":"2026-09-05T09:20:37","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.4860349347321824,-1.3705878049204838,0.71338606911949],"aabb_xy":[[0.47877368716177504,-1.3833748151839933],[0.49329618230258987,-1.3578007946569743]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.3087445264653593,0.7745295621978916,0.71338606911949],"aabb_xy":[[-0.3787445291019456,0.754424697202026],[-0.23874452382877293,0.794634427193757]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.02763091185299138,1.1946953764612993,0.71338606911949],"aabb_xy":[[0.005130912329283976,1.1721994290106783],[0.05013091137669878,1.2171913239119199]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_3","position":[0.3372964624469681,-1.0960611830853493,0.71338606911949],"aabb_xy":[[0.31480004101310394,-1.1185611828920967],[0.35979288388083214,-1.0735611832786018]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[-0.6602553271447585,-2.035754934337782,0.71338606911949],"aabb_xy":[[-0.6728821144319548,-2.0453010080393548],[-0.6476285398575621,-2.0262088606362085]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[-0.09846098734081865,-1.787398700680419,0.71338606911949],"aabb_xy":[[-0.13947893072718953,-1.8373987013113762],[-0.05744304395444777,-1.7373987000494615]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[0.507035309497559,0.22926790453505053,0.71338606911949],"aabb_xy":[[0.4430353078195617,0.18075051305573628],[0.5710353111755564,0.27778529601436475]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[0.6116345486754005,-1.7063693140524814,0.71338606911949],"aabb_xy":[[0.5615370846943268,-1.7703693145622934],[0.6617320126564741,-1.6423693135426698]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[0.6364552276241537,1.3336557145878625,0.71338606911949],"aabb_xy":[[0.6193531496657856,1.316548909056593],[0.6535573055825219,1.3507625201191324]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.5774957387881912,-1.1656276064748219,0.71338606911949],"aabb_xy":[[-0.6324889501253279,-1.2206276068136155],[-0.5225025274510544,-1.1106276061360283]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.49457605794243165,0.6167403849554236,0.71338606911949],"aabb_xy":[[-0.5097389309193687,0.601574927660305],[-0.47941318496549457,0.6319058422505425]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.5561179869830846,-0.7389739386350929,0.71338606911949],"aabb_xy":[[0.5186179871660509,-0.7436121499462346],[0.593617986800118,-0.7343357273239509]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.6385452252680732,0.011734127144411577,0.71338606911949],"aabb_xy":[[-0.646581559969358,0.0036960078399947954],[-0.6305088905667883,0.019772246448828357]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[-0.08926271603529157,0.06461359406345402,0.71338606911949],"aabb_xy":[[-0.09739040422860479,0.055699985652746364],[-0.08113502784197835,0.07352720247416167]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.4035250241618329,1.371070638835239,0.71338606911949],"aabb_xy":[[0.3649793313366319,1.3325248677790502],[0.442070716987034,1.4096164098914277]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.030916365148755398,-1.3265210345286194,0.71338606911949],"aabb_xy":[[-0.039697592295991624,-1.3353007818171496],[-0.022135138001519172,-1.3177412872400895]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[-0.2989528165788439,-0.19948133557228775,0.71338606911949],"aabb_xy":[[-0.3489476495067855,-0.2494813344675313],[-0.24895798365090227,-0.14948133667704422]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.10993272370756912,1.742361812487918,0.71338606911949],"aabb_xy":[[-0.1324318594337961,1.7198618117096554],[-0.08743358798134215,1.7648618132661813]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.13473013544292978,0.5384015874278183,0.71338606911949],"aabb_xy":[[-0.1443617716633594,0.5287642746481094],[-0.12509849922250016,0.5480389002075272]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[0.22952427567383638,0.6870418089777366,0.71338606911949],"aabb_xy":[[0.19202427448904355,0.6826235862816759],[0.2670242768586291,0.6914600316737969]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.10937364219684742,-2.553982484677113,0.71338606911949],"aabb_xy":[[-0.1268736414749343,-2.571320584743459],[-0.09187364291876055,-2.536644384610767]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6977409047825233,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9308.png","name":"9308"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9308.png","name":"9308"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7270.png","name":"7270"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8348.png","name":"8348"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5599.png","name":"5599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6007.png","name":"6007"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":713.9039392718026,"rotation_z_degrees":105.96908849028344,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005615299882740898,-0.019468945853663364,0.017112511430516553]},{"name":"camera_2","offset_m":[0.006554276413368726,0.016574244791001804,0.017666172544566195]},{"name":"camera_3","offset_m":[0.008786434508797871,0.017279449693028703,-0.007655261738211627]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009484490707605681,0.001240926267001723,0.0014195503472535557],"end_effector_yaw_offset_degrees":0.15963789187327326},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009074995992446478,0.0012491927321107645,0.0018376279633085233],"end_effector_yaw_offset_degrees":0.41631583588166543},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014479112685430564,0.0016887522227695398,-0.0017231746153128676],"end_effector_yaw_offset_degrees":-0.7235726076104361},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011678810052800728,-0.001376312181211238,-0.0019019124283875342],"end_effector_yaw_offset_degrees":-0.16599097762757298}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016298944360542645,-0.002007003890119172],"position_m":[0.3216298944360543,0.3510929961098809,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012134549614003821,0.00099735931334171],"position_m":[0.2707865450385996,-0.3663026406866583,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023045525815552194,-0.0048238025568257525],"position_m":[0.1823045525815552,-0.03842380255682575,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011628015049154504,0.002142226371786197],"position_m":[0.3373371984950846,0.1106422263717862,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aa05a52b4243a7739b299998423df0173eda0c76eaa87ee8cf797b4749959907","episode_index":130,"episode_name":"episode_0130"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0130.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9308/tex_ceiling_textures_6007/tex_floor_textures_5599/tex_table_textures_7270/tex_wall_textures_8348","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4108540376978629244,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4108540376978629244,"visual_seed":4108540376978629244,"scene_id":"lab_003","finished_at":"2026-09-05T09:24:41"}
+{"episode_id":"ep_000084","started_at":"2026-09-05T09:28:59","dimensions":{"distractor":{"count":22,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[-0.322065244094594,-1.702785535713943,0.71338606911949],"aabb_xy":[[-0.4070652425120172,-1.7876598311762275],[-0.23706524567717074,-1.6179112402516576]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[-0.5864718633080546,0.49394694223895597,0.71338606911949],"aabb_xy":[[-0.6464718631546214,0.43712832004591734],[-0.5264718634614878,0.5507655644319946]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[0.4508746616677082,1.131912778563465,0.71338606911949],"aabb_xy":[[0.43386456437765747,1.115778290065191],[0.4678847589577588,1.1480472670617388]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.5435131523629837,-1.5554092779775293,0.71338606911949],"aabb_xy":[[0.502264341333069,-1.6104092774897467],[0.5847619633928984,-1.5004092784653118]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[0.01924315116014308,0.6757636252109638,0.71338606911949],"aabb_xy":[[-0.015756847969812582,0.6700184041352997],[0.05424315029009874,0.6815088462866279]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[0.10443027936696625,-2.177625158397764,0.71338606911949],"aabb_xy":[[0.05041468308506625,-2.2416251612900213],[0.15844587564886625,-2.113625155505507]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[-0.058644591960202774,1.0073394534681386,0.71338606911949],"aabb_xy":[[-0.06744664726917547,0.9995281273132096],[-0.049842536651230056,1.0151507796230677]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.40016473616424875,-2.4798408396079656,0.71338606911949],"aabb_xy":[[-0.4651647343201678,-2.506137084157878],[-0.3351647380083297,-2.4535445950580534]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[-0.18832823685693334,-1.4037743166408256,0.71338606911949],"aabb_xy":[[-0.22279058425507509,-1.4382681990386479],[-0.15386588945879148,-1.3692804342430025]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[0.38338771913626024,-1.6931086651847567,0.71338606911949],"aabb_xy":[[0.31938771722391796,-1.749019814442767],[0.44738772104860264,-1.6371975159267462]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.5813290494456552,-0.9674142548303211,0.71338606911949],"aabb_xy":[[-0.6453290501491246,-1.013432637303242],[-0.5173290487421859,-0.9213958723574002]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.11673863812714946,-1.766135299649596,0.71338606911949],"aabb_xy":[[0.11128069249012937,-1.846135302957255],[0.1221965837641695,-1.6861352963419367]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.6431052567126454,-0.5157734520665054,0.71338606911949],"aabb_xy":[[-0.6693940810330861,-0.5420448857211565],[-0.6168164323922047,-0.4895020184118541]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.01838156367189958,-1.800896000739015,0.71338606911949],"aabb_xy":[[-0.019118434903721223,-1.8136322964025728],[0.05588156224752038,-1.788159705075457]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.514862798708036,0.8073939843371281,0.71338606911949],"aabb_xy":[[-0.5948627997811563,0.7976159379997435],[-0.43486279763491564,0.8171720306745124]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[-0.05008539285016411,1.6161486794838846,0.71338606911949],"aabb_xy":[[-0.0679545006046196,1.6023157715066738],[-0.03221628509570862,1.629981587461096]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.6345327387412858,-0.8013334244743737,0.71338606911949],"aabb_xy":[[0.5970327383930579,-0.8131248200554572],[0.6720327390895134,-0.7895420288932901]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[0.06591925943330557,-1.1952650650176586,0.71338606911949],"aabb_xy":[[0.050747090151672225,-1.210433921945862],[0.0810914287149389,-1.1800962080894553]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[0.531229958341574,0.8423019308219803,0.71338606911949],"aabb_xy":[[0.5099519501981018,0.7773019284959072],[0.5525079664850463,0.9073019331480533]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.2198504417493689,1.1571467850631278,0.71338606911949],"aabb_xy":[[-0.23070204799824448,1.1462874943354768],[-0.20899883550049328,1.1680060757907789]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[-0.19254488200157094,0.15620905605080804,0.71338606911949],"aabb_xy":[[-0.22754488197806677,0.14674444000319142],[-0.1575448820250751,0.16567367209842465]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[0.5279794191131275,0.19001591396776973,0.71338606911949],"aabb_xy":[[0.5050637062280777,0.16711161683134623],[0.5508951319981775,0.21292021110419326]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972027151273903,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3830.png","name":"3830"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3830.png","name":"3830"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6287.png","name":"6287"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/250.png","name":"250"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3623.png","name":"3623"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9281.png","name":"9281"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":514.5561259944511,"rotation_z_degrees":99.28333174993443,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0038146072256453716,0.005970750199001014,-0.00011925681475765185]},{"name":"camera_2","offset_m":[0.013433831767882879,0.01939923236528263,0.001152258888330978]},{"name":"camera_3","offset_m":[-0.006912606305217421,-0.003829614100211643,-0.004150677508617962]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00019255431699412816,-0.0017285383323520627,-0.0009642216248883226],"end_effector_yaw_offset_degrees":-0.40525927867538325},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008704779565898092,0.0013410330695486769,-0.0017538961002989573],"end_effector_yaw_offset_degrees":-0.9968610452113591},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009978305342959119,0.0002481424556333629,-0.0008989072109341833],"end_effector_yaw_offset_degrees":0.49500069815550507},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019354702184746862,0.0015510235418889698,0.0012124491725190823],"end_effector_yaw_offset_degrees":0.21156045184333205}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005897410410953376,0.0027648921418680665],"position_m":[0.3194102589589047,0.3558648921418681,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003687226081116718,-0.001967947988262586],"position_m":[0.2683127739188833,-0.3692679479882626,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004885570891277489,-0.0021355636390251623],"position_m":[0.1751144291087225,-0.03573556363902516,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026259668384785093,0.003576354179604381],"position_m":[0.3411259668384785,0.11207635417960438,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"313b388a0de5bfec0fefbe72f413ddb1e36df65432ad64b232f601102a2ee51e","episode_index":132,"episode_name":"episode_0132"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0132.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3830/tex_ceiling_textures_9281/tex_floor_textures_3623/tex_table_textures_6287/tex_wall_textures_250","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7056695680439697540,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7056695680439697540,"visual_seed":7056695680439697540,"scene_id":"lab_003","finished_at":"2026-09-05T09:32:54"}
+{"episode_id":"ep_000085","started_at":"2026-09-05T09:44:26","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.19453332826381275,1.1069344714120755,0.71338606911949],"aabb_xy":[[0.16456577135398706,1.0769344711141897],[0.2245008851736384,1.1369344717099612]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[0.5519469014978469,-1.7841659585306062,0.71338606911949],"aabb_xy":[[0.542190911988673,-1.7939284925898404],[0.5617028910070208,-1.7744034244713716]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[-0.4651071554695417,1.575830329159118,0.71338606911949],"aabb_xy":[[-0.5151071550458765,1.525849750207012],[-0.41510715589320707,1.625810908111224]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[0.4528251214309369,-1.0059041860093312,0.71338606911949],"aabb_xy":[[0.39282512117953566,-1.0601855110457956],[0.5128251216823381,-0.9516228609728663]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.6158179960252208,-0.7620899244185979,0.71338606911949],"aabb_xy":[[0.5783179948404279,-0.7665081471146584],[0.6533179972100135,-0.7576717017225374]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[-0.24747642638446893,-2.128808515635629,0.71338606911949],"aabb_xy":[[-0.2833899308094586,-2.164722023852384],[-0.21156292195947923,-2.0928950074188744]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[-0.4325508611541035,0.8720806900925484,0.71338606911949],"aabb_xy":[[-0.49755086118840625,0.8253800134122211],[-0.3675508611198008,0.9187813667728757]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.12466028099761917,1.46802991592623,0.71338606911949],"aabb_xy":[[0.09426216989847554,1.43762301392456],[0.1550583920967627,1.498436817927899]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[-0.15493158917691674,-1.4909528638727358,0.71338606911949],"aabb_xy":[[-0.23993158786899138,-1.5229387272676147],[-0.0699315904848421,-1.458967000477857]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[0.5332463439142812,-1.4786169623940315,0.71338606911949],"aabb_xy":[[0.5214781571196238,-1.5636169622992535],[0.5450145307089388,-1.3936169624888102]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[0.1642803044467196,-2.5222360956472345,0.71338606911949],"aabb_xy":[[0.10928482662606015,-2.5772360970811414],[0.21927578226737893,-2.4672360942133276]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.46609970532025463,-2.052870345855799,0.71338606911949],"aabb_xy":[[-0.5160989804886909,-2.1028703471317467],[-0.4161004301518184,-2.0028703445798524]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[-0.35147624091775037,1.7190022114066337,0.71338606911949],"aabb_xy":[[-0.41547624162121977,1.672983828933713],[-0.28747624021428103,1.765020593879555]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.6685889489985658,-2.2558878546049206,0.71338606911949],"aabb_xy":[[-0.6814608524995059,-2.3358878550187567],[-0.6557170454976257,-2.1758878541910844]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.6797417984174691,0.19897573373400101,0.71338606911949],"aabb_xy":[[-0.6893734346378987,0.18933842095429204],[-0.6701101621970394,0.20861304651370988]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.3499335734966829,-0.40029482898466906,0.71338606911949],"aabb_xy":[[-0.41393357678639103,-0.4436297479885867],[-0.2859335702069748,-0.35695990998075144]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[0.5011653998062664,-0.47348033745649154,0.71338606911949],"aabb_xy":[[0.48337189287134996,-0.4912800830522892],[0.5189589067411828,-0.4556805918606939]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[-0.39828816773166537,-1.5306732571483408,0.71338606911949],"aabb_xy":[[-0.4404725818924961,-1.5946732574255522],[-0.3561037535708346,-1.4666732568711298]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_18","position":[0.38361157423093983,-1.6057636155305475,0.71338606911949],"aabb_xy":[[0.37657126429740295,-1.685763614930219],[0.39065188416447694,-1.5257636161308763]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[-0.0888476306831647,-1.9676689335117605,0.71338606911949],"aabb_xy":[[-0.15284763094363552,-2.0126777328646885],[-0.0248476304226939,-1.9226601341588327]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[-0.4449220969095252,0.23209998554754563,0.71338606911949],"aabb_xy":[[-0.4490380470215979,0.2279844305147001],[-0.44080614679745256,0.2362155405803911]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_21","position":[0.37206094232908704,-1.82224273147167,0.71338606911949],"aabb_xy":[[0.3468401054692473,-1.8474664823245566],[0.39728177918892665,-1.797018980618783]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[0.5973505235446288,-1.6655112928326754,0.71338606911949],"aabb_xy":[[0.5865100453181139,-1.682697574123324],[0.6081910017711437,-1.6483250115420267]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[0.17660622882154342,1.6325780533063399,0.71338606911949],"aabb_xy":[[0.11160622786441622,1.5806298413726343],[0.24160622977867063,1.6845262652400455]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.4191065389008198,1.1232116880200613,0.71338606911949],"aabb_xy":[[-0.499106536060395,1.1116640870622443],[-0.33910654174124444,1.1347592889778784]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_25","position":[-0.21372255446869287,-0.984296649644004,0.71338606911949],"aabb_xy":[[-0.21918050010571294,-1.064296652951663],[-0.2082646088316728,-0.9042966463363448]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[-0.30121898722850665,0.3277073611094745,0.71338606911949],"aabb_xy":[[-0.3652189892782387,0.28761287802016655],[-0.2372189851787747,0.3678018441987825]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[0.07810819173862005,-1.6156797439177657,0.71338606911949],"aabb_xy":[[0.07214165279788426,-1.6216408885771296],[0.08407473067935584,-1.6097185992584013]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_28","position":[0.670472600782557,-2.177945308719705,0.71338606911949],"aabb_xy":[[0.6549168313722917,-2.193495741964113],[0.6860283701928223,-2.1623948754752984]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_29","position":[0.35322523396355177,-2.266705131777783,0.71338606911949],"aabb_xy":[[0.27322523349333583,-2.2750158393921316],[0.43322523443376776,-2.258394424163435]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6948992292497398,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3078.png","name":"3078"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3078.png","name":"3078"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7349.png","name":"7349"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2201.png","name":"2201"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8523.png","name":"8523"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/984.png","name":"984"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":625.7974281936905,"rotation_z_degrees":272.93096913251406,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006361604436071765,-0.014930105767662166,0.01631028231589315]},{"name":"camera_2","offset_m":[-0.001264165189449145,-0.004185656544145901,-0.011427899853802374]},{"name":"camera_3","offset_m":[0.015275407366280278,-0.010246358728139034,0.01978420657638311]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005774151305257603,0.0018671194503455803,0.0010779624351499846],"end_effector_yaw_offset_degrees":-0.9517642864167757},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[2.2135482466039726e-05,0.0017961767317767807,0.0004998206896227085],"end_effector_yaw_offset_degrees":-0.13315096401941662},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005447853248062855,-0.0005636789779864628,0.0018979324499066095],"end_effector_yaw_offset_degrees":0.7669755239910769},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.824069648054317e-05,-0.00039176125100685833,-0.00022954359931798827],"end_effector_yaw_offset_degrees":0.929930839242674}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00036780621306639096,-0.004489375669795894],"position_m":[0.31963219378693364,0.3486106243302041,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029724980783171605,0.003560590441990439],"position_m":[0.26902750192168284,-0.3637394095580096,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004769938863669262,0.0032618829518026053],"position_m":[0.17523006113633074,-0.030338117048197392,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026761307020994485,0.0027134295067604286],"position_m":[0.3358238692979006,0.11121342950676043,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2860fb1287831e7bc601d68ba926ad265785afdbb846aff97a6488a78aeabc6d","episode_index":136,"episode_name":"episode_0136"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0136.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3078/tex_ceiling_textures_984/tex_floor_textures_8523/tex_table_textures_7349/tex_wall_textures_2201","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5299087147285899046,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5299087147285899046,"visual_seed":5299087147285899046,"scene_id":"lab_003","finished_at":"2026-09-05T09:48:11"}
+{"episode_id":"ep_000086","started_at":"2026-09-05T09:58:13","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.43450780657397786,-2.098931172113015,0.71338606911949],"aabb_xy":[[-0.44175157262022313,-2.1789311703166168],[-0.4272640405277325,-2.018931173909412]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.44103016924580807,-0.24353309613159135,0.71338606911949],"aabb_xy":[[0.41912148710645697,-0.2654337629516821],[0.46293885138515906,-0.22163242931150062]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[0.2709404300139143,1.259683190995728,0.71338606911949],"aabb_xy":[[0.2580685265129742,1.1796831905818916],[0.28381233351485446,1.339683191409564]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.25976640459113537,-2.1098275680250977,0.71338606911949],"aabb_xy":[[-0.2691134121734306,-2.124131190242742],[-0.25041939700884014,-2.095523945807454]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.488036608979178,0.20498574561118366,0.71338606911949],"aabb_xy":[[-0.5011878549504674,0.17998574585449711],[-0.4748853630078887,0.22998574536787023]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[0.18454425711136002,-1.6932127326351278,0.71338606911949],"aabb_xy":[[0.15954425717884213,-1.7000954008560514],[0.2095442570438779,-1.6863300644142047]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[0.6767137041190165,1.0550416632539643,0.71338606911949],"aabb_xy":[[0.6339469972395964,0.9910416598321621],[0.7194804109984367,1.119041666675767]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[0.3269957224810598,-2.2580469172662125,0.71338606911949],"aabb_xy":[[0.31995541254752285,-2.3380469166658844],[0.33403603241459684,-2.1780469178665416]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[-0.16379037397094576,-1.3079105927267183,0.71338606911949],"aabb_xy":[[-0.1987903753224275,-1.328270328683539],[-0.12879037261946402,-1.2875508567698972]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.26046996793178206,-0.9914211779033568,0.71338606911949],"aabb_xy":[[-0.27240270229361013,-1.0038033307112162],[-0.248537233569954,-0.9790390250954975]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.0684288120404053,0.6504342722854228,0.71338606911949],"aabb_xy":[[-0.10190797930144624,0.616955158914316],[-0.03494964477936436,0.6839133856565299]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.5977845401310884,-2.398189763512936,0.71338606911949],"aabb_xy":[[0.5477897072031468,-2.4481897624081794],[0.64777937305903,-2.3481897646176924]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[0.18564293537115084,-2.5017829750285814,0.71338606911949],"aabb_xy":[[0.13564293435201558,-2.5382491907664093],[0.23564293639028613,-2.4653167592907534]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.01058869722966449,-0.7712787163176305,0.71338606911949],"aabb_xy":[[-0.05341130482006751,-0.8113731994069385],[0.07458869927939649,-0.7311842332283226]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.2589646124359106,-2.3685546619748554,0.71338606911949],"aabb_xy":[[0.24146467900192725,-2.3860546618950895],[0.276464545869894,-2.3510546620546204]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[0.19437282889099783,0.9056775199219675,0.71338606911949],"aabb_xy":[[0.14437282853043173,0.8556975327123646],[0.24437282925156387,0.9556575071315705]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[-0.43168720696579443,-0.6664090498117559,0.71338606911949],"aabb_xy":[[-0.5213742832739099,-0.7564090500662064],[-0.34200013065767904,-0.5764090495573053]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.03384807993186123,-2.392627214061725,0.71338606911949],"aabb_xy":[[-0.0418914398578164,-2.4776272151570913],[-0.02580472000590605,-2.3076272129663584]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[0.05239325696288655,-1.5412842241972646,0.71338606911949],"aabb_xy":[[-0.01160674632682157,-1.584619143201182],[0.11639326025259465,-1.4979493051933468]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[0.6452340406420045,-2.0361273606055033,0.71338606911949],"aabb_xy":[[0.5952552321316885,-2.086127360611222],[0.6952128491523203,-1.9861273605997845]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.5754813164765573,-1.4095509768730354,0.71338606911949],"aabb_xy":[[0.5579813162172208,-1.423642519061808],[0.592981316735894,-1.3954594346842628]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[-0.03404902413148847,-1.8296073109089077,0.71338606911949],"aabb_xy":[[-0.11404902460170444,-1.8379180185232562],[0.04595097633872748,-1.8212966032945597]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[-0.17232908218439247,1.0012706746133828,0.71338606911949],"aabb_xy":[[-0.2223133178925697,0.9512706757998872],[-0.12234484647621524,1.0512706734268784]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[-0.23587172614210777,1.6485737577601953,0.71338606911949],"aabb_xy":[[-0.2429131770928554,1.641547006022401],[-0.2288302751913602,1.6556005094979898]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[0.6668830483588637,0.780040163934824,0.71338606911949],"aabb_xy":[[0.655977272271301,0.7000401675359947],[0.6777888244464264,0.860040160333653]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_25","position":[-0.07113948362959821,1.4911766587329534,0.71338606911949],"aabb_xy":[[-0.10360118451152565,1.4610438266180505],[-0.038677782747670746,1.5213094908478557]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[-0.15333026171721664,-2.3965236974843656,0.71338606911949],"aabb_xy":[[-0.21833026435501013,-2.4480032961838125],[-0.08833025907942316,-2.3450440987849186]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.702420230769523,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2621.png","name":"2621"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2621.png","name":"2621"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6577.png","name":"6577"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2965.png","name":"2965"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7572.png","name":"7572"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9057.png","name":"9057"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":829.7866877266238,"rotation_z_degrees":90.35437078658671,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0035166736485434356,0.00795239267414492,0.01603150212096192]},{"name":"camera_2","offset_m":[-0.011638879949471437,-0.004481241658267576,0.008438110165106955]},{"name":"camera_3","offset_m":[0.01402412425375146,0.014004878472824684,0.0048718593677907936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018240874987383122,0.0013728336422058401,0.0010326007169541604],"end_effector_yaw_offset_degrees":-0.9036133755237832},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014300338436705599,-0.001987365154277609,0.001436281101871749],"end_effector_yaw_offset_degrees":-0.67675203973115},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018551099213137633,-0.00032349123944482505,0.001972181498311086],"end_effector_yaw_offset_degrees":0.6475048239016765},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.6066904223796443e-05,-0.00029555183452675935,-0.0018282346207401372],"end_effector_yaw_offset_degrees":0.8812113726847586}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001569388804099142,-0.0014943067039105496],"position_m":[0.32156938880409913,0.3516056932960895,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032106806479429073,-0.0007424975515091248],"position_m":[0.2752106806479429,-0.36804249755150914,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003984075991838694,-0.004278484620575238],"position_m":[0.1760159240081613,-0.037878484620575234,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003978333759480063,0.004631729299153459],"position_m":[0.33452166624051993,0.11313172929915345,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"be9327855e64d5694562c118ca371b8227c20796e5f3bb5abe765285f2c0886a","episode_index":140,"episode_name":"episode_0140"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0140.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2621/tex_ceiling_textures_9057/tex_floor_textures_7572/tex_table_textures_6577/tex_wall_textures_2965","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3916773792490470367,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3916773792490470367,"visual_seed":3916773792490470367,"scene_id":"lab_003","finished_at":"2026-09-05T10:01:54"}
+{"episode_id":"ep_000087","started_at":"2026-09-05T10:05:54","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.5650819832198184,-2.5525840518672815,0.71338606911949],"aabb_xy":[[0.5573787925457413,-2.5602934225660197],[0.5727851738938953,-2.5448746811685434]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.16597501739430465,0.6341534273697733,0.71338606911949],"aabb_xy":[[-0.20874172427372484,0.5701534239479709],[-0.12320831051488446,0.6981534307915758]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.18206121587623825,1.1326967574821452,0.71338606911949],"aabb_xy":[[-0.2620612132798317,1.0527041862839621],[-0.10206121847264484,1.2126893286803277]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[-0.005147072709160705,-2.283194450910539,0.71338606911949],"aabb_xy":[[-0.035545183808304286,-2.313601352912208],[0.02525103838998288,-2.252787548908869]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.3182439547852616,1.4928131930069912,0.71338606911949],"aabb_xy":[[0.2631187491556708,1.4328131915657036],[0.37336916041485235,1.552813194448278]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[0.6300176175813259,1.2274475001739389,0.71338606911949],"aabb_xy":[[0.5400176139044076,1.1660150935968343],[0.720017621258244,1.288879906751043]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.2837343213461758,1.717774123658422,0.71338606911949],"aabb_xy":[[-0.3437343222069886,1.6663476936519357],[-0.223734320485363,1.7692005536649085]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[0.16691851319917905,-1.642929305588352,0.71338606911949],"aabb_xy":[[0.10191851316487632,-1.6896299822686793],[0.23191851323348178,-1.5962286289080247]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[0.043338404678625375,0.9589173452912352,0.71338606911949],"aabb_xy":[[0.01334674194475504,0.9289173459544345],[0.0733300674124957,0.9889173446280356]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[-0.3817732367306597,0.710458131250888,0.71338606911949],"aabb_xy":[[-0.38980957143194456,0.7024200119464711],[-0.3737369020293749,0.7184962505553046]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[0.31965492753221825,-1.2196717560084538,0.71338606911949],"aabb_xy":[[0.310307919949923,-1.2339753782260978],[0.3290019351145135,-1.2053681337908098]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[-0.054642396739846166,-0.2377883226247257,0.71338606911949],"aabb_xy":[[-0.08578931558342928,-0.3077883213115329],[-0.023495477896263044,-0.1677883239379185]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[0.2706181786910534,-1.4849337491373584,0.71338606911949],"aabb_xy":[[0.22052071470997975,-1.5489337496471702],[0.320715642672127,-1.4209337486275466]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[-0.2869357719373771,0.7341942412236064,0.71338606911949],"aabb_xy":[[-0.3094349076636041,0.7116942404453435],[-0.26443663621115016,0.7566942420018694]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[-0.545890695574873,-0.4710147716259585,0.71338606911949],"aabb_xy":[[-0.558762599075813,-0.5510147720397945],[-0.5330187920739328,-0.3910147712121223]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[-0.6871542803039683,0.53388249910572,0.71338606911949],"aabb_xy":[[-0.6944155278743758,0.5210954888422107],[-0.6798930327335608,0.5466695093692296]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_16","position":[-0.5415002206684986,-1.3044230733806443,0.71338606911949],"aabb_xy":[[-0.6252224461685809,-1.39442307691534],[-0.457777995168416,-1.2144230698459482]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[-0.20899065736717348,-0.3704326325771512,0.71338606911949],"aabb_xy":[[-0.2729906576411517,-0.4204987327744391],[-0.14499065709319525,-0.3203665323798632]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[0.23218714219723502,-2.2072405234597405,0.71338606911949],"aabb_xy":[[0.18701582434906605,-2.2712405206042794],[0.277358460045404,-2.1432405263152026]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.6277158783261658,0.5169483688192149,0.71338606911949],"aabb_xy":[[0.5777158796802446,0.4670288251597524],[0.677715876972087,0.5668679124786772]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[-0.09975197762633392,-1.2556754135661086,0.71338606911949],"aabb_xy":[[-0.14973621333451115,-1.3056754123796042],[-0.04976774191815668,-1.205675414752613]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[-0.41685979774659504,-2.0719712032240465,0.71338606911949],"aabb_xy":[[-0.4667424946242913,-2.1219712024703212],[-0.36697710086889884,-2.0219712039777717]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.4238531821702045,1.241966606475065,0.71338606911949],"aabb_xy":[[0.35985318358363205,1.1949596430755562],[0.48785318075677697,1.2889735698745737]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[-0.5733723917595496,1.4586852582611223,0.71338606911949],"aabb_xy":[[-0.5969575152234444,1.3936852560156905],[-0.5497872682956547,1.523685260506554]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_24","position":[0.341975010109572,-1.7400843539732862,0.71338606911949],"aabb_xy":[[0.33789685220252225,-1.7441653342215495],[0.3460531680166217,-1.736003373725023]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.6162825695130156,-1.608919471355681,0.71338606911949],"aabb_xy":[[-0.6862825716444451,-1.6316814369813761],[-0.546282567381586,-1.5861575057299848]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_26","position":[-0.5837842265413024,-2.479212252489468,0.71338606911949],"aabb_xy":[[-0.6437842270491551,-2.5360589861753886],[-0.5237842260334492,-2.4223655188035464]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_27","position":[-0.3068529683606665,-1.0762589238416265,0.71338606911949],"aabb_xy":[[-0.3443529685325384,-1.1089596592245334],[-0.2693529681887945,-1.043558188458719]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_28","position":[-0.32530117758054206,-0.774710292863128,0.71338606911949],"aabb_xy":[[-0.39030117573646106,-0.8010065374130402],[-0.26030117942462294,-0.7484140483132158]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_29","position":[0.17096523751630732,-0.9567766165577638,0.71338606911949],"aabb_xy":[[0.12114845805147254,-1.0067766150420672],[0.22078201698114205,-0.9067766180734604]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_30","position":[0.008658949667643578,-1.0242421685587668,0.71338606911949],"aabb_xy":[[-0.04131411586487189,-1.0742421683713],[0.05863201520015905,-0.9742421687462341]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6997086958574037,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9375.png","name":"9375"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9375.png","name":"9375"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9289.png","name":"9289"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9899.png","name":"9899"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8747.png","name":"8747"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3410.png","name":"3410"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":581.4252472879926,"rotation_z_degrees":276.2546465147709,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017302980380315625,0.006655081931239693,0.008376275305352426]},{"name":"camera_2","offset_m":[-0.010576898613718804,-0.0003899345496281917,-0.0030614800051379475]},{"name":"camera_3","offset_m":[-0.007619915457610369,-0.0008027067042728694,-0.019381104058493852]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000610917457840209,0.0014983247425449965,-0.00015572463846108336],"end_effector_yaw_offset_degrees":0.3394366534807949},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007695224458390089,0.0013269068066476455,0.0003637639064896828],"end_effector_yaw_offset_degrees":0.7495849501131011},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014038545210742141,0.0009194893096483793,0.0019157533286951007],"end_effector_yaw_offset_degrees":0.8123089565690291},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004959306256574166,-0.0019101339721976371,0.0008533728773652601],"end_effector_yaw_offset_degrees":-0.36860616145562175}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004155777691087,0.0037846653515416764],"position_m":[0.324155777691087,0.3568846653515417,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-1.6809519935764156e-05,-0.0008097594702499286],"position_m":[0.27198319048006425,-0.36810975947024993,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00415640914902854,-0.0012586114696184559],"position_m":[0.18415640914902853,-0.03485861146961845,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003843366362405092,0.0009168444441385341],"position_m":[0.3423433663624051,0.10941684444413853,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d08b9708f3f4315386d3d3bb980dcc105c8085db5b2000eefd02a4c2ab2ed426","episode_index":142,"episode_name":"episode_0142"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0142.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9375/tex_ceiling_textures_3410/tex_floor_textures_8747/tex_table_textures_9289/tex_wall_textures_9899","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4269377339202999233,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4269377339202999233,"visual_seed":4269377339202999233,"scene_id":"lab_003","finished_at":"2026-09-05T10:09:55"}
+{"episode_id":"ep_000088","started_at":"2026-09-05T10:12:55","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.6287695707659939,-0.5183278854765212,0.71338606911949],"aabb_xy":[[-0.6352712072739987,-0.528095707502831],[-0.6222679342579894,-0.5085600634502114]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_1","position":[-0.5998743644160823,-0.9128312456613834,0.71338606911949],"aabb_xy":[[-0.6341906415907003,-0.9628312456345611],[-0.5655580872414644,-0.8628312456882057]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[0.20027969561693426,-1.2307635542281956,0.71338606911949],"aabb_xy":[[0.15027969604059957,-1.2807441331803018],[0.250279695193269,-1.1807829752760899]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[-0.3933964922100369,0.13869509176499362,0.71338606911949],"aabb_xy":[[-0.4733964896136303,0.05870252056681082],[-0.31339649480644344,0.21868766296317643]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.301659520746983,-1.986436285936032,0.71338606911949],"aabb_xy":[[-0.3185702531833247,-1.9999084915286465],[-0.28474878831064115,-1.9729640803434172]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.20133007588132806,0.4980274933932236,0.71338606911949],"aabb_xy":[[-0.2663300768384552,0.4460792814595181],[-0.13633007492420082,0.5499757053269292]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.5183018513558586,0.15534251265377108,0.71338606911949],"aabb_xy":[[0.49841081147551836,0.14268670136907424],[0.5381928912361988,0.16799832393846792]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.07649554798718272,-0.7781980963854993,0.71338606911949],"aabb_xy":[[0.04534862914359959,-0.8481980950723065],[0.10764246683076582,-0.7081980976986921]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[-0.05312816604082771,0.16577588811759192,0.71338606911949],"aabb_xy":[[-0.06193022134980042,0.15796456196266284],[-0.044326110731854995,0.173587214272521]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.5023813752895157,-0.189874082326142,0.71338606911949],"aabb_xy":[[0.47988137477747506,-0.2123659406915403],[0.5248813758015562,-0.1673822239607436]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[0.6223318333582737,1.4085602239569224,0.71338606911949],"aabb_xy":[[0.5673318341816841,1.3535705491819647],[0.6773318325348631,1.46354989873188]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[0.539376670419617,0.33653406781255857,0.71338606911949],"aabb_xy":[[0.4753766701456389,0.2864679676152706],[0.6033766706935954,0.38660016800984653]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[-0.007595763441307302,-0.8172970728973488,0.71338606911949],"aabb_xy":[[-0.0156220340719333,-0.8260485678747014],[0.0004305071893186954,-0.8085455779199962]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.04001701357099641,-1.9387840090797779,0.71338606911949],"aabb_xy":[[-0.02498298906679708,-1.9902636077792248],[0.10501701620878989,-1.887304410380331]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[0.4059492165419327,-0.9119137054014768,0.71338606911949],"aabb_xy":[[0.3714868691437909,-0.9464075877992993],[0.4404115639400745,-0.877419823003654]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[-0.5415908738926569,1.7738345392605521,0.71338606911949],"aabb_xy":[[-0.5531598546395936,1.7488345391436209],[-0.5300218931457205,1.7988345393774843]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.19838807979247042,0.9531165279540308,0.71338606911949],"aabb_xy":[[0.13838807893165758,0.9016900979475443],[0.25838808065328317,1.004542957960517]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.2647657772682609,-1.7081335638421562,0.71338606911949],"aabb_xy":[[0.25392529904174593,-1.725319845132805],[0.27560625549477574,-1.6909472825515075]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[0.2724771374760183,0.6384423849857868,0.71338606911949],"aabb_xy":[[0.2675211172911372,0.6159423847836653],[0.27743315766089954,0.6609423851879085]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[-0.029033911814724367,-1.7295984074613218,0.71338606911949],"aabb_xy":[[-0.059432022913867955,-1.760005309462991],[0.001364199284419217,-1.699191505459652]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[-0.43860459154389364,0.40742351018999345,0.71338606911949],"aabb_xy":[[-0.46110459178740903,0.39521887553022156],[-0.41610459130037825,0.41962814484976546]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_21","position":[0.2519780211864153,-1.505723491556636,0.71338606911949],"aabb_xy":[[0.20198318825847372,-1.5557234904518795],[0.3019728541143569,-1.4557234926613924]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[-0.28927436678349483,-0.9243118318091863,0.71338606911949],"aabb_xy":[[-0.369274363746534,-1.0013874734529598],[-0.20927436982045566,-0.8472361901654127]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.3577927608809066,1.3888281423300475,0.71338606911949],"aabb_xy":[[0.34111562488781116,1.3721282183561174],[0.3744698968740022,1.405528066303978]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001070871848437,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/305.png","name":"305"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/305.png","name":"305"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3493.png","name":"3493"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1657.png","name":"1657"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3768.png","name":"3768"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6255.png","name":"6255"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":801.1561195719311,"rotation_z_degrees":204.81261165660752,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0163670123966923,0.016751651339504518,-0.00791272313634956]},{"name":"camera_2","offset_m":[0.00040124948635471974,0.010839637492327157,0.00345754471930591]},{"name":"camera_3","offset_m":[0.011042693466825862,-0.01639159551653755,0.009308639985810087]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003784682981652393,-0.00016401695097482873,-0.0001782841089678752],"end_effector_yaw_offset_degrees":0.955393986421101},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018060501475878365,-0.001376973523590107,-0.0016108550770217245],"end_effector_yaw_offset_degrees":0.7494786716633026},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009459372585496279,-0.0017726709602926723,-0.00056128670790255],"end_effector_yaw_offset_degrees":-0.9840902636034059},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001473786319506063,0.0011511167792378073,-0.0019586794376408867],"end_effector_yaw_offset_degrees":-0.26524195962421526}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004297182998898586,-0.000554795924768565],"position_m":[0.3242971829988986,0.35254520407523143,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001344788704530604,-0.003700111296284544],"position_m":[0.27065521129546943,-0.3710001112962846,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006085016436838779,-0.0012524280009667088],"position_m":[0.17939149835631613,-0.034852428000966704,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018462629383543538,-0.0016231929842335001],"position_m":[0.34034626293835435,0.1068768070157665,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"43319401337b6f689daa572a9abbe878c0473f0d50bd85027cd3568b50bebb63","episode_index":144,"episode_name":"episode_0144"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0144.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_305/tex_ceiling_textures_6255/tex_floor_textures_3768/tex_table_textures_3493/tex_wall_textures_1657","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4554257770766846882,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4554257770766846882,"visual_seed":4554257770766846882,"scene_id":"lab_003","finished_at":"2026-09-05T10:16:53"}
+{"episode_id":"ep_000089","started_at":"2026-09-05T10:21:19","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[0.7136016267389445,0.49682756047740506,0.71338606911949],"aabb_xy":[[0.7086456065540634,0.47432756027528356],[0.7185576469238257,0.5193275606795268]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.6187032068968288,-2.381240848793629,0.71338606911949],"aabb_xy":[[0.6058313033958886,-2.4612408492074653],[0.6315751103977689,-2.301240848379793]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.07263718230146021,-1.2583128392507699,0.71338606911949],"aabb_xy":[[-0.1366328796965568,-1.3223128375514783],[-0.008641484906363628,-1.194312840950061]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[0.6241937759353124,-0.10055980768109185,0.71338606911949],"aabb_xy":[[0.6016800841118553,-0.17055980828209938],[0.6467074677587696,-0.030559807080084322]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.2916984532280459,-1.2196602556535332,0.71338606911949],"aabb_xy":[[0.22169845059145948,-1.2397651206493985],[0.3616984558646322,-1.1995553906576675]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_5","position":[-0.2555245977397502,-0.4447675179645305,0.71338606911949],"aabb_xy":[[-0.2681272968768267,-0.4573629141893961],[-0.24292189860267377,-0.4321721217396651]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.4191493094129721,-2.5608835311504428,0.71338606911949],"aabb_xy":[[0.4083088311864573,-2.5780698124410915],[0.4299897876394871,-2.543697249859794]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[-0.23992982351672398,1.4812768867413184,0.71338606911949],"aabb_xy":[[-0.2495614597371536,1.4716395739616093],[-0.23029818729629437,1.490914199521027]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.524127496130889,0.7851392146139187,0.71338606911949],"aabb_xy":[[0.5168662485604817,0.7723522043504091],[0.5313887437012966,0.797926224877428]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_9","position":[0.25236717203923553,-2.4287195851042447,0.71338606911949],"aabb_xy":[[0.20236717246290087,-2.4787001640563506],[0.3023671716155703,-2.3787390061521387]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[-0.549925499542565,-0.9017923699034771,0.71338606911949],"aabb_xy":[[-0.5842224105603054,-0.9360892561134184],[-0.5156285885248243,-0.8674954836935358]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[-0.4498432411978007,0.9631426093716322,0.71338606911949],"aabb_xy":[[-0.46727395627680723,0.9458704947077814],[-0.4324125261187942,0.980414724035483]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[0.3670836894314893,-1.078610979960822,0.71338606911949],"aabb_xy":[[0.35830246228425305,-1.0873907272493522],[0.37586491657872556,-1.069831232672292]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[0.19224511214862128,1.7258886277046508,0.71338606911949],"aabb_xy":[[0.1372451139468764,1.6853666610782132],[0.2472451103503661,1.7664105943310884]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[0.047484109046453504,-0.9615423743430824,0.71338606911949],"aabb_xy":[[-0.012515891461399418,-1.0183891080290035],[0.10748410955430641,-0.904695640657161]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_15","position":[-0.3237948579194055,-0.5811983299838541,0.71338606911949],"aabb_xy":[[-0.38779486026220705,-0.6261391812279865],[-0.2597948555766039,-0.5362574787397215]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.1659995722669293,0.22178424087994664,0.71338606911949],"aabb_xy":[[-0.18349950570091264,0.2042842409597121],[-0.1484996388329459,0.23928424080018118]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[0.1344172024404655,1.134105232902249,0.71338606911949],"aabb_xy":[[0.11683890025151866,1.116530743328144],[0.15199550462941236,1.151679722476354]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[0.2606615637523214,-1.3781065041798786,0.71338606911949],"aabb_xy":[[0.17066156433395047,-1.411482001024068],[0.35066156317069225,-1.3447310073356886]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.5828084724762757,0.3451669473620158,0.71338606911949],"aabb_xy":[[0.5406240583154448,0.2811669470848046],[0.6249928866371063,0.409166947639227]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.42298062146846627,-2.4587629071404695,0.71338606911949],"aabb_xy":[[-0.4454806214786145,-2.4728591267800732],[-0.4004806214583179,-2.4446666875008667]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_21","position":[0.03527672168637919,-0.7499350659562907,0.71338606911949],"aabb_xy":[[0.01144050404577412,-0.8399350667647772],[0.059112939326984255,-0.6599350651478042]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[0.6449277523195429,-2.150039708410736,0.71338606911949],"aabb_xy":[[0.5833369930955502,-2.2140397065197828],[0.7065185115435358,-2.086039710301689]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_23","position":[0.5302211053383734,-0.7464508018085974,0.71338606911949],"aabb_xy":[[0.5052211054058555,-0.7533334700295206],[0.5552211052708913,-0.7395681335876739]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[-0.06402281969076351,-1.7759345999209524,0.71338606911949],"aabb_xy":[[-0.14402282294860647,-1.8559311077129361],[0.015977183567079445,-1.6959380921289682]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_25","position":[0.07897138516884006,-1.5861429340327025,0.71338606911949],"aabb_xy":[[0.07193107523530307,-1.666142933432374],[0.08601169510237705,-1.5061429346330313]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_26","position":[-0.45669251175346376,0.12407990622870191,0.71338606911949],"aabb_xy":[[-0.4661099863233265,0.11466372909098288],[-0.447275037183601,0.13349608336642094]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_27","position":[-0.6610986957858269,1.813695585147793,0.71338606911949],"aabb_xy":[[-0.669092185581109,1.8056974532073178],[-0.6531052059905449,1.821693717088269]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[0.555644994091623,-1.2666759359151147,0.71338606911949],"aabb_xy":[[0.5206449949616673,-1.2724211569907786],[0.5906449932215786,-1.2609307148394504]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972528215962059,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2116.png","name":"2116"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2116.png","name":"2116"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2003.png","name":"2003"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6169.png","name":"6169"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9006.png","name":"9006"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6854.png","name":"6854"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":698.8599730516968,"rotation_z_degrees":122.59318591521748,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0015683597783349955,-0.012910306448198329,-0.01508713530958293]},{"name":"camera_2","offset_m":[0.011152906410603382,-0.007511241952575439,0.013416420475117461]},{"name":"camera_3","offset_m":[-0.0057477874328804995,-0.00899521137179515,0.0012526723438769233]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013039592653426419,-0.001509526640893621,-0.0007163670918925124],"end_effector_yaw_offset_degrees":0.3495090311315361},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014448281948667993,0.00179968827494046,-0.000870394815719994],"end_effector_yaw_offset_degrees":0.8782104727117437},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014965147856346125,0.0012590177970963033,-0.0002047703141226508],"end_effector_yaw_offset_degrees":0.9050927838744205},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011112360570170047,0.0010259962077996416,0.0017873156698457117],"end_effector_yaw_offset_degrees":0.4635154357751563}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003500834935176815,0.0003772412107996524],"position_m":[0.32350083493517684,0.35347724121079965,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006680028721696776,0.0028159153711449962],"position_m":[0.27133199712783035,-0.364484084628855,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002355342646690615,-0.004282230021497413],"position_m":[0.18235534264669062,-0.03788223002149741,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003297522590982064,0.003052585521776411],"position_m":[0.335202477409018,0.11155258552177641,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e340627cb0e15d847f38a71e35ab341493c1fc8bf43b6d29771446a124504282","episode_index":146,"episode_name":"episode_0146"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0146.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2116/tex_ceiling_textures_6854/tex_floor_textures_9006/tex_table_textures_2003/tex_wall_textures_6169","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8452522339809788185,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8452522339809788185,"visual_seed":8452522339809788185,"scene_id":"lab_003","finished_at":"2026-09-05T10:25:18"}
+{"episode_id":"ep_000090","started_at":"2026-09-05T10:25:22","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[0.4636821336664416,-0.8402677002305285,0.71338606911949],"aabb_xy":[[0.44934770854027817,-0.8523279157850674],[0.4780165587926051,-0.8282074846759897]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[-0.013650969020878811,-0.7690177873382431,0.71338606911949],"aabb_xy":[[-0.0936509661804541,-0.78056538829606],[0.06634902813869648,-0.757470186380426]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[-0.6333179479672835,-0.6080964508755131,0.71338606911949],"aabb_xy":[[-0.6683179462374034,-0.6151705785705013],[-0.5983179496971636,-0.601022323180525]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.21684353503061882,-1.4223853167107425,0.71338606911949],"aabb_xy":[[0.13684353762702536,-1.5023778879089251],[0.2968435324342122,-1.3423927455125595]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.5080925153244966,-1.889990460914884,0.71338606911949],"aabb_xy":[[-0.5430925144544523,-1.8957356819905482],[-0.47309251619454096,-1.88424523983922]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.0854762978332404,1.401207322825135,0.71338606911949],"aabb_xy":[[-0.14547629947616225,1.349207173533191],[-0.025476296190318534,1.4532074721170793]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.18153400192162217,-2.1183308946448474,0.71338606911949],"aabb_xy":[[0.13153472675318603,-2.1683308959207945],[0.23153327709005836,-2.0683308933689]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_7","position":[0.601046151965533,-2.1018938797118656,0.71338606911949],"aabb_xy":[[0.5370461505575422,-2.1536828312357903],[0.6650461533735236,-2.050104928187941]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.0632617108850988,-1.8785064361749835,0.71338606911949],"aabb_xy":[[0.056000463314691384,-1.8912934464384927],[0.07052295845550621,-1.8657194259114738]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_9","position":[-0.3951510257569269,1.68629670602273,0.71338606911949],"aabb_xy":[[-0.4501510253786728,1.6313130132352573],[-0.3401510261351811,1.7412803988102028]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[-0.6292067617300604,-2.3702695974780617,0.71338606911949],"aabb_xy":[[-0.6667067622274186,-2.37423828102618],[-0.5917067612327022,-2.366300913929943]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[-0.19149988205649993,0.2881188135134978,0.71338606911949],"aabb_xy":[[-0.1963434768177299,0.28326716103451366],[-0.18665628729526995,0.2929704659924819]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[0.41232420969925054,-0.594837487766585,0.71338606911949],"aabb_xy":[[0.35732421052266106,-0.6498271625415426],[0.46732420887584003,-0.5398478129916273]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[-0.5908593930305439,0.9716794050569693,0.71338606911949],"aabb_xy":[[-0.6758593914479673,0.8868051095946843],[-0.5058593946131208,1.0565537005192542]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[0.4780001144920951,-0.9370391193015821,0.71338606911949],"aabb_xy":[[0.4555001139800546,-0.9595309776669804],[0.5005001150041357,-0.9145472609361837]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[0.021365347676973734,-2.3866643115736976,0.71338606911949],"aabb_xy":[[-0.04263465400102362,-2.4351817030530114],[0.08536534935497109,-2.338146920094383]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[0.4438869784812731,-1.2092398125287331,0.71338606911949],"aabb_xy":[[0.3738869750897111,-1.2445555862321638],[0.513886981872835,-1.173924038825302]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[-0.5281053752496077,0.15639163907822384,0.71338606911949],"aabb_xy":[[-0.6081053755232145,0.08344209125250714],[-0.4481053749760006,0.22934118690394056]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[0.2089271542270108,1.1771797616958866,0.71338606911949],"aabb_xy":[[0.1289271527968836,1.0976626066832769],[0.288927155657138,1.2566969167084958]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.2045629464322205,-1.1304691961024271,0.71338606911949],"aabb_xy":[[0.1670629464884541,-1.1387622861372635],[0.2420629463759869,-1.1221761060675903]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[0.5605533400240958,-1.6466898583780103,0.71338606911949],"aabb_xy":[[0.49555333891815256,-1.6716552314461386],[0.6255533411300391,-1.621724485309882]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.0681409745972349,-1.3113111161710544,0.71338606911949],"aabb_xy":[[-0.1181340867064268,-1.36131111684525],[-0.018147862488043013,-1.2613111154968588]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[-0.23896817492895817,-0.3046286026042373,0.71338606911949],"aabb_xy":[[-0.2541403442105915,-0.31979745953244065],[-0.22379600564732485,-0.28945974567603394]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.5111218299454476,-1.2013049815128671,0.71338606911949],"aabb_xy":[[-0.5152377800575202,-1.2054205365457127],[-0.5070058798333749,-1.1971894264800216]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_24","position":[0.6306772343820379,-1.8830999618893867,0.71338606911949],"aabb_xy":[[0.5806772348057032,-1.9330805408414926],[0.6806772339583727,-1.8331193829372807]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_25","position":[0.2361773910431344,1.5488029957109481,0.71338606911949],"aabb_xy":[[0.17617739018232156,1.4973765657044615],[0.29617739190394715,1.6002294257174343]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_26","position":[-0.05463641580113121,1.2050020236874808,0.71338606911949],"aabb_xy":[[-0.09213641609330603,1.2009605482868773],[-0.017136415508956393,1.2090434990880843]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[0.6521465744179122,-0.2915090939970537,0.71338606911949],"aabb_xy":[[0.6403783876232547,-0.3765090939022753],[0.6639147612125698,-0.20650909409183216]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_28","position":[-0.3023105464296513,0.3682718914333396,0.71338606911949],"aabb_xy":[[-0.31111260173862393,0.3604605652784105],[-0.2935084911206785,0.3760832175882687]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7032753011690832,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9387.png","name":"9387"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9387.png","name":"9387"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9192.png","name":"9192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4318.png","name":"4318"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1641.png","name":"1641"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3092.png","name":"3092"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":711.7301028187572,"rotation_z_degrees":45.719932753276055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00333081411817655,-0.015973168622495225,0.015616362154967287]},{"name":"camera_2","offset_m":[0.015813373211288544,-0.004088800718931699,-0.01761032989274277]},{"name":"camera_3","offset_m":[0.019709394540231944,0.006423464966226686,-0.012061300945708772]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004617226603256892,0.0017331083507558108,0.0017135021722528556],"end_effector_yaw_offset_degrees":0.5664534910653882},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005478676514318074,5.7965494726132556e-05,0.00018872820261134132],"end_effector_yaw_offset_degrees":-0.3535443051977081},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008165960609809871,0.0018246911416625444,0.00030055694381435566],"end_effector_yaw_offset_degrees":-0.7478365737786308},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005716871659246113,-0.0011377533796607863,8.859220633282427e-06],"end_effector_yaw_offset_degrees":0.08204856929749016}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004034382828429416,0.0043166907707796595],"position_m":[0.31596561717157057,0.3574166907707797,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025905748265797066,-0.0033734557455700675],"position_m":[0.2745905748265797,-0.3706734557455701,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016936943647645405,-0.001834456822252719],"position_m":[0.18169369436476454,-0.03543445682225271,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002502050365114479,0.0009030195094755456],"position_m":[0.3410020503651145,0.10940301950947555,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8cd5e805616fa00352c11c834b2ec127d71b14283792c29d0086ec056a9be4a4","episode_index":147,"episode_name":"episode_0147"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0147.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9387/tex_ceiling_textures_3092/tex_floor_textures_1641/tex_table_textures_9192/tex_wall_textures_4318","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3066219651291429152,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3066219651291429152,"visual_seed":3066219651291429152,"scene_id":"lab_003","finished_at":"2026-09-05T10:29:09"}
+{"episode_id":"ep_000091","started_at":"2026-09-05T10:29:13","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.5959969353230925,-2.0018999561203867,0.71338606911949],"aabb_xy":[[-0.6094434619571358,-2.015369807773478],[-0.5825504086890492,-1.9884301044672954]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[0.5594687684035475,-0.5770543182708887,0.71338606911949],"aabb_xy":[[0.5248776855495023,-0.6420543185559197],[0.5940598512575928,-0.5120543179858575]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.5193280130117821,1.3488971733522224,0.71338606911949],"aabb_xy":[[0.4968280130016338,1.334800953712619],[0.5418280130219304,1.3629933929918256]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[0.4984426696376456,0.3480095556719487,0.71338606911949],"aabb_xy":[[0.4837992640836126,0.3333508360151644],[0.5130860751916786,0.36266827532873297]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[0.4102329012970778,1.1759000236620683,0.71338606911949],"aabb_xy":[[0.37273290135331144,1.1676069336272317],[0.44773290124084425,1.1841931136969048]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[0.40649904201016085,-0.5400039104114049,0.71338606911949],"aabb_xy":[[0.3424990396673593,-0.5849447616555373],[0.4704990443529624,-0.4950630591672724]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.561260255013914,0.09817230312180492,0.71338606911949],"aabb_xy":[[-0.5786909700929204,0.08090018845795409],[-0.5438295399349073,0.11544441778565571]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[-0.2905395323310106,1.239694683573795,0.71338606911949],"aabb_xy":[[-0.38053952883188225,1.1937830411553365],[-0.20053953583013875,1.285606325992253]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[0.3055243506130172,-1.9413653693295818,0.71338606911949],"aabb_xy":[[0.26333993645218645,-2.005365369606793],[0.34770876477384793,-1.8773653690523706]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[-0.18231486550717924,-2.03412420135614,0.71338606911949],"aabb_xy":[[-0.2723148652303533,-2.0571975538913194],[-0.09231486578400501,-2.0110508488209597]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_10","position":[0.4961626394741063,-0.2598899824460199,0.71338606911949],"aabb_xy":[[0.4411671616534469,-0.31488998387992684],[0.5511581172947657,-0.20488998101211298]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.024689530964068784,-1.4920605766036472,0.71338606911949],"aabb_xy":[[-0.03593458653468662,-1.5033023743277425],[-0.013444475393450946,-1.480818778879552]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[-0.18352102135287163,-1.8013464532476986,0.71338606911949],"aabb_xy":[[-0.23340371823056785,-1.851346452493974],[-0.13363832447517543,-1.7513464540014245]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.05765620417656714,-2.230712573597087,0.71338606911949],"aabb_xy":[[-0.10765620519570243,-2.267178789334915],[-0.007656203157431868,-2.1942463578592593]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[-0.3116090587581991,-1.1963508834784806,0.71338606911949],"aabb_xy":[[-0.34810487938547785,-1.232834825905238],[-0.27511323813092037,-1.1598669410517228]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_15","position":[-0.216053366399994,-2.3874016209377684,0.71338606911949],"aabb_xy":[[-0.23122553568162735,-2.4025704778659716],[-0.20088119711836067,-2.3722327640095653]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.6420613449303112,-1.4188814685942697,0.71338606911949],"aabb_xy":[[0.6371620526237476,-1.4465583878968382],[0.6469606372368746,-1.3912045492917007]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_17","position":[0.3908842751615469,-1.1796783112970557,0.71338606911949],"aabb_xy":[[0.3565873641438062,-1.2139751975069968],[0.42518118617928746,-1.1453814250871142]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.10249900939478518,-1.8612917988753777,0.71338606911949],"aabb_xy":[[0.01249901080031525,-1.8775423851887987],[0.19249900798925512,-1.8450412125619566]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[0.13521145646756505,-0.8774059186927206,0.71338606911949],"aabb_xy":[[0.1182013591775144,-0.8935404071909943],[0.1522215537576157,-0.8612714301944464]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.5840767947336095,-0.3246782770837582,0.71338606911949],"aabb_xy":[[-0.5895347403706296,-0.4046782803914173],[-0.5786188490965894,-0.24467827377609908]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[0.5056718422785995,1.5212530217288012,0.71338606911949],"aabb_xy":[[0.48378209468965877,1.431253024439552],[0.5275615898675403,1.6112530190180503]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[-0.5123327600298168,1.4412163068789972,0.71338606911949],"aabb_xy":[[-0.5210467290797511,1.418716306219809],[-0.5036187909798822,1.4637163075381854]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[-0.1960355148219755,-1.380068994803677,0.71338606911949],"aabb_xy":[[-0.2185355150654909,-1.3922736294634492],[-0.17353551457846011,-1.3678643601439053]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[0.0755073920151268,1.5435276379758682,0.71338606911949],"aabb_xy":[[0.0654256849365533,1.4635276400837534],[0.08558909909370026,1.6235276358679827]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_25","position":[0.5434281666944469,0.03812674854686682,0.71338606911949],"aabb_xy":[[0.5325223906068842,-0.041873247851962336],[0.5543339427820096,0.11812674494569597]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_26","position":[0.19077172672173737,-1.5323453908123648,0.71338606911949],"aabb_xy":[[0.1407986611892219,-1.5823453906248979],[0.24074479225425285,-1.4823453909998319]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[-0.5074050095713443,-0.860318771696974,0.71338606911949],"aabb_xy":[[-0.5373725664811699,-0.8903187719948598],[-0.4774374526615186,-0.8303187713990883]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_28","position":[0.2181513423858491,-2.177996381663287,0.71338606911949],"aabb_xy":[[0.1831513410343674,-2.198356117620108],[0.25315134373733084,-2.157636645706466]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6963935379141478,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1358.png","name":"1358"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1358.png","name":"1358"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/22.png","name":"22"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8950.png","name":"8950"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8999.png","name":"8999"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/106.png","name":"106"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":748.6850084493069,"rotation_z_degrees":113.96602188831685,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001084041009945108,0.01327887141552692,-0.019361421552480943]},{"name":"camera_2","offset_m":[-0.00819144624085459,0.007451931749601178,-0.009587176508749008]},{"name":"camera_3","offset_m":[-0.008196244339061845,0.0054845183744204745,-0.014449306947538144]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000664751925012105,-0.0018807076471108006,0.0006588665461550991],"end_effector_yaw_offset_degrees":0.7663479251140659},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014896616630668104,0.0012591623034565627,-0.0010396362795900163],"end_effector_yaw_offset_degrees":-0.2282955965229443},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001615933912736657,0.001658123496769125,-0.0004845458874015271],"end_effector_yaw_offset_degrees":-0.37037743959658886},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014058651120500327,0.0017081063365649977,-0.00033087054715888616],"end_effector_yaw_offset_degrees":0.4818414036078962}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002415479654338563,0.004582332436573734],"position_m":[0.3175845203456614,0.35768233243657377,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003838272638619421,-0.0006807051649929605],"position_m":[0.2681617273613806,-0.367980705164993,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003918356184583944,0.003354642806063562],"position_m":[0.18391835618458394,-0.030245357193936437,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002425157873134669,-0.0038695433266337197],"position_m":[0.33607484212686534,0.10463045667336628,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"674e7ed9e0de8a2c1c8af1332dbe177acc1f450a678397e2f889cbf158d65631","episode_index":148,"episode_name":"episode_0148"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0148.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1358/tex_ceiling_textures_106/tex_floor_textures_8999/tex_table_textures_22/tex_wall_textures_8950","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8391878251846164959,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8391878251846164959,"visual_seed":8391878251846164959,"scene_id":"lab_003","finished_at":"2026-09-05T10:33:14"}
+{"episode_id":"ep_000092","started_at":"2026-09-05T10:33:18","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.4861338319252948,-2.4728735325842304,0.71338606911949],"aabb_xy":[[0.4061338297625324,-2.552828716210374],[0.5661338340880573,-2.3929183489580867]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[0.24647014784473553,-1.1048962452325868,0.71338606911949],"aabb_xy":[[0.21782081548431928,-1.1335418045096626],[0.27511948020515176,-1.076250685955511]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.5204051676042758,-2.3830699050802338,0.71338606911949],"aabb_xy":[[-0.552866868486203,-2.413202737195136],[-0.4879434667223482,-2.3529370729653305]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[0.07553186650165511,-2.0074706556048074,0.71338606911949],"aabb_xy":[[0.041069388488567324,-2.01413433278773],[0.10999434451474287,-2.0008069784218847]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.038646528472336406,-1.4309749230250224,0.71338606911949],"aabb_xy":[[-0.05124922760941287,-1.4435703192498879],[-0.026043829335259956,-1.4183795268001569]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.26356798771372747,-1.5925293645834773,0.71338606911949],"aabb_xy":[[-0.3135679887328628,-1.6289955803213054],[-0.21356798669459226,-1.5560631488456496]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.662440704257202,-2.5046428842786095,0.71338606911949],"aabb_xy":[[0.658010074902362,-2.510091256013292],[0.6668713336120423,-2.499194512543927]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.4440273922291125,0.37391601244617734,0.71338606911949],"aabb_xy":[[-0.4815273925212874,0.3698745370455737],[-0.40652739193693777,0.37795748784678096]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[0.08447953994921209,0.7956321703398288,0.71338606911949],"aabb_xy":[[0.03448026478077594,0.7456321690638816],[0.13447881511764825,0.845632171615776]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[-0.26315399834764497,-2.023885723112997,0.71338606911949],"aabb_xy":[[-0.28443200649111716,-2.08888572543907],[-0.24187599020417266,-1.958885720786924]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[0.3791901433740106,0.6112082732116058,0.71338606911949],"aabb_xy":[[0.36401797409237724,0.5960394162834024],[0.3943623126556439,0.6263771301398091]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.3195836746798933,-0.26088335710308197,0.71338606911949],"aabb_xy":[[-0.4045836733719679,-0.2928692204979608],[-0.2345836759878186,-0.22889749370820311]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[-0.5404775870632406,-0.3677271798568009,0.71338606911949],"aabb_xy":[[-0.5484008673019889,-0.3902271800948042],[-0.5325543068244922,-0.3452271796187975]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[-0.60946059009917,-1.8294455861515,0.71338606911949],"aabb_xy":[[-0.6734605874015163,-1.8738120131193567],[-0.5454605927968235,-1.7850791591836432]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.1775724414012747,1.7580803546553434,0.71338606911949],"aabb_xy":[[-0.1907236873725641,1.7330803548986569],[-0.16442119542998535,1.78308035441203]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.37325062580722324,-2.201740688997942,0.71338606911949],"aabb_xy":[[0.33575062530986494,-2.2057093725460604],[0.4107506263045814,-2.1977720054498233]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[-0.6386076330632823,-0.747357875076526,0.71338606911949],"aabb_xy":[[-0.642521506258705,-0.7561068904830828],[-0.6346937598678598,-0.7386088596699691]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.5373424502431695,0.20027767152123133,0.71338606911949],"aabb_xy":[[-0.5871592297080043,0.15027767303692796],[-0.48752567077833475,0.2502776700055347]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.11976379745917964,-2.524365768196337,0.71338606911949],"aabb_xy":[[0.11443128280456667,-2.529690096441573],[0.12509631211379263,-2.5190414399511014]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.11286618887759947,0.10862858345177928,0.71338606911949],"aabb_xy":[[-0.17286618872416626,0.051809961258740586],[-0.052866189031032684,0.16544720564481796]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.07061205464440024,-2.2390356703292467,0.71338606911949],"aabb_xy":[[0.006612054370422005,-2.289101770526535],[0.13461205491837847,-2.188969570131959]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[0.3720923163655878,-1.188100647188488,0.71338606911949],"aabb_xy":[[0.32681370148443856,-1.2521006465366717],[0.4173709312467371,-1.1241006478403044]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[0.6726681820503269,-0.3241592969301257,0.71338606911949],"aabb_xy":[[0.6692275058102697,-0.32802072990449016],[0.676108858290384,-0.3202978639557612]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[0.4915892705827709,-0.022362927814130185,0.71338606911949],"aabb_xy":[[0.48183328107359696,-0.032125461873364625],[0.5013452600919448,-0.012600393754895745]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_24","position":[-0.2897803820025224,-1.4718444778113573,0.71338606911949],"aabb_xy":[[-0.3397803829530552,-1.5033936248148787],[-0.23978038105198957,-1.440295330807836]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[0.6413435477307459,-1.0840925752302892,0.71338606911949],"aabb_xy":[[0.586351297095235,-1.139092576973602],[0.6963357983662569,-1.0290925734869765]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.5321065392081397,-0.4089923862029967,0.71338606911949],"aabb_xy":[[0.526140000267404,-0.41495353086236075],[0.5380730781488755,-0.4030312415436327]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6977743328815716,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/372.png","name":"372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/372.png","name":"372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5586.png","name":"5586"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6379.png","name":"6379"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/939.png","name":"939"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8468.png","name":"8468"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":671.942927285553,"rotation_z_degrees":2.9286541042450054,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01858168690149595,0.013457460435454694,0.006475407865384378]},{"name":"camera_2","offset_m":[0.009504789457251243,-0.004395260858143181,0.01847459312727599]},{"name":"camera_3","offset_m":[0.008948879651159682,0.018871715794801045,0.004659478342515053]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00199009584538497,0.0019313929233906388,0.001964540217678591],"end_effector_yaw_offset_degrees":-0.2702777197342974},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005966727822923619,-4.017988740829658e-05,-0.000589009039769723],"end_effector_yaw_offset_degrees":0.005353228451730141},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006645111503603008,-1.430627226138223e-05,-0.000993418192750344],"end_effector_yaw_offset_degrees":-0.5537918948301559},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001547875342178254,0.0019424520925772357,0.000436361385613448],"end_effector_yaw_offset_degrees":-0.9562015154959254}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00081804543949026,0.0031332012494961906],"position_m":[0.3208180454394903,0.3562332012494962,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002049047227023145,-0.00041726678580948813],"position_m":[0.26995095277297687,-0.3677172667858095,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033169851099827145,0.0028975146766249916],"position_m":[0.17668301489001728,-0.030702485323375005,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003914166397411464,0.0011305465256965953],"position_m":[0.3424141663974115,0.10963054652569659,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a3294224c4a02e4753533d7e2573e47504a34b654508060175769444805cdaaf","episode_index":149,"episode_name":"episode_0149"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0149.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_372/tex_ceiling_textures_8468/tex_floor_textures_939/tex_table_textures_5586/tex_wall_textures_6379","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3130307290201262383,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3130307290201262383,"visual_seed":3130307290201262383,"scene_id":"lab_003","finished_at":"2026-09-05T10:37:08"}
+{"episode_id":"ep_000093","started_at":"2026-09-05T10:37:12","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.5163671786214452,-1.5946326540791511,0.71338606911949],"aabb_xy":[[0.4885221418408381,-1.6254171528174628],[0.5442122154020523,-1.5638481553408394]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[-0.4129696599685907,-0.4693995639072521,0.71338606911949],"aabb_xy":[[-0.43487834210794174,-0.4913002307273428],[-0.39106097782923965,-0.44749889708716134]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.643198812135271,-1.046536735540748,0.71338606911949],"aabb_xy":[[0.6206996764090441,-1.069036736319011],[0.665697947861498,-1.024036734762485]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.6091394198269638,-2.225444718580686,0.71338606911949],"aabb_xy":[[-0.6543107376751329,-2.2894447157252245],[-0.563968101978795,-2.1614447214361476]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.3584657580238837,-1.8237802784311712,0.71338606911949],"aabb_xy":[[0.2984657571630708,-1.8752067084376574],[0.4184657588846964,-1.7723538484246846]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[0.30945341539729987,-1.2944424095099787,0.71338606911949],"aabb_xy":[[0.29195341515225043,-1.3119421973495455],[0.3269534156423492,-1.2769426216704118]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[0.4973338704781083,-2.3472315927941656,0.71338606911949],"aabb_xy":[[0.47704956775470947,-2.367514217936874],[0.5176181732015069,-2.326948967651456]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.03798616887496753,-1.59011663072821,0.71338606911949],"aabb_xy":[[-0.0556190044684951,-1.6077395767438327],[-0.020353333281439952,-1.5724936847125868]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.30250327004109334,-1.595174238188222,0.71338606911949],"aabb_xy":[[-0.38250327111421367,-1.6049522845256066],[-0.222503268967973,-1.5853961918508377]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[-0.08661488722873012,1.5421167420383193,0.71338606911949],"aabb_xy":[[-0.14161488543047496,1.5015947754118815],[-0.0316148890269853,1.5826387086647566]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.6188337553378538,0.2006740342887463,0.71338606911949],"aabb_xy":[[0.5688604613345933,0.15067403373419896],[0.6688070493411142,0.25067403484329365]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.2060000123462608,1.764332209238486,0.71338606911949],"aabb_xy":[[-0.2238691201007163,1.750499301261275],[-0.18813090459180531,1.7781651172156971]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[-0.3175622122696467,0.09579403499167505,0.71338606911949],"aabb_xy":[[-0.33535571920456314,0.07799428939587738],[-0.29976870533473027,0.11359378058747271]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[-0.1363517316783267,-0.7010007984221347,0.71338606911949],"aabb_xy":[[-0.1433931826290743,-0.7080275501599292],[-0.1293102807275791,-0.6939740466843402]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.2928064184686312,1.6052951589946693,0.71338606911949],"aabb_xy":[[0.2753064850346478,1.5877951590744346],[0.3103063519026145,1.6227951589149037]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.41695561732948994,0.7966912569720992,0.71338606911949],"aabb_xy":[[0.382639340154872,0.7466912569989215],[0.4512718945041079,0.8466912569452769]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[-0.5052976743382527,-2.1713235196364664,0.71338606911949],"aabb_xy":[[-0.5107556199752727,-2.251323522944125],[-0.4998397287012326,-2.091323516328807]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[-0.1378347339245214,0.45812996241635817,0.71338606911949],"aabb_xy":[[-0.17161029311521434,0.4440914672031931],[-0.10405917473382839,0.47216845762952314]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[0.05619747009613296,1.4400609709916767,0.71338606911949],"aabb_xy":[[0.011197468629904119,1.3950611141301963],[0.10119747156236183,1.4850608278531576]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.09408332491907889,1.5710905601350107,0.71338606911949],"aabb_xy":[[0.08798869703096057,1.5625211655833422],[0.10017795280719721,1.5796599546866796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6993901656516953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5890.png","name":"5890"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5890.png","name":"5890"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2813.png","name":"2813"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9678.png","name":"9678"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7540.png","name":"7540"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8379.png","name":"8379"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":760.3578326915144,"rotation_z_degrees":316.3402818449939,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017933232859613634,-0.008624457716502701,-0.0035137994670974317]},{"name":"camera_2","offset_m":[0.0003307748587839318,0.004245455703245426,0.018821557108494386]},{"name":"camera_3","offset_m":[0.018593590060843112,-0.01028684218641471,-0.018681084344849073]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014802054248658778,-0.0015271629262869864,0.00074056455413177],"end_effector_yaw_offset_degrees":0.6218450772388637},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00124937996305309,-0.0017630534144133531,-9.682895805756793e-05],"end_effector_yaw_offset_degrees":-0.5819712437850064},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012884143777260508,-0.001213654475776027,0.00014021421781484477],"end_effector_yaw_offset_degrees":-0.8038027438917217},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.1221566605365578e-05,-0.0008331396821141567,-5.239956893343407e-05],"end_effector_yaw_offset_degrees":0.5408412231455044}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006480536160365794,0.001668147428827202],"position_m":[0.3193519463839634,0.35476814742882723,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027490166429427632,0.004312433702525149],"position_m":[0.27474901664294277,-0.36298756629747486,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004195088990145343,-0.0034974816989038213],"position_m":[0.18419508899014533,-0.03709748169890382,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004640634159740923,-0.003944063865676033],"position_m":[0.3338593658402591,0.10455593613432397,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"af01a158c55ae0751a90d4a8f3891e26009a7ab3eb74f797a1352ca198446e21","episode_index":150,"episode_name":"episode_0150"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0150.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5890/tex_ceiling_textures_8379/tex_floor_textures_7540/tex_table_textures_2813/tex_wall_textures_9678","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3313235728018443948,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3313235728018443948,"visual_seed":3313235728018443948,"scene_id":"lab_003","finished_at":"2026-09-05T10:41:08"}
+{"episode_id":"ep_000094","started_at":"2026-09-05T10:41:12","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_0","position":[-0.037807909214138014,-1.3471025222007018,0.71338606911949],"aabb_xy":[[-0.10780791102288345,-1.368456290964889],[0.032192092594607424,-1.3257487534365142]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_1","position":[-0.01981879195961389,1.6402875423664587,0.71338606911949],"aabb_xy":[[-0.024774812144495093,1.6177875421643375],[-0.014862771774732692,1.6627875425685807]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[-0.02081383590401109,0.8024521909482383,0.71338606911949],"aabb_xy":[[-0.03328119401374674,0.7899868663149149],[-0.008346477794275445,0.8149175155815619]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[-0.5849863261717795,-1.0381277897744354,0.71338606911949],"aabb_xy":[[-0.6489863225673526,-1.1020910781931688],[-0.5209863297762064,-0.9741645013557017]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[0.2652454995265122,-1.6237131586506441,0.71338606911949],"aabb_xy":[[0.2554895100173383,-1.6334756927098786],[0.27500148903568605,-1.6139506245914097]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[0.34903749405631945,-2.5405205171584653,0.71338606911949],"aabb_xy":[[0.25903749463794856,-2.5738960140026546],[0.43903749347469034,-2.507145020314275]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[-0.07901239987023279,-0.7290442077370325,0.71338606911949],"aabb_xy":[[-0.11464155577019251,-0.7646768744938852],[-0.04338324397027303,-0.6934115409801793]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[-0.4737563853807687,-2.1443978463188387,0.71338606911949],"aabb_xy":[[-0.48698733091544993,-2.1576252653408377],[-0.46052543984608735,-2.131170427296839]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[-0.6282313365589409,-1.4081098112976302,0.71338606911949],"aabb_xy":[[-0.6922313382369383,-1.4566272027769442],[-0.5642313348809436,-1.3595924198183158]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[-0.18315827911551352,-0.9013200262007466,0.71338606911949],"aabb_xy":[[-0.18957209275869846,-0.9077298464484148],[-0.17674446547232858,-0.8949102059530781]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[-0.3237449372010685,-0.6172966993079594,0.71338606911949],"aabb_xy":[[-0.34153844413598494,-0.635096444903757],[-0.30595143026615207,-0.5994969537121617]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[0.1217427347948089,1.1248058349158137,0.71338606911949],"aabb_xy":[[0.041742732632046434,1.04485065128967],[0.2017427369575714,1.2047610185419573]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.27733082944039206,0.28287559722865563,0.71338606911949],"aabb_xy":[[-0.28223012174695555,0.2551986779260868],[-0.27243153713382856,0.31055251653122434]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_13","position":[-0.10819659833601647,-1.5256967514252162,0.71338606911949],"aabb_xy":[[-0.1431965983125123,-1.535161367472833],[-0.07319659835952064,-1.5162321353775998]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.07709353972208621,-0.8525411549320379,0.71338606911949],"aabb_xy":[[0.02709426455365005,-0.902541156207985],[0.12709281489052238,-0.8025411536560907]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[-0.5063157225607217,1.4485985495103493,0.71338606911949],"aabb_xy":[[-0.5563157229212877,1.398618562300746],[-0.45631572220015565,1.498578536719952]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.3997736784975362,-1.3625549302393556,0.71338606911949],"aabb_xy":[[-0.4637693758926328,-1.426554928540064],[-0.3357779811024396,-1.2985549319386467]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.4059699016507674,-1.6762494488021402,0.71338606911949],"aabb_xy":[[0.3686386251255248,-1.7109025035969925],[0.44330117817601,-1.641596394007288]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.6728283885085339,-1.9152545632069915,0.71338606911949],"aabb_xy":[[-0.6815263507992492,-1.9273795375144662],[-0.6641304262178186,-1.9031295888995168]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[0.614439151879169,1.1775988251704343,0.71338606911949],"aabb_xy":[[0.5666329842654002,1.1125988224633754],[0.6622453194929375,1.2425988278774933]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[-0.4934219953296982,0.3041809848337351,0.71338606911949],"aabb_xy":[[-0.5027156135668487,0.2666809863456012],[-0.4841283770925476,0.341680983321869]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[-0.3544646169583875,-1.0786063498458511,0.71338606911949],"aabb_xy":[[-0.3713753493947292,-1.0920785554384655],[-0.33755388452204566,-1.0651341442532363]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.32069473160073003,-2.218707915955589,0.71338606911949],"aabb_xy":[[0.2981810397772728,-2.2887079165565964],[0.34320842342418717,-2.1487079153545814]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[-0.4974358124931791,-0.7445193733252986,0.71338606911949],"aabb_xy":[[-0.5100625997803754,-0.7540654470268715],[-0.48480902520598274,-0.7349732996237257]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[-0.22580020242720167,-0.3869938510007005,0.71338606911949],"aabb_xy":[[-0.27579503535514327,-0.4369938498959441],[-0.1758053694992601,-0.336993852105457]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[0.18150020362106978,-1.6533496716654617,0.71338606911949],"aabb_xy":[[0.16395350870495085,-1.690849673229713],[0.1990468985371887,-1.6158496701012104]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[0.5881879959757526,-0.07175553659047029,0.71338606911949],"aabb_xy":[[0.5081879973188665,-0.08626039551473308],[0.6681879946326386,-0.057250677666207506]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_27","position":[0.6024612375804173,-0.3334686771745643,0.71338606911949],"aabb_xy":[[0.5424612370725643,-0.39031541086048555],[0.6624612380882702,-0.27662194348864294]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_28","position":[0.05692974394791428,1.4506648535058342,0.71338606911949],"aabb_xy":[[-0.013070252462047507,1.4302269178541522],[0.12692974035787605,1.4711027891575157]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_29","position":[-0.5789286876662737,-2.3098772500953904,0.71338606911949],"aabb_xy":[[-0.6067737244468809,-2.340661748833702],[-0.5510836508856667,-2.2790927513570787]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_30","position":[-0.6238053426184238,0.20653101769015114,0.71338606911949],"aabb_xy":[[-0.6698904338731553,0.14253102043759602],[-0.5777202513636923,0.27053101494270626]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_31","position":[-0.6548415267048163,-1.698349143196114,0.71338606911949],"aabb_xy":[[-0.6608080656455521,-1.7043102878554781],[-0.6488749877640804,-1.6923879985367498]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7047385941991868,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2777.png","name":"2777"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2777.png","name":"2777"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7176.png","name":"7176"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7913.png","name":"7913"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1047.png","name":"1047"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7557.png","name":"7557"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":573.2085205839869,"rotation_z_degrees":113.78998271680071,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010578677080414947,0.011005408794384778,0.010998298898170642]},{"name":"camera_2","offset_m":[0.0016094532254567438,-0.0133711949418873,6.99246828183113e-05]},{"name":"camera_3","offset_m":[-0.008483533393135291,-0.017544512799432716,-0.0034527859250971966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00017087041583126314,-0.0007225339113581253,0.0014109257009592077],"end_effector_yaw_offset_degrees":0.46496349440751183},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013314059993631902,-0.000882508095089046,-0.0008146317850881344],"end_effector_yaw_offset_degrees":0.20840676105053202},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013675263609445865,-0.0011695317552434738,-0.0005103710820499425],"end_effector_yaw_offset_degrees":-0.5184588040138269},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013616026675633268,0.000574270862323928,-0.001910703095466665],"end_effector_yaw_offset_degrees":0.006594538449687493}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034723539377959486,0.003365677843300402],"position_m":[0.32347235393779594,0.3564656778433004,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004884484162668815,-0.002445814371833632],"position_m":[0.2768844841626688,-0.3697458143718336,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015989327121453227,-0.0022792589631221907],"position_m":[0.1815989327121453,-0.03587925896312219,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016944114622311334,-0.004842275314786326],"position_m":[0.3368055885377689,0.10365772468521367,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2e2004c3c805ddf93c2dd2093442400588876db38df8da29997535d748192d7c","episode_index":151,"episode_name":"episode_0151"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0151.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2777/tex_ceiling_textures_7557/tex_floor_textures_1047/tex_table_textures_7176/tex_wall_textures_7913","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8414877968509248691,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8414877968509248691,"visual_seed":8414877968509248691,"scene_id":"lab_003","finished_at":"2026-09-05T10:45:01"}
+{"episode_id":"ep_000095","started_at":"2026-09-05T10:45:05","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.12600819209283454,-2.42320795829914,0.71338606911949],"aabb_xy":[[-0.1738143597066032,-2.4882079610061987],[-0.07820202447906589,-2.3582079555920807]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[0.33476488795015147,1.5782405877447139,0.71338606911949],"aabb_xy":[[0.27076488654216074,1.5264516362207892],[0.3987648893581421,1.6300295392686386]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_2","position":[0.5018703557734538,-1.562758301973327,0.71338606911949],"aabb_xy":[[0.4875359306472904,-1.574818517527866],[0.5162047808996173,-1.5506980864187883]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[-0.5411380637856205,1.3135374456350632,0.71338606911949],"aabb_xy":[[-0.6261380622030437,1.2286631501727783],[-0.45613806536819723,1.3984117410973482]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[-0.28387909882006207,1.222049200379935,0.71338606911949],"aabb_xy":[[-0.2994348682303274,1.2064987671355278],[-0.26832332940979686,1.2375996336243422]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.1461273085481205,-1.1796556286790427,0.71338606911949],"aabb_xy":[[-0.15547431613041574,-1.193959250896687],[-0.13678030096582527,-1.165352006461399]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.4598641950807755,-0.923042593800995,0.71338606911949],"aabb_xy":[[-0.5098573071899674,-0.9730425944751908],[-0.4098710829715836,-0.8730425931267995]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[0.42955402548127997,-1.3434389445819561,0.71338606911949],"aabb_xy":[[0.3395540260629091,-1.3768144414261458],[0.5195540248996509,-1.3100634477377664]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[0.6213492168419956,-0.2719280972823279,0.71338606911949],"aabb_xy":[[0.5673336205600955,-0.335928100174585],[0.6753648131238955,-0.2079280943900707]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.50434655863433,-0.7425218437029155,0.71338606911949],"aabb_xy":[[-0.5683465559366764,-0.7868882706707723],[-0.4403465613319836,-0.6981554167350588]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[-0.011219594820296108,-1.1787786288519577,0.71338606911949],"aabb_xy":[[-0.018261045771043705,-1.1858053805897524],[-0.0041781438695485135,-1.171751877114163]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[-0.30765737863499776,0.18798185893520802,0.71338606911949],"aabb_xy":[[-0.3726573797409411,0.16301648586707976],[-0.24265737752905453,0.21294723200333635]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[0.044178198312353034,-2.3246538154600134,0.71338606911949],"aabb_xy":[[-0.005821802706782239,-2.3611200311978413],[0.09417819933148833,-2.2881875997221854]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[-0.43072634365784873,0.45511411198616347,0.71338606911949],"aabb_xy":[[-0.4651886910559904,0.4206202295883407],[-0.3962639962597068,0.4896079943839861]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.3424130908643137,-0.498180200012051,0.71338606911949],"aabb_xy":[[0.31994832089290853,-0.5206802008909115],[0.36487786083571877,-0.47568019913319054]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.2154821595002241,-1.8930637166063744,0.71338606911949],"aabb_xy":[[-0.2504821594767199,-1.9025283326539912],[-0.18048215952372826,-1.883599100558758]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.578619097225901,0.20678621294101474,0.71338606911949],"aabb_xy":[[-0.6072684295863171,0.1781406536639389],[-0.5499697648654847,0.2354317722180905]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_17","position":[-0.3592992215070237,-0.17495843954495438,0.71338606911949],"aabb_xy":[[-0.40148363566785444,-0.2389584398221656],[-0.31711480734619296,-0.11095843926774321]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.5041077883057674,-0.7233871605439115,0.71338606911949],"aabb_xy":[[0.44410778805436624,-0.777668485580376],[0.5641077885571686,-0.6691058355074467]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[-0.18313973386829885,-1.0256868647014203,0.71338606911949],"aabb_xy":[[-0.23311302787155927,-1.0756868652559675],[-0.13316643986503837,-0.9756868641468728]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7035533661283726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5884.png","name":"5884"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5884.png","name":"5884"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1249.png","name":"1249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7892.png","name":"7892"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/700.png","name":"700"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1121.png","name":"1121"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":626.3481114871138,"rotation_z_degrees":332.6447784543095,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012765648819360799,0.008597465882492203,0.011579891043148483]},{"name":"camera_2","offset_m":[-0.012667663460448772,0.008954849454991334,0.01327820675573924]},{"name":"camera_3","offset_m":[-0.015084144118248967,0.01847034737015554,0.0017797202355934114]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014862153954833875,-0.0013537551039678481,-3.74124084116011e-05],"end_effector_yaw_offset_degrees":0.4583788250280447},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007536882404044945,0.0011397606096922733,0.0010718577975190658],"end_effector_yaw_offset_degrees":0.9737771770884789},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00037873146961403493,0.0006173350308189959,4.945035590283231e-05],"end_effector_yaw_offset_degrees":0.3512339474296886},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015175854244182854,-0.0019171053558508983,-0.0006045901556708344],"end_effector_yaw_offset_degrees":-0.848468145803275}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016990779211611476,-0.004680848682452697],"position_m":[0.32169907792116115,0.3484191513175473,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022034607163174532,-0.0045232834559691395],"position_m":[0.27420346071631746,-0.37182328345596916,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026620967615961742,-0.004091862390945986],"position_m":[0.17733790323840382,-0.037691862390945984,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014642389431384763,-0.003593130458227555],"position_m":[0.33703576105686156,0.10490686954177245,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d213ce5d5edbbbef5b7029e20415497577e272486805044045b3ceb97f20a880","episode_index":152,"episode_name":"episode_0152"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0152.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5884/tex_ceiling_textures_1121/tex_floor_textures_700/tex_table_textures_1249/tex_wall_textures_7892","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7578275235084630330,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7578275235084630330,"visual_seed":7578275235084630330,"scene_id":"lab_003","finished_at":"2026-09-05T10:49:10"}
+{"episode_id":"ep_000096","started_at":"2026-09-05T10:52:01","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.221845113011369,-1.796863136346122,0.71338606911949],"aabb_xy":[[-0.28584511441935967,-1.8486520878700468],[-0.15784511160337833,-1.7450741848221973]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.6017442863383669,-2.508510042097194,0.71338606911949],"aabb_xy":[[-0.6351844615343863,-2.5419536679281234],[-0.5683041111423471,-2.4750664162662637]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_2","position":[0.5875142245835989,0.4536560549686386,0.71338606911949],"aabb_xy":[[0.5525142263134789,0.4465819272736504],[0.6225142228537187,0.46073018266362675]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[-0.3062582340441678,-0.49888198019794183,0.71338606911949],"aabb_xy":[[-0.36125048467967874,-0.5538819819412546],[-0.25126598340865686,-0.4438819784546291]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_4","position":[-0.5147796709814915,-0.8897195569259766,0.71338606911949],"aabb_xy":[[-0.5522796711533634,-0.9224202923088838],[-0.4772796708096195,-0.8570188215430694]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[-0.35680941455171816,-0.10821484578166629,0.71338606911949],"aabb_xy":[[-0.3699606605230075,-0.13321484553835286],[-0.3436581685804288,-0.08321484602497976]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_6","position":[0.27867337120213287,-1.5899675600928513,0.71338606911949],"aabb_xy":[[0.2745375148694327,-1.6274675595372083],[0.28280922753483306,-1.5524675606484943]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[-0.42897401563942417,-2.471981726646153,0.71338606911949],"aabb_xy":[[-0.46647401613678247,-2.4759504101942715],[-0.391474015142066,-2.4680130430980345]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.014093505495841874,-1.0147576725081067,0.71338606911949],"aabb_xy":[[-0.07409350713876373,-1.0667578218000509],[0.04590649614707998,-0.9627575232161625]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_9","position":[0.21520131528750497,1.3118688126627926,0.71338606911949],"aabb_xy":[[0.1906876911904991,1.2876042193607564],[0.23971493938451083,1.3361334059648293]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[-0.27438038144707605,0.7682705081454442,0.71338606911949],"aabb_xy":[[-0.3581026069471585,0.6782705046107482],[-0.1906581559469936,0.8582705116801401]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.392479895935786,-2.1749454918174913,0.71338606911949],"aabb_xy":[[0.37497989567644946,-2.1890370340062644],[0.40997989619512276,-2.160853949628719]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[0.6216524880610326,1.4545008098063241,0.71338606911949],"aabb_xy":[[0.5716794225285172,1.4045008099937915],[0.6716255535935481,1.5045008096188575]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_13","position":[-0.17376266333841628,-2.3297143307217167,0.71338606911949],"aabb_xy":[[-0.17787861345048891,-2.333829885754562],[-0.1696467132263436,-2.3255987756888707]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.5034093519294869,0.1539572254507302,0.71338606911949],"aabb_xy":[[-0.5212784596839424,0.14012431747351928],[-0.4855402441750314,0.16779013342794113]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[0.602062059921139,0.5932288450708221,0.71338606911949],"aabb_xy":[[0.5865062905108738,0.577678411826415],[0.6176178293314043,0.6087792783152294]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[0.2155228567341696,1.5786910226945348,0.71338606911949],"aabb_xy":[[0.1705302700157192,1.5336910234200858],[0.26051544345262,1.6236910219689833]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[-0.3133859797063537,-2.1107658706901447,0.71338606911949],"aabb_xy":[[-0.3633859800669197,-2.160745857899747],[-0.26338597934578756,-2.0607858834805413]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.5942563817661224,1.7911968744592497,0.71338606911949],"aabb_xy":[[0.5723476996267713,1.769296207639159],[0.6161650639054734,1.8130975412793404]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.025095591074132728,-2.3761810127041203,0.71338606911949],"aabb_xy":[[-0.04698533866307353,-2.4661810099933694],[-0.0032058434851919312,-2.286181015414871]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[-0.5921608666178294,-0.5906401733014561,0.71338606911949],"aabb_xy":[[-0.6561608689606309,-0.6355810245455886],[-0.5281608642750277,-0.5456993220573236]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7044739310374225,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3275.png","name":"3275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3275.png","name":"3275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1054.png","name":"1054"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4880.png","name":"4880"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3239.png","name":"3239"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8374.png","name":"8374"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":844.7469718649577,"rotation_z_degrees":72.65286758477052,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005389102307267565,-0.015828065739175452,-0.0013769119060071666]},{"name":"camera_2","offset_m":[-0.019475551043174368,0.011861695095030992,-0.010246619081420381]},{"name":"camera_3","offset_m":[0.019827921713546724,-0.014567179024500557,0.0006447807557267773]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012108790245493636,0.0019312890461596517,0.0009396036908461071],"end_effector_yaw_offset_degrees":0.07521207846760514},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-6.927173140542308e-05,-0.0016025256041919031,-0.0012703408173090846],"end_effector_yaw_offset_degrees":-0.3813454464054622},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007685199364460412,-0.001033144827438372,-0.0016468933639061571],"end_effector_yaw_offset_degrees":-0.412721206063847},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011905412957312193,0.0007018948283129488,-0.0012787842111553864],"end_effector_yaw_offset_degrees":0.9137990648858565}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002169396298949895,-0.004290425170979704],"position_m":[0.3178306037010501,0.3488095748290203,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035903562611789694,-0.004035592606031297],"position_m":[0.275590356261179,-0.37133559260603133,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003865635537522615,-0.004026850039415412],"position_m":[0.1838656355375226,-0.03762685003941541,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004538845447115753,0.0036867081066340344],"position_m":[0.34303884544711577,0.11218670810663403,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"36a2ae6fb82d3cb7aff1d215bf659b897c053620839f60322f5f82b5a9c33cd6","episode_index":154,"episode_name":"episode_0154"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0154.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3275/tex_ceiling_textures_8374/tex_floor_textures_3239/tex_table_textures_1054/tex_wall_textures_4880","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8628636218656285396,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8628636218656285396,"visual_seed":8628636218656285396,"scene_id":"lab_003","finished_at":"2026-09-05T10:55:52"}
+{"episode_id":"ep_000097","started_at":"2026-09-05T10:55:56","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[-0.42364721620969614,1.430716710046951,0.71338606911949],"aabb_xy":[[-0.4876472185524977,1.3857758588028184],[-0.3596472138668946,1.4756575612910834]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[0.22599583891633224,-1.2397165799744745,0.71338606911949],"aabb_xy":[[0.21873459134592482,-1.2525035902379842],[0.23325708648673965,-1.2269295697109652]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[-0.49384361638110486,-1.3061908495028836,0.71338606911949],"aabb_xy":[[-0.5438436158213005,-1.3561587739871996],[-0.4438436169409092,-1.256222925018567]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[0.6055970833104034,1.0369954387826192,0.71338606911949],"aabb_xy":[[0.5751989722112597,1.0065885367809495],[0.6359951944095469,1.0674023407842885]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.15884661134866318,-1.65036057459128,0.71338606911949],"aabb_xy":[[-0.19330908936175092,-1.6570242517742027],[-0.12438413333557538,-1.6436968974083572]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[-0.610716811552128,1.1608548345036804,0.71338606911949],"aabb_xy":[[-0.6747168134644703,1.1049436852456702],[-0.5467168096397856,1.216765983761691]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[0.6944558679221069,-0.9674559635396711,0.71338606911949],"aabb_xy":[[0.6907526065929678,-0.9711579818483888],[0.6981591292512456,-0.963753945230953]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_7","position":[0.37288556068201073,-2.337005589161671,0.71338606911949],"aabb_xy":[[0.3596546151473294,-2.3502330081836695],[0.38611650621669197,-2.3237781701396707]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[0.22653667173678926,-2.1072888057961294,0.71338606911949],"aabb_xy":[[0.18153667027056045,-2.1522886626576105],[0.27153667320301816,-2.062288948934649]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[-0.27500434494234216,-1.4897427978246194,0.71338606911949],"aabb_xy":[[-0.30848351220338316,-1.5232219111957266],[-0.24152517768130127,-1.4562636844535126]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.061282558081392824,-2.0333206151406404,0.71338606911949],"aabb_xy":[[-0.1312825596836723,-2.0467534083422985],[0.008717443520886659,-2.0198878219389833]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.5413055059324459,-1.9560920259850687,0.71338606911949],"aabb_xy":[[-0.549298995727728,-1.9640901579255448],[-0.533312016137164,-1.9480938940445935]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.6292717779744167,1.676533355022205,0.71338606911949],"aabb_xy":[[-0.6892717785704329,1.6217208824769815],[-0.5692717773784005,1.7313458275674285]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.2276921102985946,0.7189557195824512,0.71338606911949],"aabb_xy":[[0.21633037564530844,0.707587253176163],[0.23905384495188076,0.7303241859887392]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_14","position":[-0.6025092277641202,-2.1907098833897587,0.71338606911949],"aabb_xy":[[-0.612265217273294,-2.2004724174489927],[-0.5927532382549462,-2.180947349330524]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.43232199688010087,1.6563989742060579,0.71338606911949],"aabb_xy":[[0.3824393000024047,1.6063989749597838],[0.4822046937577971,1.7063989734523333]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.007747611816096733,1.3299186064607338,0.71338606911949],"aabb_xy":[[-0.0307980810091043,1.291372835404545],[0.046293304641297765,1.3684643775169225]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.1821980480876053,-1.9088264901744083,0.71338606911949],"aabb_xy":[[0.14719804673612358,-1.929186226131229],[0.21719804943908705,-1.8884667542175873]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[-0.1431038244363555,1.2743869463126831,0.71338606911949],"aabb_xy":[[-0.16221613179433433,1.2552521674354409],[-0.1239915170783766,1.293521725189925]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.0879883143132848,-0.9588364086836958,0.71338606911949],"aabb_xy":[[-0.09986039732478591,-1.0438364083773461],[-0.07611623130178369,-0.8738364089900454]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[0.1343803648781251,1.280336858794108,0.71338606911949],"aabb_xy":[[0.09938036656742968,1.272621843870562],[0.16938036318882058,1.2880518737176534]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[0.5102021944841673,-2.1227094491504284,0.71338606911949],"aabb_xy":[[0.5001204874055937,-2.202709447042542],[0.5202839015627406,-2.042709451258313]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[-0.4996472038196005,-1.5841926481830149,0.71338606911949],"aabb_xy":[[-0.5108922593902183,-1.59543444590711],[-0.48840214824898265,-1.5729508504589194]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[0.38879103586851516,0.6050473723341057,0.71338606911949],"aabb_xy":[[0.33881797033599975,0.5550473725215729],[0.4387641014010307,0.6550473721466387]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_24","position":[0.4238283531504261,1.5426932415562153,0.71338606911949],"aabb_xy":[[0.40619551755689853,1.5250702955405921],[0.4414611887439537,1.560316187571838]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_25","position":[0.6421569960150868,-1.635515445144486,0.71338606911949],"aabb_xy":[[0.5621569988555115,-1.6470630461023028],[0.7221569931746621,-1.6239678441866687]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.47279109299366706,-0.7267327320774195,0.71338606911949],"aabb_xy":[[-0.490291092271754,-0.7440708321437655],[-0.45529109371558024,-0.7093946320110736]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[0.6366020458031199,0.568488470602635,0.71338606911949],"aabb_xy":[[0.5566020488400806,0.4914128289588615],[0.7166020427661589,0.6455641122464084]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[-0.20517520423122337,-1.0207857175768562,0.71338606911949],"aabb_xy":[[-0.2628056731184941,-1.0807857165035666],[-0.14754473534395246,-0.9607857186501454]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_29","position":[0.25939330825212414,-0.6031358052840765,0.71338606911949],"aabb_xy":[[0.22376415235216435,-0.6387684720409293],[0.29502246415208383,-0.5675031385272234]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_30","position":[-0.09786903380907408,0.9623549048643909,0.71338606911949],"aabb_xy":[[-0.1778690348821944,0.9525768585270064],[-0.01786903273595375,0.9721329512017752]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_31","position":[-0.26140942056346445,0.28460323111966934,0.71338606911949],"aabb_xy":[[-0.3113936562716417,0.23460323230617375],[-0.21142518485528722,0.33460322993316494]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_32","position":[-0.18182035954964604,-1.1828061742354319,0.71338606911949],"aabb_xy":[[-0.19939866173859289,-1.2003806638095367],[-0.1642420573606992,-1.165231684661327]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7025280155809028,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8858.png","name":"8858"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8858.png","name":"8858"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1190.png","name":"1190"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3838.png","name":"3838"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6529.png","name":"6529"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4693.png","name":"4693"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":800.6987772342543,"rotation_z_degrees":187.8879793509225,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017237999305087643,0.01718882159340138,-0.007574953690632396]},{"name":"camera_2","offset_m":[0.002165938333971832,0.006836690565585318,0.005703807960137749]},{"name":"camera_3","offset_m":[0.01489349727000069,0.006116828397928931,0.0032687394208951517]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019082443473194943,-0.0015189922228427669,-0.0006558202705360663],"end_effector_yaw_offset_degrees":0.12477965089187526},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[1.9472794847222308e-05,-0.00024011370792692685,0.0016854657733882086],"end_effector_yaw_offset_degrees":-0.08795540851478845},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006040205777366272,-0.0003627816767756088,-0.0019696837513404723],"end_effector_yaw_offset_degrees":0.1857145007381773},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008842460460562061,-0.0006749352001593737,0.0001241785831469621],"end_effector_yaw_offset_degrees":-0.6974529304903707}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001403812688844112,-0.0010759112171197125],"position_m":[0.3214038126888441,0.35202408878288033,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004225301904199918,0.0007053193247541171],"position_m":[0.2762253019041999,-0.3665946806752459,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004124546649614417,-0.004942542458428587],"position_m":[0.18412454664961442,-0.038542542458428586,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016654848805494884,-0.0049058397410714225],"position_m":[0.3401654848805495,0.10359416025892858,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1742aacf7733d6648307097585ca2841146558f5363e4b32d103d78aa0ad1a1e","episode_index":155,"episode_name":"episode_0155"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0155.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8858/tex_ceiling_textures_4693/tex_floor_textures_6529/tex_table_textures_1190/tex_wall_textures_3838","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4200594575126294023,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4200594575126294023,"visual_seed":4200594575126294023,"scene_id":"lab_003","finished_at":"2026-09-05T10:59:56"}
+{"episode_id":"ep_000098","started_at":"2026-09-05T11:08:28","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.3544670298376609,-1.1056759152210827,0.71338606911949],"aabb_xy":[[0.30446702817616605,-1.1556743574767852],[0.4044670314991556,-1.0556774729653797]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.272113451753253,-0.353418830807942,0.71338606911949],"aabb_xy":[[-0.31313139513962385,-0.40341883143889934],[-0.23109550836688209,-0.3034188301769847]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.431866470467888,1.2980876409399662,0.71338606911949],"aabb_xy":[[-0.4958664668952099,1.25091801711787],[-0.3678664740405661,1.3452572647620629]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[-0.08099143813147236,-1.0862566827416125,0.71338606911949],"aabb_xy":[[-0.09443796476551568,-1.0997265343947036],[-0.06754491149742901,-1.0727868310885214]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.1332815263957443,-1.5899099467492301,0.71338606911949],"aabb_xy":[[0.06928582900064773,-1.6539099450499388],[0.1972772237908409,-1.5259099484485215]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.0975085768367977,-1.3581321730285045,0.71338606911949],"aabb_xy":[[-0.10562223151017479,-1.3662379894825336],[-0.08939492216342058,-1.3500263565744755]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.2890253213454862,-1.2257927440693324,0.71338606911949],"aabb_xy":[[-0.29993109743304885,-1.3057927404681617],[-0.27811954525792343,-1.1457927476705034]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_7","position":[-0.25536410488993383,-0.8626023240936465,0.71338606911949],"aabb_xy":[[-0.27786052632379793,-0.8851023239003939],[-0.23286768345606973,-0.840102324286899]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[0.4610229967164854,-2.182801204515828,0.71338606911949],"aabb_xy":[[0.44945401596954887,-2.20780120463276],[0.472591977463422,-2.1578012043988966]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[0.4696645926503278,1.4917260273334887,0.71338606911949],"aabb_xy":[[0.4609506236003932,1.4692260266743005],[0.47837856170026216,1.514226027992677]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[0.5304417045853471,0.9126230777976798,0.71338606911949],"aabb_xy":[[0.4954417063152272,0.9055489501026917],[0.565441702855467,0.919697205492668]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.5855595308569664,-1.984149428237929,0.71338606911949],"aabb_xy":[[-0.6655595319300868,-1.9939274745753137],[-0.5055595297838461,-1.9743713819005448]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[-0.29050954121168515,-1.4485980860816507,0.71338606911949],"aabb_xy":[[-0.3505095417195381,-1.505444819767572],[-0.23050954070383226,-1.3917513523957294]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[0.14867068613709455,1.5233648266281077,0.71338606911949],"aabb_xy":[[0.06867068754977511,1.4440492246899463],[0.22867068472441396,1.6026804285662681]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[0.43191278587945847,1.6868428709470362,0.71338606911949],"aabb_xy":[[0.3742823169921876,1.6268428720203252],[0.4895432547667293,1.7468428698737464]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.5717453758557787,0.2543792800545548,0.71338606911949],"aabb_xy":[[-0.6217296115639559,0.2043792812410592],[-0.5217611401476014,0.3043792788680504]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.6590153628239903,-1.3055781629248522,0.71338606911949],"aabb_xy":[[0.6509790281227054,-1.3136162822292687],[0.667051697525275,-1.2975400436204352]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[-0.082898049950206,-1.666387690751633,0.71338606911949],"aabb_xy":[[-0.11881155437519568,-1.7023011989683874],[-0.04698454552521632,-1.6304741825348783]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.07383271885950693,0.7501011808613169,0.71338606911949],"aabb_xy":[[-0.01616728347451213,0.6726188262762043],[0.163832721193526,0.8275835354464296]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.410629073166517,-0.9464308279915827,0.71338606911949],"aabb_xy":[[0.3306290751857319,-0.9540323689534347],[0.49062907114730203,-0.9388292870297308]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[-0.5724574751629302,0.7006788438396048,0.71338606911949],"aabb_xy":[[-0.5817510934000808,0.6631788453514709],[-0.5631638569257796,0.7381788423277387]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[-0.13798584934567804,0.7270713151729349,0.71338606911949],"aabb_xy":[[-0.18017026350650878,0.6630713148957237],[-0.0958014351848473,0.7910713154501461]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_22","position":[0.3073419499863008,1.097595310364,0.71338606911949],"aabb_xy":[[0.2708461293590221,1.0611113679372424],[0.34383777061357956,1.1340792527907575]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[-0.3861692326963668,-0.029714933195358118,0.71338606911949],"aabb_xy":[[-0.4511692336968674,-0.08050129835003306],[-0.32116923169586636,0.021071431959316822]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[0.6142859457119478,-0.1534224127021293,0.71338606911949],"aabb_xy":[[0.569285944245719,-0.19842226956361],[0.6592859471781767,-0.10842255584064864]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[0.591643799303708,-1.071697254720633,0.71338606911949],"aabb_xy":[[0.527643802908135,-1.1356605431393665],[0.6556437956992811,-1.0077339663018994]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7002971571526447,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8279.png","name":"8279"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8279.png","name":"8279"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7935.png","name":"7935"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4956.png","name":"4956"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9279.png","name":"9279"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3318.png","name":"3318"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":507.78251509129683,"rotation_z_degrees":263.5070141037072,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008797570553004834,0.002252665970524384,-0.01078537332013421]},{"name":"camera_2","offset_m":[0.006051880937211287,-0.008901784073998923,-0.014809899064338002]},{"name":"camera_3","offset_m":[0.010273252158239866,0.01878021110556356,0.01478258061003072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012128266738373789,-0.0009832111414853663,-0.00045231379364086915],"end_effector_yaw_offset_degrees":0.8667445662941569},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00133348567121824,0.000357474249161889,0.000761253795983575],"end_effector_yaw_offset_degrees":0.4724462181896827},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009783999232563158,-0.00020387540637428628,0.0015602220785773473],"end_effector_yaw_offset_degrees":-0.47653183660869125},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00032291906895283874,0.0016731003692527454,0.0011126751738292548],"end_effector_yaw_offset_degrees":-0.1665058225670497}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0046827043567971354,-9.044807715008311e-06],"position_m":[0.32468270435679714,0.353090955192285,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003274712346084327,-0.0024272501915403146],"position_m":[0.2716725287653916,-0.36972725019154035,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002551460220012151,-0.004764388039730326],"position_m":[0.18255146022001215,-0.03836438803973032,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030900576142967873,-0.004390035307540757],"position_m":[0.3354099423857032,0.10410996469245924,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"41c2d4065871aacd2c1321e6b5edb05d985d336aa6b62f4b7af3ddc32936c171","episode_index":159,"episode_name":"episode_0159"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0159.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8279/tex_ceiling_textures_3318/tex_floor_textures_9279/tex_table_textures_7935/tex_wall_textures_4956","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2486115663652544172,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2486115663652544172,"visual_seed":2486115663652544172,"scene_id":"lab_003","finished_at":"2026-09-05T11:12:23"}
+{"episode_id":"ep_000099","started_at":"2026-09-05T11:12:26","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.22184444128379843,-0.6126064838504393,0.71338606911949],"aabb_xy":[[0.20720103572976542,-0.6272652035072235],[0.2364878468378314,-0.597947764193655]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.6263613823695945,-0.41340640494976943,0.71338606911949],"aabb_xy":[[-0.6336436987462579,-0.5034064085592782],[-0.6190790659929306,-0.3234064013402603]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[-0.19180256891015335,0.27547911152865234,0.71338606911949],"aabb_xy":[[-0.22930256901574628,0.2686569496756711],[-0.15430256880456036,0.28230127338163336]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[-0.48589756922190974,0.4569895422686008,0.71338606911949],"aabb_xy":[[-0.5358975702410451,0.4205233265307729],[-0.43589756820277453,0.49345575800642877]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[-0.5524243355662757,0.12993882407328616,0.71338606911949],"aabb_xy":[[-0.5612055627135121,0.12115907678475604],[-0.5436431084190395,0.13871857136181634]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.20593647232757695,1.2052471766684216,0.71338606911949],"aabb_xy":[[-0.22843647214147933,1.2007725602979409],[-0.18343647251367456,1.2097217930389024]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[0.38944197640324774,-0.893965801695628,0.71338606911949],"aabb_xy":[[0.3519419756112523,-0.9003336426538179],[0.4269419771952432,-0.8875979607374377]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[-0.5907907948815052,-1.2374903645672564,0.71338606911949],"aabb_xy":[[-0.5968854227696236,-1.2460597591189253],[-0.584696166993387,-1.2289209700155879]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[-0.16228161468266078,-1.3063303834093194,0.71338606911949],"aabb_xy":[[-0.22628161538613015,-1.3523487658822404],[-0.09828161397919144,-1.2603120009363984]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[0.4055686824177387,-0.6947939929465272,0.71338606911949],"aabb_xy":[[0.32556868376085274,-0.7092988518707901],[0.48556868107462475,-0.6802891340222645]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[-0.4217964680977922,-2.2014304215398193,0.71338606911949],"aabb_xy":[[-0.42669576040435564,-2.2291073408423876],[-0.41689717579122865,-2.17375350223725]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.3378890303467892,-1.8442244176129545,0.71338606911949],"aabb_xy":[[0.2478890317523193,-1.8604750039263758],[0.4278890289412592,-1.8279738312995337]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.04075791961932118,0.6996465842395856,0.71338606911949],"aabb_xy":[[-0.05153089354068896,0.6646465860205466],[-0.029984945697953402,0.7346465824586246]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.22495229316652376,1.4402509925974205,0.71338606911949],"aabb_xy":[[0.19455418206738018,1.4098440905957506],[0.25535040426566735,1.4706578945990896]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.4916252408683225,0.23944741759138477,0.71338606911949],"aabb_xy":[[-0.5556252379804283,0.19041504779697413],[-0.42762524375621686,0.2884797873857954]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[-0.05686536175476031,-1.5060244024852536,0.71338606911949],"aabb_xy":[[-0.09336118238203905,-1.542508344912011],[-0.020369541127481572,-1.4695404600584958]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[-0.2113512838075015,-0.2049593499664355,0.71338606911949],"aabb_xy":[[-0.2157819131623417,-0.2104077217011181],[-0.20692065445266133,-0.1995109782317529]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[0.3601650736649298,0.5480598678499189,0.71338606911949],"aabb_xy":[[0.34266507438684285,0.5307217677835729],[0.3776650729430166,0.5653979679162648]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[0.5818891641080024,-1.1930415716301412,0.71338606911949],"aabb_xy":[[0.546889164915184,-1.2040086176278038],[0.6168891633008206,-1.1820745256324783]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.6378702343754097,-0.2944705316380052,0.71338606911949],"aabb_xy":[[0.6003702340832349,-0.2985120070386088],[0.6753702346675845,-0.29042905623740156]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[-0.2476744496183107,0.8078639023685872,0.71338606911949],"aabb_xy":[[-0.2712595730822055,0.7428639001231555],[-0.2240893261544158,0.8728639046140191]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[0.6046889303416803,-1.286158314352206,0.71338606911949],"aabb_xy":[[0.5671889317660594,-1.298894610015764],[0.6421889289173011,-1.273422018688648]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[0.1622137290546085,-2.093005025381533,0.71338606911949],"aabb_xy":[[0.15617671605394381,-2.0990317264504816],[0.16825074205527327,-2.0869783243125855]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[-0.2483707434122211,-1.1211243762421084,0.71338606911949],"aabb_xy":[[-0.2896195544421358,-1.1761243757543256],[-0.20712193238230633,-1.0661243767298907]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[-0.25243270649761634,1.7042354361367509,0.71338606911949],"aabb_xy":[[-0.3024258186068082,1.6542354354625555],[-0.20243959438842446,1.7542354368109467]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[-0.41515797794749004,-1.7193943410974317,0.71338606911949],"aabb_xy":[[-0.42457545251735274,-1.7288105182351505],[-0.40574050337762724,-1.7099781639597125]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_26","position":[-0.3036310747202077,-0.4793179209657321,0.71338606911949],"aabb_xy":[[-0.340425707845114,-0.5162237960623144],[-0.26683644159530145,-0.44241204586914984]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_27","position":[0.0797588431887607,-1.073999095250877,0.71338606911949],"aabb_xy":[[0.014758843154457954,-1.1206997719312042],[0.14475884322306343,-1.0272984185705496]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964794933917435,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3862.png","name":"3862"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3862.png","name":"3862"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6210.png","name":"6210"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3226.png","name":"3226"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4351.png","name":"4351"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7570.png","name":"7570"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":806.3120039200525,"rotation_z_degrees":103.60293796367962,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032899448440185768,0.013322470049231368,0.00666371953447616]},{"name":"camera_2","offset_m":[-0.008515687887791033,0.018155134638461575,0.005273847272065913]},{"name":"camera_3","offset_m":[0.016216932590257336,-0.00181447882980372,0.005362629773521418]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018137069177336707,0.0016702049581125708,-0.0011736439141994107],"end_effector_yaw_offset_degrees":0.6616055505081222},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018998885237003485,-0.0018143832224585702,-0.0016913878625548669],"end_effector_yaw_offset_degrees":0.38834537770893207},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00026207060889018533,-0.001342151919540258,-0.00032983413177715797],"end_effector_yaw_offset_degrees":0.6010988296377755},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006113886153847718,-0.0009952140846480617,-0.0005134197855810592],"end_effector_yaw_offset_degrees":-0.6713736357943125}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0041009722544029376,-0.00018956735046716817],"position_m":[0.3158990277455971,0.35291043264953287,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0041777104315336355,-0.0013878994444826253],"position_m":[0.2678222895684664,-0.36868789944448266,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005729830155570877,0.003779566638944877],"position_m":[0.18057298301555708,-0.02982043336105512,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0045861668279460885,-0.0010502024753539022],"position_m":[0.3430861668279461,0.10744979752464609,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0c89f4c1ab869a6c2a3ba73b56c8e4e3935a41bef46abb4f8eb195bac2deb636","episode_index":160,"episode_name":"episode_0160"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/dataset/episode_0160.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3862/tex_ceiling_textures_7570/tex_floor_textures_4351/tex_table_textures_6210/tex_wall_textures_3226","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3281618193194915462,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3281618193194915462,"visual_seed":3281618193194915462,"scene_id":"lab_003","finished_at":"2026-09-05T11:16:27"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..87ce8b9db9cae83a2177e30facf1b7f1e0b51cb3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00033
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00033
+  reproducibility:
+    enabled: true
+    layout_id: layout_00033
+    action_seed: 2795588802749883146
+    step_seeds:
+    - 6816342363077730166
+    - 4358494381448953216
+    - 412513956277572572
+    - 5816647056012353206
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.32
+      - 0.32
+      'y':
+      - 0.3531
+      - 0.3531
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.18
+      - 0.18
+      'y':
+      - -0.0336
+      - -0.0336
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3385
+      - 0.3385
+      'y':
+      - 0.1085
+      - 0.1085
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.272
+      - 0.272
+      'y':
+      - -0.3673
+      - -0.3673
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d658b234144f633c7c16759ad6cba27e2c7c489
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34781262299975,
+              0.3549122411677949,
+              1.0536640724773036
+            ],
+            "current_z": 1.0536640724773036,
+            "required_z": 0.8611066716702152,
+            "initial_z": 0.7611066716702152,
+            "lift_margin": 0.1925574008070885,
+            "gripper_z": 1.0520859031977823,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34211385811804235,
+              0.34974823905944596,
+              1.0520859031977823
+            ],
+            "object_minus_gripper": [
+              0.005698764881707674,
+              0.005164002108348942,
+              0.0015781692795213687
+            ],
+            "object_to_gripper_xy": 0.007690438150847909,
+            "object_to_gripper_z": 0.0015781692795213687,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34781262299975,
+              0.3300727076541677,
+              1.0536640724773036
+            ],
+            "finger_b": [
+              0.3354522762634493,
+              0.3549122411677949,
+              1.0536640724773036
+            ],
+            "finger_midpoint": [
+              0.34163244963159967,
+              0.3424924744109813,
+              1.0536640724773036
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061801733681503546,
+              0.01241976675681361,
+              0.0
+            ],
+            "finger_gap": 0.027744920194806642,
+            "fingertip_max_gap": 0.09146084050760747,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013872460097403321,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0536640724773036,
+            "object_top_z": 1.104240805675356,
+            "finger_top_clearance": 0.05057673319805245,
+            "fingertip_min_top_clearance": 0.015173019959415767,
+            "object_projection_between_fingers": 0.8015302384690344,
+            "object_to_finger_line_xy": 0.011065998562643703,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823042025380374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.620767428531384,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34918915516622623,
+              0.35257956743452,
+              1.2402634892548055
+            ],
+            "held_position": [
+              0.355409579733282,
+              0.3571364654173897,
+              1.2416893441886816
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007841687529682112,
+            "max_held_gripper_dist": 0.007850999134612593,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014258549338761473,
+            "max_held_gripper_z_dist": 0.0015952827197540653,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09032254238712667,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.355409579733282,
+              0.3309898280990969,
+              1.2416893441886816
+            ],
+            "held_grasp_finger_b": [
+              0.3456211282989411,
+              0.357676783721639,
+              1.2416893441886816
+            ],
+            "held_grasp_midpoint": [
+              0.35051535401611156,
+              0.3443333059103679,
+              1.2416893441886816
+            ],
+            "held_grasp_object_position": [
+              0.355409579733282,
+              0.3571364654173897,
+              1.2416893441886816
+            ],
+            "held_grasp_finger_gap": 0.02842547065365822,
+            "held_grasp_max_gap": 0.12496576964855194,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025484466905445955,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10667904872885908,
+              -0.9940695360013874,
+              0.021103036660447105
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035113061219427958,
+            "held_grasp_line_xy_max_dist": 0.04748288482427597,
+            "held_grasp_object_top_z": 0.049720630049705505,
+            "held_grasp_top_clearance": 0.03647128787543659,
+            "held_grasp_min_top_clearance": 0.014916189014911652
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3356548327027422,
+              -0.36334583004686943,
+              0.8515396103038787
+            ],
+            "target_position": [
+              0.32649583559683665,
+              -0.36593891074644885,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00951899655953913,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854902715110405,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396103038787,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523313596771104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08658550225434662,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15464997421216795,
+            "release_required_pad_clearance": 0.05329275112717331,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.604213367046451,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008669614791870117,
+            "max_z_decrease": 0.008669614791870117,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502811951187308,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008669614791870117,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02132118172138061,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008669614791870117,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008669949168925594,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1821957677602767,
+              -0.42220038175582886,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1821957677602767,
+              -0.42220038175582886,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18131335106693483,
+              -0.42360161125232976,
+              0.8035024773314559
+            ],
+            "closest_button": [
+              0.1821464598178863,
+              -0.42215651273727417,
+              0.768514096736908
+            ],
+            "closest_ee_minus_button": [
+              -0.0008331087509514667,
+              -0.0014450985150555873,
+              0.034988380594547897
+            ],
+            "button_min_z_position": [
+              0.18213720619678492,
+              -0.42215171456336975,
+              0.7681392431259155
+            ],
+            "min_active_finger_to_button": 0.14657327257068614,
+            "closest_active_finger": [
+              0.04082268476486206,
+              -0.4055280089378357,
+              0.8076333403587341
+            ],
+            "closest_active_finger_button": [
+              0.1822045594453811,
+              -0.4222038984298706,
+              0.7727506160736084
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14138187468051905,
+              0.016675889492034912,
+              0.03488272428512573
+            ],
+            "min_contact_pad_to_button": 0.02132118172138061,
+            "closest_contact_pad": [
+              0.18213720619678492,
+              -0.4249478864059218,
+              0.7892762772845446
+            ],
+            "closest_contact_pad_button": [
+              0.18213720619678492,
+              -0.42215171456336975,
+              0.7681392431259155
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002796171842552042,
+              0.02113703415862911
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "76d41362ee8689fbbfab0213d7b34d3d22118cdaa3ff271ecb415c241b5edaf9",
+    "visual_seed": 9124934208782177611,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..18fa896474f0a25ec0304cc0dc4c1b55e9be4b7e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34818467065347625,
+              0.35665366173796686,
+              1.0553903613362592
+            ],
+            "current_z": 1.0553903613362592,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.19428373411220357,
+            "gripper_z": 1.0543163052943039,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.342004062846645,
+              0.3512493686932142,
+              1.0543163052943039
+            ],
+            "object_minus_gripper": [
+              0.006180607806831273,
+              0.0054042930447526505,
+              0.001074056041955318
+            ],
+            "object_to_gripper_xy": 0.008210133748936466,
+            "object_to_gripper_z": 0.001074056041955318,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34818467065347625,
+              0.3314212498682524,
+              1.0553903613362592
+            ],
+            "finger_b": [
+              0.33556493173478663,
+              0.35665366173796686,
+              1.0553903613362592
+            ],
+            "finger_midpoint": [
+              0.34187480119413144,
+              0.3440374558031096,
+              1.0553903613362592
+            ],
+            "object_minus_finger_midpoint": [
+              0.006309869459344808,
+              0.012616205934857239,
+              0.0
+            ],
+            "finger_gap": 0.02821227426385185,
+            "fingertip_max_gap": 0.09368714445021006,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014106137131925925,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0553903613362592,
+            "object_top_z": 1.1069286536102743,
+            "finger_top_clearance": 0.051538292274015074,
+            "fingertip_min_top_clearance": 0.015461487682204521,
+            "object_projection_between_fingers": 0.7999103861754908,
+            "object_to_finger_line_xy": 0.011286805420456252,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049343572225105034,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2613091285035145,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3487379009738556,
+              0.3547311596110954,
+              1.2449683326455574
+            ],
+            "held_position": [
+              0.35534321188299034,
+              0.3596190560937771,
+              1.2459558499502532
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008276282659432315,
+            "max_held_gripper_dist": 0.008282409889994083,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0009875173046958174,
+            "max_held_gripper_z_dist": 0.001146644694074661,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08995848414702334,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35534321188299034,
+              0.33338946598138935,
+              1.2459558499502532
+            ],
+            "held_grasp_finger_b": [
+              0.34466370056509216,
+              0.3596190560937771,
+              1.2459558499502532
+            ],
+            "held_grasp_midpoint": [
+              0.3500034562240413,
+              0.34650426103758325,
+              1.2459558499502532
+            ],
+            "held_grasp_object_position": [
+              0.35534321188299034,
+              0.3596190560937771,
+              1.2459558499502532
+            ],
+            "held_grasp_finger_gap": 0.028320370044421804,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025418264570010875,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0692487605735666,
+              -0.9972632961562319,
+              0.025894541869529886
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004432152415222914,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036271574862793796,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33728810147439764,
+              -0.3658564891707587,
+              0.8515396014318548
+            ],
+            "target_position": [
+              0.32941789928141685,
+              -0.3682645829307563,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00823037047254491,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843480202212128,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396014318548,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075633274676664,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08636189181774422,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525676089737145,
+            "release_required_pad_clearance": 0.05318094590887211,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.385337393078766,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008587479591369629,
+            "max_z_decrease": 0.008587479591369629,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502461517723764,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008587479591369629,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020995218374176696,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008587479591369629,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008587594818044815,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18511782586574554,
+              -0.42452603578567505,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18511782586574554,
+              -0.42452603578567505,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1864148269594564,
+              -0.42411800367030167,
+              0.8032206832283074
+            ],
+            "closest_button": [
+              0.18513514101505282,
+              -0.4244850575923919,
+              0.768221378326416
+            ],
+            "closest_ee_minus_button": [
+              0.0012796859444035857,
+              0.00036705392209024357,
+              0.034999304901891404
+            ],
+            "button_min_z_position": [
+              0.18513514101505282,
+              -0.4244850575923919,
+              0.768221378326416
+            ],
+            "min_active_finger_to_button": 0.1445625442271059,
+            "closest_active_finger": [
+              0.06056287884712219,
+              -0.48931199312210083,
+              0.81100994348526
+            ],
+            "closest_active_finger_button": [
+              0.18512152135372162,
+              -0.4245277345180511,
+              0.7765647172927856
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12455864250659943,
+              -0.06478425860404974,
+              0.034445226192474365
+            ],
+            "min_contact_pad_to_button": 0.020995218374176696,
+            "closest_contact_pad": [
+              0.18513514101505282,
+              -0.4250758953541675,
+              0.7892082815119417
+            ],
+            "closest_contact_pad_button": [
+              0.18513514101505282,
+              -0.4244850575923919,
+              0.768221378326416
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005908377617755978,
+              0.02098690318552565
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52850bf8b50197fc6cbc8a3a89756bc35f3766a135a8dbe4a05c1348cc90e855",
+    "visual_seed": 5723868469147290355,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91d4d8dd0b620f3913993018ebf6d19e005afd58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34469572351230326,
+              0.3602618069294724,
+              1.0544986109201593
+            ],
+            "current_z": 1.0544986109201593,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19339204330074855,
+            "gripper_z": 1.0530179844560354,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33898515248929667,
+              0.3550384821540524,
+              1.0530179844560354
+            ],
+            "object_minus_gripper": [
+              0.005710571023006594,
+              0.00522332477541998,
+              0.0014806264641238354
+            ],
+            "object_to_gripper_xy": 0.007739104800835737,
+            "object_to_gripper_z": 0.0014806264641238354,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34469572351230326,
+              0.33544495765764965,
+              1.0544986109201593
+            ],
+            "finger_b": [
+              0.33221959002130375,
+              0.3602618069294724,
+              1.0544986109201593
+            ],
+            "finger_midpoint": [
+              0.3384576567668035,
+              0.347853382293561,
+              1.0544986109201593
+            ],
+            "object_minus_finger_midpoint": [
+              0.00623806674549976,
+              0.012408424635911408,
+              0.0
+            ],
+            "finger_gap": 0.027776427320042613,
+            "fingertip_max_gap": 0.09157077580048797,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013888213660021333,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0544986109201593,
+            "object_top_z": 1.1051970206602293,
+            "finger_top_clearance": 0.050698409740070005,
+            "fingertip_min_top_clearance": 0.015209522922021,
+            "object_projection_between_fingers": 0.7982529206884971,
+            "object_to_finger_line_xy": 0.01114680159452561,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828538790024399,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7078189288038151,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34596978222475394,
+              0.358069069273114,
+              1.2411769407793334
+            ],
+            "held_position": [
+              0.3522015507334405,
+              0.36269594704057156,
+              1.242526880221242
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007878151630786947,
+            "max_held_gripper_dist": 0.007885923161012031,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001349939441908532,
+            "max_held_gripper_z_dist": 0.001513730679600922,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08993421887897751,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3522015507334405,
+              0.3365624021849925,
+              1.242526880221242
+            ],
+            "held_grasp_finger_b": [
+              0.34222875095308813,
+              0.3628882293259516,
+              1.242526880221242
+            ],
+            "held_grasp_midpoint": [
+              0.3472151508432643,
+              0.34972531575547205,
+              1.242526880221242
+            ],
+            "held_grasp_object_position": [
+              0.3522015507334405,
+              0.36269594704057156,
+              1.242526880221242
+            ],
+            "held_grasp_finger_gap": 0.02815148149058332,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025130178872206962,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10472331116484182,
+              -0.9942541727802243,
+              0.022173588067416424
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036125858503761633,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036301953483999894,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3340690037907251,
+              -0.3601779454409955,
+              0.8515396117265783
+            ],
+            "target_position": [
+              0.3249618243961345,
+              -0.36308031065709473,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0095584747932334,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18580842823480279,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396117265783,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552059442064606,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595201152305053,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15432644629095293,
+            "release_required_pad_clearance": 0.052976005761525266,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9867433575073422,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008595049381256104,
+            "max_z_decrease": 0.008595049381256104,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035008689577773956,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008595049381256104,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021000506274684343,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008595049381256104,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00859517822427122,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1806617528200149,
+              -0.4193417727947235,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1806617528200149,
+              -0.4193417727947235,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1811613389681651,
+              -0.41863474825500635,
+              0.8032119410460106
+            ],
+            "closest_button": [
+              0.18062798678874964,
+              -0.419308990240097,
+              0.7682138085365295
+            ],
+            "closest_ee_minus_button": [
+              0.0005333521794154694,
+              0.00067424198509064,
+              0.03499813250948103
+            ],
+            "button_min_z_position": [
+              0.18062798678874964,
+              -0.419308990240097,
+              0.7682138085365295
+            ],
+            "min_active_finger_to_button": 0.1451393613011045,
+            "closest_active_finger": [
+              0.054624252021312714,
+              -0.4825199246406555,
+              0.8106713891029358
+            ],
+            "closest_active_finger_button": [
+              0.1806656420230865,
+              -0.41934412717819214,
+              0.7762066125869751
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12604139000177378,
+              -0.06317579746246338,
+              0.03446477651596069
+            ],
+            "min_contact_pad_to_button": 0.021000506274684343,
+            "closest_contact_pad": [
+              0.18062798678874964,
+              -0.4197209245830507,
+              0.7892102742841298
+            ],
+            "closest_contact_pad_button": [
+              0.18062798678874964,
+              -0.419308990240097,
+              0.7682138085365295
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00041193434295372366,
+              0.02099646574760028
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41b901b8ef76503e11b4d6951b29fb68a03da64c4204c6332c80ea18e166fe8a",
+    "visual_seed": 5177858522214975562,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d8715ab98f6dedf594a4e8a0f3c5c8a7e730b11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3443115559910488,
+              0.3531636873795696,
+              1.0549702999314539
+            ],
+            "current_z": 1.0549702999314539,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19386373231204312,
+            "gripper_z": 1.053707294431069,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3386418631601328,
+              0.3478431914607884,
+              1.053707294431069
+            ],
+            "object_minus_gripper": [
+              0.005669692830916007,
+              0.005320495918781198,
+              0.0012630055003848284
+            ],
+            "object_to_gripper_xy": 0.007775158751993927,
+            "object_to_gripper_z": 0.0012630055003848284,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3443115559910488,
+              0.32848681556071085,
+              1.0549702999314539
+            ],
+            "finger_b": [
+              0.33156476158034565,
+              0.3531636873795696,
+              1.0549702999314539
+            ],
+            "finger_midpoint": [
+              0.3379381587856972,
+              0.3408252514701402,
+              1.0549702999314539
+            ],
+            "object_minus_finger_midpoint": [
+              0.006373397205351572,
+              0.012338435909429402,
+              0.0
+            ],
+            "finger_gap": 0.027774606577107765,
+            "fingertip_max_gap": 0.09185748940796798,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013887303288553907,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0549702999314539,
+            "object_top_z": 1.1058806621514385,
+            "finger_top_clearance": 0.050910362219984684,
+            "fingertip_min_top_clearance": 0.015273108665995438,
+            "object_projection_between_fingers": 0.7893768369039978,
+            "object_to_finger_line_xy": 0.011325129337152295,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842874470398399,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.856979439031657,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34547235990536906,
+              0.35118316638076663,
+              1.2435340085493551
+            ],
+            "held_position": [
+              0.3516929397972734,
+              0.35587086382908156,
+              1.2446835964653475
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007873479150610522,
+            "max_held_gripper_dist": 0.007881057543626117,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011495879159924005,
+            "max_held_gripper_z_dist": 0.0013090053198943075,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08984431432356715,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3516929397972734,
+              0.32977917522896794,
+              1.2446835964653475
+            ],
+            "held_grasp_finger_b": [
+              0.3415550452473661,
+              0.35587086382908156,
+              1.2446835964653475
+            ],
+            "held_grasp_midpoint": [
+              0.34662399252231973,
+              0.3428250195290248,
+              1.2446835964653475
+            ],
+            "held_grasp_object_position": [
+              0.3516929397972734,
+              0.35587086382908156,
+              1.2446835964653475
+            ],
+            "held_grasp_finger_gap": 0.02799201886092427,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024873418372540704,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10516318271525725,
+              -0.9941691404874292,
+              0.023841667384723264
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036825977152690243,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0362174076269248,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33213316382270286,
+              -0.3681817011749118,
+              0.851539500716193
+            ],
+            "target_position": [
+              0.3241159565686995,
+              -0.3704052162832805,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008319833627590624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18384721975015345,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539500716193,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534900167123024,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605919538917593,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15272145497249456,
+            "release_required_pad_clearance": 0.05302959769458797,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0907271244923176,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008401691913604736,
+            "max_z_decrease": 0.008401691913604736,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035000356986301814,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008401691913604736,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021114725100997087,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008401691913604736,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008401739742089562,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1798158884048462,
+              -0.42666667699813837,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1798158884048462,
+              -0.42666667699813837,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17942614078623337,
+              -0.4260810640079839,
+              0.803400961370617
+            ],
+            "closest_button": [
+              0.1797918826341629,
+              -0.4266515970230102,
+              0.7684071660041809
+            ],
+            "closest_ee_minus_button": [
+              -0.0003657418479295349,
+              0.0005705330150262977,
+              0.0349937953664361
+            ],
+            "button_min_z_position": [
+              0.1797918826341629,
+              -0.4266515970230102,
+              0.7684071660041809
+            ],
+            "min_active_finger_to_button": 0.14604083937062293,
+            "closest_active_finger": [
+              0.051618508994579315,
+              -0.48739302158355713,
+              0.8078931570053101
+            ],
+            "closest_active_finger_button": [
+              0.17982730269432068,
+              -0.42667233943939203,
+              0.773202657699585
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12820879369974136,
+              -0.060720682144165095,
+              0.0346904993057251
+            ],
+            "min_contact_pad_to_button": 0.021114725100997087,
+            "closest_contact_pad": [
+              0.1797918826341629,
+              -0.42742643323445056,
+              0.7895076694326804
+            ],
+            "closest_contact_pad_button": [
+              0.1797918826341629,
+              -0.4266515970230102,
+              0.7684071660041809
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007748362114403662,
+              0.02110050342849945
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7298cd8746f746ff3f4e6ba140fae57014bc24e891f29adaf076dadbdecd1346",
+    "visual_seed": 8641636769361471045,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4769f3d66ab09d768020b734f0f993bdcf083de7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3422373800330567,
+              0.3594784694594301,
+              1.056436444705255
+            ],
+            "current_z": 1.056436444705255,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1953299962951338,
+            "gripper_z": 1.0551369144012348,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33619752678646775,
+              0.354132260238025,
+              1.0551369144012348
+            ],
+            "object_minus_gripper": [
+              0.006039853246588955,
+              0.005346209221405107,
+              0.001299530304020191
+            ],
+            "object_to_gripper_xy": 0.00806608828859244,
+            "object_to_gripper_z": 0.001299530304020191,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3422373800330567,
+              0.33436200109778363,
+              1.056436444705255
+            ],
+            "finger_b": [
+              0.3296758504312056,
+              0.3594784694594301,
+              1.056436444705255
+            ],
+            "finger_midpoint": [
+              0.33595661523213116,
+              0.3469202352786069,
+              1.056436444705255
+            ],
+            "object_minus_finger_midpoint": [
+              0.006280764800925542,
+              0.012558234180823247,
+              0.0
+            ],
+            "finger_gap": 0.028082539217452726,
+            "fingertip_max_gap": 0.09300582173114993,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014041269608726363,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.056436444705255,
+            "object_top_z": 1.1075719612927943,
+            "finger_top_clearance": 0.05113551658753934,
+            "fingertip_min_top_clearance": 0.015340654976261768,
+            "object_projection_between_fingers": 0.799916026220847,
+            "object_to_finger_line_xy": 0.011234783947980788,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900291086557497,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0937434533292951,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3430161656761742,
+              0.35781464708341554,
+              1.245210727388812
+            ],
+            "held_position": [
+              0.34949575119065307,
+              0.3626396021848725,
+              1.2464087098035725
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008167030184626198,
+            "max_held_gripper_dist": 0.008173370010866442,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011979824147605456,
+            "max_held_gripper_z_dist": 0.0013653729935318992,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08995359988502727,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34949575119065307,
+              0.33646283737765276,
+              1.2464087098035725
+            ],
+            "held_grasp_finger_b": [
+              0.3389809002713892,
+              0.3626396021848725,
+              1.2464087098035725
+            ],
+            "held_grasp_midpoint": [
+              0.34423832573102114,
+              0.34955121978126263,
+              1.2464087098035725
+            ],
+            "held_grasp_object_position": [
+              0.34949575119065307,
+              0.3626396021848725,
+              1.2464087098035725
+            ],
+            "held_grasp_finger_gap": 0.028209663337708277,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025340952494392145,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07232763649677426,
+              -0.9971234796096516,
+              0.02266008406716624
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004307524686180629,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0362892595077927,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3379001652362322,
+              -0.362142209253241,
+              0.8515395614613392
+            ],
+            "target_position": [
+              0.32944985119685455,
+              -0.36480558534224394,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00886010042581772,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18663723496929602,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395614613392,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547175215240304,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08550626596683307,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15503278624209318,
+            "release_required_pad_clearance": 0.05275313298341654,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5567249688958522,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008492231369018555,
+            "max_z_decrease": 0.008492231369018555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500435129224231,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008492231369018555,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021151070060928586,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008492231369018555,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008492284802603984,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18514977395534518,
+              -0.42106702923774714,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18514977395534518,
+              -0.42106702923774714,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18443650339980405,
+              -0.4219363737026009,
+              0.8033019958171231
+            ],
+            "closest_button": [
+              0.18515911698341372,
+              -0.42103838920593256,
+              0.7683166265487671
+            ],
+            "closest_ee_minus_button": [
+              -0.0007226135836096714,
+              -0.0008979844966683359,
+              0.03498536926835605
+            ],
+            "button_min_z_position": [
+              0.18515911698341372,
+              -0.42103838920593256,
+              0.7683166265487671
+            ],
+            "min_active_finger_to_button": 0.14646217671193296,
+            "closest_active_finger": [
+              0.04364180564880371,
+              -0.40623462200164795,
+              0.807783842086792
+            ],
+            "closest_active_finger_button": [
+              0.18515983223915103,
+              -0.4210726618766784,
+              0.7730901837348938
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14151802659034732,
+              0.014838039875030462,
+              0.03469365835189819
+            ],
+            "min_contact_pad_to_button": 0.021151070060928586,
+            "closest_contact_pad": [
+              0.18515911698341372,
+              -0.42308125598946844,
+              0.7893688107591296
+            ],
+            "closest_contact_pad_button": [
+              0.18515911698341372,
+              -0.42103838920593256,
+              0.7683166265487671
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020428667835358794,
+              0.02105218421036248
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b8a3a36a385950c1aa22d9bd3825b2adbaa9228001f0f3c8c6503ebc1619640",
+    "visual_seed": 2280011006087885364,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72def29a2d30a4363be75ccc4fb18892023cd1fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34967057883956376,
+              0.3568194911622073,
+              1.055062201339506
+            ],
+            "current_z": 1.055062201339506,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19395569332473983,
+            "gripper_z": 1.053404250437165,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3440350512783304,
+              0.35152784736627285,
+              1.053404250437165
+            ],
+            "object_minus_gripper": [
+              0.005635527561233367,
+              0.005291643795934442,
+              0.0016579509023408878
+            ],
+            "object_to_gripper_xy": 0.0077305022447750685,
+            "object_to_gripper_z": 0.0016579509023408878,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34967057883956376,
+              0.33215415853691965,
+              1.055062201339506
+            ],
+            "finger_b": [
+              0.3369807887092686,
+              0.3568194911622073,
+              1.055062201339506
+            ],
+            "finger_midpoint": [
+              0.3433256837744162,
+              0.3444868248495635,
+              1.055062201339506
+            ],
+            "object_minus_finger_midpoint": [
+              0.006344895065147571,
+              0.012332666312643792,
+              0.0
+            ],
+            "finger_gap": 0.027738230063704766,
+            "fingertip_max_gap": 0.09162828555488137,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013869115031852357,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.055062201339506,
+            "object_top_z": 1.1058192286207182,
+            "finger_top_clearance": 0.05075702728121234,
+            "fingertip_min_top_clearance": 0.015227108184363668,
+            "object_projection_between_fingers": 0.7907085979559509,
+            "object_to_finger_line_xy": 0.011283989417853184,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048314142777440686,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.767544652969321,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35100293383556885,
+              0.35473122597333206,
+              1.2415916142472498
+            ],
+            "held_position": [
+              0.35720097579103416,
+              0.35938833817891197,
+              1.2431105171066252
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007900093928130746,
+            "max_held_gripper_dist": 0.007909200099224516,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015189028593753928,
+            "max_held_gripper_z_dist": 0.0016828921421803145,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08979457274920255,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35720097579103416,
+              0.3332943340180767,
+              1.2431105171066252
+            ],
+            "held_grasp_finger_b": [
+              0.34718616518916023,
+              0.35938833817891197,
+              1.2431105171066252
+            ],
+            "held_grasp_midpoint": [
+              0.3521935704900972,
+              0.3463413360984943,
+              1.2431105171066252
+            ],
+            "held_grasp_object_position": [
+              0.35720097579103416,
+              0.35938833817891197,
+              1.2431105171066252
+            ],
+            "held_grasp_finger_gap": 0.027949838721128537,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02487648941898721,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10614575505827124,
+              -0.9940796702646939,
+              0.02320964992297547
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003607486972985134,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036218975727499964,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3313560084523556,
+              -0.3600171476911527,
+              0.8515396018088615
+            ],
+            "target_position": [
+              0.3230705367479158,
+              -0.36253567944724896,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008659794661049276,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18316237292888057,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396018088615,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539423495197155,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625098328664275,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15187270481837237,
+            "release_required_pad_clearance": 0.05312549164332138,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2771555181012508,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00842052698135376,
+            "max_z_decrease": 0.00842052698135376,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504167112555393,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00842052698135376,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0211261147588951,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00842052698135376,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008420550826099642,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17877046763896937,
+              -0.4187971353530884,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17877046763896937,
+              -0.4187971353530884,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.176635449684453,
+              -0.4195165108806329,
+              0.8033566616418726
+            ],
+            "closest_button": [
+              0.17877785861492151,
+              -0.41877850890159607,
+              0.7683883309364319
+            ],
+            "closest_ee_minus_button": [
+              -0.00214240893046852,
+              -0.0007380019790368397,
+              0.0349683307054407
+            ],
+            "button_min_z_position": [
+              0.17877785861492151,
+              -0.41877850890159607,
+              0.7683883309364319
+            ],
+            "min_active_finger_to_button": 0.14781985377562407,
+            "closest_active_finger": [
+              0.03607542812824249,
+              -0.40188467502593994,
+              0.8086813688278198
+            ],
+            "closest_active_finger_button": [
+              0.17877855896949763,
+              -0.4188022017478943,
+              0.7740356922149658
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14270313084125513,
+              0.016917526721954346,
+              0.034645676612854004
+            ],
+            "min_contact_pad_to_button": 0.0211261147588951,
+            "closest_contact_pad": [
+              0.17877785861492151,
+              -0.4208313207122163,
+              0.7894144739131213
+            ],
+            "closest_contact_pad_button": [
+              0.17877785861492151,
+              -0.41877850890159607,
+              0.7683883309364319
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020528118106202253,
+              0.021026142976689366
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f111e33b3bc5687418fc14adbb939d6a1ae0f2a4e5d5ce161b492a84a6c10719",
+    "visual_seed": 353393674478002283,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..915a54a0ff79a0d7776b10813ef43ca66bbbef34
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_105_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34674713940824464,
+              0.35933523330040446,
+              1.0570452516521693
+            ],
+            "current_z": 1.0570452516521693,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1959387436374035,
+            "gripper_z": 1.0555091803439374,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3410718921474094,
+              0.3541327690288253,
+              1.0555091803439374
+            ],
+            "object_minus_gripper": [
+              0.005675247260835237,
+              0.005202464271579166,
+              0.0015360713082319677
+            ],
+            "object_to_gripper_xy": 0.007698965253115226,
+            "object_to_gripper_z": 0.0015360713082319677,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34674713940824464,
+              0.33450328338648827,
+              1.0570452516521693
+            ],
+            "finger_b": [
+              0.33436613128019976,
+              0.35933523330040446,
+              1.0570452516521693
+            ],
+            "finger_midpoint": [
+              0.3405566353442222,
+              0.3469192583434464,
+              1.0570452516521693
+            ],
+            "object_minus_finger_midpoint": [
+              0.00619050406402244,
+              0.012415974956958065,
+              0.0
+            ],
+            "finger_gap": 0.027747343995308007,
+            "fingertip_max_gap": 0.09058045848016219,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01387367199765398,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0570452516521693,
+            "object_top_z": 1.1072099162079485,
+            "finger_top_clearance": 0.05016466455577917,
+            "fingertip_min_top_clearance": 0.01504939936673375,
+            "object_projection_between_fingers": 0.8009009532260951,
+            "object_to_finger_line_xy": 0.011080144239080582,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0477902292400811,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.33056942583504834,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 235,
+            "max_stable_success_frames": 235,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3479154535048635,
+              0.3575793296265255,
+              1.2448282092603145
+            ],
+            "held_position": [
+              0.3540510824613652,
+              0.36225376415634,
+              1.246249142031099
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007843170966163692,
+            "max_held_gripper_dist": 0.007854353628594705,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014209327707845887,
+            "max_held_gripper_z_dist": 0.0015771114180869183,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08988265811110363,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3540510824613652,
+              0.33624221838570456,
+              1.246249142031099
+            ],
+            "held_grasp_finger_b": [
+              0.34390441703127356,
+              0.36225376415634,
+              1.246249142031099
+            ],
+            "held_grasp_midpoint": [
+              0.34897774974631934,
+              0.34924799127102224,
+              1.246249142031099
+            ],
+            "held_grasp_object_position": [
+              0.3540510824613652,
+              0.36225376415634,
+              1.246249142031099
+            ],
+            "held_grasp_finger_gap": 0.027920518131440142,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02497663945636752,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09107678483652357,
+              -0.995741097008994,
+              0.014306886145028064
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038723561017492848,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03630780467772666,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33442301709635947,
+              -0.360083139868088,
+              0.851539610399927
+            ],
+            "target_position": [
+              0.32487755448500405,
+              -0.3632890085266263,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010069431479511767,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1866310194676249,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539610399927,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517956438909065,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08647263315175789,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15585478790117663,
+            "release_required_pad_clearance": 0.05323631657587895,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.49354455492823,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008614063262939453,
+            "max_z_decrease": 0.008614063262939453,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505064106234765,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008614063262939453,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021069256520350077,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008614063262939453,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008614225579425502,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18057748675346375,
+              -0.41955047845840454,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18057748675346375,
+              -0.41955047845840454,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18177759721732678,
+              -0.41807604571527457,
+              0.8031939150232141
+            ],
+            "closest_button": [
+              0.18053783476352692,
+              -0.4195154905319214,
+              0.7681947946548462
+            ],
+            "closest_ee_minus_button": [
+              0.0012397624537998642,
+              0.0014394448166468177,
+              0.03499912036836794
+            ],
+            "button_min_z_position": [
+              0.18053783476352692,
+              -0.4195154905319214,
+              0.7681947946548462
+            ],
+            "min_active_finger_to_button": 0.1442667815065629,
+            "closest_active_finger": [
+              0.054698094725608826,
+              -0.4809226095676422,
+              0.8073540329933167
+            ],
+            "closest_active_finger_button": [
+              0.18059009313583374,
+              -0.4195570945739746,
+              0.7727363705635071
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12589199841022491,
+              -0.0613655149936676,
+              0.03461766242980957
+            ],
+            "min_contact_pad_to_button": 0.021069256520350077,
+            "closest_contact_pad": [
+              0.18053783476352692,
+              -0.4195154905319214,
+              0.7892640511751963
+            ],
+            "closest_contact_pad_button": [
+              0.18053783476352692,
+              -0.4195154905319214,
+              0.7681947946548462
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021069256520350077
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "591e1d86abec55dbcdd00c3a9768ec687f953ef07919b71f00ad32cf8ee896d2",
+    "visual_seed": 8136001818455047935,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62d5f6f21e5ed2091d92e73afe85a6d8bc820b73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34513013814230886,
+              0.35687473426535554,
+              1.0533012756526043
+            ],
+            "current_z": 1.0533012756526043,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1921945292192594,
+            "gripper_z": 1.0518179200705915,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3395206245515082,
+              0.3516531413424554,
+              1.0518179200705915
+            ],
+            "object_minus_gripper": [
+              0.005609513590800641,
+              0.005221592922900142,
+              0.0014833555820128463
+            ],
+            "object_to_gripper_xy": 0.007663659398607036,
+            "object_to_gripper_z": 0.0014833555820128463,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34513013814230886,
+              0.33218267590431744,
+              1.0533012756526043
+            ],
+            "finger_b": [
+              0.3325869342955304,
+              0.35687473426535554,
+              1.0533012756526043
+            ],
+            "finger_midpoint": [
+              0.3388585362189196,
+              0.34452870508483646,
+              1.0533012756526043
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062716019233892695,
+              0.01234602918051908,
+              0.0
+            ],
+            "finger_gap": 0.02769530120519996,
+            "fingertip_max_gap": 0.09110334394623074,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013847650602600016,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0533012756526043,
+            "object_top_z": 1.1038498982602252,
+            "finger_top_clearance": 0.05054862260762083,
+            "fingertip_min_top_clearance": 0.015164586782286249,
+            "object_projection_between_fingers": 0.7948815268467354,
+            "object_to_finger_line_xy": 0.011183034953268592,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04805167197311537,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6345291322525032,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3465865648582427,
+              0.35461988667767025,
+              1.2430507123185484
+            ],
+            "held_position": [
+              0.3527526602095732,
+              0.3591987429844683,
+              1.2444506547432965
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007806823666038174,
+            "max_held_gripper_dist": 0.00781537620699146,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013999424247481684,
+            "max_held_gripper_z_dist": 0.0015561414966622777,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09043600817816622,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3527526602095732,
+              0.333039719399924,
+              1.2444506547432965
+            ],
+            "held_grasp_finger_b": [
+              0.3428656621268137,
+              0.359626891551905,
+              1.2444506547432965
+            ],
+            "held_grasp_midpoint": [
+              0.34780916116819344,
+              0.3463333054759145,
+              1.2444506547432965
+            ],
+            "held_grasp_object_position": [
+              0.3527526602095732,
+              0.3591987429844683,
+              1.2444506547432965
+            ],
+            "held_grasp_finger_gap": 0.028366008780361853,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025322474393289756,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.11083004906726251,
+              -0.9936465121192468,
+              0.01957828330073319
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034966408383019067,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03638866472151237,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33147294427007445,
+              -0.36668726456917045,
+              0.8515396036016387
+            ],
+            "target_position": [
+              0.32254893251169625,
+              -0.3691209762114758,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009249915579158828,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18520634038515751,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396036016387,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582287819947632,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502567262234371,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15288232328851312,
+            "release_required_pad_clearance": 0.05251283631117186,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691326077414873,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008455276489257812,
+            "max_z_decrease": 0.008455276489257812,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499811836319858,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008455276489257812,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021096589977931863,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008455276489257812,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008455349914272653,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17824885249137876,
+              -0.42538243532180786,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17824885249137876,
+              -0.42538243532180786,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17844988272889134,
+              -0.425942169533619,
+              0.8033461836035112
+            ],
+            "closest_button": [
+              0.17826221883296964,
+              -0.4253498315811157,
+              0.7683535814285278
+            ],
+            "closest_ee_minus_button": [
+              0.00018766389592170252,
+              -0.0005923379525032968,
+              0.034992602174983345
+            ],
+            "button_min_z_position": [
+              0.17826221883296964,
+              -0.4253498315811157,
+              0.7683535814285278
+            ],
+            "min_active_finger_to_button": 0.14557378422564735,
+            "closest_active_finger": [
+              0.03778401017189026,
+              -0.4091729521751404,
+              0.8088761568069458
+            ],
+            "closest_active_finger_button": [
+              0.17825624346733093,
+              -0.425386905670166,
+              0.7742873430252075
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14047223329544067,
+              0.016213953495025635,
+              0.03458881378173828
+            ],
+            "min_contact_pad_to_button": 0.021096589977931863,
+            "closest_contact_pad": [
+              0.17826221883296964,
+              -0.42717856120097303,
+              0.7893707614647371
+            ],
+            "closest_contact_pad_button": [
+              0.17826221883296964,
+              -0.4253498315811157,
+              0.7683535814285278
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018287296198573055,
+              0.021017180036209226
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "612457346d7245b2aeb4b7f8841a6c3af5839c34c2ac36004812c2f4607a41c9",
+    "visual_seed": 1226349947348564642,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c4ee7c74673dfd24b50a27bd5944dc309719e9a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34009001506019665,
+              0.3531614901155656,
+              1.0529472813863752
+            ],
+            "current_z": 1.0529472813863752,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.19184047534838533,
+            "gripper_z": 1.0517165452950326,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3344768439695642,
+              0.3479412183995586,
+              1.0517165452950326
+            ],
+            "object_minus_gripper": [
+              0.005613171090632474,
+              0.0052202717160069745,
+              0.0012307360913426102
+            ],
+            "object_to_gripper_xy": 0.007665437135718651,
+            "object_to_gripper_z": 0.0012307360913426102,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34009001506019665,
+              0.32845775635228824,
+              1.0529472813863752
+            ],
+            "finger_b": [
+              0.3275612382640035,
+              0.3531614901155656,
+              1.0529472813863752
+            ],
+            "finger_midpoint": [
+              0.3338256266621001,
+              0.34080962323392694,
+              1.0529472813863752
+            ],
+            "object_minus_finger_midpoint": [
+              0.006264388398096565,
+              0.01235186688163864,
+              0.0
+            ],
+            "finger_gap": 0.027699182476306337,
+            "fingertip_max_gap": 0.0911966493106681,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013849591238153143,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0529472813863752,
+            "object_top_z": 1.1035040718620373,
+            "finger_top_clearance": 0.05055679047566208,
+            "fingertip_min_top_clearance": 0.015167037142698658,
+            "object_projection_between_fingers": 0.7954104525030268,
+            "object_to_finger_line_xy": 0.011173888132526368,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809832465533405,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6407581482639725,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3413335712284129,
+              0.35079314694087005,
+              1.2406905167024178
+            ],
+            "held_position": [
+              0.3474823667924339,
+              0.3553943707099906,
+              1.241798238214888
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007759252155384119,
+            "max_held_gripper_dist": 0.007768316524293996,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011077215124701834,
+            "max_held_gripper_z_dist": 0.0012616548445003595,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09007955566141423,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3474823667924339,
+              0.3292966645274529,
+              1.241798238214888
+            ],
+            "held_grasp_finger_b": [
+              0.3375724538108708,
+              0.35558601333642087,
+              1.241798238214888
+            ],
+            "held_grasp_midpoint": [
+              0.34252741030165235,
+              0.34244133893193685,
+              1.241798238214888
+            ],
+            "held_grasp_object_position": [
+              0.3474823667924339,
+              0.3553943707099906,
+              1.241798238214888
+            ],
+            "held_grasp_finger_gap": 0.02809512833396102,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02505775035636326,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1081471221534115,
+              -0.9939188344291199,
+              0.020725601004429658
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035356940568277806,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036310123538055177,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3370451808103907,
+              -0.3681957415779219,
+              0.8515395562442143
+            ],
+            "target_position": [
+              0.3287793228850431,
+              -0.3703672672884781,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00854634021986245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856210935746171,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395562442143,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571203978231983,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852708719154897,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15339251884602084,
+            "release_required_pad_clearance": 0.05263543595774485,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3310219909750271,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008631765842437744,
+            "max_z_decrease": 0.008631765842437744,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034992095312025275,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008631765842437744,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02092750118792433,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008631765842437744,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008631971537173044,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1844792515039444,
+              -0.4266287386417389,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1844792515039444,
+              -0.4266287386417389,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1836059024258305,
+              -0.4263528279758011,
+              0.8031563798871343
+            ],
+            "closest_button": [
+              0.1845228523015976,
+              -0.42658811807632446,
+              0.7681770920753479
+            ],
+            "closest_ee_minus_button": [
+              -0.000916949875767098,
+              0.00023529010052336652,
+              0.034979287811786386
+            ],
+            "button_min_z_position": [
+              0.1845228523015976,
+              -0.42658811807632446,
+              0.7681770920753479
+            ],
+            "min_active_finger_to_button": 0.1464866800373555,
+            "closest_active_finger": [
+              0.05779699236154556,
+              -0.49166178703308105,
+              0.8107840418815613
+            ],
+            "closest_active_finger_button": [
+              0.18448203802108765,
+              -0.42663091421127314,
+              0.7764295339584351
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12668504565954208,
+              -0.06503087282180792,
+              0.03435450792312622
+            ],
+            "min_contact_pad_to_button": 0.02092750118792433,
+            "closest_contact_pad": [
+              0.1845228523015976,
+              -0.427297623840441,
+              0.7890925626065423
+            ],
+            "closest_contact_pad_button": [
+              0.1845228523015976,
+              -0.42658811807632446,
+              0.7681770920753479
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000709505764116547,
+              0.020915470531194358
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f4ce12c20b360a43ac79e7e665e60881d530ac1fc86a586f804d3feda32f03c",
+    "visual_seed": 2017058067454662552,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4421c2e5a2b58c77d69ea1158721a2b13e2a3fda
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_109_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3486921335409659,
+              0.35206348825508116,
+              1.0549124039886455
+            ],
+            "current_z": 1.0549124039886455,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1938057767645901,
+            "gripper_z": 1.053463037071001,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34291708598993087,
+              0.3468683134271413,
+              1.053463037071001
+            ],
+            "object_minus_gripper": [
+              0.0057750475510350285,
+              0.005195174827939852,
+              0.0014493669176445234
+            ],
+            "object_to_gripper_xy": 0.007767947972893198,
+            "object_to_gripper_z": 0.0014493669176445234,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3486921335409659,
+              0.3271429911162739,
+              1.0549124039886455
+            ],
+            "finger_b": [
+              0.33632399668810714,
+              0.35206348825508116,
+              1.0549124039886455
+            ],
+            "finger_midpoint": [
+              0.3425080651145365,
+              0.3396032396856775,
+              1.0549124039886455
+            ],
+            "object_minus_finger_midpoint": [
+              0.006184068426429379,
+              0.012460248569403642,
+              0.0
+            ],
+            "finger_gap": 0.02782089119450247,
+            "fingertip_max_gap": 0.09157858961985435,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013910445597251235,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0549124039886455,
+            "object_top_z": 1.105462353726561,
+            "finger_top_clearance": 0.0505499497379156,
+            "fingertip_min_top_clearance": 0.015164984921374712,
+            "object_projection_between_fingers": 0.8023638029246631,
+            "object_to_finger_line_xy": 0.01107872917870257,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828929480992718,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6983391868585699,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3499871874114157,
+              0.34971222464594653,
+              1.2428883273089202
+            ],
+            "held_position": [
+              0.3562605791449647,
+              0.3543184342171636,
+              1.2442203934608016
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007896012328354112,
+            "max_held_gripper_dist": 0.007905051196231772,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001332066151881417,
+            "max_held_gripper_z_dist": 0.0014939045372059923,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09045903081755091,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3562605791449647,
+              0.3281428917543114,
+              1.2442203934608016
+            ],
+            "held_grasp_finger_b": [
+              0.3463225330906632,
+              0.3547218211997302,
+              1.2442203934608016
+            ],
+            "held_grasp_midpoint": [
+              0.35129155611781393,
+              0.3414323564770208,
+              1.2442203934608016
+            ],
+            "held_grasp_object_position": [
+              0.3562605791449647,
+              0.3543184342171636,
+              1.2442203934608016
+            ],
+            "held_grasp_finger_gap": 0.028376121120441567,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02537452727229253,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10568871926445308,
+              -0.9942035733992818,
+              0.01972686646020505
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035886642376733342,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03638369585400904,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3353066087113214,
+              -0.364838234835058,
+              0.8515395667646745
+            ],
+            "target_position": [
+              0.32574915087933404,
+              -0.36763106046068006,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009957151961547424,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859943770904692,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395667646745,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523494477783212,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08676033778486873,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15520515597435433,
+            "release_required_pad_clearance": 0.05338016889243437,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.77602694320387,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008753180503845215,
+            "max_z_decrease": 0.008753180503845215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034999244542490364,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008753180503845215,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020988556941113484,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008753180503845215,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008753370486515245,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1814490705728531,
+              -0.4238925278186798,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1814490705728531,
+              -0.4238925278186798,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18184251875195886,
+              -0.42446894229801524,
+              0.8030471626715491
+            ],
+            "closest_button": [
+              0.1814637929201126,
+              -0.4238367676734924,
+              0.7680556774139404
+            ],
+            "closest_ee_minus_button": [
+              0.00037872583184625497,
+              -0.0006321746245228632,
+              0.034991485257608645
+            ],
+            "button_min_z_position": [
+              0.1814637929201126,
+              -0.4238367676734924,
+              0.7680556774139404
+            ],
+            "min_active_finger_to_button": 0.14533525449522605,
+            "closest_active_finger": [
+              0.04084955155849457,
+              -0.41088610887527466,
+              0.8104659914970398
+            ],
+            "closest_active_finger_button": [
+              0.18145166337490082,
+              -0.4238958060741424,
+              0.7760547995567322
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14060211181640625,
+              0.013009697198867742,
+              0.03441119194030762
+            ],
+            "min_contact_pad_to_button": 0.020988556941113484,
+            "closest_contact_pad": [
+              0.1814637929201126,
+              -0.4254207933685483,
+              0.7889843750577922
+            ],
+            "closest_contact_pad_button": [
+              0.1814637929201126,
+              -0.4238367676734924,
+              0.7680556774139404
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015840256950559461,
+              0.020928697643851746
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e9a801af2ebd8b5480362a53bd4bcc0e0adcefa1968ac5f7ac72bf0a9fb7bd24",
+    "visual_seed": 4369090145895548919,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6a5b99ed5b47c46fa723446e4d3e6c82c06b2a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3401254473503823,
+              0.35793751653177236,
+              1.0549641007697104
+            ],
+            "current_z": 1.0549641007697104,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.19385741394100997,
+            "gripper_z": 1.053695938988517,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33445586819667406,
+              0.3526479654410138,
+              1.053695938988517
+            ],
+            "object_minus_gripper": [
+              0.0056695791537082485,
+              0.005289551090758571,
+              0.0012681617811933776
+            ],
+            "object_to_gripper_xy": 0.007753933100169767,
+            "object_to_gripper_z": 0.0012681617811933776,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3401254473503823,
+              0.333218307064655,
+              1.0549641007697104
+            ],
+            "finger_b": [
+              0.32747335727079074,
+              0.35793751653177236,
+              1.0549641007697104
+            ],
+            "finger_midpoint": [
+              0.3337994023105865,
+              0.3455779117982137,
+              1.0549641007697104
+            ],
+            "object_minus_finger_midpoint": [
+              0.00632604503979578,
+              0.012359604733558682,
+              0.0
+            ],
+            "finger_gap": 0.027768952087922294,
+            "fingertip_max_gap": 0.09171363405996355,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013884476043961147,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0549641007697104,
+            "object_top_z": 1.1058292391007085,
+            "finger_top_clearance": 0.05086513833099815,
+            "fingertip_min_top_clearance": 0.015259541499299444,
+            "object_projection_between_fingers": 0.7924104113572611,
+            "object_to_finger_line_xy": 0.011262566332500806,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835681702998178,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8629565987871519,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3413383519397165,
+              0.35574797492112864,
+              1.2417206117417545
+            ],
+            "held_position": [
+              0.3475530805375754,
+              0.36040767557872416,
+              1.2428442954407566
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007848460155906001,
+            "max_held_gripper_dist": 0.007858444481429689,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011236836990020649,
+            "max_held_gripper_z_dist": 0.001284286457959194,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09001680251114685,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3475530805375754,
+              0.33429924584040266,
+              1.2428442954407566
+            ],
+            "held_grasp_finger_b": [
+              0.33754482188266566,
+              0.360408641564697,
+              1.2428442954407566
+            ],
+            "held_grasp_midpoint": [
+              0.3425489512101205,
+              0.3473539437025498,
+              1.2428442954407566
+            ],
+            "held_grasp_object_position": [
+              0.3475530805375754,
+              0.36040767557872416,
+              1.2428442954407566
+            ],
+            "held_grasp_finger_gap": 0.027961863070821557,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024910152237096226,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.104672104447805,
+              -0.9941914399884166,
+              0.02504258781009827
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036256433743980594,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03621854883126492,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.329903953583236,
+              -0.3683212589834998,
+              0.8515395677956418
+            ],
+            "target_position": [
+              0.3214784301587159,
+              -0.3706642818614303,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00874523877224871,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18743978785981494,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395677956418,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542250896743842,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611538094502873,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15589508417423076,
+            "release_required_pad_clearance": 0.053057690472514366,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1453322639938701,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00865715742111206,
+            "max_z_decrease": 0.00865715742111206,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035022009045414866,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00865715742111206,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021058058303147068,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00865715742111206,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00865729207566532,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17717835307121277,
+              -0.4269257485866546,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17717835307121277,
+              -0.4269257485866546,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1757019757486515,
+              -0.4279079369181397,
+              0.8034982128354982
+            ],
+            "closest_button": [
+              0.17717233300209043,
+              -0.42689368128776545,
+              0.768521785736084
+            ],
+            "closest_ee_minus_button": [
+              -0.0014703572534389142,
+              -0.0010142556303742722,
+              0.034976427099414176
+            ],
+            "button_min_z_position": [
+              0.17720054090023038,
+              -0.4268828630447387,
+              0.7681517004966736
+            ],
+            "min_active_finger_to_button": 0.1471129030725962,
+            "closest_active_finger": [
+              0.03499342501163483,
+              -0.41152435541152954,
+              0.810021698474884
+            ],
+            "closest_active_finger_button": [
+              0.1771813035011291,
+              -0.42692932486534113,
+              0.7755615711212158
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14218787848949427,
+              0.01540496945381159,
+              0.03446012735366821
+            ],
+            "min_contact_pad_to_button": 0.021058058303147068,
+            "closest_contact_pad": [
+              0.17720054090023038,
+              -0.4291020398293662,
+              0.7890924997626355
+            ],
+            "closest_contact_pad_button": [
+              0.17720054090023038,
+              -0.4268828630447387,
+              0.7681517004966736
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022191767846274635,
+              0.02094079926596193
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2a0df3043262f59a1065e9280908cb93713f30a252e66c10fa2544bc5337f59b",
+    "visual_seed": 2210928637868833730,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba0da104bda19e7c26f79572027ad29ac1e8194
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_111_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34040816519402317,
+              0.356028262852889,
+              1.0531940245625098
+            ],
+            "current_z": 1.0531940245625098,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1920875165477438,
+            "gripper_z": 1.0519527455914877,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3346362120270829,
+              0.3507846402591909,
+              1.0519527455914877
+            ],
+            "object_minus_gripper": [
+              0.005771953166940291,
+              0.005243622593698094,
+              0.0012412789710221084
+            ],
+            "object_to_gripper_xy": 0.007798142167625132,
+            "object_to_gripper_z": 0.0012412789710221084,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34040816519402317,
+              0.3311617661130523,
+              1.0531940245625098
+            ],
+            "finger_b": [
+              0.3279105090895299,
+              0.356028262852889,
+              1.0531940245625098
+            ],
+            "finger_midpoint": [
+              0.33415933714177654,
+              0.3435950144829707,
+              1.0531940245625098
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062488280522466355,
+              0.012433248369918326,
+              0.0
+            ],
+            "finger_gap": 0.02783045217416504,
+            "fingertip_max_gap": 0.09138152232928218,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013915226087082495,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0531940245625098,
+            "object_top_z": 1.1038265582272788,
+            "finger_top_clearance": 0.05063253366476905,
+            "fingertip_min_top_clearance": 0.015189760099430748,
+            "object_projection_between_fingers": 0.7983414616410158,
+            "object_to_finger_line_xy": 0.011166650215855002,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819076116464109,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6315612521746052,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3414468184582019,
+              0.35411513318892546,
+              1.2422113759928182
+            ],
+            "held_position": [
+              0.3477135671513973,
+              0.3587772237449492,
+              1.2433607530302795
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00789482711086665,
+            "max_held_gripper_dist": 0.007902299160164848,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011493770374613188,
+            "max_held_gripper_z_dist": 0.0013067723946065257,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08903471300257193,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3477135671513973,
+              0.33266197810311166,
+              1.2433607530302795
+            ],
+            "held_grasp_finger_b": [
+              0.3375539224815388,
+              0.3587772237449492,
+              1.2433607530302795
+            ],
+            "held_grasp_midpoint": [
+              0.342633744816468,
+              0.3457196009240304,
+              1.2433607530302795
+            ],
+            "held_grasp_object_position": [
+              0.3477135671513973,
+              0.3587772237449492,
+              1.2433607530302795
+            ],
+            "held_grasp_finger_gap": 0.02802185637589519,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02498669406537237,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09820122406807039,
+              -0.9949890559873282,
+              0.01879622454053642
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003781275024385839,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036229213494732126,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3377104119482747,
+              -0.36631019332662135,
+              0.8515395582649458
+            ],
+            "target_position": [
+              0.3290006315174188,
+              -0.368720915887003,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009037248387471357,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855998319579962,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395582649458,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519634712420223,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08679759644871408,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15463915246506232,
+            "release_required_pad_clearance": 0.053398798224357044,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8126686560349776,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008539557456970215,
+            "max_z_decrease": 0.008539557456970215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504069025665003,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008539557456970215,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109227620424001,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008539557456970215,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008539623075079225,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1847005635499954,
+              -0.42498236894607533,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1847005635499954,
+              -0.42498236894607533,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18263368227229876,
+              -0.4254179134409817,
+              0.8036122007152193
+            ],
+            "closest_button": [
+              0.1846831291913986,
+              -0.42496415972709645,
+              0.7686344385147095
+            ],
+            "closest_ee_minus_button": [
+              -0.0020494469190998343,
+              -0.0004537537138852299,
+              0.034977762200509854
+            ],
+            "button_min_z_position": [
+              0.1847114711999893,
+              -0.4249507188796996,
+              0.7682693004608154
+            ],
+            "min_active_finger_to_button": 0.14780239022847969,
+            "closest_active_finger": [
+              0.04188433289527893,
+              -0.4093123972415924,
+              0.8077059984207153
+            ],
+            "closest_active_finger_button": [
+              0.18471041321754453,
+              -0.4249882400035857,
+              0.7730574011802673
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1428260803222656,
+              0.015675842761993297,
+              0.034648597240448
+            ],
+            "min_contact_pad_to_button": 0.02109227620424001,
+            "closest_contact_pad": [
+              0.1847114711999893,
+              -0.4265939183097421,
+              0.7892974723050119
+            ],
+            "closest_contact_pad_button": [
+              0.1847114711999893,
+              -0.4249507188796996,
+              0.7682693004608154
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016431994300424857,
+              0.021028171844196475
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2d961bef3ba586a1332cc206332d7d5fd7433c80e64ff19974bbc9e6f1c10e21",
+    "visual_seed": 8310025697313969937,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f80892c5c5017e66d11736d633b8a16b04e1c885
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_112_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3413216327322952,
+              0.36002190249617416,
+              1.0541844995520724
+            ],
+            "current_z": 1.0541844995520724,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1930780511419513,
+            "gripper_z": 1.0527235743930476,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33563598273533024,
+              0.35481603923771554,
+              1.0527235743930476
+            ],
+            "object_minus_gripper": [
+              0.00568564999696497,
+              0.005205863258458621,
+              0.0014609251590247396
+            ],
+            "object_to_gripper_xy": 0.007708931712874175,
+            "object_to_gripper_z": 0.0014609251590247396,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3413216327322952,
+              0.33524473891643014,
+              1.0541844995520724
+            ],
+            "finger_b": [
+              0.3288349056389363,
+              0.36002190249617416,
+              1.0541844995520724
+            ],
+            "finger_midpoint": [
+              0.3350782691856158,
+              0.34763332070630215,
+              1.0541844995520724
+            ],
+            "object_minus_finger_midpoint": [
+              0.006243363546679426,
+              0.01238858178987201,
+              0.0
+            ],
+            "finger_gap": 0.027745741809535693,
+            "fingertip_max_gap": 0.09105257138739078,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013872870904767834,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0541844995520724,
+            "object_top_z": 1.1046210120287299,
+            "finger_top_clearance": 0.05043651247665748,
+            "fingertip_min_top_clearance": 0.015130953742997243,
+            "object_projection_between_fingers": 0.7974629132903496,
+            "object_to_finger_line_xy": 0.01115074456799871,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048026285693695395,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.524603536981162,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34268145714580217,
+              0.35771971391870666,
+              1.2419096333547028
+            ],
+            "held_position": [
+              0.34890458309960015,
+              0.362295275271866,
+              1.243253788673031
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007840268608482071,
+            "max_held_gripper_dist": 0.007851241934696948,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013441553183282107,
+            "max_held_gripper_z_dist": 0.0014998402638692898,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09046796854423184,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34890458309960015,
+              0.33613442584726716,
+              1.243253788673031
+            ],
+            "held_grasp_finger_b": [
+              0.3390363229823049,
+              0.36276874126590386,
+              1.243253788673031
+            ],
+            "held_grasp_midpoint": [
+              0.34397045304095253,
+              0.3494515835565855,
+              1.243253788673031
+            ],
+            "held_grasp_object_position": [
+              0.34890458309960015,
+              0.362295275271866,
+              1.243253788673031
+            ],
+            "held_grasp_finger_gap": 0.02840368489407719,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025404918396762576,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10825975550329754,
+              -0.993952853985498,
+              0.01837251731389766
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00352291863788292,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03642005832021145,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3301328323262387,
+              -0.36357175467601305,
+              0.8515395665351977
+            ],
+            "target_position": [
+              0.32089434570082115,
+              -0.36623835413118944,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009615632469180891,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18579217270641607,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395665351977,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551068524754988,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578099753287531,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15414926253506506,
+            "release_required_pad_clearance": 0.05289049876643766,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8213858986046915,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008522987365722656,
+            "max_z_decrease": 0.008522987365722656,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500127081896727,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008522987365722656,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02094903554372637,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008522987365722656,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008523113601618452,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17659427225589747,
+              -0.42249980568885803,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17659427225589747,
+              -0.42249980568885803,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17553351711645998,
+              -0.4230648693481205,
+              0.8035877890467875
+            ],
+            "closest_button": [
+              0.17662066221237177,
+              -0.42247781157493586,
+              0.7686083316802979
+            ],
+            "closest_ee_minus_button": [
+              -0.00108714509591179,
+              -0.0005870577731846294,
+              0.034979457366489664
+            ],
+            "button_min_z_position": [
+              0.17662657797336573,
+              -0.422466516494751,
+              0.768285870552063
+            ],
+            "min_active_finger_to_button": 0.14676231647745505,
+            "closest_active_finger": [
+              0.034567736089229584,
+              -0.40875542163848877,
+              0.8106198310852051
+            ],
+            "closest_active_finger_button": [
+              0.1765961199998855,
+              -0.4225028455257415,
+              0.7762960195541382
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14202838391065592,
+              0.013747423887252752,
+              0.034323811531066895
+            ],
+            "min_contact_pad_to_button": 0.02094903554372637,
+            "closest_contact_pad": [
+              0.17662657797336573,
+              -0.42407075054759424,
+              0.7891733913076723
+            ],
+            "closest_contact_pad_button": [
+              0.17662657797336573,
+              -0.422466516494751,
+              0.768285870552063
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016042340528432675,
+              0.02088752075560929
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba347dfc7cb43962b184d61be01664b08a6792d302123e9037a245a3f9ee93ec",
+    "visual_seed": 5800626713770638033,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e27f8a806c2b4ec8db84751ec30b09ea04778eb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_113_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3445784995155127,
+              0.3534800771859081,
+              1.053914441993847
+            ],
+            "current_z": 1.053914441993847,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19280787437443636,
+            "gripper_z": 1.0524400323120053,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33897067555484267,
+              0.34834071718046505,
+              1.0524400323120053
+            ],
+            "object_minus_gripper": [
+              0.005607823960670055,
+              0.005139360005443072,
+              0.0014744096818417596
+            ],
+            "object_to_gripper_xy": 0.007606622827471663,
+            "object_to_gripper_z": 0.0014744096818417596,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3445784995155127,
+              0.3287163776348295,
+              1.053914441993847
+            ],
+            "finger_b": [
+              0.33224004718861866,
+              0.3534800771859081,
+              1.053914441993847
+            ],
+            "finger_midpoint": [
+              0.3384092733520657,
+              0.3410982274103688,
+              1.053914441993847
+            ],
+            "object_minus_finger_midpoint": [
+              0.006169226163447006,
+              0.0123818497755393,
+              0.0
+            ],
+            "finger_gap": 0.027667277084655946,
+            "fingertip_max_gap": 0.09132779190320942,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01383363854232796,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.053914441993847,
+            "object_top_z": 1.1044721104254434,
+            "finger_top_clearance": 0.05055766843159626,
+            "fingertip_min_top_clearance": 0.015167300529478877,
+            "object_projection_between_fingers": 0.8011211794260505,
+            "object_to_finger_line_xy": 0.01104357777650497,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04816389595160471,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6076051192743024,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34603454402371336,
+              0.3512435287711726,
+              1.241267176364388
+            ],
+            "held_position": [
+              0.3521655068352863,
+              0.3557746969126149,
+              1.2426104632796946
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007741098724324954,
+            "max_held_gripper_dist": 0.0077504492415047255,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013432869153064964,
+            "max_held_gripper_z_dist": 0.0015068562892008863,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0903551831871191,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3521655068352863,
+              0.32965910797932246,
+              1.2426104632796946
+            ],
+            "held_grasp_finger_b": [
+              0.3424222882511727,
+              0.35631025718364806,
+              1.2426104632796946
+            ],
+            "held_grasp_midpoint": [
+              0.3472938975432295,
+              0.3429846825814853,
+              1.2426104632796946
+            ],
+            "held_grasp_object_position": [
+              0.3521655068352863,
+              0.3557746969126149,
+              1.2426104632796946
+            ],
+            "held_grasp_finger_gap": 0.028376294019639727,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025445705963541943,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10734248265601286,
+              -0.9940121918315328,
+              0.020429241481654373
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034807752104738954,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03648388925531272,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3339885345884364,
+              -0.36766367117922216,
+              0.8515395579988336
+            ],
+            "target_position": [
+              0.32506353119418163,
+              -0.3702107008491312,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00928132779977393,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18494894991796162,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395579988336,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564279885003587,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560837459612884,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15309179638058043,
+            "release_required_pad_clearance": 0.05280418729806442,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6549129075602668,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008733928203582764,
+            "max_z_decrease": 0.008733928203582764,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502152241257287,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008733928203582764,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020888911877540658,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008733928203582764,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008733998499782797,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18076345324516296,
+              -0.4264721572399139,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18076345324516296,
+              -0.4264721572399139,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17899608989711555,
+              -0.4267142725732161,
+              0.8030502505472792
+            ],
+            "closest_button": [
+              0.18077313899993896,
+              -0.4264384806156158,
+              0.7680749297142029
+            ],
+            "closest_ee_minus_button": [
+              -0.0017770491028234192,
+              -0.00027579195760030206,
+              0.03497532083307631
+            ],
+            "button_min_z_position": [
+              0.18077313899993896,
+              -0.4264384806156158,
+              0.7680749297142029
+            ],
+            "min_active_finger_to_button": 0.14742826940730192,
+            "closest_active_finger": [
+              0.03801244497299194,
+              -0.41317516565322876,
+              0.8104115724563599
+            ],
+            "closest_active_finger_button": [
+              0.1807647943496704,
+              -0.42647659778594965,
+              0.7760614156723022
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14275234937667847,
+              0.013301432132720892,
+              0.03435015678405762
+            ],
+            "min_contact_pad_to_button": 0.020888911877540658,
+            "closest_contact_pad": [
+              0.18077313899993896,
+              -0.42765468361796405,
+              0.7889284063951963
+            ],
+            "closest_contact_pad_button": [
+              0.18077313899993896,
+              -0.4264384806156158,
+              0.7680749297142029
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012162030023482595,
+              0.020853476680993466
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "015fe6354b554fe544167acc8ef61fa187082cfd2b89d583e0ea4f41fab80bda",
+    "visual_seed": 6407338349802711166,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5026f9efe1be733f9e58bb140f08f8b50b837a79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_114_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34265018037693973,
+              0.3512940907708322,
+              1.054734873008788
+            ],
+            "current_z": 1.054734873008788,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19362836499402203,
+            "gripper_z": 1.0534414560311012,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3370041029844689,
+              0.3460543808075084,
+              1.0534414560311012
+            ],
+            "object_minus_gripper": [
+              0.005646077392470805,
+              0.005239709963323791,
+              0.001293416977686812
+            ],
+            "object_to_gripper_xy": 0.007702775501176477,
+            "object_to_gripper_z": 0.001293416977686812,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34265018037693973,
+              0.32658552625912673,
+              1.054734873008788
+            ],
+            "finger_b": [
+              0.330067936608349,
+              0.3512940907708322,
+              1.054734873008788
+            ],
+            "finger_midpoint": [
+              0.33635905849264436,
+              0.33893980851497946,
+              1.054734873008788
+            ],
+            "object_minus_finger_midpoint": [
+              0.00629112188429537,
+              0.012354282255852722,
+              0.0
+            ],
+            "finger_gap": 0.027727712103261425,
+            "fingertip_max_gap": 0.09130105516276446,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013863856051630713,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054734873008788,
+            "object_top_z": 1.1053116288592644,
+            "finger_top_clearance": 0.050576755850476385,
+            "fingertip_min_top_clearance": 0.015173026755142914,
+            "object_projection_between_fingers": 0.7940849367130508,
+            "object_to_finger_line_xy": 0.011212219050040571,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815052758138223,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6555473450310708,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.344019315747517,
+              0.3489894443667857,
+              1.2433877738813048
+            ],
+            "held_position": [
+              0.3502199116388721,
+              0.3535883910858497,
+              1.2445744882230705
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007810633217712388,
+            "max_held_gripper_dist": 0.00781752039021499,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001186714341765649,
+            "max_held_gripper_z_dist": 0.0013456771109050525,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08969408751550284,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3502199116388721,
+              0.3274442817625415,
+              1.2445744882230705
+            ],
+            "held_grasp_finger_b": [
+              0.3402943956730745,
+              0.3539160246336713,
+              1.2445744882230705
+            ],
+            "held_grasp_midpoint": [
+              0.3452571536559733,
+              0.3406801531981064,
+              1.2445744882230705
+            ],
+            "held_grasp_object_position": [
+              0.3502199116388721,
+              0.3535883910858497,
+              1.2445744882230705
+            ],
+            "held_grasp_finger_gap": 0.028271346586650495,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025247130988174854,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10737785516670945,
+              -0.993999969405192,
+              0.020834035669423878
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035586054144191967,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0363565716966881,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33395015559006114,
+              -0.3607061644519435,
+              0.8515396713424015
+            ],
+            "target_position": [
+              0.3247956773892858,
+              -0.36347544498603584,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009564171987421296,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1870713293582691,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396713424015,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570750519075878,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529936667107778,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1549728644964159,
+            "release_required_pad_clearance": 0.05264968333553889,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3582735748302067,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00859689712524414,
+            "max_z_decrease": 0.00859689712524414,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499235496003194,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00859689712524414,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02103107368183374,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00859689712524414,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008597014941159194,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1804956048727035,
+              -0.4197368919849395,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1804956048727035,
+              -0.4197368919849395,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18019033237238286,
+              -0.42001124846303534,
+              0.8035738984524927
+            ],
+            "closest_button": [
+              0.18046952784061426,
+              -0.4196965396404265,
+              0.7685840725898743
+            ],
+            "closest_ee_minus_button": [
+              -0.00027919546823140795,
+              -0.0003147088226088113,
+              0.03498982586261845
+            ],
+            "button_min_z_position": [
+              0.18046660721302027,
+              -0.41970247030258173,
+              0.7682119607925415
+            ],
+            "min_active_finger_to_button": 0.1460732433140775,
+            "closest_active_finger": [
+              0.03937599062919617,
+              -0.40461763739585876,
+              0.8095241785049438
+            ],
+            "closest_active_finger_button": [
+              0.18050104379653925,
+              -0.4197403788566589,
+              0.774992823600769
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14112505316734308,
+              0.015122741460800115,
+              0.034531354904174805
+            ],
+            "min_contact_pad_to_button": 0.02103107368183374,
+            "closest_contact_pad": [
+              0.18046660721302027,
+              -0.42111417808697743,
+              0.7891956006422481
+            ],
+            "closest_contact_pad_button": [
+              0.18046660721302027,
+              -0.41970247030258173,
+              0.7682119607925415
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014117077843956993,
+              0.020983639849706637
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84b28ed698e7b0c92e2bc863299660c372e24b718e790ae0042db5cf3cb3b558",
+    "visual_seed": 5425120483515767383,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc9e90246b51860dc7ff45f085519b4723753360
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_115_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3466100132135826,
+              0.3529194158388022,
+              1.05578479231515
+            ],
+            "current_z": 1.05578479231515,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.19467810548644982,
+            "gripper_z": 1.0544291980206775,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34062660968921477,
+              0.34761374589437016,
+              1.0544291980206775
+            ],
+            "object_minus_gripper": [
+              0.005983403524367825,
+              0.005305669944432045,
+              0.0013555942944725174
+            ],
+            "object_to_gripper_xy": 0.007996952625510974,
+            "object_to_gripper_z": 0.0013555942944725174,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3466100132135826,
+              0.3278685772349654,
+              1.05578479231515
+            ],
+            "finger_b": [
+              0.3340541778977749,
+              0.3529194158388022,
+              1.05578479231515
+            ],
+            "finger_midpoint": [
+              0.3403320955556788,
+              0.3403939965368838,
+              1.05578479231515
+            ],
+            "object_minus_finger_midpoint": [
+              0.006277917657903809,
+              0.012525419301918417,
+              0.0
+            ],
+            "finger_gap": 0.02802130466686312,
+            "fingertip_max_gap": 0.09260895440439024,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014010652333431548,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05578479231515,
+            "object_top_z": 1.1067499821560896,
+            "finger_top_clearance": 0.05096518984093956,
+            "fingertip_min_top_clearance": 0.015289556952281867,
+            "object_projection_between_fingers": 0.7992227426497927,
+            "object_to_finger_line_xy": 0.011224823675130615,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880447720219512,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9486566445087272,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3478794728503951,
+              0.35002805435997497,
+              1.2443877386538853
+            ],
+            "held_position": [
+              0.3543920420092715,
+              0.35469003093072027,
+              1.2456256631026195
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008104322274940678,
+            "max_held_gripper_dist": 0.00811182491461545,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012379244487341623,
+            "max_held_gripper_z_dist": 0.0014095142772647673,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08961012540386454,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3543920420092715,
+              0.32834659540772193,
+              1.2456256631026195
+            ],
+            "held_grasp_finger_b": [
+              0.3443700113576823,
+              0.35537408243396296,
+              1.2456256631026195
+            ],
+            "held_grasp_midpoint": [
+              0.3493810266834769,
+              0.34186033892084244,
+              1.2456256631026195
+            ],
+            "held_grasp_object_position": [
+              0.3543920420092715,
+              0.35469003093072027,
+              1.2456256631026195
+            ],
+            "held_grasp_finger_gap": 0.028825789726129276,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025961226308024173,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09381421336060185,
+              -0.9953361629129711,
+              0.022468114500664993
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037966705978710554,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03648028919270072,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33047946764156283,
+              -0.365637131197172,
+              0.8515396068746569
+            ],
+            "target_position": [
+              0.3219222305258955,
+              -0.36780611475129776,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008827842132243989,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18556635282646033,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396068746569,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564372089690369,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591277993972306,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15359580237211787,
+            "release_required_pad_clearance": 0.05295638996986153,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9487304501653248,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008579432964324951,
+            "max_z_decrease": 0.008579432964324951,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503043568260928,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008579432964324951,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02102467968286661,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008579432964324951,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008579515133215428,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17762215435504913,
+              -0.42406758666038513,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17762215435504913,
+              -0.42406758666038513,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17569297754849186,
+              -0.42381479834635905,
+              0.803257570624773
+            ],
+            "closest_button": [
+              0.17764286696910858,
+              -0.4240407645702362,
+              0.7682821750640869
+            ],
+            "closest_ee_minus_button": [
+              -0.0019498894206167183,
+              0.00022596622387716092,
+              0.03497539556068607
+            ],
+            "button_min_z_position": [
+              0.17764423787593842,
+              -0.424037218093872,
+              0.7682294249534607
+            ],
+            "min_active_finger_to_button": 0.1474537334585594,
+            "closest_active_finger": [
+              0.048105910420417786,
+              -0.4855259656906128,
+              0.8107191324234009
+            ],
+            "closest_active_finger_button": [
+              0.17762544751167297,
+              -0.42406928539276123,
+              0.7762174010276794
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1295195370912552,
+              -0.06145668029785156,
+              0.034501731395721436
+            ],
+            "min_contact_pad_to_button": 0.02102467968286661,
+            "closest_contact_pad": [
+              0.17764423787593842,
+              -0.4251068281067873,
+              0.7892268793274417
+            ],
+            "closest_contact_pad_button": [
+              0.17764423787593842,
+              -0.424037218093872,
+              0.7682294249534607
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010696100129152786,
+              0.02099745437398104
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "80ee512791968fb3a7bc4ffbd4a464fd009bcb241b921894ad09965da64b32ad",
+    "visual_seed": 7202450008633680552,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_116_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d5549b294450c10d846eaadd5656d83168a4bfb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_116_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3401101423794596,
+              0.35473112711709254,
+              1.0545962790339458
+            ],
+            "current_z": 1.0545962790339458,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19348977101917986,
+            "gripper_z": 1.0533169520476588,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33451348789236823,
+              0.34950063565836936,
+              1.0533169520476588
+            ],
+            "object_minus_gripper": [
+              0.005596654487091346,
+              0.005230491458723174,
+              0.001279326986286966
+            ],
+            "object_to_gripper_xy": 0.007660325211611827,
+            "object_to_gripper_z": 0.001279326986286966,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3401101423794596,
+              0.33003388689981084,
+              1.0545962790339458
+            ],
+            "finger_b": [
+              0.32758251276791817,
+              0.35473112711709254,
+              1.0545962790339458
+            ],
+            "finger_midpoint": [
+              0.3338463275736889,
+              0.3423825070084517,
+              1.0545962790339458
+            ],
+            "object_minus_finger_midpoint": [
+              0.006263814805770707,
+              0.012348620108640851,
+              0.0
+            ],
+            "finger_gap": 0.027692872332679502,
+            "fingertip_max_gap": 0.0915198884815289,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013846436166339751,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0545962790339458,
+            "object_top_z": 1.1053271145498749,
+            "finger_top_clearance": 0.05073083551592905,
+            "fingertip_min_top_clearance": 0.015219250654778749,
+            "object_projection_between_fingers": 0.7953546870821586,
+            "object_to_finger_line_xy": 0.011172473340884146,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825994424076445,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.73565316679362,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34140024344600783,
+              0.3526256281183816,
+              1.2434350792317503
+            ],
+            "held_position": [
+              0.34751226172933125,
+              0.3572561325105449,
+              1.2446260146974213
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007759939800340983,
+            "max_held_gripper_dist": 0.007770336187605154,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011909354656709503,
+            "max_held_gripper_z_dist": 0.0013459648485909526,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08990461340794881,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34751226172933125,
+              0.3311940353168061,
+              1.2446260146974213
+            ],
+            "held_grasp_finger_b": [
+              0.33747618220292874,
+              0.3572561325105449,
+              1.2446260146974213
+            ],
+            "held_grasp_midpoint": [
+              0.34249422196613,
+              0.34422508391367546,
+              1.2446260146974213
+            ],
+            "held_grasp_object_position": [
+              0.34751226172933125,
+              0.3572561325105449,
+              1.2446260146974213
+            ],
+            "held_grasp_finger_gap": 0.027927688812291,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024859657972757306,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1049215588293348,
+              -0.9942660749276891,
+              0.020650393233772713
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036334891266040573,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036237419975271086,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3298703501849891,
+              -0.3692115515360682,
+              0.8515395714825071
+            ],
+            "target_position": [
+              0.32146991675343517,
+              -0.37165446153823384,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008748433637894843,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18458805523083738,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395714825071,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752672637941525,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655225892328015,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15362883829753507,
+            "release_required_pad_clearance": 0.05327612946164008,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5716816455790523,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008455097675323486,
+            "max_z_decrease": 0.008455097675323486,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035055060398336356,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008455097675323486,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021033797656774378,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008455097675323486,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008455155955025991,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17716984450817108,
+              -0.42791593074798584,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17716984450817108,
+              -0.42791593074798584,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17865165228148647,
+              -0.4266423386866473,
+              0.8033559775579767
+            ],
+            "closest_button": [
+              0.1771862059831619,
+              -0.4278891384601593,
+              0.7683537602424622
+            ],
+            "closest_ee_minus_button": [
+              0.0014654462983245686,
+              0.0012467997735119973,
+              0.03500221731551456
+            ],
+            "button_min_z_position": [
+              0.1771862059831619,
+              -0.4278891384601593,
+              0.7683537602424622
+            ],
+            "min_active_finger_to_button": 0.14405115992413187,
+            "closest_active_finger": [
+              0.051369719207286835,
+              -0.4890034794807434,
+              0.8105424642562866
+            ],
+            "closest_active_finger_button": [
+              0.17717547714710236,
+              -0.4279188811779023,
+              0.7760124802589417
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12580575793981552,
+              -0.06108459830284113,
+              0.03452998399734497
+            ],
+            "min_contact_pad_to_button": 0.021033797656774378,
+            "closest_contact_pad": [
+              0.1771862059831619,
+              -0.4278891384601593,
+              0.7893875578992365
+            ],
+            "closest_contact_pad_button": [
+              0.1771862059831619,
+              -0.4278891384601593,
+              0.7683537602424622
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021033797656774378
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7402d254f7a84f86d9add1cfcdbf10141263a59c8c8afaf2b3d0b57906019ac3",
+    "visual_seed": 6971986414823208020,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_118_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11f4822eaf496f530cae4d8b3c8c1632431a97da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_118_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34306707493475663,
+              0.35269776367846783,
+              1.0541035717397795
+            ],
+            "current_z": 1.0541035717397795,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.19299682530643436,
+            "gripper_z": 1.05274279914603,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33741903890878555,
+              0.34754908662053885,
+              1.05274279914603
+            ],
+            "object_minus_gripper": [
+              0.0056480360259710816,
+              0.005148677057928985,
+              0.0013607725937494486
+            ],
+            "object_to_gripper_xy": 0.007642590293710077,
+            "object_to_gripper_z": 0.0013607725937494486,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34306707493475663,
+              0.32788684108043603,
+              1.0541035717397795
+            ],
+            "finger_b": [
+              0.33073757982547164,
+              0.35269776367846783,
+              1.0541035717397795
+            ],
+            "finger_midpoint": [
+              0.33690232738011416,
+              0.34029230237945196,
+              1.0541035717397795
+            ],
+            "object_minus_finger_midpoint": [
+              0.006164747554642469,
+              0.012405461299015874,
+              0.0
+            ],
+            "finger_gap": 0.027705564961130243,
+            "fingertip_max_gap": 0.09161363116544477,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013852782480565084,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0541035717397795,
+            "object_top_z": 1.104767793246332,
+            "finger_top_clearance": 0.050664221506552476,
+            "fingertip_min_top_clearance": 0.015199266451965709,
+            "object_projection_between_fingers": 0.8019583371339024,
+            "object_to_finger_line_xy": 0.01104132506442136,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830681558272239,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7444155616222544,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3444528513516356,
+              0.3502738640534563,
+              1.2423799467016075
+            ],
+            "held_position": [
+              0.3506132140374074,
+              0.3548233315494927,
+              1.2436160867089159
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007757303979825068,
+            "max_held_gripper_dist": 0.007765455454718332,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012361400073084283,
+            "max_held_gripper_z_dist": 0.0013946066697163584,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0895922907955467,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3506132140374074,
+              0.32869326091993245,
+              1.2436160867089159
+            ],
+            "held_grasp_finger_b": [
+              0.34081603856310777,
+              0.3553226332344114,
+              1.2436160867089159
+            ],
+            "held_grasp_midpoint": [
+              0.3457146263002576,
+              0.3420079470771719,
+              1.2436160867089159
+            ],
+            "held_grasp_object_position": [
+              0.3506132140374074,
+              0.3548233315494927,
+              1.2436160867089159
+            ],
+            "held_grasp_finger_gap": 0.02837442716844439,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025414111875731487,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10760059963510737,
+              -0.9939510972665755,
+              0.02198470379004991
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035030232288622712,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036455293634056286,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3302153287612143,
+              -0.361695322973913,
+              0.8515396618073099
+            ],
+            "target_position": [
+              0.3214138039756749,
+              -0.36424030872301955,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009162084425152343,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18470641782286212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396618073099,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752645259122401,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864859081698826,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15365154359264135,
+            "release_required_pad_clearance": 0.0532429540849413,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.506589048896743,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0085676908493042,
+            "max_z_decrease": 0.0085676908493042,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500195833987839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0085676908493042,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021005030682097376,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0085676908493042,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008567819089238054,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17711372673511502,
+              -0.4205017685890197,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17711372673511502,
+              -0.4205017685890197,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17755854964040657,
+              -0.42079817301963895,
+              0.8036075399482148
+            ],
+            "closest_button": [
+              0.17709292471408838,
+              -0.4204677045345306,
+              0.7686102390289307
+            ],
+            "closest_ee_minus_button": [
+              0.00046562492631818664,
+              -0.00033046848510837057,
+              0.0349973009192841
+            ],
+            "button_min_z_position": [
+              0.17708286643028257,
+              -0.42046648263931274,
+              0.7682411670684814
+            ],
+            "min_active_finger_to_button": 0.1453175818523067,
+            "closest_active_finger": [
+              0.036722831428050995,
+              -0.4056735336780548,
+              0.8094375133514404
+            ],
+            "closest_active_finger_button": [
+              0.17711865901947016,
+              -0.4205063581466674,
+              0.774996280670166
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14039582759141916,
+              0.014832824468612615,
+              0.034441232681274414
+            ],
+            "min_contact_pad_to_button": 0.021005030682097376,
+            "closest_contact_pad": [
+              0.17708286643028257,
+              -0.42187865958311327,
+              0.7891986733665898
+            ],
+            "closest_contact_pad_button": [
+              0.17708286643028257,
+              -0.42046648263931274,
+              0.7682411670684814
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001412176943800525,
+              0.02095750629810833
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 118,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5af69992be1d5444b45da362d5966dae234e96b90541de2c93c943f9789fdd9",
+    "visual_seed": 4931605679346502390,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3183e0a81c10e5ec83c9f654e4d8f575091be23
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34719987804300756,
+              0.36030382994900406,
+              1.0530325373354672
+            ],
+            "current_z": 1.0530325373354672,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.19192596971605624,
+            "gripper_z": 1.051396834475468,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34151556952505824,
+              0.35508628643425777,
+              1.051396834475468
+            ],
+            "object_minus_gripper": [
+              0.005684308517949321,
+              0.005217543514746292,
+              0.0016357028599991441
+            ],
+            "object_to_gripper_xy": 0.007715835901281358,
+            "object_to_gripper_z": 0.0016357028599991441,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34719987804300756,
+              0.3355506201727586,
+              1.0530325373354672
+            ],
+            "finger_b": [
+              0.3346690868306006,
+              0.36030382994900406,
+              1.0530325373354672
+            ],
+            "finger_midpoint": [
+              0.3409344824368041,
+              0.34792722506088136,
+              1.0530325373354672
+            ],
+            "object_minus_finger_midpoint": [
+              0.006265395606203483,
+              0.0123766048881227,
+              0.0
+            ],
+            "finger_gap": 0.027744226834347883,
+            "fingertip_max_gap": 0.09134187734382729,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013872113417173917,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0530325373354672,
+            "object_top_z": 1.1035588441196396,
+            "finger_top_clearance": 0.05052630678417236,
+            "fingertip_min_top_clearance": 0.015157892035251674,
+            "object_projection_between_fingers": 0.7960086582357406,
+            "object_to_finger_line_xy": 0.011179886374019867,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048170938671913646,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5869825024449028,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3485148306443814,
+              0.3579248834556002,
+              1.2393997156063883
+            ],
+            "held_position": [
+              0.3547416666303355,
+              0.3625173822269842,
+              1.2408910211144213
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007879627115506589,
+            "max_held_gripper_dist": 0.007889146636662504,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014913055080330029,
+            "max_held_gripper_z_dist": 0.0016542537333250618,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08996963912961509,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3547416666303355,
+              0.3363892962500756,
+              1.2408910211144213
+            ],
+            "held_grasp_finger_b": [
+              0.3448484163347233,
+              0.36284662320245126,
+              1.2408910211144213
+            ],
+            "held_grasp_midpoint": [
+              0.3497950414825294,
+              0.3496179597262634,
+              1.2408910211144213
+            ],
+            "held_grasp_object_position": [
+              0.3547416666303355,
+              0.3625173822269842,
+              1.2408910211144213
+            ],
+            "held_grasp_finger_gap": 0.02824653166101169,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025288191662567298,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10332044890907117,
+              -0.994445386400506,
+              0.020081292388101187
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003597088982507333,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036381391346166164,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33112013382564626,
+              -0.36774455851633325,
+              0.8515395674763375
+            ],
+            "target_position": [
+              0.32235165994409465,
+              -0.3700644827093051,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009070180950377382,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18539667989257036,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395674763375,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546333329974052,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611888799746802,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15391390988047424,
+            "release_required_pad_clearance": 0.05305944399873401,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1487440732125298,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008690893650054932,
+            "max_z_decrease": 0.008690893650054932,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035005722316654296,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008690893650054932,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020987578599882265,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008690893650054932,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00869105591222041,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17805159091949463,
+              -0.4263259470462799,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17805159091949463,
+              -0.4263259470462799,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1771226993482177,
+              -0.4270206684801413,
+              0.8034779860867035
+            ],
+            "closest_button": [
+              0.1780262440443039,
+              -0.42628380656242365,
+              0.7684916853904724
+            ],
+            "closest_ee_minus_button": [
+              -0.0009035446960861948,
+              -0.0007368619177176572,
+              0.0349863006962311
+            ],
+            "button_min_z_position": [
+              0.1780197024345398,
+              -0.4262834787368774,
+              0.7681179642677307
+            ],
+            "min_active_finger_to_button": 0.14658354405842433,
+            "closest_active_finger": [
+              0.03625956177711487,
+              -0.41221415996551514,
+              0.8105106949806213
+            ],
+            "closest_active_finger_button": [
+              0.17805299162864685,
+              -0.4263294637203216,
+              0.7761287689208984
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14179342985153198,
+              0.014115303754806463,
+              0.0343819260597229
+            ],
+            "min_contact_pad_to_button": 0.020987578599882265,
+            "closest_contact_pad": [
+              0.1780197024345398,
+              -0.42807122448099644,
+              0.7890292631427557
+            ],
+            "closest_contact_pad_button": [
+              0.1780197024345398,
+              -0.4262834787368774,
+              0.7681179642677307
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017877457441190514,
+              0.020911298875024964
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "22330bfdd2dcbef6e05f2ecf8efe77a1b802fea887494da1f1fd6aa6097dc378",
+    "visual_seed": 8721514123290054269,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_121_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecae600eda5c2f4b3c7191cfccbf269349ec6940
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_121_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3436396461290265,
+              0.3564454578256331,
+              1.0561153257670755
+            ],
+            "current_z": 1.0561153257670755,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.19500863893837517,
+            "gripper_z": 1.0547403225218641,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3379519049646581,
+              0.3512336302362464,
+              1.0547403225218641
+            ],
+            "object_minus_gripper": [
+              0.005687741164368376,
+              0.005211827589386708,
+              0.001375003245211337
+            ],
+            "object_to_gripper_xy": 0.007714502341327209,
+            "object_to_gripper_z": 0.001375003245211337,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3436396461290265,
+              0.33166528055898525,
+              1.0561153257670755
+            ],
+            "finger_b": [
+              0.3311469262974045,
+              0.3564454578256331,
+              1.0561153257670755
+            ],
+            "finger_midpoint": [
+              0.3373932862132155,
+              0.34405536919230917,
+              1.0561153257670755
+            ],
+            "object_minus_finger_midpoint": [
+              0.006246359915810962,
+              0.012390088633323915,
+              0.0
+            ],
+            "finger_gap": 0.027751130322166896,
+            "fingertip_max_gap": 0.09129993108569698,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013875565161083436,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0561153257670755,
+            "object_top_z": 1.1067489850843515,
+            "finger_top_clearance": 0.050633659317276036,
+            "fingertip_min_top_clearance": 0.01519009779518281,
+            "object_projection_between_fingers": 0.7973471821605003,
+            "object_to_finger_line_xy": 0.011155286591079202,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814996554284849,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.648291429200155,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34504950729465556,
+              0.35402978661547624,
+              1.2424027749812483
+            ],
+            "held_position": [
+              0.3512771259080136,
+              0.3586128165283529,
+              1.2436312637164015
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007829213328819449,
+            "max_held_gripper_dist": 0.007838099374397833,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012284887351532436,
+            "max_held_gripper_z_dist": 0.0013901028559546447,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08965762786910181,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3512771259080136,
+              0.33246337399072096,
+              1.2436312637164015
+            ],
+            "held_grasp_finger_b": [
+              0.3414367571680969,
+              0.3590504802063617,
+              1.2436312637164015
+            ],
+            "held_grasp_midpoint": [
+              0.34635694153805524,
+              0.34575692709854133,
+              1.2436312637164015
+            ],
+            "held_grasp_object_position": [
+              0.3512771259080136,
+              0.3586128165283529,
+              1.2436312637164015
+            ],
+            "held_grasp_finger_gap": 0.028349727932720843,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02537895818854824,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10670036785567742,
+              -0.994050610042892,
+              0.02187272668913598
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035320402515232776,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03641585985755458,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.334436056073486,
+              -0.3621980204234183,
+              0.8515395758781821
+            ],
+            "target_position": [
+              0.3254270884879721,
+              -0.3649197518074395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009411127386429644,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18427618453432823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395758781821,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568232249306943,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548842412868062,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15223047290106628,
+            "release_required_pad_clearance": 0.05274421206434031,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5395908182098643,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008615851402282715,
+            "max_z_decrease": 0.008615851402282715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035033601300404456,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008615851402282715,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020954049361481153,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008615851402282715,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008615910129357694,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1811270117759704,
+              -0.42118120193481445,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1811270117759704,
+              -0.42118120193481445,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.179967525610963,
+              -0.4195860625528942,
+              0.8031727064985561
+            ],
+            "closest_button": [
+              0.18111947178840632,
+              -0.42115029692649836,
+              0.7681930065155029
+            ],
+            "closest_ee_minus_button": [
+              -0.0011519461774433248,
+              0.0015642343736041453,
+              0.03497969998305317
+            ],
+            "button_min_z_position": [
+              0.18111947178840632,
+              -0.42115029692649836,
+              0.7681930065155029
+            ],
+            "min_active_finger_to_button": 0.1462013729606719,
+            "closest_active_finger": [
+              0.053415365517139435,
+              -0.48346200585365295,
+              0.8105601072311401
+            ],
+            "closest_active_finger_button": [
+              0.1811299175024032,
+              -0.4211841523647308,
+              0.7761318683624268
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12771455198526377,
+              -0.062277853488922175,
+              0.03442823886871338
+            ],
+            "min_contact_pad_to_button": 0.020954049361481153,
+            "closest_contact_pad": [
+              0.18111947178840632,
+              -0.42115029692649836,
+              0.7891470558769841
+            ],
+            "closest_contact_pad_button": [
+              0.18111947178840632,
+              -0.42115029692649836,
+              0.7681930065155029
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020954049361481153
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "028938f9a884c207e11787331b862a08d6c32c5d22c56a8c2917c122c8454740",
+    "visual_seed": 4462568157294174817,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_123_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d871d0d45a9737cb9d78d9112ef60d66718421f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_123_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3434421525058443,
+              0.3587997914492063,
+              1.0536443869602459
+            ],
+            "current_z": 1.0536443869602459,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19253781934083514,
+            "gripper_z": 1.052140938179447,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33782451573222416,
+              0.35353332524168274,
+              1.052140938179447
+            ],
+            "object_minus_gripper": [
+              0.005617636773620149,
+              0.005266466207523579,
+              0.0015034487807987773
+            ],
+            "object_to_gripper_xy": 0.007700227869051486,
+            "object_to_gripper_z": 0.0015034487807987773,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3434421525058443,
+              0.33412118175600447,
+              1.0536443869602459
+            ],
+            "finger_b": [
+              0.33081917842626013,
+              0.3587997914492063,
+              1.0536443869602459
+            ],
+            "finger_midpoint": [
+              0.3371306654660522,
+              0.3464604866026054,
+              1.0536443869602459
+            ],
+            "object_minus_finger_midpoint": [
+              0.0063114870397921186,
+              0.012339304846600896,
+              0.0
+            ],
+            "finger_gap": 0.027719546370805752,
+            "fingertip_max_gap": 0.09128195037304579,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013859773185402864,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0536443869602459,
+            "object_top_z": 1.104212777431977,
+            "finger_top_clearance": 0.05056839047173112,
+            "fingertip_min_top_clearance": 0.015170517141519367,
+            "object_projection_between_fingers": 0.7926275096044694,
+            "object_to_finger_line_xy": 0.011238187173421847,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481409751865229,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6508613051924824,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34470747246062905,
+              0.3566737976590818,
+              1.2423207445862854
+            ],
+            "held_position": [
+              0.350872645714817,
+              0.3613119032501369,
+              1.2437275615217276
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00784222663647119,
+            "max_held_gripper_dist": 0.007850934113673401,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001406816935442201,
+            "max_held_gripper_z_dist": 0.0015640641037319991,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08988968645731843,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.350872645714817,
+              0.3352039380910549,
+              1.2437275615217276
+            ],
+            "held_grasp_finger_b": [
+              0.34085447692713,
+              0.36135857219461115,
+              1.2437275615217276
+            ],
+            "held_grasp_midpoint": [
+              0.3458635613209735,
+              0.34828125514283303,
+              1.2437275615217276
+            ],
+            "held_grasp_object_position": [
+              0.350872645714817,
+              0.3613119032501369,
+              1.2437275615217276
+            ],
+            "held_grasp_finger_gap": 0.02800765236412172,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024884091356072814,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.11037467174788412,
+              -0.9936993706210879,
+              0.01946773391539547
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035496897160844174,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036218827201354414,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33160224035006525,
+              -0.36468138383979404,
+              0.8515396633116811
+            ],
+            "target_position": [
+              0.32363828494354746,
+              -0.36695348913478454,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008281729782390135,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18624790642809314,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396633116811,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585718071391165,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499586192083723,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537767205530722,
+            "release_required_pad_clearance": 0.05249793096041862,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852800578152106,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008467435836791992,
+            "max_z_decrease": 0.008467435836791992,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350452684540072,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008467435836791992,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021146259170022566,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008467435836791992,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00846755484070309,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17933821678161616,
+              -0.42321494221687317,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17933821678161616,
+              -0.42321494221687317,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18078981562019647,
+              -0.42407604692461126,
+              0.8033438393992474
+            ],
+            "closest_button": [
+              0.17930173873901362,
+              -0.4231887757778168,
+              0.7683414220809937
+            ],
+            "closest_ee_minus_button": [
+              0.0014880768811828538,
+              -0.0008872711467944883,
+              0.03500241731825371
+            ],
+            "button_min_z_position": [
+              0.17930173873901362,
+              -0.4231887757778168,
+              0.7683414220809937
+            ],
+            "min_active_finger_to_button": 0.14435095641598839,
+            "closest_active_finger": [
+              0.04006759077310562,
+              -0.4077436625957489,
+              0.8078120946884155
+            ],
+            "closest_active_finger_button": [
+              0.17934721708297724,
+              -0.42322126030921936,
+              0.7731879949569702
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13927962630987162,
+              0.015477597713470459,
+              0.03462409973144531
+            ],
+            "min_contact_pad_to_button": 0.021146259170022566,
+            "closest_contact_pad": [
+              0.17930173873901362,
+              -0.4252736402878944,
+              0.7893846541725803
+            ],
+            "closest_contact_pad_button": [
+              0.17930173873901362,
+              -0.4231887757778168,
+              0.7683414220809937
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002084864510077611,
+              0.02104323209158665
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f265bd262eb945bd2e1bad800c84f131df8fea37196adf632d9a8023ee08bfc9",
+    "visual_seed": 2907014551666395716,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_124_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48d03849a73e8e91b59039220cb13e59f87ad2f5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_124_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3475269290469207,
+              0.36139766979469773,
+              1.0559501336496044
+            ],
+            "current_z": 1.0559501336496044,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19484368523948314,
+            "gripper_z": 1.054299045861661,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3419311867026618,
+              0.35615520087121205,
+              1.054299045861661
+            ],
+            "object_minus_gripper": [
+              0.005595742344258858,
+              0.005242468923485677,
+              0.0016510877879434283
+            ],
+            "object_to_gripper_xy": 0.007667842773364924,
+            "object_to_gripper_z": 0.0016510877879434283,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3475269290469207,
+              0.33671872614527204,
+              1.0559501336496044
+            ],
+            "finger_b": [
+              0.3349613843309459,
+              0.36139766979469773,
+              1.0559501336496044
+            ],
+            "finger_midpoint": [
+              0.34124415668893326,
+              0.3490581979699849,
+              1.0559501336496044
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062827723579874095,
+              0.012339471824712844,
+              0.0
+            ],
+            "finger_gap": 0.027693738889154888,
+            "fingertip_max_gap": 0.09131586294111935,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013846869444577458,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0559501336496044,
+            "object_top_z": 1.10660560533562,
+            "finger_top_clearance": 0.050655471686015474,
+            "fingertip_min_top_clearance": 0.015196641505804642,
+            "object_projection_between_fingers": 0.7941269712910749,
+            "object_to_finger_line_xy": 0.011197634642656325,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048157931470559676,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6809867555159661,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3489284500697617,
+              0.3592562694712165,
+              1.245064811764959
+            ],
+            "held_position": [
+              0.3550554717158608,
+              0.36388373809386704,
+              1.2466299696706908
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007836043604731743,
+            "max_held_gripper_dist": 0.007848020302005716,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001565157905731862,
+            "max_held_gripper_z_dist": 0.0017271481375293884,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08971497367903919,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3550554717158608,
+              0.33779313171048136,
+              1.2466299696706908
+            ],
+            "held_grasp_finger_b": [
+              0.34504386075232885,
+              0.3639095997987669,
+              1.2466299696706908
+            ],
+            "held_grasp_midpoint": [
+              0.35004966623409484,
+              0.35085136575462417,
+              1.2466299696706908
+            ],
+            "held_grasp_object_position": [
+              0.3550554717158608,
+              0.36388373809386704,
+              1.2466299696706908
+            ],
+            "held_grasp_finger_gap": 0.027969666774767827,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02490462687786622,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10587870697322435,
+              -0.994186626370443,
+              0.01956147632045213
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003607206496678656,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036233631568770824,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3313124275535577,
+              -0.3633969089810878,
+              0.8515395600034266
+            ],
+            "target_position": [
+              0.32320133122320926,
+              -0.3657836628789364,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0084549676432904,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18494166835812706,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395600034266,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590614137944249,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502560295840171,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15238853748782785,
+            "release_required_pad_clearance": 0.05251280147920086,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691328015320369,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008605778217315674,
+            "max_z_decrease": 0.008605778217315674,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499016402904972,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008605778217315674,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020992324778355803,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008605778217315674,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00860590315314414,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1789012551307678,
+              -0.42204511165618896,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1789012551307678,
+              -0.42204511165618896,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1786460220061602,
+              -0.42179972531984267,
+              0.8031915223396672
+            ],
+            "closest_button": [
+              0.1789254695177078,
+              -0.42200556397438044,
+              0.76820307970047
+            ],
+            "closest_ee_minus_button": [
+              -0.00027944751154759806,
+              0.00020583865453777106,
+              0.034988442639197204
+            ],
+            "button_min_z_position": [
+              0.1789254695177078,
+              -0.42200556397438044,
+              0.76820307970047
+            ],
+            "min_active_finger_to_button": 0.14596275465619613,
+            "closest_active_finger": [
+              0.051892273128032684,
+              -0.48519909381866455,
+              0.8106168508529663
+            ],
+            "closest_active_finger_button": [
+              0.1789047867059707,
+              -0.4220474362373352,
+              0.7761957049369812
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12701251357793802,
+              -0.06315165758132935,
+              0.03442114591598511
+            ],
+            "min_contact_pad_to_button": 0.020992324778355803,
+            "closest_contact_pad": [
+              0.1789254695177078,
+              -0.42293702237111697,
+              0.7891747292506394
+            ],
+            "closest_contact_pad_button": [
+              0.1789254695177078,
+              -0.42200556397438044,
+              0.76820307970047
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009314583967365286,
+              0.02097164955016939
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 124,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f6f27bee5dc0ed40e2b9b1b6cd7519b31556e1cdf1396931d47e3f1ee756c83f",
+    "visual_seed": 1085919996129370747,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_126_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_126_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e313a362f8f319df89c6c9db0b99b29f1c4def9b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_126_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 126,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34642333269286707,
+              0.35379998718028655,
+              1.055303004854267
+            ],
+            "current_z": 1.055303004854267,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1941965564441459,
+            "gripper_z": 1.0538474188893043,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34080119500343775,
+              0.3485656340952635,
+              1.0538474188893043
+            ],
+            "object_minus_gripper": [
+              0.0056221376894293185,
+              0.005234353085023069,
+              0.0014555859649627578
+            ],
+            "object_to_gripper_xy": 0.0076815938722111675,
+            "object_to_gripper_z": 0.0014555859649627578,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34642333269286707,
+              0.32911053776046445,
+              1.055303004854267
+            ],
+            "finger_b": [
+              0.3338468417509992,
+              0.35379998718028655,
+              1.055303004854267
+            ],
+            "finger_midpoint": [
+              0.34013508722193314,
+              0.3414552624703755,
+              1.055303004854267
+            ],
+            "object_minus_finger_midpoint": [
+              0.006288245470933929,
+              0.012344724709911048,
+              0.0
+            ],
+            "finger_gap": 0.02770806808611596,
+            "fingertip_max_gap": 0.09114316268133052,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01385403404305798,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.055303004854267,
+            "object_top_z": 1.1058241199863716,
+            "finger_top_clearance": 0.050521115132104555,
+            "fingertip_min_top_clearance": 0.015156334539631333,
+            "object_projection_between_fingers": 0.7939813806357678,
+            "object_to_finger_line_xy": 0.011206361844609672,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807158134066526,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.626085785540284,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34788696869542657,
+              0.35143819232018114,
+              1.2424429712814111
+            ],
+            "held_position": [
+              0.3540767162783852,
+              0.3560252407878959,
+              1.2437656161560477
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007816864988619741,
+            "max_held_gripper_dist": 0.007825747446339,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013226448746366248,
+            "max_held_gripper_z_dist": 0.0014823021921683832,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09046705862806859,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3540767162783852,
+              0.329879181074389,
+              1.2437656161560477
+            ],
+            "held_grasp_finger_b": [
+              0.3442355509897461,
+              0.3564261460729345,
+              1.2437656161560477
+            ],
+            "held_grasp_midpoint": [
+              0.34915613363406567,
+              0.34315266357366175,
+              1.2437656161560477
+            ],
+            "held_grasp_object_position": [
+              0.3540767162783852,
+              0.3560252407878959,
+              1.2437656161560477
+            ],
+            "held_grasp_finger_gap": 0.028312362756794312,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025296774716816118,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.11002959651940654,
+              -0.9936952930118838,
+              0.021520978969442276
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034858349971322467,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03638742096038371,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33146886180231205,
+              -0.3667581504254069,
+              0.8515395547698537
+            ],
+            "target_position": [
+              0.322492488522381,
+              -0.3693710799326619,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009348939932984069,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18638605797122398,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395547698537,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573170366143386,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515869990241913,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15414067794949038,
+            "release_required_pad_clearance": 0.05257934995120957,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22381167078596137,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0086517333984375,
+            "max_z_decrease": 0.0086517333984375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035009575027631634,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0086517333984375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021096804740640965,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0086517333984375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008651929611106385,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17819242179393768,
+              -0.4256325364112854,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17819242179393768,
+              -0.4256325364112854,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.176865726679495,
+              -0.42583570544104665,
+              0.803515286297896
+            ],
+            "closest_button": [
+              0.17815598845481873,
+              -0.4255884885787964,
+              0.7685303688049316
+            ],
+            "closest_ee_minus_button": [
+              -0.0012902617753237366,
+              -0.00024721686225026573,
+              0.034984917492964396
+            ],
+            "button_min_z_position": [
+              0.17815108597278592,
+              -0.42559146881103516,
+              0.7681571245193481
+            ],
+            "min_active_finger_to_button": 0.14709430036503326,
+            "closest_active_finger": [
+              0.03634371608495712,
+              -0.40798676013946533,
+              0.8073891401290894
+            ],
+            "closest_active_finger_button": [
+              0.17820164561271667,
+              -0.42563959956169123,
+              0.772727370262146
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14185792952775955,
+              0.017652839422225897,
+              0.03466176986694336
+            ],
+            "min_contact_pad_to_button": 0.021096804740640965,
+            "closest_contact_pad": [
+              0.17815108597278592,
+              -0.42715970864211583,
+              0.7891955606327322
+            ],
+            "closest_contact_pad_button": [
+              0.17815108597278592,
+              -0.42559146881103516,
+              0.7681571245193481
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015682398310806756,
+              0.021038436113384074
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 126,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10972a06a167310ebaf1ed2ab6c9a12aea5d4308f229f6c2b0317c27ed9dbd63",
+    "visual_seed": 6651241808419131928,
+    "episode_index": 126,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f547dbadb855b164c7b5d8ebafe6e870a41394e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34330202246051783,
+              0.361178568219256,
+              1.05642441792287
+            ],
+            "current_z": 1.05642441792287,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19531790990810394,
+            "gripper_z": 1.055010220898933,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3375070661231616,
+              0.3557825704672978,
+              1.055010220898933
+            ],
+            "object_minus_gripper": [
+              0.005794956337356216,
+              0.005395997751958204,
+              0.0014141970239369694
+            ],
+            "object_to_gripper_xy": 0.007918226486467974,
+            "object_to_gripper_z": 0.0014141970239369694,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34330202246051783,
+              0.3364298101483278,
+              1.05642441792287
+            ],
+            "finger_b": [
+              0.3304360001992097,
+              0.361178568219256,
+              1.05642441792287
+            ],
+            "finger_midpoint": [
+              0.3368690113298638,
+              0.34880418918379186,
+              1.05642441792287
+            ],
+            "object_minus_finger_midpoint": [
+              0.006433011130654032,
+              0.012374379035464123,
+              0.0
+            ],
+            "finger_gap": 0.027893288706816365,
+            "fingertip_max_gap": 0.0918976748757335,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013946644353408193,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05642441792287,
+            "object_top_z": 1.1071984166098474,
+            "finger_top_clearance": 0.05077399868697752,
+            "fingertip_min_top_clearance": 0.015232199606093288,
+            "object_projection_between_fingers": 0.7872404059302633,
+            "object_to_finger_line_xy": 0.011415580128508792,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04844883743786675,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6872938381931344,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3442172498920196,
+              0.3593913929045316,
+              1.2451342326958224
+            ],
+            "held_position": [
+              0.35053611654295747,
+              0.3641820963561773,
+              1.246460446880147
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008039761151716424,
+            "max_held_gripper_dist": 0.008047588161677208,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013262141843246589,
+            "max_held_gripper_z_dist": 0.0014812306473448444,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09045903337371086,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35053611654295747,
+              0.3380995570031621,
+              1.246460446880147
+            ],
+            "held_grasp_finger_b": [
+              0.3400835626356493,
+              0.3641820963561773,
+              1.246460446880147
+            ],
+            "held_grasp_midpoint": [
+              0.3453098395893034,
+              0.3511408266796697,
+              1.246460446880147
+            ],
+            "held_grasp_object_position": [
+              0.35053611654295747,
+              0.3641820963561773,
+              1.246460446880147
+            ],
+            "held_grasp_finger_gap": 0.028099016749466015,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024835486241170133,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10505844936802586,
+              -0.9942902796237744,
+              0.018696578886589373
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038353465999209093,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0362043778440725,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3383510061011679,
+              -0.36471226614788754,
+              0.8515395624493822
+            ],
+            "target_position": [
+              0.3292033803687158,
+              -0.3677751186877291,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009646767449349735,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18583037395742757,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395624493822,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532924329324575,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696344677180677,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15478376729113139,
+            "release_required_pad_clearance": 0.05348172338590339,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9762793609865241,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008532583713531494,
+            "max_z_decrease": 0.008532583713531494,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501554862442269,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008532583713531494,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105680289149825,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008532583713531494,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00853264107724812,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1849033087491989,
+              -0.4240365624427795,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1849033087491989,
+              -0.4240365624427795,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18465206008654686,
+              -0.4226594291294451,
+              0.8032648196722856
+            ],
+            "closest_button": [
+              0.18491718173027039,
+              -0.4240085184574127,
+              0.7682762742042542
+            ],
+            "closest_ee_minus_button": [
+              -0.000265121643723526,
+              0.001349089327967623,
+              0.03498854546803143
+            ],
+            "button_min_z_position": [
+              0.18491718173027039,
+              -0.4240085184574127,
+              0.7682762742042542
+            ],
+            "min_active_finger_to_button": 0.1455525201021793,
+            "closest_active_finger": [
+              0.05783133953809738,
+              -0.48598796129226685,
+              0.8099443316459656
+            ],
+            "closest_active_finger_button": [
+              0.18490953743457794,
+              -0.4240390956401825,
+              0.7753176689147949
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12707819789648056,
+              -0.06194886565208435,
+              0.034626662731170654
+            ],
+            "min_contact_pad_to_button": 0.02105680289149825,
+            "closest_contact_pad": [
+              0.18491718173027039,
+              -0.4240085184574127,
+              0.7893330770957524
+            ],
+            "closest_contact_pad_button": [
+              0.18491718173027039,
+              -0.4240085184574127,
+              0.7682762742042542
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105680289149825
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "622984cf3e16d4195a31573e1e344b0ddc461563bbdb0bc5f553ec08f6dcac2f",
+    "visual_seed": 4732017588163131918,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_130_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_130_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0cac1282b0c34ef1d9732de7b29ed7d51ab9cd7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_130_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 130,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34678578043161257,
+              0.3554567376347963,
+              1.0562152162163816
+            ],
+            "current_z": 1.0562152162163816,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.19510852938768142,
+            "gripper_z": 1.054790000747055,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34099557502544275,
+              0.35021815885290974,
+              1.054790000747055
+            ],
+            "object_minus_gripper": [
+              0.005790205406169813,
+              0.005238578781886549,
+              0.0014252154693266128
+            ],
+            "object_to_gripper_xy": 0.007808276781702227,
+            "object_to_gripper_z": 0.0014252154693266128,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34678578043161257,
+              0.33057633209703424,
+              1.0562152162163816
+            ],
+            "finger_b": [
+              0.3342928309946074,
+              0.3554567376347963,
+              1.0562152162163816
+            ],
+            "finger_midpoint": [
+              0.34053930571311,
+              0.34301653486591527,
+              1.0562152162163816
+            ],
+            "object_minus_finger_midpoint": [
+              0.006246474718502593,
+              0.012440202768881026,
+              0.0
+            ],
+            "finger_gap": 0.0278407680454234,
+            "fingertip_max_gap": 0.09143719311937851,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0139203840227117,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0562152162163816,
+            "object_top_z": 1.1068264284550278,
+            "finger_top_clearance": 0.050611212238646175,
+            "fingertip_min_top_clearance": 0.015183363671593885,
+            "object_projection_between_fingers": 0.7986426251982623,
+            "object_to_finger_line_xy": 0.011164550052940833,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048218596559689256,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6429051670204059,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3479563124300396,
+              0.3532299869154886,
+              1.2458160390114927
+            ],
+            "held_position": [
+              0.3542319774836044,
+              0.3579606689565643,
+              1.247164419661995
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007973798017064371,
+            "max_held_gripper_dist": 0.007981912154031294,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013483806505023566,
+            "max_held_gripper_z_dist": 0.0015031329024162154,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08993119254151205,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3542319774836044,
+              0.3318789823385525,
+              1.247164419661995
+            ],
+            "held_grasp_finger_b": [
+              0.34388472188529956,
+              0.3579606689565643,
+              1.247164419661995
+            ],
+            "held_grasp_midpoint": [
+              0.349058349684452,
+              0.3449198256475584,
+              1.247164419661995
+            ],
+            "held_grasp_object_position": [
+              0.3542319774836044,
+              0.3579606689565643,
+              1.247164419661995
+            ],
+            "held_grasp_finger_gap": 0.02805922442365125,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02498642463153749,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09419280380503661,
+              -0.9953751085292424,
+              0.01887085137838151
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003930273931641249,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03625240073783462,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3323048098330613,
+              -0.36393038359183105,
+              0.8515396940119844
+            ],
+            "target_position": [
+              0.3238509981633322,
+              -0.36631045500297715,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008782463872365406,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18284148026815275,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396940119844,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521987314568002,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08701781953613812,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15197112798376222,
+            "release_required_pad_clearance": 0.05350890976806906,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0298142494319062,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008404195308685303,
+            "max_z_decrease": 0.008404195308685303,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035025257102669564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008404195308685303,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021169134948510783,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008404195308685303,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008404252973655742,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1795509308576583,
+              -0.42257192730903625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1795509308576583,
+              -0.42257192730903625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18046257843846242,
+              -0.42364929207457025,
+              0.8034006715478733
+            ],
+            "closest_button": [
+              0.1795567870140075,
+              -0.4225413501262665,
+              0.7684046626091003
+            ],
+            "closest_ee_minus_button": [
+              0.0009057914244549048,
+              -0.00110794194830377,
+              0.03499600893877297
+            ],
+            "button_min_z_position": [
+              0.1795567870140075,
+              -0.4225413501262665,
+              0.7684046626091003
+            ],
+            "min_active_finger_to_button": 0.14485400950955607,
+            "closest_active_finger": [
+              0.03973427414894104,
+              -0.4073237180709839,
+              0.8077880144119263
+            ],
+            "closest_active_finger_button": [
+              0.17956006526947016,
+              -0.4225779175758362,
+              0.7731651663780212
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13982579112052912,
+              0.015254199504852295,
+              0.03462284803390503
+            ],
+            "min_contact_pad_to_button": 0.021169134948510783,
+            "closest_contact_pad": [
+              0.1795567870140075,
+              -0.42484966478105296,
+              0.7894475701535144
+            ],
+            "closest_contact_pad_button": [
+              0.1795567870140075,
+              -0.4225413501262665,
+              0.7684046626091003
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002308314654786481,
+              0.02104290754441407
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 130,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa05a52b4243a7739b299998423df0173eda0c76eaa87ee8cf797b4749959907",
+    "visual_seed": 4108540376978629244,
+    "episode_index": 130,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_132_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_132_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..40fc0478e8750113fecdac61812822523cbd2ae6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_132_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 132,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3445377715658057,
+              0.35710839675025136,
+              1.054011626901283
+            ],
+            "current_z": 1.054011626901283,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.19290511888651674,
+            "gripper_z": 1.0524217208455822,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.338777082555637,
+              0.35198317343215385,
+              1.0524217208455822
+            ],
+            "object_minus_gripper": [
+              0.005760689010168685,
+              0.005125223318097505,
+              0.0015899060557007516
+            ],
+            "object_to_gripper_xy": 0.007710606456839089,
+            "object_to_gripper_z": 0.0015899060557007516,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3445377715658057,
+              0.33213569836005685,
+              1.054011626901283
+            ],
+            "finger_b": [
+              0.3323491430127939,
+              0.35710839675025136,
+              1.054011626901283
+            ],
+            "finger_midpoint": [
+              0.3384434572892998,
+              0.34462204755515413,
+              1.054011626901283
+            ],
+            "object_minus_finger_midpoint": [
+              0.006094314276505863,
+              0.012486349195097224,
+              0.0
+            ],
+            "finger_gap": 0.027788456792181122,
+            "fingertip_max_gap": 0.09179335994060964,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013894228396090525,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054011626901283,
+            "object_top_z": 1.10448077973501,
+            "finger_top_clearance": 0.050469152833727104,
+            "fingertip_min_top_clearance": 0.015140745850118164,
+            "object_projection_between_fingers": 0.8076107392878056,
+            "object_to_finger_line_xy": 0.010953574965347502,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04839667997030482,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8087956522392898,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34575384887221755,
+              0.354885188707811,
+              1.2400048679181486
+            ],
+            "held_position": [
+              0.3519831203640767,
+              0.3594632039663847,
+              1.2414483181229063
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007864197067764644,
+            "max_held_gripper_dist": 0.007872656443915197,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001443450204757779,
+            "max_held_gripper_z_dist": 0.0016045435159552923,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.090472660442661,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3519831203640767,
+              0.33332972678772016,
+              1.2414483181229063
+            ],
+            "held_grasp_finger_b": [
+              0.3421240543531014,
+              0.3598731667229845,
+              1.2414483181229063
+            ],
+            "held_grasp_midpoint": [
+              0.34705358735858904,
+              0.3466014467553523,
+              1.2414483181229063
+            ],
+            "held_grasp_object_position": [
+              0.3519831203640767,
+              0.3594632039663847,
+              1.2414483181229063
+            ],
+            "held_grasp_finger_gap": 0.02831528538096969,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025367578424035843,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10414846324945866,
+              -0.9943844905756751,
+              0.01877718044146248
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035716956511097466,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036417314890835606,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32950361793503846,
+              -0.367241130956602,
+              0.8515395799234794
+            ],
+            "target_position": [
+              0.3213772270436159,
+              -0.3692757623045815,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008377228279232743,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1835507343829363,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395799234794,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569812657985842,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850899807713391,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15139301860307602,
+            "release_required_pad_clearance": 0.05254499038566955,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1582587365584943,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008690416812896729,
+            "max_z_decrease": 0.008690416812896729,
+            "final_z_decrease": -5.960464477539063e-08,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509629761633938,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008690416812896729,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02097662879758,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008690416812896729,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 5.960464477539063e-08,
+            "button_max_displacement": 0.008690598637193871,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1770771592855453,
+              -0.42553722858428955,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1770771592855453,
+              -0.42553722858428955,
+              0.7768089175224304
+            ],
+            "closest_ee": [
+              0.1789101578761311,
+              -0.4236888841294585,
+              0.803122161594635
+            ],
+            "closest_button": [
+              0.17711073160171503,
+              -0.42549213767051697,
+              0.7681184411048889
+            ],
+            "closest_ee_minus_button": [
+              0.001799426274416066,
+              0.0018032535410584805,
+              0.03500372048974609
+            ],
+            "button_min_z_position": [
+              0.17711073160171503,
+              -0.42549213767051697,
+              0.7681184411048889
+            ],
+            "min_active_finger_to_button": 0.14345252395209196,
+            "closest_active_finger": [
+              0.052258193492889404,
+              -0.48729830980300903,
+              0.8111377954483032
+            ],
+            "closest_active_finger_button": [
+              0.1770818680524826,
+              -0.42553937435150146,
+              0.7767356038093567
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1248236745595932,
+              -0.06175893545150757,
+              0.03440219163894653
+            ],
+            "min_contact_pad_to_button": 0.02097662879758,
+            "closest_contact_pad": [
+              0.17711073160171503,
+              -0.42549213767051697,
+              0.7890950699024689
+            ],
+            "closest_contact_pad_button": [
+              0.17711073160171503,
+              -0.42549213767051697,
+              0.7681184411048889
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02097662879758
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 132,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "313b388a0de5bfec0fefbe72f413ddb1e36df65432ad64b232f601102a2ee51e",
+    "visual_seed": 7056695680439697540,
+    "episode_index": 132,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_136_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_136_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ea05bd5a6369ac3d1a8e2f0ba4451a9c261617f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_136_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 136,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3461141412207156,
+              0.35316208440350105,
+              1.019312654888366
+            ],
+            "current_z": 1.019312654888366,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.15820620647824468,
+            "gripper_z": 1.0545164745996467,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3394805120800428,
+              0.34729907206623956,
+              1.0545164745996467
+            ],
+            "object_minus_gripper": [
+              0.006633629140672781,
+              0.005863012337261497,
+              -0.035203819711280726
+            ],
+            "object_to_gripper_xy": 0.008853245124973307,
+            "object_to_gripper_z": -0.035203819711280726,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3461141412207156,
+              0.32721316498664454,
+              1.0409716366309696
+            ],
+            "finger_b": [
+              0.33330867279897824,
+              0.35316208440350105,
+              1.0410175697967
+            ],
+            "finger_midpoint": [
+              0.3397114070098469,
+              0.3401876246950728,
+              1.0409946032138349
+            ],
+            "object_minus_finger_midpoint": [
+              0.006402734210868677,
+              0.012974459708428254,
+              -0.02168194832546888
+            ],
+            "finger_gap": 0.028936629904989613,
+            "fingertip_max_gap": 0.0982842643582382,
+            "finger_z_skew": 4.593316573031636e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014468296724240083,
+            "object_to_finger_midpoint_z": 0.02168194832546888,
+            "finger_midpoint_minus_object_z": 0.02168194832546888,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.019312654888366,
+            "object_top_z": 1.0720158767583485,
+            "finger_top_clearance": 0.031021273544513672,
+            "fingertip_min_top_clearance": 0.0158109665609948,
+            "object_projection_between_fingers": 0.8041623749260045,
+            "object_to_finger_line_xy": 0.01148331674778448,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0516421321791191,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9159928702309443,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3470003342872612,
+              0.3462880734360493,
+              1.2094812524946152
+            ],
+            "held_position": [
+              0.3539016548203245,
+              0.35059607696552475,
+              1.1740895380678844
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.036314743143430354,
+            "max_held_gripper_dist": 0.03641793489083178,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.035391714426730836,
+            "max_held_gripper_z_dist": 0.03567995830170245,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09039018292260975,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3539016548203245,
+              0.323455781452776,
+              1.1960100602338426
+            ],
+            "held_grasp_finger_b": [
+              0.34538213146376867,
+              0.35530301801211533,
+              1.1955052185758894
+            ],
+            "held_grasp_midpoint": [
+              0.3496418931420466,
+              0.3393793997324457,
+              1.195757639404866
+            ],
+            "held_grasp_object_position": [
+              0.3539016548203245,
+              0.35059607696552475,
+              1.1740895380678844
+            ],
+            "held_grasp_finger_gap": 0.03297095115080889,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.030762124888211794,
+            "held_grasp_world_z_skew": 0.00050484165795317,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10592144992703487,
+              -0.9936693636481085,
+              0.037441183107880915
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.021436041989627973,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03731210205859027,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3317358376345495,
+              -0.36074543909344003,
+              0.8515395875474064
+            ],
+            "target_position": [
+              0.3220919550464154,
+              -0.36374722387432845,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010100256593002436,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18789813002248684,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395875474064,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758163776377341,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640344386460784,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1555910150217239,
+            "release_required_pad_clearance": 0.05320172193230392,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4259853225229089,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00850832462310791,
+            "max_z_decrease": 0.00850832462310791,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499062354950499,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00850832462310791,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020939470247872103,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00850832462310791,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008508462592653534,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.177791878581047,
+              -0.42000868916511536,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.177791878581047,
+              -0.42000868916511536,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17792460361928575,
+              -0.4201643931801204,
+              0.8036203339456363
+            ],
+            "closest_button": [
+              0.17782209813594815,
+              -0.41998395323753357,
+              0.76863032579422
+            ],
+            "closest_ee_minus_button": [
+              0.0001025054833375949,
+              -0.0001804399425868186,
+              0.034990008151416285
+            ],
+            "button_min_z_position": [
+              0.17782373726367948,
+              -0.41997218132019043,
+              0.7683005332946777
+            ],
+            "min_active_finger_to_button": 0.14564345715186877,
+            "closest_active_finger": [
+              0.03690354526042938,
+              -0.4064823389053345,
+              0.8106546401977539
+            ],
+            "closest_active_finger_button": [
+              0.1777939051389694,
+              -0.42001163959503174,
+              0.7763198018074036
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14089035987854,
+              0.013529300689697266,
+              0.03433483839035034
+            ],
+            "min_contact_pad_to_button": 0.020939470247872103,
+            "closest_contact_pad": [
+              0.17782373726367948,
+              -0.4211285460641237,
+              0.7892080495230706
+            ],
+            "closest_contact_pad_button": [
+              0.17782373726367948,
+              -0.41997218132019043,
+              0.7683005332946777
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011563647439332692,
+              0.02090751622839282
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 136,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2860fb1287831e7bc601d68ba926ad265785afdbb846aff97a6488a78aeabc6d",
+    "visual_seed": 5299087147285899046,
+    "episode_index": 136,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41256459fbdbee2a762b1e2597156f217c04b3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3477387817511581,
+              0.3539764908267577,
+              1.0552883527382222
+            ],
+            "current_z": 1.0552883527382222,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.19418178511881135,
+            "gripper_z": 1.0537455158735558,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34214011639262565,
+              0.3487415958666972,
+              1.0537455158735558
+            ],
+            "object_minus_gripper": [
+              0.005598665358532429,
+              0.005234894960060521,
+              0.001542836864666386
+            ],
+            "object_to_gripper_xy": 0.007664801304645678,
+            "object_to_gripper_z": 0.001542836864666386,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3477387817511581,
+              0.329318496780171,
+              1.0552883527382222
+            ],
+            "finger_b": [
+              0.33514504699288994,
+              0.3539764908267577,
+              1.0552883527382222
+            ],
+            "finger_midpoint": [
+              0.341441914372024,
+              0.3416474938034644,
+              1.0552883527382222
+            ],
+            "object_minus_finger_midpoint": [
+              0.006296867379134097,
+              0.01232899702329332,
+              0.0
+            ],
+            "finger_gap": 0.02768788228743968,
+            "fingertip_max_gap": 0.09110055418953919,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013843941143719828,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0552883527382222,
+            "object_top_z": 1.1057622049260338,
+            "finger_top_clearance": 0.05047385218781164,
+            "fingertip_min_top_clearance": 0.015142155656343458,
+            "object_projection_between_fingers": 0.7931147137625917,
+            "object_to_finger_line_xy": 0.011215600870801883,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480502770947696,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5801385809379013,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3491841635707835,
+              0.3514372889290935,
+              1.2436802859901215
+            ],
+            "held_position": [
+              0.3553527216937348,
+              0.3560216953390525,
+              1.2451151068183717
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007818350353948176,
+            "max_held_gripper_dist": 0.007826919072783165,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001434820828250194,
+            "max_held_gripper_z_dist": 0.0015960829573007373,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09045636655029476,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3553527216937348,
+              0.3298795561338593,
+              1.2451151068183717
+            ],
+            "held_grasp_finger_b": [
+              0.3454807674302098,
+              0.35639971882076615,
+              1.2451151068183717
+            ],
+            "held_grasp_midpoint": [
+              0.35041674456197225,
+              0.3431396374773127,
+              1.2451151068183717
+            ],
+            "held_grasp_object_position": [
+              0.3553527216937348,
+              0.3560216953390525,
+              1.2451151068183717
+            ],
+            "held_grasp_finger_gap": 0.028297959465677685,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025257207957181043,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.11085434100713587,
+              -0.9936423562939367,
+              0.019651535779858453
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003487117949740536,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03637291725027331,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33924100664724693,
+              -0.36328913995542345,
+              0.8515395708016466
+            ],
+            "target_position": [
+              0.33002821336530763,
+              -0.36598119090143466,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009598057009190235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18570854405734463,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395708016466,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580048794444806,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502557123246578,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15329859216138872,
+            "release_required_pad_clearance": 0.05251278561623289,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691328514745592,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008492767810821533,
+            "max_z_decrease": 0.008492767810821533,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03497631220326921,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008492767810821533,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02102554408289709,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008492767810821533,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008492825252768288,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18572813272476196,
+              -0.42224264144897455,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18572813272476196,
+              -0.42224264144897455,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18411085159946491,
+              -0.4218628928544572,
+              0.8036263866838749
+            ],
+            "closest_button": [
+              0.18574947118759155,
+              -0.4222298860549926,
+              0.7686904072761536
+            ],
+            "closest_ee_minus_button": [
+              -0.0016386195881266385,
+              0.00036699320053540374,
+              0.03493597940772131
+            ],
+            "button_min_z_position": [
+              0.1857483834028244,
+              -0.4222188591957092,
+              0.7683160901069641
+            ],
+            "min_active_finger_to_button": 0.14717223567465335,
+            "closest_active_finger": [
+              0.05735208839178085,
+              -0.48533979058265686,
+              0.8105396628379822
+            ],
+            "closest_active_finger_button": [
+              0.185733363032341,
+              -0.4222462475299835,
+              0.7759402394294739
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12838127464056015,
+              -0.06309354305267334,
+              0.0345994234085083
+            ],
+            "min_contact_pad_to_button": 0.02102554408289709,
+            "closest_contact_pad": [
+              0.18574947118759155,
+              -0.4229964546791616,
+              0.7897019725802019
+            ],
+            "closest_contact_pad_button": [
+              0.18574947118759155,
+              -0.4222298860549926,
+              0.7686904072761536
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007665686241689618,
+              0.021011565304048352
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c441d4c160f8e11a910c7f1aa6724d7871158ba0f7265a373034855a7e469423",
+    "visual_seed": 1066125054939047977,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_140_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_140_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ec138a754143ea1e5524f752ec03bef3954ae83
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_140_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 140,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3481122730826896,
+              0.3558456100508899,
+              1.019291321097799
+            ],
+            "current_z": 1.019291321097799,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.158184872687678,
+            "gripper_z": 1.0544603708701998,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3413787522645687,
+              0.34989414963017823,
+              1.0544603708701998
+            ],
+            "object_minus_gripper": [
+              0.006733520818120897,
+              0.005951460420711652,
+              -0.03516904977240087
+            ],
+            "object_to_gripper_xy": 0.008986666998802439,
+            "object_to_gripper_z": -0.03516904977240087,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3481122730826896,
+              0.3298293130576053,
+              1.0409157471737027
+            ],
+            "finger_b": [
+              0.33518439004673317,
+              0.3558456100508899,
+              1.0409615648587367
+            ],
+            "finger_midpoint": [
+              0.3416483315647114,
+              0.3428374615542476,
+              1.0409386560162197
+            ],
+            "object_minus_finger_midpoint": [
+              0.006463941517978189,
+              0.01300814849664228,
+              -0.021647334918420746
+            ],
+            "finger_gap": 0.029051333330751262,
+            "fingertip_max_gap": 0.09837549424699507,
+            "finger_z_skew": 4.581768503397754e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014525648600270454,
+            "object_to_finger_midpoint_z": 0.021647334918420746,
+            "finger_midpoint_minus_object_z": 0.021647334918420746,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.019291321097799,
+            "object_top_z": 1.0719042446934113,
+            "finger_top_clearance": 0.03096558867719157,
+            "fingertip_min_top_clearance": 0.015783877078683693,
+            "object_projection_between_fingers": 0.801973291097511,
+            "object_to_finger_line_xy": 0.011577302116190033,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05168774712349754,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.050290326523913,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 202,
+            "max_stable_success_frames": 202,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3488425311434259,
+              0.3494013740001741,
+              1.2100344890602754
+            ],
+            "held_position": [
+              0.35590028218437564,
+              0.3538356652687108,
+              1.1746979727603706
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0363062552878108,
+            "max_held_gripper_dist": 0.036410243721560875,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.03533651629990486,
+            "max_held_gripper_z_dist": 0.03563186620334147,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09059395537664083,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35590028218437564,
+              0.32664018875442197,
+              1.1965758443869317
+            ],
+            "held_grasp_finger_b": [
+              0.34706194373193966,
+              0.3581581880211512,
+              1.1960882161805875
+            ],
+            "held_grasp_midpoint": [
+              0.35148111295815765,
+              0.3423991883877866,
+              1.1963320302837595
+            ],
+            "held_grasp_object_position": [
+              0.35590028218437564,
+              0.3538356652687108,
+              1.1746979727603706
+            ],
+            "held_grasp_finger_gap": 0.03273741415635899,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.030486528704287225,
+            "held_grasp_world_z_skew": 0.0004876282063441817,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09895346680983,
+              -0.994484357612982,
+              0.03477173952235068
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.02145989191139668,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037157306777445,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3373465922705321,
+              -0.365623128073543,
+              0.8515395689006823
+            ],
+            "target_position": [
+              0.3282751337726755,
+              -0.368050311867828,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009390558047825204,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18842652717861616,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395689006823,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576358493287685,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08715069956268616,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15605228703293597,
+            "release_required_pad_clearance": 0.05357534978134308,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.161654518346715,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008564949035644531,
+            "max_z_decrease": 0.008564949035644531,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498973948104605,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008564949035644531,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020977108438427452,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008564949035644531,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008565084154333854,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1839750558137893,
+              -0.42431175708770746,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1839750558137893,
+              -0.42431175708770746,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18386594936798503,
+              -0.4243134933145947,
+              0.803233362732805
+            ],
+            "closest_button": [
+              0.18400083482265467,
+              -0.42427113652229304,
+              0.7682439088821411
+            ],
+            "closest_ee_minus_button": [
+              -0.00013488545466963653,
+              -4.235679230168987e-05,
+              0.034989453850663876
+            ],
+            "button_min_z_position": [
+              0.18400083482265467,
+              -0.42427113652229304,
+              0.7682439088821411
+            ],
+            "min_active_finger_to_button": 0.1459040703887566,
+            "closest_active_finger": [
+              0.04287565499544144,
+              -0.41053450107574463,
+              0.8103592991828918
+            ],
+            "closest_active_finger_button": [
+              0.18397878110408777,
+              -0.4243143200874328,
+              0.7758916020393372
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14110312610864634,
+              0.013779819011688177,
+              0.03446769714355469
+            ],
+            "min_contact_pad_to_button": 0.020977108438427452,
+            "closest_contact_pad": [
+              0.18400083482265467,
+              -0.4252822298183976,
+              0.7891966358832767
+            ],
+            "closest_contact_pad_button": [
+              0.18400083482265467,
+              -0.42427113652229304,
+              0.7682439088821411
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010110932961045482,
+              0.020952727001135596
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 140,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "be9327855e64d5694562c118ca371b8227c20796e5f3bb5abe765285f2c0886a",
+    "visual_seed": 3916773792490470367,
+    "episode_index": 140,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_142_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_142_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..185dcd9aeea96c66c5ed5cecd0bbd878b9fee852
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_142_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 142,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3492241391886642,
+              0.3613893109067293,
+              1.0550576768157978
+            ],
+            "current_z": 1.0550576768157978,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.19395116880103191,
+            "gripper_z": 1.0533259506258899,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3435713905646527,
+              0.35620671007508864,
+              1.0533259506258899
+            ],
+            "object_minus_gripper": [
+              0.005652748624011494,
+              0.005182600831640682,
+              0.0017317261899079117
+            ],
+            "object_to_gripper_xy": 0.007668958103053279,
+            "object_to_gripper_z": 0.0017317261899079117,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3492241391886642,
+              0.3366269590432038,
+              1.0550576768157978
+            ],
+            "finger_b": [
+              0.3367813129538137,
+              0.3613893109067293,
+              1.0550576768157978
+            ],
+            "finger_midpoint": [
+              0.34300272607123894,
+              0.3490081349749665,
+              1.0550576768157978
+            ],
+            "object_minus_finger_midpoint": [
+              0.006221413117425245,
+              0.0123811759317628,
+              0.0
+            ],
+            "finger_gap": 0.027712776737882666,
+            "fingertip_max_gap": 0.09101068389284553,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013856388368941357,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0550576768157978,
+            "object_top_z": 1.1054605982916503,
+            "finger_top_clearance": 0.05040292147585257,
+            "fingertip_min_top_clearance": 0.015120876442755737,
+            "object_projection_between_fingers": 0.7984058216106453,
+            "object_to_finger_line_xy": 0.011118107879204005,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048005341946422767,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5045429733154505,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35080929273520994,
+              0.3588753918155878,
+              1.2426519791717987
+            ],
+            "held_position": [
+              0.3570096350434833,
+              0.36341853262337065,
+              1.2442739446977136
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007855898758662999,
+            "max_held_gripper_dist": 0.007866688772042553,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0016219655259148702,
+            "max_held_gripper_z_dist": 0.0017903338392484258,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09025163912985157,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3570096350434833,
+              0.3372376898327809,
+              1.2442739446977136
+            ],
+            "held_grasp_finger_b": [
+              0.34723179700358514,
+              0.3640779586857276,
+              1.2442739446977136
+            ],
+            "held_grasp_midpoint": [
+              0.35212071602353423,
+              0.3506578242592543,
+              1.2442739446977136
+            ],
+            "held_grasp_object_position": [
+              0.3570096350434833,
+              0.36341853262337065,
+              1.2442739446977136
+            ],
+            "held_grasp_finger_gap": 0.0285658213400725,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02558786274403758,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1107609803697835,
+              -0.9936884692682783,
+              0.01775475347028921
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034532077271016244,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0364985798453793,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33423154290323925,
+              -0.36546400281695834,
+              0.8515396134857337
+            ],
+            "target_position": [
+              0.3250476436047968,
+              -0.3681175737865688,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009559573484977806,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18574818325903528,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396134857337,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583417433924888,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850616391496276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15346594498491178,
+            "release_required_pad_clearance": 0.0525308195748138,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1312212048048456,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008481204509735107,
+            "max_z_decrease": 0.008481204509735107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035034807737015866,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008481204509735107,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021235282683509975,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008481204509735107,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008481322536612152,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18074756860733035,
+              -0.42437902092933644,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18074756860733035,
+              -0.42437902092933644,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17999650695596667,
+              -0.42600895668643174,
+              0.8036822743068591
+            ],
+            "closest_button": [
+              0.18072350323200226,
+              -0.4243558049201965,
+              0.7686940431594849
+            ],
+            "closest_ee_minus_button": [
+              -0.0007269962760355908,
+              -0.0016531517662352613,
+              0.03498823114737426
+            ],
+            "button_min_z_position": [
+              0.18071237206459045,
+              -0.42435139417648304,
+              0.7683276534080505
+            ],
+            "min_active_finger_to_button": 0.1463936514285749,
+            "closest_active_finger": [
+              0.039333976805210114,
+              -0.4091744124889374,
+              0.8083757162094116
+            ],
+            "closest_active_finger_button": [
+              0.18075454235076904,
+              -0.4243842959403991,
+              0.7737349271774292
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14142056554555893,
+              0.015209883451461736,
+              0.03464078903198242
+            ],
+            "min_contact_pad_to_button": 0.021235282683509975,
+            "closest_contact_pad": [
+              0.18071237206459045,
+              -0.4272438504481334,
+              0.7893650231905393
+            ],
+            "closest_contact_pad_button": [
+              0.18071237206459045,
+              -0.42435139417648304,
+              0.7683276534080505
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028924562716503566,
+              0.021037369782488713
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 142,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d08b9708f3f4315386d3d3bb980dcc105c8085db5b2000eefd02a4c2ab2ed426",
+    "visual_seed": 4269377339202999233,
+    "episode_index": 142,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_144_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_144_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f52b1f242afe46c0a161bb7f23bac4cb5a2739
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_144_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 144,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3493250607165098,
+              0.35567145638107905,
+              1.0549346378054547
+            ],
+            "current_z": 1.0549346378054547,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19382812979068875,
+            "gripper_z": 1.053351370698301,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3436708817847436,
+              0.3503535493705717,
+              1.053351370698301
+            ],
+            "object_minus_gripper": [
+              0.005654178931766229,
+              0.005317907010507328,
+              0.0015832671071536186
+            ],
+            "object_to_gripper_xy": 0.0077620792552532,
+            "object_to_gripper_z": 0.0015832671071536186,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3493250607165098,
+              0.33100315225762156,
+              1.0549346378054547
+            ],
+            "finger_b": [
+              0.33658436658674784,
+              0.35567145638107905,
+              1.0549346378054547
+            ],
+            "finger_midpoint": [
+              0.34295471365162883,
+              0.3433373043193503,
+              1.0549346378054547
+            ],
+            "object_minus_finger_midpoint": [
+              0.006370347064880988,
+              0.012334152061728776,
+              0.0
+            ],
+            "finger_gap": 0.027764194842198133,
+            "fingertip_max_gap": 0.09148068314318045,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01388209742109909,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0549346378054547,
+            "object_top_z": 1.105687039873583,
+            "finger_top_clearance": 0.050752402068128255,
+            "fingertip_min_top_clearance": 0.015225720620438477,
+            "object_projection_between_fingers": 0.7894205378346915,
+            "object_to_finger_line_xy": 0.01132002276036595,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048240341571590226,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7814555588129863,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3506655442066427,
+              0.35359737479718506,
+              1.2415256424796837
+            ],
+            "held_position": [
+              0.3568922751781225,
+              0.3582674219787015,
+              1.242965332065934
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007915442209600977,
+            "max_held_gripper_dist": 0.007924648531641777,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014396895862502923,
+            "max_held_gripper_z_dist": 0.0016041049958073206,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0899007474854196,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3568922751781225,
+              0.3321487319950294,
+              1.242965332065934
+            ],
+            "held_grasp_finger_b": [
+              0.3468732724586584,
+              0.3582674219787015,
+              1.242965332065934
+            ],
+            "held_grasp_midpoint": [
+              0.35188277381839045,
+              0.34520807698686545,
+              1.242965332065934
+            ],
+            "held_grasp_object_position": [
+              0.3568922751781225,
+              0.3582674219787015,
+              1.242965332065934
+            ],
+            "held_grasp_finger_gap": 0.027974387963918,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024856609749178134,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10952999408039572,
+              -0.9936942118443721,
+              0.023979027164183868
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035633423585270003,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03619456388695162,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3331693949518777,
+              -0.36804339551239884,
+              0.8515395814289184
+            ],
+            "target_position": [
+              0.323719664420202,
+              -0.37100792561260343,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009903829856994858,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18656470211088033,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395814289184,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513327693822679,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08693682844751975,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1559210645850282,
+            "release_required_pad_clearance": 0.05346841422375988,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9499643664693451,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008469820022583008,
+            "max_z_decrease": 0.008469820022583008,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035054534503184416,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008469820022583008,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021050455290153702,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008469820022583008,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00846987761888813,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17941959202289573,
+              -0.4272693693637848,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17941959202289573,
+              -0.4272693693637848,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18060821498272428,
+              -0.4257819751532076,
+              0.8033420308654425
+            ],
+            "closest_button": [
+              0.1793978959321975,
+              -0.42724689841270447,
+              0.7683390378952026
+            ],
+            "closest_ee_minus_button": [
+              0.0012103190505267925,
+              0.0014649232594968753,
+              0.0350029929702399
+            ],
+            "button_min_z_position": [
+              0.1793978959321975,
+              -0.42724689841270447,
+              0.7683390378952026
+            ],
+            "min_active_finger_to_button": 0.1442469922014135,
+            "closest_active_finger": [
+              0.05342554301023483,
+              -0.48839128017425537,
+              0.809377908706665
+            ],
+            "closest_active_finger_button": [
+              0.17942777276039118,
+              -0.4272731840610504,
+              0.7748060822486877
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12600222975015635,
+              -0.061118096113204956,
+              0.034571826457977295
+            ],
+            "min_contact_pad_to_button": 0.021050455290153702,
+            "closest_contact_pad": [
+              0.1793978959321975,
+              -0.42724689841270447,
+              0.7893894931853563
+            ],
+            "closest_contact_pad_button": [
+              0.1793978959321975,
+              -0.42724689841270447,
+              0.7683390378952026
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021050455290153702
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 144,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43319401337b6f689daa572a9abbe878c0473f0d50bd85027cd3568b50bebb63",
+    "visual_seed": 4554257770766846882,
+    "episode_index": 144,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_146_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_146_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2459dd7279b07029b6edcca89978d8064f00d689
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_146_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 146,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3485966003447996,
+              0.355085446851924,
+              1.0541933822868796
+            ],
+            "current_z": 1.0541933822868796,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.1930867550628239,
+            "gripper_z": 1.0526295100254055,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3428803374117073,
+              0.34984544040823756,
+              1.0526295100254055
+            ],
+            "object_minus_gripper": [
+              0.005716262933092298,
+              0.00524000644368644,
+              0.0015638722614741418
+            ],
+            "object_to_gripper_xy": 0.007754568295535244,
+            "object_to_gripper_z": 0.0015638722614741418,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3485966003447996,
+              0.3302711166140185,
+              1.0541933822868796
+            ],
+            "finger_b": [
+              0.33608721804860636,
+              0.355085446851924,
+              1.0541933822868796
+            ],
+            "finger_midpoint": [
+              0.342341909196703,
+              0.3426782817329712,
+              1.0541933822868796
+            ],
+            "object_minus_finger_midpoint": [
+              0.006254691148096625,
+              0.01240716511895279,
+              0.0
+            ],
+            "finger_gap": 0.027789127920612146,
+            "fingertip_max_gap": 0.09146177368963729,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013894563960306097,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0541933822868796,
+            "object_top_z": 1.1049223578231357,
+            "finger_top_clearance": 0.050728975536256105,
+            "fingertip_min_top_clearance": 0.015218692660876797,
+            "object_projection_between_fingers": 0.7973615315922005,
+            "object_to_finger_line_xy": 0.011170265733301567,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048230886844818646,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7272973123777622,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34988716077710275,
+              0.3525255462841691,
+              1.2417820358429466
+            ],
+            "held_position": [
+              0.356139934610013,
+              0.35714444832468173,
+              1.2432136005643764
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007904480641827204,
+            "max_held_gripper_dist": 0.007914182021693262,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001431564721429801,
+            "max_held_gripper_z_dist": 0.00159336213685779,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09047418839655547,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.356139934610013,
+              0.330974289331539,
+              1.2432136005643764
+            ],
+            "held_grasp_finger_b": [
+              0.3462290106980531,
+              0.35748984330333033,
+              1.2432136005643764
+            ],
+            "held_grasp_midpoint": [
+              0.3511844726540331,
+              0.34423206631743464,
+              1.2432136005643764
+            ],
+            "held_grasp_object_position": [
+              0.356139934610013,
+              0.35714444832468173,
+              1.2432136005643764
+            ],
+            "held_grasp_finger_gap": 0.028307260821556667,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025306286835853762,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10619532422492499,
+              -0.9940874945360288,
+              0.022640810936090935
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035686928683999436,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03635796570291916,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3331917287792643,
+              -0.36172070543304,
+              0.8515396287423052
+            ],
+            "target_position": [
+              0.3243964502525629,
+              -0.36449189894517386,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00922152036509961,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1864771139028818,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396287423052,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587136440714917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15391694748719945,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00864642858505249,
+            "max_z_decrease": 0.00864642858505249,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035034606404019564,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00864642858505249,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020979289800013734,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00864642858505249,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008646561444920736,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18009637296199799,
+              -0.42075335979461664,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18009637296199799,
+              -0.42075335979461664,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18109110370908965,
+              -0.41943499440380333,
+              0.8031603126965363
+            ],
+            "closest_button": [
+              0.18012301623821259,
+              -0.42071351408958435,
+              0.7681624293327332
+            ],
+            "closest_ee_minus_button": [
+              0.0009680874708770659,
+              0.001278519685781021,
+              0.03499788336380316
+            ],
+            "button_min_z_position": [
+              0.18012301623821259,
+              -0.42071351408958435,
+              0.7681624293327332
+            ],
+            "min_active_finger_to_button": 0.1444147181340744,
+            "closest_active_finger": [
+              0.054716385900974274,
+              -0.4836008846759796,
+              0.810552179813385
+            ],
+            "closest_active_finger_button": [
+              0.18010103702545166,
+              -0.42075657844543457,
+              0.7761299014091492
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1253846511244774,
+              -0.06284430623054504,
+              0.03442227840423584
+            ],
+            "min_contact_pad_to_button": 0.020979289800013734,
+            "closest_contact_pad": [
+              0.18012301623821259,
+              -0.42071351408958435,
+              0.7891417191327469
+            ],
+            "closest_contact_pad_button": [
+              0.18012301623821259,
+              -0.42071351408958435,
+              0.7681624293327332
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020979289800013734
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 146,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e340627cb0e15d847f38a71e35ab341493c1fc8bf43b6d29771446a124504282",
+    "visual_seed": 8452522339809788185,
+    "episode_index": 146,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_147_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_147_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37e9fa27530f4a4f1a7d99953b2e21796e4db54b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_147_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 147,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34102136391297133,
+              0.3622124455156932,
+              1.0566569051786798
+            ],
+            "current_z": 1.0566569051786798,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.19555009914069,
+            "gripper_z": 1.0552547294392658,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3353893731599884,
+              0.35699256657303735,
+              1.0552547294392658
+            ],
+            "object_minus_gripper": [
+              0.005631990752982929,
+              0.005219878942655853,
+              0.0014021757394140355
+            ],
+            "object_to_gripper_xy": 0.007678961910158639,
+            "object_to_gripper_z": 0.0014021757394140355,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34102136391297133,
+              0.3374962099389113,
+              1.0566569051786798
+            ],
+            "finger_b": [
+              0.3284893829812718,
+              0.3622124455156932,
+              1.0566569051786798
+            ],
+            "finger_midpoint": [
+              0.3347553734471216,
+              0.34985432772730224,
+              1.0566569051786798
+            ],
+            "object_minus_finger_midpoint": [
+              0.006265990465849747,
+              0.012358117788390965,
+              0.0
+            ],
+            "finger_gap": 0.02771178173917119,
+            "fingertip_max_gap": 0.0910493932163062,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013855890869585583,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0566569051786798,
+            "object_top_z": 1.1071589868080083,
+            "finger_top_clearance": 0.050502081629328455,
+            "fingertip_min_top_clearance": 0.015150624488798569,
+            "object_projection_between_fingers": 0.7954918824318838,
+            "object_to_finger_line_xy": 0.011177317859493545,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0480246966081531,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6074887139471984,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 235,
+            "max_stable_success_frames": 235,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34253978228212156,
+              0.35967464321447246,
+              1.2444344951039696
+            ],
+            "held_position": [
+              0.34873024904113076,
+              0.36424983254415405,
+              1.2457246679086909
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007805048492025678,
+            "max_held_gripper_dist": 0.007813187399472891,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012901728047212124,
+            "max_held_gripper_z_dist": 0.0014478879908477182,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08998938270016688,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34873024904113076,
+              0.3380821245024591,
+              1.2457246679086909
+            ],
+            "held_grasp_finger_b": [
+              0.3388909896345472,
+              0.3647360666666058,
+              1.2457246679086909
+            ],
+            "held_grasp_midpoint": [
+              0.34381061933783896,
+              0.3514090955845325,
+              1.2457246679086909
+            ],
+            "held_grasp_object_position": [
+              0.34873024904113076,
+              0.36424983254415405,
+              1.2457246679086909
+            ],
+            "held_grasp_finger_gap": 0.02841203369278093,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025401587796297476,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.11022836539558997,
+              -0.9937049129271384,
+              0.020006336163443605
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003484124840277211,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03641806392716855,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3372759299064378,
+              -0.3678982215604366,
+              0.8515395889032009
+            ],
+            "target_position": [
+              0.3276550279513123,
+              -0.37068127006188895,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010015343897818668,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856311439489915,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395889032009,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752148359759003,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865660738001418,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15482453224159168,
+            "release_required_pad_clearance": 0.0532830369000709,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5850707710990308,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008584797382354736,
+            "max_z_decrease": 0.008584797382354736,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035006351030470687,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008584797382354736,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021093607412075555,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008584797382354736,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008584919702432216,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18335495889186854,
+              -0.42694273591041565,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18335495889186854,
+              -0.42694273591041565,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18254366092583388,
+              -0.42769341156464263,
+              0.803583652189475
+            ],
+            "closest_button": [
+              0.18333101272583002,
+              -0.4269022941589355,
+              0.7685950994491577
+            ],
+            "closest_ee_minus_button": [
+              -0.0007873517999961444,
+              -0.0007911174057071424,
+              0.034988552740317314
+            ],
+            "button_min_z_position": [
+              0.18332660198211664,
+              -0.42690673470497126,
+              0.7682240605354309
+            ],
+            "min_active_finger_to_button": 0.14653352248554283,
+            "closest_active_finger": [
+              0.04175523668527603,
+              -0.41205650568008423,
+              0.8087294101715088
+            ],
+            "closest_active_finger_button": [
+              0.18336284160614008,
+              -0.42694869637489313,
+              0.7741233110427856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14160760492086405,
+              0.014892190694808904,
+              0.034606099128723145
+            ],
+            "min_contact_pad_to_button": 0.021093607412075555,
+            "closest_contact_pad": [
+              0.18332660198211664,
+              -0.4288172588761707,
+              0.7892309682337579
+            ],
+            "closest_contact_pad_button": [
+              0.18332660198211664,
+              -0.42690673470497126,
+              0.7682240605354309
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001910524171199468,
+              0.021006907698327026
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 147,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8cd5e805616fa00352c11c834b2ec127d71b14283792c29d0086ec056a9be4a4",
+    "visual_seed": 3066219651291429152,
+    "episode_index": 147,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_148_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_148_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b5d5a2ef1242a27c07bedab8bdc205b3656723c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_148_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 148,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3426555130767431,
+              0.3590654451506825,
+              1.055500095287146
+            ],
+            "current_z": 1.055500095287146,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.19439334885380077,
+            "gripper_z": 1.054093564716047,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.336957890306655,
+              0.3537576362804834,
+              1.054093564716047
+            ],
+            "object_minus_gripper": [
+              0.005697622770088062,
+              0.005307808870199104,
+              0.0014065305710990739
+            ],
+            "object_to_gripper_xy": 0.00778689541683913,
+            "object_to_gripper_z": 0.0014065305710990739,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3426555130767431,
+              0.33433802922045797,
+              1.055500095287146
+            ],
+            "finger_b": [
+              0.32996241532100234,
+              0.3590654451506825,
+              1.055500095287146
+            ],
+            "finger_midpoint": [
+              0.3363089641988727,
+              0.34670173718557024,
+              1.055500095287146
+            ],
+            "object_minus_finger_midpoint": [
+              0.006346548877870395,
+              0.01236370796511227,
+              0.0
+            ],
+            "finger_gap": 0.02779496050047765,
+            "fingertip_max_gap": 0.09170697652961343,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013897480250238837,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.055500095287146,
+            "object_top_z": 1.1063557887171376,
+            "finger_top_clearance": 0.05085569342999152,
+            "fingertip_min_top_clearance": 0.015256708028997456,
+            "object_projection_between_fingers": 0.7914533935853129,
+            "object_to_finger_line_xy": 0.01129224514076237,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835348826480672,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8515491932579622,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.343878897434459,
+              0.3568466751876169,
+              1.242484319630261
+            ],
+            "held_position": [
+              0.3501305433416427,
+              0.36151916091065855,
+              1.2437616621686396
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007908653699662524,
+            "max_held_gripper_dist": 0.007916500844809198,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001277342538378523,
+            "max_held_gripper_z_dist": 0.0014393172356235162,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0899780623726229,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3501305433416427,
+              0.3353892912631753,
+              1.2437616621686396
+            ],
+            "held_grasp_finger_b": [
+              0.3400686632264041,
+              0.36151916091065855,
+              1.2437616621686396
+            ],
+            "held_grasp_midpoint": [
+              0.3450996032840234,
+              0.3484542260869169,
+              1.2437616621686396
+            ],
+            "held_grasp_object_position": [
+              0.3501305433416427,
+              0.36151916091065855,
+              1.2437616621686396
+            ],
+            "held_grasp_finger_gap": 0.02800020570009978,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02491610018539521,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10539857695653829,
+              -0.9941346199387038,
+              0.024238345959776697
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036402570073308283,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036201692131744026,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32995176295881423,
+              -0.36538193162590865,
+              0.8515395687193809
+            ],
+            "target_position": [
+              0.3212261804861132,
+              -0.36798851948131184,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009106595946666527,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18658954269914665,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395687193809,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535431466425083,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08658940570955757,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15524436173083092,
+            "release_required_pad_clearance": 0.05329470285477879,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6081118903991782,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008504092693328857,
+            "max_z_decrease": 0.008504092693328857,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505755168819337,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008504092693328857,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020889959201803365,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008504092693328857,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008504292945984438,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17692610621452332,
+              -0.4242499768733979,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17692610621452332,
+              -0.4242499768733979,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17551945564352456,
+              -0.42227933866237355,
+              0.8032777671048316
+            ],
+            "closest_button": [
+              0.17697934806346893,
+              -0.4242260754108429,
+              0.7683047652244568
+            ],
+            "closest_ee_minus_button": [
+              -0.0014598924199443752,
+              0.0019467367484693465,
+              0.03497300188037478
+            ],
+            "button_min_z_position": [
+              0.17697934806346893,
+              -0.4242260754108429,
+              0.7683047652244568
+            ],
+            "min_active_finger_to_button": 0.1461792867446425,
+            "closest_active_finger": [
+              0.04917626082897186,
+              -0.4864842891693115,
+              0.8105695843696594
+            ],
+            "closest_active_finger_button": [
+              0.17692860960960388,
+              -0.42425286769866943,
+              0.7762917280197144
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12775234878063202,
+              -0.06223142147064209,
+              0.03427785634994507
+            ],
+            "min_contact_pad_to_button": 0.020889959201803365,
+            "closest_contact_pad": [
+              0.17697934806346893,
+              -0.4242260754108429,
+              0.7891947244262602
+            ],
+            "closest_contact_pad_button": [
+              0.17697934806346893,
+              -0.4242260754108429,
+              0.7683047652244568
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020889959201803365
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 148,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "674e7ed9e0de8a2c1c8af1332dbe177acc1f450a678397e2f889cbf158d65631",
+    "visual_seed": 8391878251846164959,
+    "episode_index": 148,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_149_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_149_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f96e4ff6faa748f3e70c810eab224a4dcb8ac52
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_149_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 149,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34599749541163205,
+              0.3614341747961977,
+              1.0558192047361423
+            ],
+            "current_z": 1.0558192047361423,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19471275632602114,
+            "gripper_z": 1.055400876243815,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3401111005946142,
+              0.35618324287223047,
+              1.055400876243815
+            ],
+            "object_minus_gripper": [
+              0.005886394817017859,
+              0.00525093192396725,
+              0.0004183284923273689
+            ],
+            "object_to_gripper_xy": 0.007888087855237993,
+            "object_to_gripper_z": 0.0004183284923273689,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34599749541163205,
+              0.3363931520586784,
+              1.0558192047361423
+            ],
+            "finger_b": [
+              0.33362096636583816,
+              0.3614341747961977,
+              1.0558192047361423
+            ],
+            "finger_midpoint": [
+              0.3398092308887351,
+              0.34891366342743807,
+              1.0558192047361423
+            ],
+            "object_minus_finger_midpoint": [
+              0.006188264522896947,
+              0.012520511368759646,
+              0.0
+            ],
+            "finger_gap": 0.027932620553079834,
+            "fingertip_max_gap": 0.09155064257522363,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013966310276539917,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0558192047361423,
+            "object_top_z": 1.1061086587998517,
+            "finger_top_clearance": 0.05028945406370933,
+            "fingertip_min_top_clearance": 0.015086836219112797,
+            "object_projection_between_fingers": 0.8036755600605952,
+            "object_to_finger_line_xy": 0.011095305027265745,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827532128761182,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6283466612927812,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34688930892006803,
+              0.3598204140862017,
+              1.2426805583740603
+            ],
+            "held_position": [
+              0.3531869574652069,
+              0.36457331998660103,
+              1.2429816980548325
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007895642899946535,
+            "max_held_gripper_dist": 0.007899969672395134,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0003011396807721667,
+            "max_held_gripper_z_dist": 0.0004613842763889764,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09005680233049346,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3531869574652069,
+              0.3385083406185791,
+              1.2429816980548325
+            ],
+            "held_grasp_finger_b": [
+              0.34283542238014586,
+              0.36457331998660103,
+              1.2429816980548325
+            ],
+            "held_grasp_midpoint": [
+              0.3480111899226764,
+              0.3515408303025901,
+              1.2429816980548325
+            ],
+            "held_grasp_object_position": [
+              0.3531869574652069,
+              0.36457331998660103,
+              1.2429816980548325
+            ],
+            "held_grasp_finger_gap": 0.02804527461218126,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02524964472763163,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07201070592132028,
+              -0.9973177307927771,
+              0.013107329211515695
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004227403468114965,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03635000635743469,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33185955628454616,
+              -0.3649291160324873,
+              0.851539568780828
+            ],
+            "target_position": [
+              0.32301540589770944,
+              -0.36772508110212837,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009275581746480232,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18452431596516256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539568780828,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528676501495137,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08541395260447869,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15352987913598565,
+            "release_required_pad_clearance": 0.05270697630223935,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.46813595451467604,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008556783199310303,
+            "max_z_decrease": 0.008556783199310303,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509381261692986,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008556783199310303,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021049384126507142,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008556783199310303,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008556831700994685,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17871533334255213,
+              -0.423986554145813,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17871533334255213,
+              -0.423986554145813,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1768170585510079,
+              -0.42168807852020734,
+              0.8032214415062842
+            ],
+            "closest_button": [
+              0.17869286239147184,
+              -0.42396852374076843,
+              0.7682520747184753
+            ],
+            "closest_ee_minus_button": [
+              -0.00187580384046393,
+              0.0022804452205610892,
+              0.03496936678780882
+            ],
+            "button_min_z_position": [
+              0.17869286239147184,
+              -0.42396852374076843,
+              0.7682520747184753
+            ],
+            "min_active_finger_to_button": 0.1466747968027575,
+            "closest_active_finger": [
+              0.04889983683824539,
+              -0.48280423879623413,
+              0.8085013031959534
+            ],
+            "closest_active_finger_button": [
+              0.17872315645217893,
+              -0.42399072647094727,
+              0.7738549113273621
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12982331961393354,
+              -0.058813512325286865,
+              0.03464639186859131
+            ],
+            "min_contact_pad_to_button": 0.021049384126507142,
+            "closest_contact_pad": [
+              0.17869286239147184,
+              -0.42396852374076843,
+              0.7893014588449825
+            ],
+            "closest_contact_pad_button": [
+              0.17869286239147184,
+              -0.42396852374076843,
+              0.7682520747184753
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021049384126507142
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 149,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3294224c4a02e4753533d7e2573e47504a34b654508060175769444805cdaaf",
+    "visual_seed": 3130307290201262383,
+    "episode_index": 149,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..edc16a689d0a973c932a71571ea3f41acb01189d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3408396780778602,
+              0.35308305063417894,
+              1.0528406105048589
+            ],
+            "current_z": 1.0528406105048589,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.1917339236761585,
+            "gripper_z": 1.0516085133013104,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33511160880896995,
+              0.34787646882574197,
+              1.0516085133013104
+            ],
+            "object_minus_gripper": [
+              0.005728069268890246,
+              0.005206581808436972,
+              0.0012320972035484434
+            ],
+            "object_to_gripper_xy": 0.007740753947591387,
+            "object_to_gripper_z": 0.0012320972035484434,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3408396780778602,
+              0.3282271884154131,
+              1.0528406105048589
+            ],
+            "finger_b": [
+              0.3284193241074711,
+              0.35308305063417894,
+              1.0528406105048589
+            ],
+            "finger_midpoint": [
+              0.33462950109266565,
+              0.340655119524796,
+              1.0528406105048589
+            ],
+            "object_minus_finger_midpoint": [
+              0.006210176985194549,
+              0.01242793110938295,
+              0.0
+            ],
+            "finger_gap": 0.027786311007185382,
+            "fingertip_max_gap": 0.09149277770119438,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013893155503592715,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0528406105048589,
+            "object_top_z": 1.103412643777993,
+            "finger_top_clearance": 0.05057203327313409,
+            "fingertip_min_top_clearance": 0.015171609981940226,
+            "object_projection_between_fingers": 0.8001950876948581,
+            "object_to_finger_line_xy": 0.01111045676111737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824638885059719,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6590597176999866,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34194454551096415,
+              0.3508318502237394,
+              1.2418300983420527
+            ],
+            "held_position": [
+              0.34816720973773,
+              0.3554536102034891,
+              1.2429626764832729
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007833578277866194,
+            "max_held_gripper_dist": 0.007844377774630679,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011325781412201419,
+            "max_held_gripper_z_dist": 0.0012875821322824166,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09009031432985737,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34816720973773,
+              0.32932716453153377,
+              1.2429626764832729
+            ],
+            "held_grasp_finger_b": [
+              0.33815051266951734,
+              0.3556300076931562,
+              1.2429626764832729
+            ],
+            "held_grasp_midpoint": [
+              0.3431588612036237,
+              0.342478586112345,
+              1.2429626764832729
+            ],
+            "held_grasp_object_position": [
+              0.34816720973773,
+              0.3554536102034891,
+              1.2429626764832729
+            ],
+            "held_grasp_finger_gap": 0.028145581865387858,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025119552744475897,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10353888631127789,
+              -0.9944427012209975,
+              0.019063394495892446
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036467471491910407,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036298773235010115,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3355784853658026,
+              -0.3657895084581787,
+              0.8515396093274298
+            ],
+            "target_position": [
+              0.32651537677479114,
+              -0.368575099791512,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009481532387162267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18545721727736575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396093274298,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572272796659353,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852733629051075,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1534846194240663,
+            "release_required_pad_clearance": 0.05263668145255375,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.33337804840290475,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00850677490234375,
+            "max_z_decrease": 0.00850677490234375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035005224160391486,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00850677490234375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020927380126797807,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00850677490234375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008506893614304081,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1822153031826019,
+              -0.42483654618263245,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1822153031826019,
+              -0.42483654618263245,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18209460589691745,
+              -0.4238793432441203,
+              0.8032947500612646
+            ],
+            "closest_button": [
+              0.1822467595338821,
+              -0.4248044490814209,
+              0.7683020830154419
+            ],
+            "closest_ee_minus_button": [
+              -0.00015215363696466366,
+              0.0009251058373005994,
+              0.03499266704582271
+            ],
+            "button_min_z_position": [
+              0.1822467595338821,
+              -0.4248044490814209,
+              0.7683020830154419
+            ],
+            "min_active_finger_to_button": 0.14549783714600725,
+            "closest_active_finger": [
+              0.05626043677330017,
+              -0.48907485604286194,
+              0.8103680610656738
+            ],
+            "closest_active_finger_button": [
+              0.182218000292778,
+              -0.4248403310775757,
+              0.7760425806045532
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12595756351947782,
+              -0.06423452496528625,
+              0.034325480461120605
+            ],
+            "min_contact_pad_to_button": 0.020927380126797807,
+            "closest_contact_pad": [
+              0.1822467595338821,
+              -0.4248345752719624,
+              0.7892294414580198
+            ],
+            "closest_contact_pad_button": [
+              0.1822467595338821,
+              -0.4248044490814209,
+              0.7683020830154419
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -3.0126190541490683e-05,
+              0.02092735844257787
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b7e492d3978e5d08d1e6340baf4561d78794a9d0e8a9d3c8be8d4af8b43c11c0",
+    "visual_seed": 91695724709712411,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_150_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_150_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07bacc9b4d9d419cab44d9ad94687dea3c52dff8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_150_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 150,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3443463097093863,
+              0.35648732879895356,
+              1.0556589534490453
+            ],
+            "current_z": 1.0556589534490453,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.19455256464356863,
+            "gripper_z": 1.054175047095471,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33870111558065985,
+              0.3512312031031638,
+              1.054175047095471
+            ],
+            "object_minus_gripper": [
+              0.0056451941287264384,
+              0.0052561256957897595,
+              0.0014839063535743158
+            ],
+            "object_to_gripper_xy": 0.0077133050037548,
+            "object_to_gripper_z": 0.0014839063535743158,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3443463097093863,
+              0.3317604161851296,
+              1.0556589534490453
+            ],
+            "finger_b": [
+              0.33177609482188203,
+              0.35648732879895356,
+              1.0556589534490453
+            ],
+            "finger_midpoint": [
+              0.3380612022656342,
+              0.34412387249204157,
+              1.0556589534490453
+            ],
+            "object_minus_finger_midpoint": [
+              0.006285107443752103,
+              0.01236345630691199,
+              0.0
+            ],
+            "finger_gap": 0.027738610450592532,
+            "fingertip_max_gap": 0.09116760074141836,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013869305225296254,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0556589534490453,
+            "object_top_z": 1.1062238985695094,
+            "finger_top_clearance": 0.050564945120464166,
+            "fingertip_min_top_clearance": 0.015169483536139216,
+            "object_projection_between_fingers": 0.7946399313259125,
+            "object_to_finger_line_xy": 0.011205413681912371,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808380037070918,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6254731903590549,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3455835452928603,
+              0.354612663079559,
+              1.2435472113475137
+            ],
+            "held_position": [
+              0.35175586180742774,
+              0.3592741772379958,
+              1.244917956692765
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007855326104423495,
+            "max_held_gripper_dist": 0.007863369770382461,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013707453452513896,
+            "max_held_gripper_z_dist": 0.0015306332848741278,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08982394977394181,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35175586180742774,
+              0.33319980920245373,
+              1.244917956692765
+            ],
+            "held_grasp_finger_b": [
+              0.3416766616103366,
+              0.3592741772379958,
+              1.244917956692765
+            ],
+            "held_grasp_midpoint": [
+              0.34671626170888215,
+              0.3462369932202248,
+              1.244917956692765
+            ],
+            "held_grasp_object_position": [
+              0.35175586180742774,
+              0.3592741772379958,
+              1.244917956692765
+            ],
+            "held_grasp_finger_gap": 0.027954658736352705,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024900033188020407,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10238988437436772,
+              -0.994541508942368,
+              0.020087273793159773
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036879188254939337,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036238225333318594,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33659449339694186,
+              -0.3603414916906649,
+              0.8515396065112528
+            ],
+            "target_position": [
+              0.32781346976767534,
+              -0.3629953806137937,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009173303788387424,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1867906669829262,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396065112528,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751971787159387,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671465365527013,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1559281535429026,
+            "release_required_pad_clearance": 0.05335732682763507,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7309430239489536,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008668363094329834,
+            "max_z_decrease": 0.008668363094329834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499598005424319,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008668363094329834,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02104245413983737,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008668363094329834,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008668540046118303,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18351340293884277,
+              -0.4192568361759186,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18351340293884277,
+              -0.4192568361759186,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18329792595670938,
+              -0.4197048231275967,
+              0.8035073773412785
+            ],
+            "closest_button": [
+              0.1834833025932312,
+              -0.41920849680900574,
+              0.768515408039093
+            ],
+            "closest_ee_minus_button": [
+              -0.00018537663652182235,
+              -0.0004963263185909783,
+              0.03499196930218551
+            ],
+            "button_min_z_position": [
+              0.18348009884357452,
+              -0.41921257972717285,
+              0.7681404948234558
+            ],
+            "min_active_finger_to_button": 0.14597136728223326,
+            "closest_active_finger": [
+              0.04239407181739807,
+              -0.4051966369152069,
+              0.8083315491676331
+            ],
+            "closest_active_finger_button": [
+              0.18351978063583374,
+              -0.4192622601985931,
+              0.7737869024276733
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14112570881843567,
+              0.014065623283386175,
+              0.03454464673995972
+            ],
+            "min_contact_pad_to_button": 0.02104245413983737,
+            "closest_contact_pad": [
+              0.18348009884357452,
+              -0.42072861933377276,
+              0.7891282650751614
+            ],
+            "closest_contact_pad_button": [
+              0.18348009884357452,
+              -0.41921257972717285,
+              0.7681404948234558
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001516039606599906,
+              0.020987770251705617
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 150,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af01a158c55ae0751a90d4a8f3891e26009a7ab3eb74f797a1352ca198446e21",
+    "visual_seed": 3313235728018443948,
+    "episode_index": 150,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_151_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_151_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b8ca899e2ad3eb36411e52ffa233da861d07bf7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_151_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 151,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3485674350669219,
+              0.35889125621488277,
+              1.0565707359667895
+            ],
+            "current_z": 1.0565707359667895,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.19546428755666811,
+            "gripper_z": 1.054936928041444,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3428741551447785,
+              0.3536523960982077,
+              1.054936928041444
+            ],
+            "object_minus_gripper": [
+              0.005693279922143413,
+              0.00523886011667507,
+              0.0016338079253455096
+            ],
+            "object_to_gripper_xy": 0.00773686574744386,
+            "object_to_gripper_z": 0.0016338079253455096,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3485674350669219,
+              0.33412050356527223,
+              1.0565707359667895
+            ],
+            "finger_b": [
+              0.3360249843282052,
+              0.35889125621488277,
+              1.0565707359667895
+            ],
+            "finger_midpoint": [
+              0.3422962096975636,
+              0.34650587989007753,
+              1.0565707359667895
+            ],
+            "object_minus_finger_midpoint": [
+              0.006271225369358313,
+              0.012385376324805242,
+              0.0
+            ],
+            "finger_gap": 0.027765144648665568,
+            "fingertip_max_gap": 0.09121632965231766,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013882572324332746,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0565707359667895,
+            "object_top_z": 1.1071110458074154,
+            "finger_top_clearance": 0.05054030984062585,
+            "fingertip_min_top_clearance": 0.015162092952187721,
+            "object_projection_between_fingers": 0.7959366898103506,
+            "object_to_finger_line_xy": 0.011189783046334967,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810816482615883,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5969867375858643,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 235,
+            "max_stable_success_frames": 235,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35003691904795486,
+              0.3565207107827073,
+              1.24341101833637
+            ],
+            "held_position": [
+              0.3562740627911803,
+              0.36113247852842917,
+              1.244915277940406
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007901465735575338,
+            "max_held_gripper_dist": 0.007911627056669463,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015042596040359957,
+            "max_held_gripper_z_dist": 0.0016683038256823934,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0899422177333552,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3562740627911803,
+              0.33497748700413615,
+              1.244915277940406
+            ],
+            "held_grasp_finger_b": [
+              0.34636061529701173,
+              0.36145550885744143,
+              1.244915277940406
+            ],
+            "held_grasp_midpoint": [
+              0.351317339044096,
+              0.3482164979307888,
+              1.244915277940406
+            ],
+            "held_grasp_object_position": [
+              0.3562740627911803,
+              0.36113247852842917,
+              1.244915277940406
+            ],
+            "held_grasp_finger_gap": 0.02827299210348542,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025276888207799456,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10566718534030552,
+              -0.9941986772037145,
+              0.02008572101374262
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035739915046008575,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03635543619826831,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.339369845412694,
+              -0.3668981495972392,
+              0.8515396090739517
+            ],
+            "target_position": [
+              0.3299489372874014,
+              -0.3697536286881525,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00984414906143986,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18477558085644097,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396090739517,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529933220909674,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863972585199713,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15378244976464278,
+            "release_required_pad_clearance": 0.053198629259985655,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.419934749408075,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008533895015716553,
+            "max_z_decrease": 0.008533895015716553,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.034954624548799704,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008533895015716553,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02099379310165151,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008533895015716553,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00853395225773556,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1856488585472107,
+              -0.4260150790214538,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1856488585472107,
+              -0.4260150790214538,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.184032989791839,
+              -0.4251741476660061,
+              0.8035748649146164
+            ],
+            "closest_button": [
+              0.1856800615787506,
+              -0.4259997904300689,
+              0.7686688303947449
+            ],
+            "closest_ee_minus_button": [
+              -0.0016470717869116192,
+              0.0008256427640628283,
+              0.03490603451987151
+            ],
+            "button_min_z_position": [
+              0.1856694519519806,
+              -0.42599156498908985,
+              0.7682749629020691
+            ],
+            "min_active_finger_to_button": 0.14698871700080926,
+            "closest_active_finger": [
+              0.057098597288131714,
+              -0.4883091151714325,
+              0.8105899095535278
+            ],
+            "closest_active_finger_button": [
+              0.1856539100408554,
+              -0.4260186553001403,
+              0.775961697101593
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285553127527237,
+              -0.06229045987129217,
+              0.034628212451934814
+            ],
+            "min_contact_pad_to_button": 0.02099379310165151,
+            "closest_contact_pad": [
+              0.1856800615787506,
+              -0.42634176106811306,
+              0.7896598381094228
+            ],
+            "closest_contact_pad_button": [
+              0.1856800615787506,
+              -0.4259997904300689,
+              0.7686688303947449
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003419706380441423,
+              0.02099100771467788
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 151,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e2004c3c805ddf93c2dd2093442400588876db38df8da29997535d748192d7c",
+    "visual_seed": 8414877968509248691,
+    "episode_index": 151,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_152_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_152_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08018f9b220666e34b6d8a320bbdafa59b19f637
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_152_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 152,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3466333324449831,
+              0.35027999606164434,
+              1.054840441869891
+            ],
+            "current_z": 1.054840441869891,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.19373375504119061,
+            "gripper_z": 1.0534110904019995,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.341027050055843,
+              0.3450731330525597,
+              1.0534110904019995
+            ],
+            "object_minus_gripper": [
+              0.005606282389140127,
+              0.005206863009084628,
+              0.00142935146789136
+            ],
+            "object_to_gripper_xy": 0.0076512629429497814,
+            "object_to_gripper_z": 0.00142935146789136,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3466333324449831,
+              0.3255431867212734,
+              1.054840441869891
+            ],
+            "finger_b": [
+              0.3341833710977876,
+              0.35027999606164434,
+              1.054840441869891
+            ],
+            "finger_midpoint": [
+              0.3404083517713854,
+              0.3379115913914589,
+              1.054840441869891
+            ],
+            "object_minus_finger_midpoint": [
+              0.006224980673597724,
+              0.012368404670185462,
+              0.0
+            ],
+            "finger_gap": 0.02769316294482312,
+            "fingertip_max_gap": 0.09099439244984728,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013846581472411548,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054840441869891,
+            "object_top_z": 1.1052401478944067,
+            "finger_top_clearance": 0.05039970602451582,
+            "fingertip_min_top_clearance": 0.015119911807354745,
+            "object_projection_between_fingers": 0.7978885656997231,
+            "object_to_finger_line_xy": 0.011120879213189874,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799719622492364,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5136278662136378,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34784290704562826,
+              0.34844771779736367,
+              1.2443397201825583
+            ],
+            "held_position": [
+              0.3539425583181087,
+              0.3530827936966488,
+              1.2456731787412854
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007776103520777538,
+            "max_held_gripper_dist": 0.0077897568876554146,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013334585587270187,
+            "max_held_gripper_z_dist": 0.0014919147927505705,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08984780467702724,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3539425583181087,
+              0.32705141851346486,
+              1.2456731787412854
+            ],
+            "held_grasp_finger_b": [
+              0.3438811536959676,
+              0.3530827936966488,
+              1.2456731787412854
+            ],
+            "held_grasp_midpoint": [
+              0.34891185600703817,
+              0.34006710610505686,
+              1.2456731787412854
+            ],
+            "held_grasp_object_position": [
+              0.3539425583181087,
+              0.3530827936966488,
+              1.2456731787412854
+            ],
+            "held_grasp_finger_gap": 0.027908141408881513,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024927293418004978,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09711790866303441,
+              -0.9951236079857192,
+              0.01723707186279588
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003749836349027255,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03627946078597764,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33596164286814084,
+              -0.36911296922089626,
+              0.8515395980853802
+            ],
+            "target_position": [
+              0.32726791384105003,
+              -0.371831097772288,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009108740155387703,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18583591721476364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395980853802,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563855561874498,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549751517418723,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15388999632656508,
+            "release_required_pad_clearance": 0.05274875758709362,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5482248297807188,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008704960346221924,
+            "max_z_decrease": 0.008704960346221924,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504433372156612,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008704960346221924,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021365580451403857,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008704960346221924,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008705210884809767,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18296784162521362,
+              -0.42809256911277765,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18296784162521362,
+              -0.42809256911277765,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18389495449424467,
+              -0.42969188427530075,
+              0.8030958885979632
+            ],
+            "closest_button": [
+              0.18293455243110657,
+              -0.4280355274677276,
+              0.7681038975715637
+            ],
+            "closest_ee_minus_button": [
+              0.0009604020631381049,
+              -0.001656356807573145,
+              0.034991991026399494
+            ],
+            "button_min_z_position": [
+              0.18293455243110657,
+              -0.4280355274677276,
+              0.7681038975715637
+            ],
+            "min_active_finger_to_button": 0.14484039016559266,
+            "closest_active_finger": [
+              0.043364018201828,
+              -0.41179630160331726,
+              0.807811439037323
+            ],
+            "closest_active_finger_button": [
+              0.18298164010047913,
+              -0.4280955791473388,
+              0.7728830575942993
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13961762189865112,
+              0.01629927754402155,
+              0.03492838144302368
+            ],
+            "min_contact_pad_to_button": 0.021365580451403857,
+            "closest_contact_pad": [
+              0.18293455243110657,
+              -0.4310364660423706,
+              0.7892576772739391
+            ],
+            "closest_contact_pad_button": [
+              0.18293455243110657,
+              -0.4280355274677276,
+              0.7681038975715637
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030009385746430084,
+              0.02115377970237542
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 152,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d213ce5d5edbbbef5b7029e20415497577e272486805044045b3ceb97f20a880",
+    "visual_seed": 7578275235084630330,
+    "episode_index": 152,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_154_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_154_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e293af57040c9635e5bdbcd95c33b01b0c36359d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_154_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 154,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3428195798538313,
+              0.35391759669218326,
+              1.0555895829076887
+            ],
+            "current_z": 1.0555895829076887,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.1944830748929225,
+            "gripper_z": 1.0543892607231231,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33713878979598433,
+              0.3487272013747586,
+              1.0543892607231231
+            ],
+            "object_minus_gripper": [
+              0.005680790057846996,
+              0.005190395317424656,
+              0.001200322184565561
+            ],
+            "object_to_gripper_xy": 0.007694906057417275,
+            "object_to_gripper_z": 0.001200322184565561,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3428195798538313,
+              0.3290594346248704,
+              1.0555895829076887
+            ],
+            "finger_b": [
+              0.3304808977303453,
+              0.35391759669218326,
+              1.0555895829076887
+            ],
+            "finger_midpoint": [
+              0.33665023879208833,
+              0.34148851565852684,
+              1.0555895829076887
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061693410617429945,
+              0.01242908103365642,
+              0.0
+            ],
+            "finger_gap": 0.027751960253452817,
+            "fingertip_max_gap": 0.09116119456275443,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013875980126726396,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0555895829076887,
+            "object_top_z": 1.1060113855569085,
+            "finger_top_clearance": 0.050421802649219805,
+            "fingertip_min_top_clearance": 0.015126540794765941,
+            "object_projection_between_fingers": 0.8023256943517285,
+            "object_to_finger_line_xy": 0.011052082704122184,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048080597281377216,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5367257793243898,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34386603685242656,
+              0.3520822648918608,
+              1.2421739700130885
+            ],
+            "held_position": [
+              0.3500021150202422,
+              0.3567453977476068,
+              1.2432423943893496
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007780603701491959,
+            "max_held_gripper_dist": 0.007788212425298694,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00106842437626109,
+            "max_held_gripper_z_dist": 0.0012288919864114067,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08986912945251124,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3500021150202422,
+              0.3307341774226333,
+              1.2432423943893496
+            ],
+            "held_grasp_finger_b": [
+              0.33990436855967865,
+              0.3567453977476068,
+              1.2432423943893496
+            ],
+            "held_grasp_midpoint": [
+              0.34495324178996045,
+              0.34373978758512,
+              1.2432423943893496
+            ],
+            "held_grasp_object_position": [
+              0.3500021150202422,
+              0.3567453977476068,
+              1.2432423943893496
+            ],
+            "held_grasp_finger_gap": 0.027902474198108988,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02495124485963121,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09329879257928886,
+              -0.9954685742795869,
+              0.018375334691192343
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038211959796072216,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036302520087737086,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3370232977146959,
+              -0.3688586120450003,
+              0.8515395667427402
+            ],
+            "target_position": [
+              0.3286548093859116,
+              -0.3713434069223502,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008729593489476122,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18374801626414497,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395667427402,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533859707250969,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555937835094811,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1525552220875475,
+            "release_required_pad_clearance": 0.05277968917547406,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6078048881438168,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008671343326568604,
+            "max_z_decrease": 0.008671343326568604,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035034474486806876,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008671343326568604,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020969096647706076,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008671343326568604,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008671492319129474,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1843547374010085,
+              -0.427604854106903,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1843547374010085,
+              -0.427604854106903,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18540302759111899,
+              -0.4265227079060854,
+              0.803139902980027
+            ],
+            "closest_button": [
+              0.18432457745075215,
+              -0.42756393551826477,
+              0.768137514591217
+            ],
+            "closest_ee_minus_button": [
+              0.0010784501403668378,
+              0.0010412276121793962,
+              0.03500238838880998
+            ],
+            "button_min_z_position": [
+              0.18432457745075215,
+              -0.42756393551826477,
+              0.768137514591217
+            ],
+            "min_active_finger_to_button": 0.14450432712356737,
+            "closest_active_finger": [
+              0.05953659117221832,
+              -0.4917650818824768,
+              0.8108455538749695
+            ],
+            "closest_active_finger_button": [
+              0.18435841798782343,
+              -0.42760688066482544,
+              0.7764255404472351
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12482182681560511,
+              -0.06415820121765137,
+              0.034420013427734375
+            ],
+            "min_contact_pad_to_button": 0.020969096647706076,
+            "closest_contact_pad": [
+              0.18432457745075215,
+              -0.42756393551826477,
+              0.7891066112389231
+            ],
+            "closest_contact_pad_button": [
+              0.18432457745075215,
+              -0.42756393551826477,
+              0.768137514591217
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020969096647706076
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 154,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "36a2ae6fb82d3cb7aff1d215bf659b897c053620839f60322f5f82b5a9c33cd6",
+    "visual_seed": 8628636218656285396,
+    "episode_index": 154,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_155_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_155_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..794542bbf9d3ef9ea5ea06273deba19e5ce47721
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_155_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 155,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34633710126706957,
+              0.3537223948395186,
+              1.0542702617411068
+            ],
+            "current_z": 1.0542702617411068,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.19316357491240677,
+            "gripper_z": 1.0528678911590008,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34070654961764457,
+              0.34855337361449934,
+              1.0528678911590008
+            ],
+            "object_minus_gripper": [
+              0.005630551649424997,
+              0.005169021225019277,
+              0.0014023705821060162
+            ],
+            "object_to_gripper_xy": 0.007643421504898336,
+            "object_to_gripper_z": 0.0014023705821060162,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34633710126706957,
+              0.32890407811183553,
+              1.0542702617411068
+            ],
+            "finger_b": [
+              0.3340259632055801,
+              0.3537223948395186,
+              1.0542702617411068
+            ],
+            "finger_midpoint": [
+              0.34018153223632486,
+              0.3413132364756771,
+              1.0542702617411068
+            ],
+            "object_minus_finger_midpoint": [
+              0.006155569030744712,
+              0.012409158363841544,
+              0.0
+            ],
+            "finger_gap": 0.027704024356844784,
+            "fingertip_max_gap": 0.09067079363003142,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01385201217842238,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0542702617411068,
+            "object_top_z": 1.104490925833461,
+            "finger_top_clearance": 0.05022066409235415,
+            "fingertip_min_top_clearance": 0.015066199227706245,
+            "object_projection_between_fingers": 0.8025256547196551,
+            "object_to_finger_line_xy": 0.011028784834748742,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04783539681501571,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.36856699173368845,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3474624554895289,
+              0.3521134157202499,
+              1.2441895673096413
+            ],
+            "held_position": [
+              0.3535394961831094,
+              0.3567601709018732,
+              1.2455113632606172
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007763369232839084,
+            "max_held_gripper_dist": 0.007775853223695373,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013217959509759236,
+            "max_held_gripper_z_dist": 0.0014735262358511747,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08990118378874473,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3535394961831094,
+              0.3307642582384795,
+              1.2455113632606172
+            ],
+            "held_grasp_finger_b": [
+              0.3434000055770123,
+              0.3567601709018732,
+              1.2455113632606172
+            ],
+            "held_grasp_midpoint": [
+              0.3484697508800608,
+              0.3437622145701763,
+              1.2455113632606172
+            ],
+            "held_grasp_object_position": [
+              0.3535394961831094,
+              0.3567601709018732,
+              1.2455113632606172
+            ],
+            "held_grasp_finger_gap": 0.027903346483064074,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024972218879154563,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0902504295717965,
+              -0.995822404744705,
+              0.01387797429667947
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003880328484926319,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036319047247678315,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3380202714981868,
+              -0.36379760189165533,
+              0.8515395742504608
+            ],
+            "target_position": [
+              0.3292897550289325,
+              -0.3666024949915648,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009170024161464384,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1839138628099051,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395742504608,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557105741315691,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507358783490425,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217224643659788,
+            "release_required_pad_clearance": 0.052536793917452126,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14265249759704574,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00841456651687622,
+            "max_z_decrease": 0.00841456651687622,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501198909419902,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00841456651687622,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021217378200609087,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00841456651687622,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008414600079544561,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18498967587947845,
+              -0.4228639602661133,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18498967587947845,
+              -0.4228639602661133,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18392464089305635,
+              -0.42330262333434976,
+              0.8072527458210226
+            ],
+            "closest_button": [
+              0.18497799336910248,
+              -0.42286399006843567,
+              0.7722593545913696
+            ],
+            "closest_ee_minus_button": [
+              -0.0010533524760461266,
+              -0.00043863326591409013,
+              0.03499339122965295
+            ],
+            "button_min_z_position": [
+              0.18497590720653537,
+              -0.4228445887565613,
+              0.7683942914009094
+            ],
+            "min_active_finger_to_button": 0.14724906940731852,
+            "closest_active_finger": [
+              0.042979948222637177,
+              -0.40569183230400085,
+              0.8081230521202087
+            ],
+            "closest_active_finger_button": [
+              0.18500003218650818,
+              -0.42286697030067444,
+              0.7732289433479309
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.142020083963871,
+              0.017175137996673584,
+              0.03489410877227783
+            ],
+            "min_contact_pad_to_button": 0.021217378200609087,
+            "closest_contact_pad": [
+              0.18497590720653537,
+              -0.4245826232930766,
+              0.7895403636995081
+            ],
+            "closest_contact_pad_button": [
+              0.18497590720653537,
+              -0.4228445887565613,
+              0.7683942914009094
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017380345365153316,
+              0.02114607229859866
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 155,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1742aacf7733d6648307097585ca2841146558f5363e4b32d103d78aa0ad1a1e",
+    "visual_seed": 4200594575126294023,
+    "episode_index": 155,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_159_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_159_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2230797e00c0ee578514a5b1de5120bd01f41680
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_159_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 159,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.349623048514735,
+              0.35531551177175347,
+              1.0545224795826802
+            ],
+            "current_z": 1.0545224795826802,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.19341597156791435,
+            "gripper_z": 1.0528837358824246,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34404284221951326,
+              0.35005875693529676,
+              1.0528837358824246
+            ],
+            "object_minus_gripper": [
+              0.005580206295221768,
+              0.005256754836456712,
+              0.0016387437002556293
+            ],
+            "object_to_gripper_xy": 0.007666301175132874,
+            "object_to_gripper_z": 0.0016387437002556293,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.349623048514735,
+              0.33067627110366193,
+              1.0545224795826802
+            ],
+            "finger_b": [
+              0.33699975622118294,
+              0.35531551177175347,
+              1.0545224795826802
+            ],
+            "finger_midpoint": [
+              0.343311402367959,
+              0.3429958914377077,
+              1.0545224795826802
+            ],
+            "object_minus_finger_midpoint": [
+              0.00631164614677604,
+              0.012319620334045767,
+              0.0
+            ],
+            "finger_gap": 0.027684647171827694,
+            "fingertip_max_gap": 0.09136792222001192,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013842323585913847,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0545224795826802,
+            "object_top_z": 1.1051068214673534,
+            "finger_top_clearance": 0.0505843418846732,
+            "fingertip_min_top_clearance": 0.015175302565401992,
+            "object_projection_between_fingers": 0.7920938716907862,
+            "object_to_finger_line_xy": 0.011234686680818605,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818396111000596,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6797968198762997,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35101997892476955,
+              0.3532259593552462,
+              1.243479249377133
+            ],
+            "held_position": [
+              0.3571488950969317,
+              0.3578515379417419,
+              1.2450177954616128
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00783113751375283,
+            "max_held_gripper_dist": 0.007842835194002109,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001538546084479897,
+            "max_held_gripper_z_dist": 0.0016998997704078533,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08989916080636728,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3571488950969317,
+              0.3317658426903479,
+              1.2450177954616128
+            ],
+            "held_grasp_finger_b": [
+              0.3471630746313066,
+              0.35788989835363727,
+              1.2450177954616128
+            ],
+            "held_grasp_midpoint": [
+              0.35215598486411914,
+              0.3448278705219926,
+              1.2450177954616128
+            ],
+            "held_grasp_object_position": [
+              0.3571488950969317,
+              0.3578515379417419,
+              1.2450177954616128
+            ],
+            "held_grasp_finger_gap": 0.027967532867064587,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024918272514805048,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10560025513098667,
+              -0.994209246773477,
+              0.01991380793284003
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003599427727734063,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036244746900046705,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33342687349232014,
+              -0.36712028430727306,
+              0.8515396400660816
+            ],
+            "target_position": [
+              0.3247369818901242,
+              -0.3697350645078592,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009074761239575025,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18531109985984442,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396400660816,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530952582297466,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08669557621992434,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15427462669390382,
+            "release_required_pad_clearance": 0.05334778810996217,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.712302958315423,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008389174938201904,
+            "max_z_decrease": 0.008389174938201904,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505341250800345,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008389174938201904,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021021911651989078,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008389174938201904,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008389191448190439,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.180436909198761,
+              -0.42599651217460627,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.180436909198761,
+              -0.42599651217460627,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17990534241053138,
+              -0.4239917854623084,
+              0.8034126625978258
+            ],
+            "closest_button": [
+              0.18043099343776703,
+              -0.42598095536231995,
+              0.7684196829795837
+            ],
+            "closest_ee_minus_button": [
+              -0.0005256510272356463,
+              0.0019891699000115226,
+              0.034992979618242104
+            ],
+            "button_min_z_position": [
+              0.18043099343776703,
+              -0.42598095536231995,
+              0.7684196829795837
+            ],
+            "min_active_finger_to_button": 0.14550959401904773,
+            "closest_active_finger": [
+              0.05283057689666748,
+              -0.48679599165916443,
+              0.810599148273468
+            ],
+            "closest_active_finger_button": [
+              0.18044209480285645,
+              -0.42599985003471375,
+              0.776071310043335
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12761151790618896,
+              -0.060796141624450684,
+              0.03452783823013306
+            ],
+            "min_contact_pad_to_button": 0.021021911651989078,
+            "closest_contact_pad": [
+              0.18043099343776703,
+              -0.42598095536231995,
+              0.7894415946315728
+            ],
+            "closest_contact_pad_button": [
+              0.18043099343776703,
+              -0.42598095536231995,
+              0.7684196829795837
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021021911651989078
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 159,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41c2d4065871aacd2c1321e6b5edb05d985d336aa6b62f4b7af3ddc32936c171",
+    "visual_seed": 2486115663652544172,
+    "episode_index": 159,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d33c4e4332cffef55e9eff48f93989b85aa9e64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34561427466265804,
+              0.35155155951147693,
+              1.055672177333055
+            ],
+            "current_z": 1.055672177333055,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.19456555010899956,
+            "gripper_z": 1.0543378412980937,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3398612524458645,
+              0.34631295176112087,
+              1.0543378412980937
+            ],
+            "object_minus_gripper": [
+              0.005753022216793524,
+              0.005238607750356061,
+              0.0013343360349613587
+            ],
+            "object_to_gripper_xy": 0.007780763188081904,
+            "object_to_gripper_z": 0.0013343360349613587,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34561427466265804,
+              0.3266986571076362,
+              1.055672177333055
+            ],
+            "finger_b": [
+              0.3331237078127303,
+              0.35155155951147693,
+              1.055672177333055
+            ],
+            "finger_midpoint": [
+              0.33936899123769415,
+              0.33912510830955656,
+              1.055672177333055
+            ],
+            "object_minus_finger_midpoint": [
+              0.006245283424963888,
+              0.012426451201920374,
+              0.0
+            ],
+            "finger_gap": 0.027815122112393224,
+            "fingertip_max_gap": 0.09158109740563788,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013907561056196624,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.055672177333055,
+            "object_top_z": 1.1063721989549047,
+            "finger_top_clearance": 0.05070002162184961,
+            "fingertip_min_top_clearance": 0.015210006486554883,
+            "object_projection_between_fingers": 0.7983480832835509,
+            "object_to_finger_line_xy": 0.011160362253149666,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048290548702818945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6956636501329181,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3468095682550838,
+              0.3494009009114472,
+              1.2425373012558394
+            ],
+            "held_position": [
+              0.35306845360763417,
+              0.35405093966382717,
+              1.2437267372372038
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007887411756005219,
+            "max_held_gripper_dist": 0.00789905365837622,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011894359813644506,
+            "max_held_gripper_z_dist": 0.0013522656660882593,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09003159023498686,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35306845360763417,
+              0.3279345253270654,
+              1.2437267372372038
+            ],
+            "held_grasp_finger_b": [
+              0.3430448211247076,
+              0.35411979919719844,
+              1.2437267372372038
+            ],
+            "held_grasp_midpoint": [
+              0.3480566373661709,
+              0.3410271622621319,
+              1.2437267372372038
+            ],
+            "held_grasp_object_position": [
+              0.35306845360763417,
+              0.35405093966382717,
+              1.2437267372372038
+            ],
+            "held_grasp_finger_gap": 0.02803821991151815,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025020406715595172,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10195310681201979,
+              -0.9945417152377147,
+              0.02218875083012106
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036697322986689123,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036256589917550756,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33447641263054595,
+              -0.3626876602078054,
+              0.8515395746882093
+            ],
+            "target_position": [
+              0.32570148826480955,
+              -0.36563769989262573,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00925753918524838,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18305536965918284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395746882093,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579146005161022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520831775098663,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15091765571027704,
+            "release_required_pad_clearance": 0.052604158875493315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.27124185605055084,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008625805377960205,
+            "max_z_decrease": 0.008625805377960205,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500868210730909,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008625805377960205,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021110655380779005,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008625805377960205,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008625957262523822,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1814014166593551,
+              -0.4218991696834564,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1814014166593551,
+              -0.4218991696834564,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1805954962147913,
+              -0.42084603064287346,
+              0.803168422384271
+            ],
+            "closest_button": [
+              0.1813595443964004,
+              -0.4218697249889373,
+              0.7681830525398254
+            ],
+            "closest_ee_minus_button": [
+              -0.000764048181609106,
+              0.0010236943460638637,
+              0.03498536984444556
+            ],
+            "button_min_z_position": [
+              0.1813595443964004,
+              -0.4218697249889373,
+              0.7681830525398254
+            ],
+            "min_active_finger_to_button": 0.14625005564124127,
+            "closest_active_finger": [
+              0.05282308906316757,
+              -0.4822865128517151,
+              0.8075029253959656
+            ],
+            "closest_active_finger_button": [
+              0.181412324309349,
+              -0.42190423607826233,
+              0.7727485299110413
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12858923524618143,
+              -0.06038227677345276,
+              0.034754395484924316
+            ],
+            "min_contact_pad_to_button": 0.021110655380779005,
+            "closest_contact_pad": [
+              0.1813595443964004,
+              -0.42217845917931823,
+              0.7892914502479819
+            ],
+            "closest_contact_pad_button": [
+              0.1813595443964004,
+              -0.4218697249889373,
+              0.7681830525398254
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00030873419038091043,
+              0.021108397708156423
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "04e218cbf2183a89ff1bf2727be21f426490e69697f86489cf564313bd3b7585",
+    "visual_seed": 8011520320663511421,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_160_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_160_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..afbd45c3a1b1fc7f444a22ad01f1f25c75ec3391
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_160_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 160,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3409171943077704,
+              0.35775734652709285,
+              1.053581970396607
+            ],
+            "current_z": 1.053581970396607,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.19247534317255122,
+            "gripper_z": 1.0522141762783779,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3352536952513885,
+              0.35248455661440725,
+              1.0522141762783779
+            ],
+            "object_minus_gripper": [
+              0.005663499056381915,
+              0.005272789912685594,
+              0.001367794118229071
+            ],
+            "object_to_gripper_xy": 0.0077380575744147705,
+            "object_to_gripper_z": 0.001367794118229071,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3409171943077704,
+              0.33302657715574707,
+              1.053581970396607
+            ],
+            "finger_b": [
+              0.32830846607016106,
+              0.35775734652709285,
+              1.053581970396607
+            ],
+            "finger_midpoint": [
+              0.3346128301889657,
+              0.34539196184141996,
+              1.053581970396607
+            ],
+            "object_minus_finger_midpoint": [
+              0.006304364118804695,
+              0.012365384685672887,
+              0.0
+            ],
+            "finger_gap": 0.027759520555452343,
+            "fingertip_max_gap": 0.09134280485807508,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013879760277726184,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.053581970396607,
+            "object_top_z": 1.1041966126261804,
+            "finger_top_clearance": 0.05061464222957346,
+            "fingertip_min_top_clearance": 0.01518439266887207,
+            "object_projection_between_fingers": 0.7936907755306126,
+            "object_to_finger_line_xy": 0.011233030825852853,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048171402429037544,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6960723729417039,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3420818722167098,
+              0.35557869536750736,
+              1.2404276181646647
+            ],
+            "held_position": [
+              0.34828580983350804,
+              0.3602340554706613,
+              1.2416552219115236
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007852912237027936,
+            "max_held_gripper_dist": 0.007860655827410351,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012276037468588186,
+            "max_held_gripper_z_dist": 0.001386936586985854,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09001424672491826,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34828580983350804,
+              0.33413258236772975,
+              1.2416552219115236
+            ],
+            "held_grasp_finger_b": [
+              0.3382783284451162,
+              0.3602340554706613,
+              1.2416552219115236
+            ],
+            "held_grasp_midpoint": [
+              0.34328206913931214,
+              0.3471833189191955,
+              1.2416552219115236
+            ],
+            "held_grasp_object_position": [
+              0.34828580983350804,
+              0.3602340554706613,
+              1.2416552219115236
+            ],
+            "held_grasp_finger_gap": 0.027954187197664467,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02486294372949972,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10789878702615849,
+              -0.9939185704265997,
+              0.021993797294421746
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035783809742482024,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036208983102350864,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32903041345108525,
+              -0.36629168135225465,
+              0.8515395682958918
+            ],
+            "target_position": [
+              0.32088674269319895,
+              -0.3686957137608015,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008491097999328243,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18464823508792522,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395682958918,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757445012996062,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535651351485916,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15243988425851157,
+            "release_required_pad_clearance": 0.052678256757429584,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4130676291476208,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008657872676849365,
+            "max_z_decrease": 0.008657872676849365,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035002033090288834,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008657872676849365,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021137342355815138,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008657872676849365,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008658013270184645,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1765866726636886,
+              -0.42495718598365784,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1765866726636886,
+              -0.42495718598365784,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.176949077623727,
+              -0.42564559389295,
+              0.8031434230341198
+            ],
+            "closest_button": [
+              0.17659169435501093,
+              -0.4249081015586853,
+              0.7681509852409363
+            ],
+            "closest_ee_minus_button": [
+              0.00035738326871606607,
+              -0.0007374923342646778,
+              0.034992437793183506
+            ],
+            "button_min_z_position": [
+              0.17659169435501093,
+              -0.4249081015586853,
+              0.7681509852409363
+            ],
+            "min_active_finger_to_button": 0.14541473087353224,
+            "closest_active_finger": [
+              0.03637433052062988,
+              -0.4080967605113983,
+              0.8078750967979431
+            ],
+            "closest_active_finger_button": [
+              0.17659500241279596,
+              -0.4249626100063324,
+              0.7732463479042053
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14022067189216608,
+              0.016865849494934082,
+              0.03462874889373779
+            ],
+            "min_contact_pad_to_button": 0.021137342355815138,
+            "closest_contact_pad": [
+              0.17659169435501093,
+              -0.4269551663601658,
+              0.789188969164437
+            ],
+            "closest_contact_pad_button": [
+              0.17659169435501093,
+              -0.4249081015586853,
+              0.7681509852409363
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020470648014804804,
+              0.021037983923500758
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 160,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c89f4c1ab869a6c2a3ba73b56c8e4e3935a41bef46abb4f8eb195bac2deb636",
+    "visual_seed": 3281618193194915462,
+    "episode_index": 160,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba62699db39b8a1e42ad4271e0d85db9f9b8b73d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34626124349290016,
+              0.35372146939644084,
+              1.0538369079333447
+            ],
+            "current_z": 1.0538369079333447,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.192730340313934,
+            "gripper_z": 1.0523334541532539,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34062148367946676,
+              0.3485618204777028,
+              1.0523334541532539
+            ],
+            "object_minus_gripper": [
+              0.005639759813433398,
+              0.005159648918738047,
+              0.0015034537800908687
+            ],
+            "object_to_gripper_xy": 0.0076438777932311954,
+            "object_to_gripper_z": 0.0015034537800908687,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34626124349290016,
+              0.32895925099817397,
+              1.0538369079333447
+            ],
+            "finger_b": [
+              0.33386314550865687,
+              0.35372146939644084,
+              1.0538369079333447
+            ],
+            "finger_midpoint": [
+              0.3400621945007785,
+              0.3413403601973074,
+              1.0538369079333447
+            ],
+            "object_minus_finger_midpoint": [
+              0.006199048992121647,
+              0.012381109199133433,
+              0.0
+            ],
+            "finger_gap": 0.027692603590676768,
+            "fingertip_max_gap": 0.09141530504707937,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013846301795338384,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0538369079333447,
+            "object_top_z": 1.1044320923200353,
+            "finger_top_clearance": 0.05059518438669053,
+            "fingertip_min_top_clearance": 0.015178555316007158,
+            "object_projection_between_fingers": 0.7995608507564711,
+            "object_to_finger_line_xy": 0.011086151903474463,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04820765252353969,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.60364540007983,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3476394138016999,
+              0.35131631148364156,
+              1.2411352032847307
+            ],
+            "held_position": [
+              0.3538057498220674,
+              0.3558615369033942,
+              1.2425090295547156
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007782684154746912,
+            "max_held_gripper_dist": 0.007791125306180645,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013738262699849457,
+            "max_held_gripper_z_dist": 0.0015322748830579602,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08959606406389953,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3538057498220674,
+              0.32974751096950855,
+              1.2425090295547156
+            ],
+            "held_grasp_finger_b": [
+              0.3439979435280637,
+              0.3563330264292834,
+              1.2425090295547156
+            ],
+            "held_grasp_midpoint": [
+              0.3489018466750655,
+              0.34304026869939597,
+              1.2425090295547156
+            ],
+            "held_grasp_object_position": [
+              0.3538057498220674,
+              0.3558615369033942,
+              1.2425090295547156
+            ],
+            "held_grasp_finger_gap": 0.02833694931644241,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025374569051912498,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10726775565659229,
+              -0.9940236239154229,
+              0.020264838870506674
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035103264184919215,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036449575902228935,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3343520151319866,
+              -0.36311806956131604,
+              0.8515395806692498
+            ],
+            "target_position": [
+              0.325627131711375,
+              -0.36576981525638336,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009118955309385585,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18696372219945825,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395806692498,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758438975387061,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504135242240034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15443911048978787,
+            "release_required_pad_clearance": 0.05252067621120017,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11190581904339705,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008460938930511475,
+            "max_z_decrease": 0.008460938930511475,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503683034789625,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008460938930511475,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021160331057029216,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008460938930511475,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008461018744160156,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18132705986499786,
+              -0.42203128337860113,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18132705986499786,
+              -0.42203128337860113,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18192895783261173,
+              -0.4235569817836545,
+              0.8037105108710018
+            ],
+            "closest_button": [
+              0.18131175637245178,
+              -0.42200586199760437,
+              0.7687134742736816
+            ],
+            "closest_ee_minus_button": [
+              0.0006172014601599496,
+              -0.0015511197860501036,
+              0.03499703659732012
+            ],
+            "button_min_z_position": [
+              0.1813023239374161,
+              -0.42200410366058355,
+              0.7683479189872742
+            ],
+            "min_active_finger_to_button": 0.14509522873860586,
+            "closest_active_finger": [
+              0.0410531610250473,
+              -0.4085400402545929,
+              0.8081874251365662
+            ],
+            "closest_active_finger_button": [
+              0.18133379518985748,
+              -0.4220373034477234,
+              0.7736650705337524
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14028063416481018,
+              0.013497263193130493,
+              0.03452235460281372
+            ],
+            "min_contact_pad_to_button": 0.021160331057029216,
+            "closest_contact_pad": [
+              0.1813023239374161,
+              -0.424629025475575,
+              0.7893448091357761
+            ],
+            "closest_contact_pad_button": [
+              0.1813023239374161,
+              -0.42200410366058355,
+              0.7683479189872742
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026249218149914655,
+              0.020996890148501923
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eff25cef316b306cdc7e1a21eabd09a8bb7cb252543cc3ed4ec0dab808c4f79c",
+    "visual_seed": 3305014008578156100,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..67d208d732b2061482ddc3e4cb2c261129003b6a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3480760311335354,
+              0.3549796421563399,
+              1.0538072770356592
+            ],
+            "current_z": 1.0538072770356592,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19270076902089328,
+            "gripper_z": 1.0523106230261334,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3423635102503998,
+              0.34979847445973455,
+              1.0523106230261334
+            ],
+            "object_minus_gripper": [
+              0.005712520883135619,
+              0.005181167696605371,
+              0.0014966540095258107
+            ],
+            "object_to_gripper_xy": 0.007712158811941541,
+            "object_to_gripper_z": 0.0014966540095258107,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3480760311335354,
+              0.3301497101019596,
+              1.0538072770356592
+            ],
+            "finger_b": [
+              0.3356683275742066,
+              0.3549796421563399,
+              1.0538072770356592
+            ],
+            "finger_midpoint": [
+              0.34187217935387104,
+              0.34256467612914976,
+              1.0538072770356592
+            ],
+            "object_minus_finger_midpoint": [
+              0.006203851779664371,
+              0.012414966027190166,
+              0.0
+            ],
+            "finger_gap": 0.02775746086084468,
+            "fingertip_max_gap": 0.09149333675072,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013878730430422329,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0538072770356592,
+            "object_top_z": 1.1045073895416282,
+            "finger_top_clearance": 0.05070011250596895,
+            "fingertip_min_top_clearance": 0.015210033751790718,
+            "object_projection_between_fingers": 0.800187181629948,
+            "object_to_finger_line_xy": 0.011099085679108913,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824666837536,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6449574529197856,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3493365881581394,
+              0.35256840325426375,
+              1.240222703514537
+            ],
+            "held_position": [
+              0.3555625677269193,
+              0.35715078646462495,
+              1.2415795451154987
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007848699039176196,
+            "max_held_gripper_dist": 0.007857348057441926,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013568416009617223,
+            "max_held_gripper_z_dist": 0.001519337676573862,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09048329543884959,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3555625677269193,
+              0.331028520182696,
+              1.2415795451154987
+            ],
+            "held_grasp_finger_b": [
+              0.3456697365333379,
+              0.35750360597542125,
+              1.2415795451154987
+            ],
+            "held_grasp_midpoint": [
+              0.3506161521301286,
+              0.3442660630790586,
+              1.2415795451154987
+            ],
+            "held_grasp_object_position": [
+              0.3555625677269193,
+              0.35715078646462495,
+              1.2415795451154987
+            ],
+            "held_grasp_finger_gap": 0.028263019597291064,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02532476034993677,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1017651184322422,
+              -0.9945767766016864,
+              0.021468491215520857
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036205194038475275,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03640203084885165,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33092107634486734,
+              -0.36378071473202916,
+              0.8515395605084124
+            ],
+            "target_position": [
+              0.322200579323947,
+              -0.3661405914501181,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009034162186747501,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1868960538868499,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395605084124,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532049236941017,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637331345493758,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15558393569708573,
+            "release_required_pad_clearance": 0.05318665672746879,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3965914755949784,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008590877056121826,
+            "max_z_decrease": 0.008590877056121826,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501776512703993,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008590877056121826,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02118826351408275,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008590877056121826,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008590930955396236,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17790050804615018,
+              -0.4224020540714264,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17790050804615018,
+              -0.4224020540714264,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1761769704835047,
+              -0.4238899239774901,
+              0.8036359751433997
+            ],
+            "closest_button": [
+              0.17791342735290525,
+              -0.422393262386322,
+              0.7686933279037476
+            ],
+            "closest_ee_minus_button": [
+              -0.0017364568694005489,
+              -0.0014966615911680692,
+              0.034942647239652125
+            ],
+            "button_min_z_position": [
+              0.17788001894950864,
+              -0.4223795533180237,
+              0.7682179808616638
+            ],
+            "min_active_finger_to_button": 0.14741500808965483,
+            "closest_active_finger": [
+              0.0355474129319191,
+              -0.4061708152294159,
+              0.8074014186859131
+            ],
+            "closest_active_finger_button": [
+              0.17791055142879483,
+              -0.42241212725639343,
+              0.7727583646774292
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14236313849687574,
+              0.01624131202697754,
+              0.03464305400848389
+            ],
+            "min_contact_pad_to_button": 0.02118826351408275,
+            "closest_contact_pad": [
+              0.17788001894950864,
+              -0.42510951127527175,
+              0.7892296404889724
+            ],
+            "closest_contact_pad_button": [
+              0.17788001894950864,
+              -0.4223795533180237,
+              0.7682179808616638
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027299579572480637,
+              0.021011659627308554
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8d1e74ceaa0265725157c794394869b4229aab041261ee52586d60677aaa0459",
+    "visual_seed": 7051103323617391121,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2db18dc116157f94295891b0015fe3e4271bed66
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3449481720694622,
+              0.35589409550787227,
+              1.0543091880269309
+            ],
+            "current_z": 1.0543091880269309,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1932024415935858,
+            "gripper_z": 1.0529945722697973,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33927723690208034,
+              0.35069238757923193,
+              1.0529945722697973
+            ],
+            "object_minus_gripper": [
+              0.005670935167381874,
+              0.005201707928640331,
+              0.0013146157571335415
+            ],
+            "object_to_gripper_xy": 0.007695275891579727,
+            "object_to_gripper_z": 0.0013146157571335415,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3449481720694622,
+              0.3310665201399173,
+              1.0543091880269309
+            ],
+            "finger_b": [
+              0.3325652391081371,
+              0.35589409550787227,
+              1.0543091880269309
+            ],
+            "finger_midpoint": [
+              0.33875670558879967,
+              0.34348030782389477,
+              1.0543091880269309
+            ],
+            "object_minus_finger_midpoint": [
+              0.006191466480662544,
+              0.012413787683977495,
+              0.0
+            ],
+            "finger_gap": 0.027744288193719383,
+            "fingertip_max_gap": 0.09068284611906904,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013872144096859692,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0543091880269309,
+            "object_top_z": 1.10450901526535,
+            "finger_top_clearance": 0.0501998272384192,
+            "fingertip_min_top_clearance": 0.015059948171525794,
+            "object_projection_between_fingers": 0.8007951676609885,
+            "object_to_finger_line_xy": 0.011081134943055734,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047841423059534524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.36582125820102224,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34598822247935634,
+              0.3542708275553999,
+              1.2413313901360614
+            ],
+            "held_position": [
+              0.3521199871444172,
+              0.358943140036598,
+              1.2425154424637554
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007799424449558204,
+            "max_held_gripper_dist": 0.00780795707059797,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011840523276940296,
+            "max_held_gripper_z_dist": 0.0013371494944036666,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08994042124803336,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3521199871444172,
+              0.3329468486561526,
+              1.2425154424637554
+            ],
+            "held_grasp_finger_b": [
+              0.3419869601813096,
+              0.358943140036598,
+              1.2425154424637554
+            ],
+            "held_grasp_midpoint": [
+              0.34705347366286343,
+              0.34594499434637527,
+              1.2425154424637554
+            ],
+            "held_grasp_object_position": [
+              0.3521199871444172,
+              0.358943140036598,
+              1.2425154424637554
+            ],
+            "held_grasp_finger_gap": 0.02790135123917991,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0249514476519634,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09192982284768732,
+              -0.9956410569032969,
+              0.01574145735561838
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003855770417640331,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03631299887048403,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3390779393413328,
+              -0.36583233402359416,
+              0.8515395698712989
+            ],
+            "target_position": [
+              0.3298092268409658,
+              -0.3690416497088057,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009808605333165568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18671407994424913,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395698712989,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574471984087361,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504868803637115,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15448811743846352,
+            "release_required_pad_clearance": 0.05252434401818558,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11869393567709025,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008566737174987793,
+            "max_z_decrease": 0.008566737174987793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499997004112717,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008566737174987793,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020999296759127505,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008566737174987793,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00856683550140631,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1855091601610184,
+              -0.4253031015396118,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1855091601610184,
+              -0.4253031015396118,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1853780264112882,
+              -0.4245759025809419,
+              0.8032349846973071
+            ],
+            "closest_button": [
+              0.18548056483268738,
+              -0.4252736568450928,
+              0.7682421207427979
+            ],
+            "closest_ee_minus_button": [
+              -0.00010253842139917868,
+              0.0006977542641508627,
+              0.03499286395450929
+            ],
+            "button_min_z_position": [
+              0.18548056483268738,
+              -0.4252736568450928,
+              0.7682421207427979
+            ],
+            "min_active_finger_to_button": 0.1456991967125047,
+            "closest_active_finger": [
+              0.059156663715839386,
+              -0.48911744356155396,
+              0.81107097864151
+            ],
+            "closest_active_finger_button": [
+              0.18551358580589294,
+              -0.4253043830394745,
+              0.7765734791755676
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12635692209005356,
+              -0.06381306052207947,
+              0.03449749946594238
+            ],
+            "min_contact_pad_to_button": 0.020999296759127505,
+            "closest_contact_pad": [
+              0.18548056483268738,
+              -0.4255961375955904,
+              0.7892389412293254
+            ],
+            "closest_contact_pad_button": [
+              0.18548056483268738,
+              -0.4252736568450928,
+              0.7682421207427979
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00032248075049762237,
+              0.020996820486527512
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "964ff20c1d7f622c532c33601ee50856733725c0c7ea8ccb253dec713fc1db4b",
+    "visual_seed": 9220441680518204072,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ae575a74253baaf625122521bd106770884c270
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34226437468138365,
+              0.3555860457407784,
+              1.0555384431474502
+            ],
+            "current_z": 1.0555384431474502,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.1944318755280392,
+            "gripper_z": 1.0541362138576442,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3365579218904731,
+              0.3503712313034556,
+              1.0541362138576442
+            ],
+            "object_minus_gripper": [
+              0.005706452790910532,
+              0.005214814437322801,
+              0.001402229289805934
+            ],
+            "object_to_gripper_xy": 0.007730322960303853,
+            "object_to_gripper_z": 0.001402229289805934,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34226437468138365,
+              0.3307879837252793,
+              1.0555384431474502
+            ],
+            "finger_b": [
+              0.32977373248815134,
+              0.3555860457407784,
+              1.0555384431474502
+            ],
+            "finger_midpoint": [
+              0.33601905358476747,
+              0.3431870147330288,
+              1.0555384431474502
+            ],
+            "object_minus_finger_midpoint": [
+              0.006245321096616185,
+              0.012399031007749584,
+              0.0
+            ],
+            "finger_gap": 0.027766166860477795,
+            "fingertip_max_gap": 0.0911208485335949,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013883083430238934,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0555384431474502,
+            "object_top_z": 1.106043681247492,
+            "finger_top_clearance": 0.05050523810004193,
+            "fingertip_min_top_clearance": 0.015151571430012577,
+            "object_projection_between_fingers": 0.7976339396048693,
+            "object_to_finger_line_xy": 0.011155436804713294,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04806042426679745,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.557588967740376,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34362810988898773,
+              0.3533446512684907,
+              1.244806899990599
+            ],
+            "held_position": [
+              0.3498619031158278,
+              0.3579364708251567,
+              1.2461122554763846
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007851683754472582,
+            "max_held_gripper_dist": 0.00786065479172153,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013053554857855865,
+            "max_held_gripper_z_dist": 0.0014632359956139318,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09048722901206857,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3498619031158278,
+              0.33177428002777687,
+              1.2461122554763846
+            ],
+            "held_grasp_finger_b": [
+              0.3399247059859505,
+              0.35833704783284503,
+              1.2461122554763846
+            ],
+            "held_grasp_midpoint": [
+              0.3448933045508892,
+              0.34505566393031095,
+              1.2461122554763846
+            ],
+            "held_grasp_object_position": [
+              0.3498619031158278,
+              0.3579364708251567,
+              1.2461122554763846
+            ],
+            "held_grasp_finger_gap": 0.028360686174068644,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02535803211399977,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10578762489169707,
+              -0.9942211139387066,
+              0.018258012439782756
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035861254915956165,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036388263649446966,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33557126113582125,
+              -0.3596236589333424,
+              0.8515395674255896
+            ],
+            "target_position": [
+              0.32610479244528495,
+              -0.36249623204669473,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009892709727898553,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18725035547960833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395674255896,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531309671414442,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649847445130031,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15615396371858853,
+            "release_required_pad_clearance": 0.053249237225650156,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5190063850885736,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008620619773864746,
+            "max_z_decrease": 0.008620619773864746,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499933907090653,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008620619773864746,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021010937440369748,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008620619773864746,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008620756243294145,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18180471658706657,
+              -0.41875767707824707,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18180471658706657,
+              -0.41875767707824707,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1814993403736022,
+              -0.4194592440396983,
+              0.8035516987536102
+            ],
+            "closest_button": [
+              0.1817758679389953,
+              -0.4187179505825043,
+              0.7685613036155701
+            ],
+            "closest_ee_minus_button": [
+              -0.0002765275653930921,
+              -0.0007412934571940366,
+              0.03499039513804014
+            ],
+            "button_min_z_position": [
+              0.18177159130573267,
+              -0.4187222421169281,
+              0.7681882381439209
+            ],
+            "min_active_finger_to_button": 0.14600898679913624,
+            "closest_active_finger": [
+              0.040531791746616364,
+              -0.40557727217674255,
+              0.8088269233703613
+            ],
+            "closest_active_finger_button": [
+              0.18180890381336207,
+              -0.41876256465911865,
+              0.7743951082229614
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1412771120667457,
+              0.013185292482376099,
+              0.0344318151473999
+            ],
+            "min_contact_pad_to_button": 0.021010937440369748,
+            "closest_contact_pad": [
+              0.18177159130573267,
+              -0.420427789419333,
+              0.7891298379042637
+            ],
+            "closest_contact_pad_button": [
+              0.18177159130573267,
+              -0.4187222421169281,
+              0.7681882381439209
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017055473024049084,
+              0.02094159976034282
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "663961469cfb4838bddc5775efe48b10bd443d218611a26b43f23ca737087ddf",
+    "visual_seed": 3206207587388328932,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba36a834a702fb443650f7681a2a9f6c4a18f361
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3420746618843948,
+              0.35420130905990604,
+              1.0544906803037013
+            ],
+            "current_z": 1.0544906803037013,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.19338387426571146,
+            "gripper_z": 1.0548242398865768,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33592454229063484,
+              0.34875551071308164,
+              1.0548242398865768
+            ],
+            "object_minus_gripper": [
+              0.0061501195937599396,
+              0.005445798346824404,
+              -0.0003335595828755089
+            ],
+            "object_to_gripper_xy": 0.008214663149017453,
+            "object_to_gripper_z": -0.0003335595828755089,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3420746618843948,
+              0.3290456052603353,
+              1.0544906803037013
+            ],
+            "finger_b": [
+              0.3293304683596546,
+              0.35420130905990604,
+              1.0544906803037013
+            ],
+            "finger_midpoint": [
+              0.3357025651220247,
+              0.34162345716012066,
+              1.0544906803037013
+            ],
+            "object_minus_finger_midpoint": [
+              0.006372096762370105,
+              0.012577851899785386,
+              0.0
+            ],
+            "finger_gap": 0.028199714577416657,
+            "fingertip_max_gap": 0.09210266006506393,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014099857288708367,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0544906803037013,
+            "object_top_z": 1.1047056369907948,
+            "finger_top_clearance": 0.050214956687093526,
+            "fingertip_min_top_clearance": 0.015064487006128023,
+            "object_projection_between_fingers": 0.7957625919732152,
+            "object_to_finger_line_xy": 0.011368524904486437,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855133003253197,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1019954254486917,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34232214489480517,
+              0.35284145577532905,
+              1.2409772791982296
+            ],
+            "held_position": [
+              0.3489054946600302,
+              0.35782190097482397,
+              1.2405130549442538
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008268060998471143,
+            "max_held_gripper_dist": 0.008271089998679605,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00046422425397585343,
+            "max_held_gripper_z_dist": 0.0007721547553622976,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08956491060860178,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3489054946600302,
+              0.33172701986489683,
+              1.2405130549442538
+            ],
+            "held_grasp_finger_b": [
+              0.3379843743842587,
+              0.35782190097482397,
+              1.2405130549442538
+            ],
+            "held_grasp_midpoint": [
+              0.3434449345221444,
+              0.3447744604198604,
+              1.2405130549442538
+            ],
+            "held_grasp_object_position": [
+              0.3489054946600302,
+              0.35782190097482397,
+              1.2405130549442538
+            ],
+            "held_grasp_finger_gap": 0.028288048504962283,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025416651699001504,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05795020393210694,
+              -0.998262177796995,
+              0.01069571148770565
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004697405446344232,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036379043073446284,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33714603252690734,
+              -0.3600377358213131,
+              0.851539561001929
+            ],
+            "target_position": [
+              0.32723518644708016,
+              -0.36335095339874524,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.010449989508771334,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18675223018106057,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539561001929,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531140785894334,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500692429024902,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1558042974853008,
+            "release_required_pad_clearance": 0.05250346214512451,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912936210959678,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00866389274597168,
+            "max_z_decrease": 0.00866389274597168,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503767002355833,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00866389274597168,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02137838697744473,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00866389274597168,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008664085064793606,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.182935118675232,
+              -0.41961240768432617,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.182935118675232,
+              -0.41961240768432617,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.183652814620956,
+              -0.42119843122191786,
+              0.8031364423733255
+            ],
+            "closest_button": [
+              0.18291030824184423,
+              -0.4195602834224701,
+              0.768144965171814
+            ],
+            "closest_ee_minus_button": [
+              0.0007425063791117736,
+              -0.0016381477994477645,
+              0.03499147720151152
+            ],
+            "button_min_z_position": [
+              0.18291030824184423,
+              -0.4195602834224701,
+              0.768144965171814
+            ],
+            "min_active_finger_to_button": 0.1450417251432366,
+            "closest_active_finger": [
+              0.043120965361595154,
+              -0.40340161323547363,
+              0.8077217936515808
+            ],
+            "closest_active_finger_button": [
+              0.18294946849346166,
+              -0.4196164608001709,
+              0.7727622389793396
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1398285031318665,
+              0.016214847564697266,
+              0.03495955467224121
+            ],
+            "min_contact_pad_to_button": 0.02137838697744473,
+            "closest_contact_pad": [
+              0.18291030824184423,
+              -0.42253337288738463,
+              0.7893156092052626
+            ],
+            "closest_contact_pad_button": [
+              0.18291030824184423,
+              -0.4195602834224701,
+              0.768144965171814
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029730894649145356,
+              0.021170644033448593
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "186cd7b2b10c0b841d589e723e9a79e15ce451ee63442eb0fb44bc902228695e",
+    "visual_seed": 6024086866842421322,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..85f0b3e669e5974f79ff8cd186710147557caed4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3446193031371647,
+              0.35653862629961885,
+              1.0555815691470563
+            ],
+            "current_z": 1.0555815691470563,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.19447500152764563,
+            "gripper_z": 1.0541799380776389,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33892593311318775,
+              0.35123756406019646,
+              1.0541799380776389
+            ],
+            "object_minus_gripper": [
+              0.0056933700239769625,
+              0.005301062239422394,
+              0.001401631069417375
+            ],
+            "object_to_gripper_xy": 0.007779185246293432,
+            "object_to_gripper_z": 0.001401631069417375,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3446193031371647,
+              0.33180923862602,
+              1.0555815691470563
+            ],
+            "finger_b": [
+              0.33194412815183005,
+              0.35653862629961885,
+              1.0555815691470563
+            ],
+            "finger_midpoint": [
+              0.3382817156444974,
+              0.34417393246281947,
+              1.0555815691470563
+            ],
+            "object_minus_finger_midpoint": [
+              0.006337587492667329,
+              0.01236469383679939,
+              0.0
+            ],
+            "finger_gap": 0.027788534967140593,
+            "fingertip_max_gap": 0.09175539938683916,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013894267483570272,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0555815691470563,
+            "object_top_z": 1.1064362249774993,
+            "finger_top_clearance": 0.05085465583044302,
+            "fingertip_min_top_clearance": 0.015256396749132872,
+            "object_projection_between_fingers": 0.7919457339617986,
+            "object_to_finger_line_xy": 0.011279807172767166,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837769969341958,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8330747352720931,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34586232687158114,
+              0.354515771213063,
+              1.2449252257464873
+            ],
+            "held_position": [
+              0.35209486914796934,
+              0.3591894013887056,
+              1.2462408157231994
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007900517655981067,
+            "max_held_gripper_dist": 0.00790866961703941,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001315589976712106,
+            "max_held_gripper_z_dist": 0.0014742525022288788,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08982544464035291,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35209486914796934,
+              0.33306690063211714,
+              1.2462408157231994
+            ],
+            "held_grasp_finger_b": [
+              0.3419601807394592,
+              0.3591894013887056,
+              1.2462408157231994
+            ],
+            "held_grasp_midpoint": [
+              0.34702752494371425,
+              0.3461281510104114,
+              1.2462408157231994
+            ],
+            "held_grasp_object_position": [
+              0.35209486914796934,
+              0.3591894013887056,
+              1.2462408157231994
+            ],
+            "held_grasp_finger_gap": 0.028019581633485422,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0249268189135011,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10350180553385306,
+              -0.9943832600235819,
+              0.022120317269566425
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003700020217696028,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0362078820645407,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33739184146796497,
+              -0.36908774655160737,
+              0.8515395753219158
+            ],
+            "target_position": [
+              0.3288714796137082,
+              -0.3716645888635933,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008901498886609757,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854696907668095,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395753219158,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587971443166142,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509506903558726,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15301708969137,
+            "release_required_pad_clearance": 0.052547534517793634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16312937517197626,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008731544017791748,
+            "max_z_decrease": 0.008731544017791748,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035034022598413886,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008731544017791748,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.021056792046978568,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008731544017791748,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008731888822100036,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18457140028476712,
+              -0.42792603373527527,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18457140028476712,
+              -0.42792603373527527,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18590211415691377,
+              -0.4283934404380227,
+              0.8030799614755746
+            ],
+            "closest_button": [
+              0.18451367318630213,
+              -0.4278741776943206,
+              0.7680773138999939
+            ],
+            "closest_ee_minus_button": [
+              0.0013884409706116374,
+              -0.0005192627437020647,
+              0.03500264757558069
+            ],
+            "button_min_z_position": [
+              0.18451367318630213,
+              -0.4278741776943206,
+              0.7680773138999939
+            ],
+            "min_active_finger_to_button": 0.14449209425734275,
+            "closest_active_finger": [
+              0.04496597498655319,
+              -0.414076030254364,
+              0.8085110187530518
+            ],
+            "closest_active_finger_button": [
+              0.1845786422491073,
+              -0.4279308319091797,
+              0.7739521861076355
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396126672625541,
+              0.013854801654815674,
+              0.03455883264541626
+            ],
+            "min_contact_pad_to_button": 0.021056792046978568,
+            "closest_contact_pad": [
+              0.18451367318630213,
+              -0.4294104805532971,
+              0.7890779868614778
+            ],
+            "closest_contact_pad_button": [
+              0.18451367318630213,
+              -0.4278741776943206,
+              0.7680773138999939
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015363028589764904,
+              0.02100067296148389
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5468091a14394f247d3df737bf6f930a811d6bbaab9a765be6706c558aa17cdd",
+    "visual_seed": 8278643843655588634,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4714bf26cbfc6ca51161f6d887489614112833e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3465242678816514,
+              0.3573850788053954,
+              1.0560759804895885
+            ],
+            "current_z": 1.0560759804895885,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.1949695916841121,
+            "gripper_z": 1.0546578701430354,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34045385242180937,
+              0.35203876732526934,
+              1.0546578701430354
+            ],
+            "object_minus_gripper": [
+              0.006070415459842049,
+              0.0053463114801260425,
+              0.0014181103465531475
+            ],
+            "object_to_gripper_xy": 0.008089066095515407,
+            "object_to_gripper_z": 0.0014181103465531475,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3465242678816514,
+              0.3322807291888692,
+              1.0560759804895885
+            ],
+            "finger_b": [
+              0.33391322618129127,
+              0.3573850788053954,
+              1.0560759804895885
+            ],
+            "finger_midpoint": [
+              0.34021874703147137,
+              0.3448329039971323,
+              1.0560759804895885
+            ],
+            "object_minus_finger_midpoint": [
+              0.006305520850180046,
+              0.012552174808263095,
+              0.0
+            ],
+            "finger_gap": 0.028093891550246313,
+            "fingertip_max_gap": 0.09188639851135103,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014046945775123144,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0560759804895885,
+            "object_top_z": 1.1068548547629784,
+            "finger_top_clearance": 0.050778874273389896,
+            "fingertip_min_top_clearance": 0.015233662282016967,
+            "object_projection_between_fingers": 0.7984985756815707,
+            "object_to_finger_line_xy": 0.011269068911588916,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048443199255675515,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6677827876144314,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3473191558307558,
+              0.35547314029283916,
+              1.2419440400336983
+            ],
+            "held_position": [
+              0.3538548069592871,
+              0.36026965319269094,
+              1.2432125553223767
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00820551050879397,
+            "max_held_gripper_dist": 0.008212979396397636,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00126851528867844,
+            "max_held_gripper_z_dist": 0.0014381933244611567,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08989422331810137,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3538548069592871,
+              0.33407829068761485,
+              1.2432125553223767
+            ],
+            "held_grasp_finger_b": [
+              0.34344295152328475,
+              0.36026965319269094,
+              1.2432125553223767
+            ],
+            "held_grasp_midpoint": [
+              0.34864887924128596,
+              0.34717397194015287,
+              1.2432125553223767
+            ],
+            "held_grasp_object_position": [
+              0.3538548069592871,
+              0.36026965319269094,
+              1.2432125553223767
+            ],
+            "held_grasp_finger_gap": 0.02818499961845871,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025208018376416647,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08482325048029345,
+              -0.9961752006209149,
+              0.020975839574072785
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040859047919191505,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0362330734602741,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33576776626949817,
+              -0.3659471658142449,
+              0.8515395628521678
+            ],
+            "target_position": [
+              0.3270152295876751,
+              -0.3685893368103767,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009142645456292097,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18487794226661894,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395628521678,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539519781534211,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552920751841463,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15365423485096327,
+            "release_required_pad_clearance": 0.052764603759207315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5787820128882277,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00848609209060669,
+            "max_z_decrease": 0.00848609209060669,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502033501300297,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00848609209060669,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020907461971929643,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00848609209060669,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008486116286577725,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18271516263484947,
+              -0.4248507916927337,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18271516263484947,
+              -0.4248507916927337,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18113878968121555,
+              -0.42402843494806863,
+              0.8036434338231793
+            ],
+            "closest_button": [
+              0.18274314701557148,
+              -0.42483592033386225,
+              0.7686691880226135
+            ],
+            "closest_ee_minus_button": [
+              -0.0016043573343559325,
+              0.000807485385793616,
+              0.03497424580056574
+            ],
+            "button_min_z_position": [
+              0.1827283948659896,
+              -0.42483544349670405,
+              0.768322765827179
+            ],
+            "min_active_finger_to_button": 0.14683259065385545,
+            "closest_active_finger": [
+              0.055131517350673676,
+              -0.4889037609100342,
+              0.8103740811347961
+            ],
+            "closest_active_finger_button": [
+              0.18271824717521656,
+              -0.4248557984828949,
+              0.7760332226753235
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275867298245429,
+              -0.06404796242713928,
+              0.034340858459472656
+            ],
+            "min_contact_pad_to_button": 0.020907461971929643,
+            "closest_contact_pad": [
+              0.1827283948659896,
+              -0.42495598637435283,
+              0.7892298802986294
+            ],
+            "closest_contact_pad_button": [
+              0.1827283948659896,
+              -0.42483544349670405,
+              0.768322765827179
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012054287764878824,
+              0.02090711447145044
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a92aa739683d6cb5429b112e5a0aeb192a6c49047cdda935fda4d7626fe3d57c",
+    "visual_seed": 6934311250995379920,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a17b4a6e9ba5d98c73cbf3077adc176cfa5fba4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3441249006101952,
+              0.35919905478176317,
+              1.0547641022368408
+            ],
+            "current_z": 1.0547641022368408,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1936576538267194,
+            "gripper_z": 1.0532901761401867,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3384329441326741,
+              0.3539819271888981,
+              1.0532901761401867
+            ],
+            "object_minus_gripper": [
+              0.005691956477521076,
+              0.0052171275928650784,
+              0.001473926096654088
+            ],
+            "object_to_gripper_xy": 0.007721190896631705,
+            "object_to_gripper_z": 0.001473926096654088,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3441249006101952,
+              0.33442802250872683,
+              1.0547641022368408
+            ],
+            "finger_b": [
+              0.3316102250791788,
+              0.35919905478176317,
+              1.0547641022368408
+            ],
+            "finger_midpoint": [
+              0.337867562844687,
+              0.346813538645245,
+              1.0547641022368408
+            ],
+            "object_minus_finger_midpoint": [
+              0.006257337765508186,
+              0.012385516136518171,
+              0.0
+            ],
+            "finger_gap": 0.02775285829456901,
+            "fingertip_max_gap": 0.09138454444191754,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013876429147284505,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0547641022368408,
+            "object_top_z": 1.105367646119635,
+            "finger_top_clearance": 0.05060354388279409,
+            "fingertip_min_top_clearance": 0.015181063164838226,
+            "object_projection_between_fingers": 0.7966595633415343,
+            "object_to_finger_line_xy": 0.011170072220130547,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819227222095877,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6172404210348502,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34548814683702933,
+              0.35669184619759686,
+              1.2418681190713454
+            ],
+            "held_position": [
+              0.3517221123062941,
+              0.36127521087995584,
+              1.2432182723376126
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007854455495188246,
+            "max_held_gripper_dist": 0.007863560772899042,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013501532662671956,
+            "max_held_gripper_z_dist": 0.0015107053834573225,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0904613053384471,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3517221123062941,
+              0.33511575313690045,
+              1.2432182723376126
+            ],
+            "held_grasp_finger_b": [
+              0.34184590447275165,
+              0.36172057954489445,
+              1.2432182723376126
+            ],
+            "held_grasp_midpoint": [
+              0.34678400838952284,
+              0.34841816634089745,
+              1.2432182723376126
+            ],
+            "held_grasp_object_position": [
+              0.3517221123062941,
+              0.36127521087995584,
+              1.2432182723376126
+            ],
+            "held_grasp_finger_gap": 0.028378799646405405,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025406639296587236,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1056837544648071,
+              -0.9941953243627684,
+              0.020164351153265866
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035615035424406195,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036415959142377594,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3314969929852464,
+              -0.36597912033867175,
+              0.8515395874196884
+            ],
+            "target_position": [
+              0.3227572989486672,
+              -0.3684833357954138,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00909138861268195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185541432350809,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395874196884,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578686809785704,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520226769717602,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15328795425190764,
+            "release_required_pad_clearance": 0.052601133848588014,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2654080090292194,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008608520030975342,
+            "max_z_decrease": 0.008608520030975342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035027806445014284,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008608520030975342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020931823789714366,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008608520030975342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008608704964153991,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17845723032951355,
+              -0.42474478483200073,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17845723032951355,
+              -0.42474478483200073,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17840472652225423,
+              -0.4230756528254001,
+              0.8031900418970649
+            ],
+            "closest_button": [
+              0.1784985065460205,
+              -0.4247063100337982,
+              0.7682003378868103
+            ],
+            "closest_ee_minus_button": [
+              -9.378002376628225e-05,
+              0.001630657208398112,
+              0.034989704010254585
+            ],
+            "button_min_z_position": [
+              0.1784985065460205,
+              -0.4247063100337982,
+              0.7682003378868103
+            ],
+            "min_active_finger_to_button": 0.14513983676155853,
+            "closest_active_finger": [
+              0.05205360800027847,
+              -0.4872629642486572,
+              0.8105508685112
+            ],
+            "closest_active_finger_button": [
+              0.17846029996871948,
+              -0.42474740743637085,
+              0.7762182950973511
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.126406691968441,
+              -0.06251555681228638,
+              0.03433257341384888
+            ],
+            "min_contact_pad_to_button": 0.020931823789714366,
+            "closest_contact_pad": [
+              0.1784985065460205,
+              -0.4247063100337982,
+              0.7891321616765247
+            ],
+            "closest_contact_pad_button": [
+              0.1784985065460205,
+              -0.4247063100337982,
+              0.7682003378868103
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020931823789714366
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "879e193f0f8ee148703c543c84a43bd48c3bd76de594273ea66900a719400c3e",
+    "visual_seed": 6516197625630068337,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4293b454b1a78f2d9084a0c96e33500c43ae1e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34528010099095363,
+              0.3611103940622569,
+              1.056819238601463
+            ],
+            "current_z": 1.056819238601463,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1957127901913418,
+            "gripper_z": 1.0553443141978813,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3395510607649046,
+              0.3558184722150671,
+              1.0553443141978813
+            ],
+            "object_minus_gripper": [
+              0.005729040226049031,
+              0.0052919218471897955,
+              0.0014749244035816567
+            ],
+            "object_to_gripper_xy": 0.0077991242295819725,
+            "object_to_gripper_z": 0.0014749244035816567,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34528010099095363,
+              0.3363212819776205,
+              1.056819238601463
+            ],
+            "finger_b": [
+              0.3326625737247193,
+              0.3611103940622569,
+              1.056819238601463
+            ],
+            "finger_midpoint": [
+              0.33897133735783647,
+              0.3487158380199387,
+              1.056819238601463
+            ],
+            "object_minus_finger_midpoint": [
+              0.006308763633117165,
+              0.012394556042318206,
+              0.0
+            ],
+            "finger_gap": 0.027815500575377638,
+            "fingertip_max_gap": 0.0914821607661512,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013907750287688819,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.056819238601463,
+            "object_top_z": 1.10757456876308,
+            "finger_top_clearance": 0.05075533016161704,
+            "fingertip_min_top_clearance": 0.015226599048485112,
+            "object_projection_between_fingers": 0.7942334652802798,
+            "object_to_finger_line_xy": 0.011244712162775537,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048241080383075605,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7518260857481627,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 235,
+            "max_stable_success_frames": 235,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34654748464446317,
+              0.3592773824017259,
+              1.2435180307819367
+            ],
+            "held_position": [
+              0.35280050911120897,
+              0.36396586871143977,
+              1.244858230254717
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007929587220337311,
+            "max_held_gripper_dist": 0.007937635866413413,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013401994727804123,
+            "max_held_gripper_z_dist": 0.0015046876303586032,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0898365036861074,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35280050911120897,
+              0.33786003694496314,
+              1.244858230254717
+            ],
+            "held_grasp_finger_b": [
+              0.3426904096304805,
+              0.36396586871143977,
+              1.244858230254717
+            ],
+            "held_grasp_midpoint": [
+              0.3477454593708447,
+              0.35091295282820145,
+              1.244858230254717
+            ],
+            "held_grasp_object_position": [
+              0.35280050911120897,
+              0.36396586871143977,
+              1.244858230254717
+            ],
+            "held_grasp_finger_gap": 0.027995152504135548,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024928157172514606,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10227962791036205,
+              -0.9944986475734211,
+              0.022612334889488325
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037057348632312504,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0362221142708121,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.331361923169159,
+              -0.3617769667056431,
+              0.8515395838357025
+            ],
+            "target_position": [
+              0.32257737340364157,
+              -0.36450342431153776,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009197928335206454,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18591777548754843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395838357025,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753273371519354,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0862325311551833,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15484861963952354,
+            "release_required_pad_clearance": 0.05311626557759165,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2592576144308314,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008604228496551514,
+            "max_z_decrease": 0.008604228496551514,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035012746211312014,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008604228496551514,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02104038752147823,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008604228496551514,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008604402137172475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17827729880809778,
+              -0.42076489329338074,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17827729880809778,
+              -0.42076489329338074,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17827569742127342,
+              -0.42217104677523687,
+              0.8036332542895058
+            ],
+            "closest_button": [
+              0.17830693721771235,
+              -0.420744925737381,
+              0.7686495780944824
+            ],
+            "closest_ee_minus_button": [
+              -3.1239796438931045e-05,
+              -0.0014261210378558875,
+              0.034983676195023405
+            ],
+            "button_min_z_position": [
+              0.17831023037433621,
+              -0.42072126269340515,
+              0.7682046294212341
+            ],
+            "min_active_finger_to_button": 0.14569320197748467,
+            "closest_active_finger": [
+              0.03725364804267883,
+              -0.4082203507423401,
+              0.810562252998352
+            ],
+            "closest_active_finger_button": [
+              0.17827972769737238,
+              -0.4207676351070404,
+              0.7762006521224976
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14102607965469355,
+              0.012547284364700317,
+              0.03436160087585449
+            ],
+            "min_contact_pad_to_button": 0.02104038752147823,
+            "closest_contact_pad": [
+              0.17831023037433621,
+              -0.423128503758204,
+              0.7891068565157311
+            ],
+            "closest_contact_pad_button": [
+              0.17831023037433621,
+              -0.42072126269340515,
+              0.7682046294212341
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024072410647988374,
+              0.02090222709449696
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4790fcb599a461c450ef58c53b71d63e1463152a903c94f5cb085293bbca4c3",
+    "visual_seed": 616322960946966446,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c5d2df18ee0f7d0d559bf4b2e3f2669566fa028
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3465011999753992,
+              0.3503194828349645,
+              1.056645777077533
+            ],
+            "current_z": 1.056645777077533,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.19553914985347765,
+            "gripper_z": 1.055300622651027,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3407182039340414,
+              0.3450354348175702,
+              1.055300622651027
+            ],
+            "object_minus_gripper": [
+              0.005782996041357791,
+              0.005284048017394294,
+              0.0013451544265059567
+            ],
+            "object_to_gripper_xy": 0.007833530919354851,
+            "object_to_gripper_z": 0.0013451544265059567,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3465011999753992,
+              0.32544503913551026,
+              1.056645777077533
+            ],
+            "finger_b": [
+              0.33395674580808643,
+              0.3503194828349645,
+              1.056645777077533
+            ],
+            "finger_midpoint": [
+              0.3402289728917428,
+              0.3378822609852374,
+              1.056645777077533
+            ],
+            "object_minus_finger_midpoint": [
+              0.006272227083656379,
+              0.01243722184972712,
+              0.0
+            ],
+            "finger_gap": 0.027858594359965995,
+            "fingertip_max_gap": 0.09136382702061221,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013929297179982997,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.056645777077533,
+            "object_top_z": 1.107284704218046,
+            "finger_top_clearance": 0.05063892714051299,
+            "fingertip_min_top_clearance": 0.01519167814215393,
+            "object_projection_between_fingers": 0.7972386665642701,
+            "object_to_finger_line_xy": 0.011200720140195403,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818191351030611,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6498620707147112,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3475292220853219,
+              0.3485649122641761,
+              1.2438641006174644
+            ],
+            "held_position": [
+              0.3537947506790191,
+              0.3532896166553586,
+              1.2450708472679204
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007939516208238594,
+            "max_held_gripper_dist": 0.007952107767688643,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012067466504559476,
+            "max_held_gripper_z_dist": 0.0013706307602268097,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08995814331962537,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3537947506790191,
+              0.32721653431404457,
+              1.2450708472679204
+            ],
+            "held_grasp_finger_b": [
+              0.34357399922412357,
+              0.3532896166553586,
+              1.2450708472679204
+            ],
+            "held_grasp_midpoint": [
+              0.34868437495157134,
+              0.3402530754847016,
+              1.2450708472679204
+            ],
+            "held_grasp_object_position": [
+              0.3537947506790191,
+              0.3532896166553586,
+              1.2450708472679204
+            ],
+            "held_grasp_finger_gap": 0.02800480999899284,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024980627379723137,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09481970231110338,
+              -0.9952699742352105,
+              0.021140067158770367
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003861445161752987,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03626080776988452,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3323442971387639,
+              -0.3664308574232388,
+              0.8515395549090982
+            ],
+            "target_position": [
+              0.3239456816048242,
+              -0.36889537130386396,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008752746514936204,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18364063111411674,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395549090982,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519621280502188,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08636066019499898,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15291497092789733,
+            "release_required_pad_clearance": 0.05318033009749949,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3842069550309954,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008526921272277832,
+            "max_z_decrease": 0.008526921272277832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506466798860906,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008526921272277832,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021169976597458066,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008526921272277832,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008527092019576426,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17964561283588407,
+              -0.425156831741333,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17964561283588407,
+              -0.425156831741333,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18130323864703193,
+              -0.4263204731479081,
+              0.8036514337882099
+            ],
+            "closest_button": [
+              0.17961767315864557,
+              -0.4251331686973572,
+              0.7686474323272705
+            ],
+            "closest_ee_minus_button": [
+              0.0016855654883863591,
+              -0.00118730445055093,
+              0.035004001460939405
+            ],
+            "button_min_z_position": [
+              0.17960171401500696,
+              -0.42512544989585876,
+              0.7682819366455078
+            ],
+            "min_active_finger_to_button": 0.14412475235704222,
+            "closest_active_finger": [
+              0.0405447855591774,
+              -0.4102499485015869,
+              0.8076815009117126
+            ],
+            "closest_active_finger_button": [
+              0.17965482175350186,
+              -0.4251638948917389,
+              0.7730705738067627
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13911003619432447,
+              0.014913946390151978,
+              0.03461092710494995
+            ],
+            "min_contact_pad_to_button": 0.021169976597458066,
+            "closest_contact_pad": [
+              0.17960171401500696,
+              -0.42748954674972534,
+              0.7893194972265842
+            ],
+            "closest_contact_pad_button": [
+              0.17960171401500696,
+              -0.42512544989585876,
+              0.7682819366455078
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023640968538665708,
+              0.02103756058107642
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea0552020e15a81ed8cdf5f56ef2bea84defb8c414df2544d7b75d82339c2b77",
+    "visual_seed": 6558386410124006502,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..66956a2d12023c9811faa782f677adfebc8a77a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3423173517666661,
+              0.35423173280563963,
+              1.0541057996650465
+            ],
+            "current_z": 1.0541057996650465,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1929991128363462,
+            "gripper_z": 1.0528332918662509,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3366177241922987,
+              0.3490498881738717,
+              1.0528332918662509
+            ],
+            "object_minus_gripper": [
+              0.005699627574367427,
+              0.005181844631767907,
+              0.001272507798795619
+            ],
+            "object_to_gripper_xy": 0.007703068756948195,
+            "object_to_gripper_z": 0.001272507798795619,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3423173517666661,
+              0.32941135625920437,
+              1.0541057996650465
+            ],
+            "finger_b": [
+              0.3299048914406462,
+              0.35423173280563963,
+              1.0541057996650465
+            ],
+            "finger_midpoint": [
+              0.3361111216036562,
+              0.341821544532422,
+              1.0541057996650465
+            ],
+            "object_minus_finger_midpoint": [
+              0.006206230163009918,
+              0.01241018827321766,
+              0.0
+            ],
+            "finger_gap": 0.027751040759795866,
+            "fingertip_max_gap": 0.09127342609692204,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013875520379897945,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0541057996650465,
+            "object_top_z": 1.1046747166498054,
+            "finger_top_clearance": 0.05056891698475896,
+            "fingertip_min_top_clearance": 0.015170675095427653,
+            "object_projection_between_fingers": 0.7999414134430679,
+            "object_to_finger_line_xy": 0.011101635496346286,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048136713048461025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5926905946694939,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34367865253911434,
+              0.3517914531900604,
+              1.2431698247234297
+            ],
+            "held_position": [
+              0.34989867884595716,
+              0.35635575481299053,
+              1.2443323967098925
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007802124722574447,
+            "max_held_gripper_dist": 0.007810052869539802,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001162571986462746,
+            "max_held_gripper_z_dist": 0.0013210573364248468,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08955159184001488,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34989867884595716,
+              0.3301955550239925,
+              1.2443323967098925
+            ],
+            "held_grasp_finger_b": [
+              0.3400357311398512,
+              0.356873177560744,
+              1.2443323967098925
+            ],
+            "held_grasp_midpoint": [
+              0.3449672049929042,
+              0.3435343662923682,
+              1.2443323967098925
+            ],
+            "held_grasp_object_position": [
+              0.34989867884595716,
+              0.35635575481299053,
+              1.2443323967098925
+            ],
+            "held_grasp_finger_gap": 0.028442455619491994,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025484797817711766,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10536750665705405,
+              -0.99424272118901,
+              0.019470488015148054
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003562179895520136,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03645306075388938,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3353111484708431,
+              -0.36442060192276854,
+              0.8515395239952549
+            ],
+            "target_position": [
+              0.32595960164585186,
+              -0.36706418080100695,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009718021264921774,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1839850293918554,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395239952549,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515184352730964,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08687064767099971,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15332090160364376,
+            "release_required_pad_clearance": 0.05343532383549986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.884646145105494,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008428037166595459,
+            "max_z_decrease": 0.008428037166595459,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035020607557363026,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008428037166595459,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021203977341728783,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008428037166595459,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008428081305053707,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.181659534573555,
+              -0.42332562804222107,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.181659534573555,
+              -0.42332562804222107,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18057009221657638,
+              -0.4245025728441487,
+              0.8034930820149573
+            ],
+            "closest_button": [
+              0.18166114389896393,
+              -0.4233062267303467,
+              0.7685099244117737
+            ],
+            "closest_ee_minus_button": [
+              -0.001091051682387545,
+              -0.0011963461138020381,
+              0.0349831576031836
+            ],
+            "button_min_z_position": [
+              0.18166182935237885,
+              -0.4232984483242035,
+              0.7683808207511902
+            ],
+            "min_active_finger_to_button": 0.1468021615311459,
+            "closest_active_finger": [
+              0.039907634258270264,
+              -0.407483845949173,
+              0.8078497648239136
+            ],
+            "closest_active_finger_button": [
+              0.18166741728782654,
+              -0.4233306050300598,
+              0.773152232170105
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14175978302955627,
+              0.01584675908088684,
+              0.034697532653808594
+            ],
+            "min_contact_pad_to_button": 0.021203977341728783,
+            "closest_contact_pad": [
+              0.18166182935237885,
+              -0.4257564968032219,
+              0.7894418428722398
+            ],
+            "closest_contact_pad_button": [
+              0.18166182935237885,
+              -0.4232984483242035,
+              0.7683808207511902
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024580484790184265,
+              0.021061022121049655
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cd11a226e602ff9dc86770f3e0731383867fa11a5b4d8af707cb5b982bf1018f",
+    "visual_seed": 4587265885040697743,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2165c2c50e75015375a2451d685a8e8a8f613c8f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34660415718393356,
+              0.3547463395923983,
+              1.0535081473080914
+            ],
+            "current_z": 1.0535081473080914,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.19240157968868077,
+            "gripper_z": 1.0520136849619421,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3409417467876408,
+              0.3495634268516507,
+              1.0520136849619421
+            ],
+            "object_minus_gripper": [
+              0.005662410396292783,
+              0.005182912740747614,
+              0.0014944623461492501
+            ],
+            "object_to_gripper_xy": 0.007676293114143606,
+            "object_to_gripper_z": 0.0014944623461492501,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34660415718393356,
+              0.3299685635143437,
+              1.0535081473080914
+            ],
+            "finger_b": [
+              0.3341702499999182,
+              0.3547463395923983,
+              1.0535081473080914
+            ],
+            "finger_midpoint": [
+              0.34038720359192587,
+              0.34235745155337105,
+              1.0535081473080914
+            ],
+            "object_minus_finger_midpoint": [
+              0.00621695359200769,
+              0.012388888039027268,
+              0.0
+            ],
+            "finger_gap": 0.027722558237560323,
+            "fingertip_max_gap": 0.09137338474868453,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013861279118780136,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0535081473080914,
+            "object_top_z": 1.1041304748952299,
+            "finger_top_clearance": 0.05062232758713847,
+            "fingertip_min_top_clearance": 0.015186698276141507,
+            "object_projection_between_fingers": 0.7988367547036086,
+            "object_to_finger_line_xy": 0.011113136289256116,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818669237434227,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6503874558353738,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3480232984031316,
+              0.3522430288293972,
+              1.2404913421076582
+            ],
+            "held_position": [
+              0.3542287499449569,
+              0.3567916410467978,
+              1.2418530852867384
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007813568098378569,
+            "max_held_gripper_dist": 0.007822949443321611,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013617431790802215,
+            "max_held_gripper_z_dist": 0.0015281241499278675,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09039759530157254,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3542287499449569,
+              0.3306234502656078,
+              1.2418530852867384
+            ],
+            "held_grasp_finger_b": [
+              0.3444648914874916,
+              0.35741624990866555,
+              1.2418530852867384
+            ],
+            "held_grasp_midpoint": [
+              0.34934682071622425,
+              0.34401985008713665,
+              1.2418530852867384
+            ],
+            "held_grasp_object_position": [
+              0.3542287499449569,
+              0.3567916410467978,
+              1.2418530852867384
+            ],
+            "held_grasp_finger_gap": 0.028516434641982374,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025551118771139275,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10991179284700917,
+              -0.9937103368815846,
+              0.02142811629247643
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003459880699413033,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03649220777890683,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33687005146186194,
+              -0.36023239193208023,
+              0.8515395892930263
+            ],
+            "target_position": [
+              0.32749357679341384,
+              -0.362937850880029,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009758984851258092,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18469962522975694,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395892930263,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543322716965643,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08610840517943107,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533487974131044,
+            "release_required_pad_clearance": 0.053054202589715535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1384779717973939,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008690953254699707,
+            "max_z_decrease": 0.008690953254699707,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035021456371244236,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008690953254699707,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02111930996473357,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008690953254699707,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008691090316210865,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1831935048103332,
+              -0.4191993176937103,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1831935048103332,
+              -0.4191993176937103,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1844860266202068,
+              -0.4194085929510785,
+              0.8031142359607307
+            ],
+            "closest_button": [
+              0.18318487703800196,
+              -0.41915127635002136,
+              0.7681179046630859
+            ],
+            "closest_ee_minus_button": [
+              0.0013011495822048413,
+              -0.0002573166010571559,
+              0.03499633129764479
+            ],
+            "button_min_z_position": [
+              0.18318487703800196,
+              -0.41915127635002136,
+              0.7681179046630859
+            ],
+            "min_active_finger_to_button": 0.1445980684614501,
+            "closest_active_finger": [
+              0.043696947395801544,
+              -0.4036751985549927,
+              0.8074151277542114
+            ],
+            "closest_active_finger_button": [
+              0.18320454657077784,
+              -0.4192053973674774,
+              0.7727013826370239
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395075991749763,
+              0.015530198812484741,
+              0.0347137451171875
+            ],
+            "min_contact_pad_to_button": 0.02111930996473357,
+            "closest_contact_pad": [
+              0.18318487703800196,
+              -0.4205589273345205,
+              0.789190250808979
+            ],
+            "closest_contact_pad_button": [
+              0.18318487703800196,
+              -0.41915127635002136,
+              0.7681179046630859
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014076509844991314,
+              0.02107234614589304
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd0bd49e96c0bb500234f0723a8ed7bd596f1aa9760efe4c8a6f57130b856c84",
+    "visual_seed": 5500763971261175089,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0377e0f95c76000d8d6adf8b36d165513a6415e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34895812983060565,
+              0.36033928474724336,
+              1.0541992748426856
+            ],
+            "current_z": 1.0541992748426856,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19309282643256442,
+            "gripper_z": 1.0525412590318395,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3432271355903108,
+              0.3551573691524167,
+              1.0525412590318395
+            ],
+            "object_minus_gripper": [
+              0.005730994240294829,
+              0.005181915594826669,
+              0.0016580158108461251
+            ],
+            "object_to_gripper_xy": 0.007726353875807161,
+            "object_to_gripper_z": 0.0016580158108461251,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34895812983060565,
+              0.3354803134174549,
+              1.0541992748426856
+            ],
+            "finger_b": [
+              0.3365682857244185,
+              0.36033928474724336,
+              1.0541992748426856
+            ],
+            "finger_midpoint": [
+              0.34276320777751207,
+              0.3479097990823491,
+              1.0541992748426856
+            ],
+            "object_minus_finger_midpoint": [
+              0.006194922053093577,
+              0.012429485664894269,
+              0.0
+            ],
+            "finger_gap": 0.027775469258877812,
+            "fingertip_max_gap": 0.09147356028576994,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01388773462943893,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0541992748426856,
+            "object_top_z": 1.1047838521775935,
+            "finger_top_clearance": 0.05058457733490784,
+            "fingertip_min_top_clearance": 0.015175373200472353,
+            "object_projection_between_fingers": 0.8010202531614405,
+            "object_to_finger_line_xy": 0.011088877618793454,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048236780142884975,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.629638867106003,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.35031884034035227,
+              0.35786311097476675,
+              1.2418213974417984
+            ],
+            "held_position": [
+              0.3565613008998055,
+              0.36244314334084143,
+              1.2433612324445442
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007894054860862173,
+            "max_held_gripper_dist": 0.007903625800148048,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001539835002745793,
+            "max_held_gripper_z_dist": 0.0017028339047220342,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0904089206611619,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3565613008998055,
+              0.33628075325702717,
+              1.2433612324445442
+            ],
+            "held_grasp_finger_b": [
+              0.34666738134816266,
+              0.36290342690435756,
+              1.2433612324445442
+            ],
+            "held_grasp_midpoint": [
+              0.35161434112398404,
+              0.34959209008069236,
+              1.2433612324445442
+            ],
+            "held_grasp_object_position": [
+              0.3565613008998055,
+              0.36244314334084143,
+              1.2433612324445442
+            ],
+            "held_grasp_finger_gap": 0.0284016970659614,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02542714732304174,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10534210967922589,
+              -0.9942425029224128,
+              0.019618494103934014
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035749427580746658,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03642206353225192,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3325736417885416,
+              -0.3645981768618085,
+              0.8515395765334165
+            ],
+            "target_position": [
+              0.3237570552404015,
+              -0.3671301593293881,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009172956643142677,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1858282591986773,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395765334165,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075502315891345,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600927104925708,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15429653783488537,
+            "release_required_pad_clearance": 0.05300463552462854,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0422908138494305,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008622467517852783,
+            "max_z_decrease": 0.008622467517852783,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035064952749261226,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008622467517852783,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02099260935422742,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008622467517852783,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008622587112436377,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17945697903633112,
+              -0.42339161038398737,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17945697903633112,
+              -0.42339161038398737,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17977903336884626,
+              -0.42110186135147765,
+              0.8031773973131402
+            ],
+            "closest_button": [
+              0.1794889271259308,
+              -0.4233593344688415,
+              0.7681863903999329
+            ],
+            "closest_ee_minus_button": [
+              0.0002901062429154777,
+              0.0022574731173638507,
+              0.034991006913207334
+            ],
+            "button_min_z_position": [
+              0.1794889271259308,
+              -0.4233593344688415,
+              0.7681863903999329
+            ],
+            "min_active_finger_to_button": 0.14461286326871112,
+            "closest_active_finger": [
+              0.05295224487781525,
+              -0.48438143730163574,
+              0.8112956285476685
+            ],
+            "closest_active_finger_button": [
+              0.1794588267803192,
+              -0.4233947098255157,
+              0.7768052816390991
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12650658190250397,
+              -0.06098672747612005,
+              0.034490346908569336
+            ],
+            "min_contact_pad_to_button": 0.02099260935422742,
+            "closest_contact_pad": [
+              0.1794889271259308,
+              -0.4233593344688415,
+              0.7891789997541603
+            ],
+            "closest_contact_pad_button": [
+              0.1794889271259308,
+              -0.4233593344688415,
+              0.7681863903999329
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02099260935422742
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e1e70d5bc0fb315ae99220c7a47cba4fcb9ca29b5d28896f908fdd2944317843",
+    "visual_seed": 3888690777082007570,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b148fa2c52bb4ee446beb42c72a9ed19a83cba86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34665682891166794,
+              0.3557904812326444,
+              1.05171381160448
+            ],
+            "current_z": 1.05171381160448,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.19060736319435856,
+            "gripper_z": 1.051422134719108,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3405917934150118,
+              0.35051178856210347,
+              1.051422134719108
+            ],
+            "object_minus_gripper": [
+              0.006065035496656157,
+              0.00527869267054093,
+              0.0002916768853720164
+            ],
+            "object_to_gripper_xy": 0.008040475849458273,
+            "object_to_gripper_z": 0.0002916768853720164,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34665682891166794,
+              0.3305601537509102,
+              1.05171381160448
+            ],
+            "finger_b": [
+              0.33433426875710687,
+              0.3557904812326444,
+              1.05171381160448
+            ],
+            "finger_midpoint": [
+              0.3404955488343874,
+              0.3431753174917773,
+              1.05171381160448
+            ],
+            "object_minus_finger_midpoint": [
+              0.006161280077280562,
+              0.012615163740867075,
+              0.0
+            ],
+            "finger_gap": 0.028078727065134708,
+            "fingertip_max_gap": 0.0921572536227068,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014039363532567342,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05171381160448,
+            "object_top_z": 1.1019520304158648,
+            "finger_top_clearance": 0.050238218811384794,
+            "fingertip_min_top_clearance": 0.015071465643415403,
+            "object_projection_between_fingers": 0.8074040887053332,
+            "object_to_finger_line_xy": 0.011072518614955021,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485786268113534,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0860511138216022,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 229,
+            "max_stable_success_frames": 229,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3467468656338541,
+              0.35493149944174246,
+              1.2407914537138947
+            ],
+            "held_position": [
+              0.3531106131575886,
+              0.35987308476740065,
+              1.2410173616832196
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008060247048769802,
+            "max_held_gripper_dist": 0.00806387325061962,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0002259079693249788,
+            "max_held_gripper_z_dist": 0.00037592520540585816,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08884381120176466,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3531106131575886,
+              0.33396116611485804,
+              1.2410173616832196
+            ],
+            "held_grasp_finger_b": [
+              0.3420949133727083,
+              0.35987308476740065,
+              1.2410173616832196
+            ],
+            "held_grasp_midpoint": [
+              0.3476027632651485,
+              0.34691712544112935,
+              1.2410173616832196
+            ],
+            "held_grasp_object_position": [
+              0.3531106131575886,
+              0.35987308476740065,
+              1.2410173616832196
+            ],
+            "held_grasp_finger_gap": 0.02815622790798863,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025499003241845338,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.035885918643747024,
+              -0.9993205094285295,
+              0.0084095349811385
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005040561399420741,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036575439942888234,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3383650647822191,
+              -0.3588080716962242,
+              0.8515395689954853
+            ],
+            "target_position": [
+              0.3297334150419071,
+              -0.3623450944831442,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009328231742115957,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18507817804986532,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395689954853,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590426380248477,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08865307125151721,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15270098308429442,
+            "release_required_pad_clearance": 0.05432653562575861,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.6749902276243556,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00838327407836914,
+            "max_z_decrease": 0.00838327407836914,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499763090453836,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00838327407836914,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021204334816044765,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00838327407836914,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008383377209539316,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18543334305286407,
+              -0.418606549501419,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18543334305286407,
+              -0.418606549501419,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18500879246163893,
+              -0.418074821308656,
+              0.8037811396535031
+            ],
+            "closest_button": [
+              0.18539479374885556,
+              -0.41858869791030884,
+              0.7687894105911255
+            ],
+            "closest_ee_minus_button": [
+              -0.0003860012872166363,
+              0.0005138766016528629,
+              0.034991729062377575
+            ],
+            "button_min_z_position": [
+              0.1853937357664108,
+              -0.4185938835144043,
+              0.7684255838394165
+            ],
+            "min_active_finger_to_button": 0.1461281829271183,
+            "closest_active_finger": [
+              0.05742069333791733,
+              -0.4798043668270111,
+              0.8081837296485901
+            ],
+            "closest_active_finger_button": [
+              0.18544520437717435,
+              -0.4186091721057892,
+              0.7732793092727661
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12802451103925702,
+              -0.061195194721221924,
+              0.034904420375823975
+            ],
+            "min_contact_pad_to_button": 0.021204334816044765,
+            "closest_contact_pad": [
+              0.1853937357664108,
+              -0.41937514340109516,
+              0.7896155212621739
+            ],
+            "closest_contact_pad_button": [
+              0.1853937357664108,
+              -0.4185938835144043,
+              0.7684255838394165
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000781259886690866,
+              0.021189937422757432
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb663ccd8627cdcbdd8533cf004e536c2e0a1c57c82257bea8ce341a60f54b55",
+    "visual_seed": 6053469175361255479,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf7985fef1f42d0b817a8967e5d33606b091150d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3466372397833724,
+              0.36192899245215193,
+              1.054256995385564
+            ],
+            "current_z": 1.054256995385564,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19315042776615332,
+            "gripper_z": 1.0526848409702114,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3409232281980743,
+              0.3567216521183803,
+              1.0526848409702114
+            ],
+            "object_minus_gripper": [
+              0.005714011585298107,
+              0.005207340333771626,
+              0.0015721544153526334
+            ],
+            "object_to_gripper_xy": 0.007730868110933323,
+            "object_to_gripper_z": 0.0015721544153526334,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3466372397833724,
+              0.3371216436618583,
+              1.054256995385564
+            ],
+            "finger_b": [
+              0.3341624826714525,
+              0.36192899245215193,
+              1.054256995385564
+            ],
+            "finger_midpoint": [
+              0.34039986122741245,
+              0.34952531805700515,
+              1.054256995385564
+            ],
+            "object_minus_finger_midpoint": [
+              0.00623737855595996,
+              0.01240367439514678,
+              0.0
+            ],
+            "finger_gap": 0.02776732106280112,
+            "fingertip_max_gap": 0.09131426714215204,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013883660531400535,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054256995385564,
+            "object_top_z": 1.1048413010304736,
+            "finger_top_clearance": 0.050584305644909566,
+            "fingertip_min_top_clearance": 0.01517529169347287,
+            "object_projection_between_fingers": 0.7981651142090247,
+            "object_to_finger_line_xy": 0.011144958854679464,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048157133571076025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5889040705950376,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34802115156182906,
+              0.3594232498948647,
+              1.2424676058909339
+            ],
+            "held_position": [
+              0.35426890828065216,
+              0.36400209199761824,
+              1.2439322495774556
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007883237922834496,
+            "max_held_gripper_dist": 0.007892076388765771,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014646436865217716,
+            "max_held_gripper_z_dist": 0.0016250178529026993,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09040076516112217,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35426890828065216,
+              0.3378252963444753,
+              1.2439322495774556
+            ],
+            "held_grasp_finger_b": [
+              0.3443777347020763,
+              0.36450169364959417,
+              1.2439322495774556
+            ],
+            "held_grasp_midpoint": [
+              0.34932332149136425,
+              0.3511634949970347,
+              1.2439322495774556
+            ],
+            "held_grasp_object_position": [
+              0.35426890828065216,
+              0.36400209199761824,
+              1.2439322495774556
+            ],
+            "held_grasp_finger_gap": 0.028451106972173724,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025483906104478288,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1051251625942227,
+              -0.9942765895934591,
+              0.01904635335014127
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035772322539429947,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036435228013842344,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3316688784286105,
+              -0.35990102556079495,
+              0.8515396109985354
+            ],
+            "target_position": [
+              0.32216454533954303,
+              -0.36264877346144486,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009893556791845308,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18440853313215086,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396109985354,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519718540804754,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659344465183792,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15369147732995062,
+            "release_required_pad_clearance": 0.05329672232591896,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6120009845472645,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008416533470153809,
+            "max_z_decrease": 0.008416533470153809,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499498890703253,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008416533470153809,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020980480706541134,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008416533470153809,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00841665659416569,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17786447703838343,
+              -0.4189102351665497,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17786447703838343,
+              -0.4189102351665497,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1769739400071926,
+              -0.4189953671461325,
+              0.8036466140417631
+            ],
+            "closest_button": [
+              0.17789250612258903,
+              -0.4188960790634155,
+              0.7686638236045837
+            ],
+            "closest_ee_minus_button": [
+              -0.0009185661153964242,
+              -9.928808271697509e-05,
+              0.034982790437179334
+            ],
+            "button_min_z_position": [
+              0.1779021024703979,
+              -0.41888460516929626,
+              0.7683923244476318
+            ],
+            "min_active_finger_to_button": 0.1466598592744118,
+            "closest_active_finger": [
+              0.05033794790506363,
+              -0.4826643168926239,
+              0.8107694387435913
+            ],
+            "closest_active_finger_button": [
+              0.1778674274682998,
+              -0.41891255974769587,
+              0.7764028906822205
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12752947956323618,
+              -0.06375175714492803,
+              0.03436654806137085
+            ],
+            "min_contact_pad_to_button": 0.020980480706541134,
+            "closest_contact_pad": [
+              0.1779021024703979,
+              -0.4200842537064245,
+              0.7893384795617551
+            ],
+            "closest_contact_pad_button": [
+              0.1779021024703979,
+              -0.41888460516929626,
+              0.7683923244476318
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011996485371282284,
+              0.020946155114123233
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c61abbc45a63eeab28d636e8a33e835fcf74a14e09d812e11114dccf7efb39af",
+    "visual_seed": 7442534813418139151,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bbfecbc01bd90b13f841fa596c456cdaa7d0171
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3443335892647779,
+              0.35914694097014555,
+              1.0544978614161045
+            ],
+            "current_z": 1.0544978614161045,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1933913534013384,
+            "gripper_z": 1.053039505790716,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33817126500837325,
+              0.35375566946616965,
+              1.053039505790716
+            ],
+            "object_minus_gripper": [
+              0.006162324256404672,
+              0.005391271503975892,
+              0.00145835562538843
+            ],
+            "object_to_gripper_xy": 0.008187798768329365,
+            "object_to_gripper_z": 0.00145835562538843,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3443335892647779,
+              0.33395785072203343,
+              1.0544978614161045
+            ],
+            "finger_b": [
+              0.33169870888993436,
+              0.35914694097014555,
+              1.0544978614161045
+            ],
+            "finger_midpoint": [
+              0.3380161490773561,
+              0.3465523958460895,
+              1.0544978614161045
+            ],
+            "object_minus_finger_midpoint": [
+              0.006317440187421808,
+              0.012594545124056056,
+              0.0
+            ],
+            "finger_gap": 0.0281803206087891,
+            "fingertip_max_gap": 0.0925429116583397,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01409016030439456,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0544978614161045,
+            "object_top_z": 1.1057130341201806,
+            "finger_top_clearance": 0.05121517270407616,
+            "fingertip_min_top_clearance": 0.015364551811222848,
+            "object_projection_between_fingers": 0.7989748433098484,
+            "object_to_finger_line_xy": 0.011293737443738442,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877145582916985,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8462050491630788,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34470752880002953,
+              0.3575696622851796,
+              1.243882243574475
+            ],
+            "held_position": [
+              0.3512566674203856,
+              0.3624998230792922,
+              1.2452660927172463
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008313407278270015,
+            "max_held_gripper_dist": 0.00832120504697151,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013838491427713429,
+            "max_held_gripper_z_dist": 0.0015442116281780827,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09025043385739873,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3512566674203856,
+              0.33638801286373937,
+              1.2452660927172463
+            ],
+            "held_grasp_finger_b": [
+              0.3403792206623127,
+              0.3624998230792922,
+              1.2452660927172463
+            ],
+            "held_grasp_midpoint": [
+              0.34581794404134913,
+              0.34944391797151575,
+              1.2452660927172463
+            ],
+            "held_grasp_object_position": [
+              0.3512566674203856,
+              0.3624998230792922,
+              1.2452660927172463
+            ],
+            "held_grasp_finger_gap": 0.02828684289042803,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0252449379546826,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07278663020119519,
+              -0.9971223915332987,
+              0.021190629223064358
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044828075665138915,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03630604839804072,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3297306476003164,
+              -0.36739631795638605,
+              0.8515395796254936
+            ],
+            "target_position": [
+              0.3218836044122874,
+              -0.3699036533502219,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008237889145404543,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18539071403445415,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395796254936,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548817590500184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525310232628323,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15368378831925605,
+            "release_required_pad_clearance": 0.05262655116314162,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.31403502368315817,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008642137050628662,
+            "max_z_decrease": 0.008642137050628662,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035058669304122936,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008642137050628662,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020946025012482106,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008642137050628662,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00864222374026664,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17758353054523468,
+              -0.4261651039123535,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17758353054523468,
+              -0.4261651039123535,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17760506951690724,
+              -0.42392233129905194,
+              0.8031558150630649
+            ],
+            "closest_button": [
+              0.17756801843643186,
+              -0.42612963914871216,
+              0.768166720867157
+            ],
+            "closest_ee_minus_button": [
+              3.705108047538652e-05,
+              0.0022073078496602228,
+              0.0349890941959079
+            ],
+            "button_min_z_position": [
+              0.17756801843643186,
+              -0.42612963914871216,
+              0.768166720867157
+            ],
+            "min_active_finger_to_button": 0.14489892430042595,
+            "closest_active_finger": [
+              0.05089215189218521,
+              -0.48749908804893494,
+              0.8105202317237854
+            ],
+            "closest_active_finger_button": [
+              0.17758795619010925,
+              -0.42616865038871765,
+              0.7761334776878357
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12669580429792404,
+              -0.061330437660217285,
+              0.03438675403594971
+            ],
+            "min_contact_pad_to_button": 0.020946025012482106,
+            "closest_contact_pad": [
+              0.17756801843643186,
+              -0.42612963914871216,
+              0.7891127458796391
+            ],
+            "closest_contact_pad_button": [
+              0.17756801843643186,
+              -0.42612963914871216,
+              0.768166720867157
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020946025012482106
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7935f7bb690da7be37e7fe97fc7b91ccecb8cef11aca0291e899c5c9796f97c8",
+    "visual_seed": 5449266382032154171,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25e1bfc8f9f6703b379c7b942e77de603e846455
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34433839770527885,
+              0.3545907803834481,
+              1.0543809921139444
+            ],
+            "current_z": 1.0543809921139444,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19327448409917836,
+            "gripper_z": 1.0529587079640934,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3386788138352399,
+              0.3493808055547053,
+              1.0529587079640934
+            ],
+            "object_minus_gripper": [
+              0.005659583870038953,
+              0.005209974828742803,
+              0.0014222841498510164
+            ],
+            "object_to_gripper_xy": 0.007692511117843035,
+            "object_to_gripper_z": 0.0014222841498510164,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34433839770527885,
+              0.32982175158677685,
+              1.0543809921139444
+            ],
+            "finger_b": [
+              0.33186127164266516,
+              0.3545907803834481,
+              1.0543809921139444
+            ],
+            "finger_midpoint": [
+              0.338099834673972,
+              0.3422062659851125,
+              1.0543809921139444
+            ],
+            "object_minus_finger_midpoint": [
+              0.006238563031306876,
+              0.0123845143983356,
+              0.0
+            ],
+            "finger_gap": 0.027734156960554684,
+            "fingertip_max_gap": 0.09116188028815672,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01386707848027733,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0543809921139444,
+            "object_top_z": 1.104907139240467,
+            "finger_top_clearance": 0.05052614712652259,
+            "fingertip_min_top_clearance": 0.01515784413795681,
+            "object_projection_between_fingers": 0.7976052757111041,
+            "object_to_finger_line_xy": 0.011143165273929969,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808094014407836,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6284871346416686,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3457430726521743,
+              0.35214679239746255,
+              1.2408192395348367
+            ],
+            "held_position": [
+              0.3519494993126513,
+              0.3567310107156024,
+              1.242091095452185
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007820000444676638,
+            "max_held_gripper_dist": 0.007828436711364444,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012718559173483523,
+            "max_held_gripper_z_dist": 0.0014359047650629453,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08962565099713876,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3519494993126513,
+              0.3305803426940554,
+              1.242091095452185
+            ],
+            "held_grasp_finger_b": [
+              0.3421348776326877,
+              0.3571704794090438,
+              1.242091095452185
+            ],
+            "held_grasp_midpoint": [
+              0.3470421884726695,
+              0.3438754110515496,
+              1.242091095452185
+            ],
+            "held_grasp_object_position": [
+              0.3519494993126513,
+              0.3567310107156024,
+              1.242091095452185
+            ],
+            "held_grasp_finger_gap": 0.028343644247742477,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025354264637821117,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1090854862465983,
+              -0.9937856920160589,
+              0.022143961581123195
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034877918550105793,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036409222672530286,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33789113709076835,
+              -0.3600703225430072,
+              0.8515395554422006
+            ],
+            "target_position": [
+              0.32844920345766626,
+              -0.3628398463800084,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009839734397615726,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865740078702142,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395554422006,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571789769113745,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08503377524639931,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15441371165004045,
+            "release_required_pad_clearance": 0.05251688762319966,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.10467830578724505,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008611440658569336,
+            "max_z_decrease": 0.008611440658569336,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506882220807386,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008611440658569336,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02098841059959622,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008611440658569336,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008611523867813066,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18414913117885584,
+              -0.4191012978553772,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18414913117885584,
+              -0.4191012978553772,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18440689229718096,
+              -0.4167647322700468,
+              0.8031895275944093
+            ],
+            "closest_button": [
+              0.18413344025611875,
+              -0.419066846370697,
+              0.7681974172592163
+            ],
+            "closest_ee_minus_button": [
+              0.00027345204106221654,
+              0.002302114100650232,
+              0.034992110335193005
+            ],
+            "button_min_z_position": [
+              0.18413344025611875,
+              -0.419066846370697,
+              0.7681974172592163
+            ],
+            "min_active_finger_to_button": 0.1446552370576438,
+            "closest_active_finger": [
+              0.05831286311149597,
+              -0.4815613031387329,
+              0.8106786012649536
+            ],
+            "closest_active_finger_button": [
+              0.18415319919586176,
+              -0.4191034436225891,
+              0.7762059569358826
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258403360843658,
+              -0.0624578595161438,
+              0.034472644329071045
+            ],
+            "min_contact_pad_to_button": 0.02098841059959622,
+            "closest_contact_pad": [
+              0.18413344025611875,
+              -0.419066846370697,
+              0.7891858278588125
+            ],
+            "closest_contact_pad_button": [
+              0.18413344025611875,
+              -0.419066846370697,
+              0.7681974172592163
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02098841059959622
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a8bcda7ca81114ffc7212392a7eba62c107185d949b460b2bad1f16b316d6ea2",
+    "visual_seed": 4315668500790734208,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c40ca20e0ac7d9e2387243358e3c495854096abc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3443466684230344,
+              0.36163529231502206,
+              1.055325107706063
+            ],
+            "current_z": 1.055325107706063,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.19421865929594162,
+            "gripper_z": 1.053679373356483,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33869505594872773,
+              0.3563282387547795,
+              1.053679373356483
+            ],
+            "object_minus_gripper": [
+              0.005651612474306678,
+              0.005307053560242581,
+              0.0016457343495799304
+            ],
+            "object_to_gripper_xy": 0.007752776344705315,
+            "object_to_gripper_z": 0.0016457343495799304,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3443466684230344,
+              0.33696097331063707,
+              1.055325107706063
+            ],
+            "finger_b": [
+              0.3316374083215431,
+              0.36163529231502206,
+              1.055325107706063
+            ],
+            "finger_midpoint": [
+              0.33799203837228875,
+              0.34929813281282956,
+              1.055325107706063
+            ],
+            "object_minus_finger_midpoint": [
+              0.006354630050745658,
+              0.012337159502192496,
+              0.0
+            ],
+            "finger_gap": 0.02775513124914947,
+            "fingertip_max_gap": 0.09139039619395276,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013877565624574735,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.055325107706063,
+            "object_top_z": 1.105940808550031,
+            "finger_top_clearance": 0.05061570084396805,
+            "fingertip_min_top_clearance": 0.015184710253190414,
+            "object_projection_between_fingers": 0.7903214691701946,
+            "object_to_finger_line_xy": 0.011298535583884477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819519809697638,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6271946694592135,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3455081994351454,
+              0.3596581261721486,
+              1.2435810230373547
+            ],
+            "held_position": [
+              0.3516989104717436,
+              0.3643547330966582,
+              1.2451147900868822
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007920572018751373,
+            "max_held_gripper_dist": 0.007929533672578896,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001533767049527457,
+            "max_held_gripper_z_dist": 0.0016941232575629073,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08988863165978839,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3516989104717436,
+              0.33829184027584114,
+              1.2451147900868822
+            ],
+            "held_grasp_finger_b": [
+              0.34152257897229943,
+              0.3643547330966582,
+              1.2451147900868822
+            ],
+            "held_grasp_midpoint": [
+              0.3466107447220215,
+              0.3513232866862497,
+              1.2451147900868822
+            ],
+            "held_grasp_object_position": [
+              0.3516989104717436,
+              0.3643547330966582,
+              1.2451147900868822
+            ],
+            "held_grasp_finger_gap": 0.02797913695909827,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024827756145601964,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10634853732439242,
+              -0.9941334714464632,
+              0.01971368962844255
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036827812852935162,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036224134027000046,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33163612436593737,
+              -0.364267664107459,
+              0.851539596929071
+            ],
+            "target_position": [
+              0.32236127744853504,
+              -0.3672804073747023,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009751892500205658,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18623903337543463,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539596929071,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567839114395733,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562196754071132,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15433374906397315,
+            "release_required_pad_clearance": 0.05281098377035566,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6679296458164795,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008603811264038086,
+            "max_z_decrease": 0.008603811264038086,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035056424386327764,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008603811264038086,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021134759630665793,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008603811264038086,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008603964288161242,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17806120216846466,
+              -0.4235418736934662,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17806120216846466,
+              -0.4235418736934662,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17617228996963233,
+              -0.4249370210199233,
+              0.8035558759329485
+            ],
+            "closest_button": [
+              0.17802853882312772,
+              -0.4235035181045532,
+              0.7685779929161072
+            ],
+            "closest_ee_minus_button": [
+              -0.0018562488534953903,
+              -0.0014335029153700884,
+              0.03497788301684135
+            ],
+            "button_min_z_position": [
+              0.17802469432353973,
+              -0.423505812883377,
+              0.7682050466537476
+            ],
+            "min_active_finger_to_button": 0.14747176736774126,
+            "closest_active_finger": [
+              0.0354955792427063,
+              -0.408315509557724,
+              0.8094990253448486
+            ],
+            "closest_active_finger_button": [
+              0.17806559801101682,
+              -0.4235454499721527,
+              0.775006115436554
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14257001876831052,
+              0.015229940414428711,
+              0.03449290990829468
+            ],
+            "min_contact_pad_to_button": 0.021134759630665793,
+            "closest_contact_pad": [
+              0.17802469432353973,
+              -0.4261502021496616,
+              0.7891737201943981
+            ],
+            "closest_contact_pad_button": [
+              0.17802469432353973,
+              -0.423505812883377,
+              0.7682050466537476
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026443892662845747,
+              0.020968673540650573
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae55905d598279b5ff1ffb40254d5af226c97916289bc9cf241e8593e0a70e87",
+    "visual_seed": 7263137778344022924,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d89ea51b27e66776df2efc86743839e4d6755e49
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3435164340021383,
+              0.35816335318440706,
+              1.0562856630152644
+            ],
+            "current_z": 1.0562856630152644,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.19517891658191933,
+            "gripper_z": 1.055049596676104,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33751427926303235,
+              0.35277563699679065,
+              1.055049596676104
+            ],
+            "object_minus_gripper": [
+              0.00600215473910598,
+              0.005387716187616409,
+              0.001236066339160402
+            ],
+            "object_to_gripper_xy": 0.008065565524529342,
+            "object_to_gripper_z": 0.001236066339160402,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3435164340021383,
+              0.33310922488516126,
+              1.0562856630152644
+            ],
+            "finger_b": [
+              0.3308496542258698,
+              0.35816335318440706,
+              1.0562856630152644
+            ],
+            "finger_midpoint": [
+              0.33718304411400407,
+              0.34563628903478416,
+              1.0562856630152644
+            ],
+            "object_minus_finger_midpoint": [
+              0.006333389888134255,
+              0.012527064149622902,
+              0.0
+            ],
+            "finger_gap": 0.02807412785351585,
+            "fingertip_max_gap": 0.09274742413208056,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014037063926757925,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0562856630152644,
+            "object_top_z": 1.1075792509751299,
+            "finger_top_clearance": 0.051293587959865494,
+            "fingertip_min_top_clearance": 0.01538807638795968,
+            "object_projection_between_fingers": 0.7964271329354964,
+            "object_to_finger_line_xy": 0.011304184668133136,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048873712066040284,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0347515513067707,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3444020507642161,
+              0.35615829825412343,
+              1.2428972952567345
+            ],
+            "held_position": [
+              0.3508943458259421,
+              0.36097497539089196,
+              1.243993071141893
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008157879540596021,
+            "max_held_gripper_dist": 0.0081674893640169,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001095775885158412,
+            "max_held_gripper_z_dist": 0.0012636899156130976,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0898895339481986,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3508943458259421,
+              0.3347557836161208,
+              1.243993071141893
+            ],
+            "held_grasp_finger_b": [
+              0.3405266265538226,
+              0.36097497539089196,
+              1.243993071141893
+            ],
+            "held_grasp_midpoint": [
+              0.3457104861898823,
+              0.3478653795035064,
+              1.243993071141893
+            ],
+            "held_grasp_object_position": [
+              0.3508943458259421,
+              0.36097497539089196,
+              1.243993071141893
+            ],
+            "held_grasp_finger_gap": 0.0281946026790183,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02518872640877863,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08854160121316283,
+              -0.995709596936594,
+              0.026884631724735868
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004018785358501656,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03620791240042372,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3319012717823355,
+              -0.370013098835353,
+              0.8515396525982097
+            ],
+            "target_position": [
+              0.3240043276698006,
+              -0.3721411878792533,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008178660605213356,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18366326374088188,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396525982097,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543127990396958,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08592968257006893,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15224256327202465,
+            "release_required_pad_clearance": 0.05296484128503447,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9650891727037728,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008727788925170898,
+            "max_z_decrease": 0.008727788925170898,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035037906844350944,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008727788925170898,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 80,
+            "contact_point_distance": 0.020891819712850146,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008727788925170898,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 80,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008727905643555408,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17970424890518177,
+              -0.4284026324748992,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17970424890518177,
+              -0.4284026324748992,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17810151387539386,
+              -0.4269904652089257,
+              0.8030562232188223
+            ],
+            "closest_button": [
+              0.17968776822090143,
+              -0.4283606112003326,
+              0.7680810689926147
+            ],
+            "closest_ee_minus_button": [
+              -0.0015862543455075762,
+              0.0013701459914068903,
+              0.03497515422620756
+            ],
+            "button_min_z_position": [
+              0.17968776822090143,
+              -0.4283606112003326,
+              0.7680810689926147
+            ],
+            "min_active_finger_to_button": 0.14662493373314597,
+            "closest_active_finger": [
+              0.05183778703212738,
+              -0.4914327561855316,
+              0.8103482127189636
+            ],
+            "closest_active_finger_button": [
+              0.1797054111957549,
+              -0.4284064173698425,
+              0.7760491967201233
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1278676241636275,
+              -0.06302633881568914,
+              0.03429901599884033
+            ],
+            "min_contact_pad_to_button": 0.020891819712850146,
+            "closest_contact_pad": [
+              0.17968776822090143,
+              -0.4283606112003326,
+              0.7889728887054649
+            ],
+            "closest_contact_pad_button": [
+              0.17968776822090143,
+              -0.4283606112003326,
+              0.7680810689926147
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020891819712850146
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eda17eb09c037a88f943b78ca7bcb812df85df58173ec0307fb3248abf324f35",
+    "visual_seed": 2644786214172743639,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aff05196b8054d323e2fc6d7894248192fa1d5a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3480426106734311,
+              0.35695936105519765,
+              1.054018457632814
+            ],
+            "current_z": 1.054018457632814,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.19291171119946904,
+            "gripper_z": 1.0525165577458155,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3423344471344518,
+              0.35181204533497445,
+              1.0525165577458155
+            ],
+            "object_minus_gripper": [
+              0.005708163538979294,
+              0.0051473157202232,
+              0.001501899886998448
+            ],
+            "object_to_gripper_xy": 0.007686220795123537,
+            "object_to_gripper_z": 0.001501899886998448,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3480426106734311,
+              0.3320475725866329,
+              1.054018457632814
+            ],
+            "finger_b": [
+              0.3357994467263834,
+              0.35695936105519765,
+              1.054018457632814
+            ],
+            "finger_midpoint": [
+              0.34192102869990726,
+              0.34450346682091526,
+              1.054018457632814
+            ],
+            "object_minus_finger_midpoint": [
+              0.00612158197352386,
+              0.012455894234282394,
+              0.0
+            ],
+            "finger_gap": 0.02775774248992169,
+            "fingertip_max_gap": 0.09118092095767508,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013878871244960869,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054018457632814,
+            "object_top_z": 1.1043210276446622,
+            "finger_top_clearance": 0.050302570011848236,
+            "fingertip_min_top_clearance": 0.01509077100355447,
+            "object_projection_between_fingers": 0.8054554605761798,
+            "object_to_finger_line_xy": 0.010987893217380732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04809046047883754,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5451347983831815,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34926159120072797,
+              0.35483448559405983,
+              1.2409576379921186
+            ],
+            "held_position": [
+              0.35544399276662253,
+              0.3594619971754577,
+              1.2423388032817444
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00784497100792692,
+            "max_held_gripper_dist": 0.007854139101088906,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013811652896258408,
+            "max_held_gripper_z_dist": 0.0015435428174188637,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08989138842104216,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35544399276662253,
+              0.33337964997095465,
+              1.2423388032817444
+            ],
+            "held_grasp_finger_b": [
+              0.34543609485572435,
+              0.3594965687984305,
+              1.2423388032817444
+            ],
+            "held_grasp_midpoint": [
+              0.35044004381117344,
+              0.34643810938469255,
+              1.2423388032817444
+            ],
+            "held_grasp_object_position": [
+              0.35544399276662253,
+              0.3594619971754577,
+              1.2423388032817444
+            ],
+            "held_grasp_finger_gap": 0.02796875881471902,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025008264482305392,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09789136037669367,
+              -0.9950619135046708,
+              0.01640334892707873
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037113759886586986,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03627083199324177,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32985358804865955,
+              -0.3687597537780389,
+              0.8515396720723938
+            ],
+            "target_position": [
+              0.32099210309118514,
+              -0.3715286151057043,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009283992067175966,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18480646016933422,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396720723938,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553034941763818,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539263157400344,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15324605521363682,
+            "release_required_pad_clearance": 0.05269631578700172,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.44762355982214036,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00853055715560913,
+            "max_z_decrease": 0.00853055715560913,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506924252194561,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00853055715560913,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021100359844001614,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00853055715560913,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00853066813308101,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17669202387332913,
+              -0.42779007554054255,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17669202387332913,
+              -0.42779007554054255,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17850815447918947,
+              -0.42903538911625094,
+              0.8032773603727086
+            ],
+            "closest_button": [
+              0.17670263350009915,
+              -0.42774787545204157,
+              0.7682783007621765
+            ],
+            "closest_ee_minus_button": [
+              0.0018055209790903137,
+              -0.001287513664209372,
+              0.03499905961053207
+            ],
+            "button_min_z_position": [
+              0.17670263350009915,
+              -0.42774787545204157,
+              0.7682783007621765
+            ],
+            "min_active_finger_to_button": 0.1439163909805643,
+            "closest_active_finger": [
+              0.03768521547317505,
+              -0.41363564133644104,
+              0.8103992342948914
+            ],
+            "closest_active_finger_button": [
+              0.17669601738452909,
+              -0.4277930557727813,
+              0.7759392261505127
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13901080191135404,
+              0.014157414436340277,
+              0.03446000814437866
+            ],
+            "min_contact_pad_to_button": 0.021100359844001614,
+            "closest_contact_pad": [
+              0.17670263350009915,
+              -0.4301478252051632,
+              0.7892417314625377
+            ],
+            "closest_contact_pad_button": [
+              0.17670263350009915,
+              -0.42774787545204157,
+              0.7682783007621765
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002399949753121633,
+              0.02096343070036122
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ca67cc71f33625dd2c1a75b2c72a48498914d3e54a384969d0e8eefe367731f",
+    "visual_seed": 2640810819869160427,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37df55a28bd5c2c64f74351a5c23e8e0b2404dcd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34087388922644435,
+              0.35894082343065076,
+              1.054226210014061
+            ],
+            "current_z": 1.054226210014061,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.19311946358071586,
+            "gripper_z": 1.0528388343078732,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33529922071938134,
+              0.3536838722752057,
+              1.0528388343078732
+            ],
+            "object_minus_gripper": [
+              0.0055746685070630075,
+              0.005256951155445055,
+              0.0013873757061877434
+            ],
+            "object_to_gripper_xy": 0.007662405915531701,
+            "object_to_gripper_z": 0.0013873757061877434,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34087388922644435,
+              0.3343109465526194,
+              1.054226210014061
+            ],
+            "finger_b": [
+              0.3282424380217705,
+              0.35894082343065076,
+              1.054226210014061
+            ],
+            "finger_midpoint": [
+              0.3345581636241074,
+              0.34662588499163505,
+              1.054226210014061
+            ],
+            "object_minus_finger_midpoint": [
+              0.006315725602336952,
+              0.01231493843901571,
+              0.0
+            ],
+            "finger_gap": 0.027680036028933208,
+            "fingertip_max_gap": 0.09116186385967387,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01384001801446664,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054226210014061,
+            "object_top_z": 1.1047179443447859,
+            "finger_top_clearance": 0.05049173433072496,
+            "fingertip_min_top_clearance": 0.015147520299217487,
+            "object_projection_between_fingers": 0.7917556652572507,
+            "object_to_finger_line_xy": 0.011239547796714653,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808093192983694,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6155404718745922,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34216058013112627,
+              0.3568904164040597,
+              1.242919398398203
+            ],
+            "held_position": [
+              0.348286457724747,
+              0.3615156447693781,
+              1.2442047885030831
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007782759243680464,
+            "max_held_gripper_dist": 0.0077937132400596265,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012853901048801575,
+            "max_held_gripper_z_dist": 0.0014411289523825754,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08983439527453574,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.348286457724747,
+              0.33543422224103947,
+              1.2442047885030831
+            ],
+            "held_grasp_finger_b": [
+              0.3382977841845294,
+              0.3615390039269374,
+              1.2442047885030831
+            ],
+            "held_grasp_midpoint": [
+              0.3432921209546382,
+              0.34848661308398843,
+              1.2442047885030831
+            ],
+            "held_grasp_object_position": [
+              0.348286457724747,
+              0.3615156447693781,
+              1.2442047885030831
+            ],
+            "held_grasp_finger_gap": 0.027950549654012787,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02488601570096697,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10664055590510765,
+              -0.9941172353902327,
+              0.01893975016547034
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003585286337023504,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036235266261662034,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33406926943793414,
+              -0.3633573783064086,
+              0.8515395211386925
+            ],
+            "target_position": [
+              0.32532675201038236,
+              -0.3660354967877223,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009143518445926636,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18380564932694082,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395211386925,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553143247027892,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595198612573866,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15222543649650283,
+            "release_required_pad_clearance": 0.052975993062869334,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9867433581807209,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008611798286437988,
+            "max_z_decrease": 0.008611798286437988,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505494773049936,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008611798286437988,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02094221777534433,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008611798286437988,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008611859941612681,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18102668225765223,
+              -0.42229694128036505,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18102668225765223,
+              -0.42229694128036505,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17946892039151446,
+              -0.4205598735025686,
+              0.8031761287027115
+            ],
+            "closest_button": [
+              0.18102025985717762,
+              -0.4222649931907654,
+              0.7681970596313477
+            ],
+            "closest_ee_minus_button": [
+              -0.0015513394656631596,
+              0.0017051196881967545,
+              0.03497906907136383
+            ],
+            "button_min_z_position": [
+              0.18102025985717762,
+              -0.4222649931907654,
+              0.7681970596313477
+            ],
+            "min_active_finger_to_button": 0.14646160243616627,
+            "closest_active_finger": [
+              0.05301600694656372,
+              -0.48459920287132263,
+              0.8111798763275146
+            ],
+            "closest_active_finger_button": [
+              0.1810292750596999,
+              -0.4222989678382874,
+              0.776795506477356
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12801326811313618,
+              -0.06230023503303522,
+              0.03438436985015869
+            ],
+            "min_contact_pad_to_button": 0.02094221777534433,
+            "closest_contact_pad": [
+              0.18102025985717762,
+              -0.4222649931907654,
+              0.789139277406692
+            ],
+            "closest_contact_pad_button": [
+              0.18102025985717762,
+              -0.4222649931907654,
+              0.7681970596313477
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02094221777534433
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "918342cc7eed8b32ab0351c9822c659bc17107a8cc8c94cbb3adece44a50429b",
+    "visual_seed": 7753134851670715720,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..030c60b578ed6443352f604f02f8506c85d1622d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3464920472523064,
+              0.3609721998462573,
+              1.0533059983207576
+            ],
+            "current_z": 1.0533059983207576,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.19219954991063615,
+            "gripper_z": 1.0517001506699724,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34076157793194467,
+              0.35577366537265737,
+              1.0517001506699724
+            ],
+            "object_minus_gripper": [
+              0.005730469320361753,
+              0.005198534473599914,
+              0.001605847650785197
+            ],
+            "object_to_gripper_xy": 0.007737120866628233,
+            "object_to_gripper_z": 0.001605847650785197,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3464920472523064,
+              0.336129447735322,
+              1.0533059983207576
+            ],
+            "finger_b": [
+              0.3340579111064591,
+              0.3609721998462573,
+              1.0533059983207576
+            ],
+            "finger_midpoint": [
+              0.34027497917938276,
+              0.3485508237907896,
+              1.0533059983207576
+            ],
+            "object_minus_finger_midpoint": [
+              0.006217068072923659,
+              0.01242137605546767,
+              0.0
+            ],
+            "finger_gap": 0.027780750064367348,
+            "fingertip_max_gap": 0.09126440033335112,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013890375032183698,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0533059983207576,
+            "object_top_z": 1.1038082761487689,
+            "finger_top_clearance": 0.05050227782801131,
+            "fingertip_min_top_clearance": 0.015150683348403393,
+            "object_projection_between_fingers": 0.7996712403419106,
+            "object_to_finger_line_xy": 0.011119144057276915,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813220016667556,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5704873899177102,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3478516150847769,
+              0.35860954838931974,
+              1.239717472066956
+            ],
+            "held_position": [
+              0.3541119353509838,
+              0.36319076720177224,
+              1.241179916996904
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00789417005239816,
+            "max_held_gripper_dist": 0.007902873340713542,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014624449299480702,
+            "max_held_gripper_z_dist": 0.0016246213010686628,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09041603804098985,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3541119353509838,
+              0.33701773338036706,
+              1.241179916996904
+            ],
+            "held_grasp_finger_b": [
+              0.34426729515684973,
+              0.36370061550601734,
+              1.241179916996904
+            ],
+            "held_grasp_midpoint": [
+              0.3491896152539168,
+              0.3503591744431922,
+              1.241179916996904
+            ],
+            "held_grasp_object_position": [
+              0.3541119353509838,
+              0.36319076720177224,
+              1.241179916996904
+            ],
+            "held_grasp_finger_gap": 0.028441046729740935,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02547012365549128,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10707041011264438,
+              -0.9940527861115459,
+              0.01987424721048303
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003529745946502761,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03643793470668116,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32967692613791555,
+              -0.3624864686977592,
+              0.8515395708379475
+            ],
+            "target_position": [
+              0.3206218133752029,
+              -0.3651798704250108,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009447194293005915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18637285005932913,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395708379475,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557995560895378,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08571097239183455,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15449401497484216,
+            "release_required_pad_clearance": 0.052855486195917276,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7538097900180086,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008410930633544922,
+            "max_z_decrease": 0.008410930633544922,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506102347288621,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008410930633544922,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021087988429559057,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008410930633544922,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008410968049513771,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17632174491882321,
+              -0.42144131660461426,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17632174491882321,
+              -0.42144131660461426,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17637976166398928,
+              -0.4192629164338937,
+              0.8033920013007109
+            ],
+            "closest_button": [
+              0.17630103230476374,
+              -0.4214271605014801,
+              0.7683979272842407
+            ],
+            "closest_ee_minus_button": [
+              7.872935922553781e-05,
+              0.0021642440675864183,
+              0.034994074016470145
+            ],
+            "button_min_z_position": [
+              0.17630103230476374,
+              -0.4214271605014801,
+              0.7683979272842407
+            ],
+            "min_active_finger_to_button": 0.14497901594151075,
+            "closest_active_finger": [
+              0.04846400022506714,
+              -0.4803360104560852,
+              0.8081368803977966
+            ],
+            "closest_active_finger_button": [
+              0.176332950592041,
+              -0.42144614458084106,
+              0.7734896540641785
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12786895036697385,
+              -0.05888986587524414,
+              0.034647226333618164
+            ],
+            "min_contact_pad_to_button": 0.021087988429559057,
+            "closest_contact_pad": [
+              0.17630103230476374,
+              -0.4214271605014801,
+              0.7894859157137998
+            ],
+            "closest_contact_pad_button": [
+              0.17630103230476374,
+              -0.4214271605014801,
+              0.7683979272842407
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021087988429559057
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1cd47734826d07ee9bcc2ae43efbc9e6bd366ce83836a0fefe8e92200e2a435e",
+    "visual_seed": 9114945687431529755,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5f5eaef18317dae30ee9f9def3c3fa327795f38
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3464762895591882,
+              0.35861989330402927,
+              1.0566334380168607
+            ],
+            "current_z": 1.0566334380168607,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19552693000209476,
+            "gripper_z": 1.0550349705034876,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3407785598334384,
+              0.3533042167704191,
+              1.0550349705034876
+            ],
+            "object_minus_gripper": [
+              0.005697729725749778,
+              0.0053156765336101475,
+              0.001598467513373114
+            ],
+            "object_to_gripper_xy": 0.00779233861158935,
+            "object_to_gripper_z": 0.001598467513373114,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3464762895591882,
+              0.3338903662357863,
+              1.0566334380168607
+            ],
+            "finger_b": [
+              0.33377950557555636,
+              0.35861989330402927,
+              1.0566334380168607
+            ],
+            "finger_midpoint": [
+              0.3401278975673723,
+              0.3462551297699078,
+              1.0566334380168607
+            ],
+            "object_minus_finger_midpoint": [
+              0.006348391991815916,
+              0.01236476353412147,
+              0.0
+            ],
+            "finger_gap": 0.027798522128810604,
+            "fingertip_max_gap": 0.09154920982308326,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013899261064405278,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0566334380168607,
+            "object_top_z": 1.1073857174122503,
+            "finger_top_clearance": 0.05075227939538962,
+            "fingertip_min_top_clearance": 0.015225683818616886,
+            "object_projection_between_fingers": 0.7913857139488532,
+            "object_to_finger_line_xy": 0.011295041576236915,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04827460491154163,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.753627721119453,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34767454401151965,
+              0.35649055569821786,
+              1.2434167346634908
+            ],
+            "held_position": [
+              0.35391747694686493,
+              0.36118900728313513,
+              1.2448738802952999
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007948140180151003,
+            "max_held_gripper_dist": 0.00795730662225834,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001457145631809098,
+            "max_held_gripper_z_dist": 0.0016245336512243913,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08988351191209254,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35391747694686493,
+              0.3350877817899845,
+              1.2448738802952999
+            ],
+            "held_grasp_finger_b": [
+              0.34380215532908237,
+              0.36118900728313513,
+              1.2448738802952999
+            ],
+            "held_grasp_midpoint": [
+              0.3488598161379737,
+              0.3481383945365598,
+              1.2448738802952999
+            ],
+            "held_grasp_object_position": [
+              0.35391747694686493,
+              0.36118900728313513,
+              1.2448738802952999
+            ],
+            "held_grasp_finger_gap": 0.0279927437682603,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0248659344117725,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10668927048164842,
+              -0.994019637226205,
+              0.023288631835672535
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003649638850497838,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03620808658012034,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3300467600278445,
+              -0.36903993276249336,
+              0.8515395709776917
+            ],
+            "target_position": [
+              0.3225572994098688,
+              -0.370978842526919,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007736368102849915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18206739784683365,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395709776917,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517835161408028,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08711126000205947,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1512697116057713,
+            "release_required_pad_clearance": 0.05355563000102974,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1225566063590477,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00842219591140747,
+            "max_z_decrease": 0.00842219591140747,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0349969334608199,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00842219591140747,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108374067014471,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00842219591140747,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008422233829025209,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17825722694396967,
+              -0.42724031209945673,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17825722694396967,
+              -0.42724031209945673,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1781141131217248,
+              -0.42656289470291675,
+              0.8033770440485893
+            ],
+            "closest_button": [
+              0.17827352881431577,
+              -0.42722100019454956,
+              0.7683866620063782
+            ],
+            "closest_ee_minus_button": [
+              -0.00015941569259098065,
+              0.00065810549163281,
+              0.034990382042211166
+            ],
+            "button_min_z_position": [
+              0.17827352881431577,
+              -0.42722100019454956,
+              0.7683866620063782
+            ],
+            "min_active_finger_to_button": 0.14576599930899709,
+            "closest_active_finger": [
+              0.05032314360141754,
+              -0.4878946840763092,
+              0.809471845626831
+            ],
+            "closest_active_finger_button": [
+              0.17826388776302335,
+              -0.4272434711456298,
+              0.774826169013977
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1279407441616058,
+              -0.06065121293067938,
+              0.034645676612854004
+            ],
+            "min_contact_pad_to_button": 0.02108374067014471,
+            "closest_contact_pad": [
+              0.17827352881431577,
+              -0.42790537589583555,
+              0.7894592923724574
+            ],
+            "closest_contact_pad_button": [
+              0.17827352881431577,
+              -0.42722100019454956,
+              0.7683866620063782
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006843757012859886,
+              0.021072630366079204
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7d374c36c126dfe3f1b57ba45dfebcf598c68397bdb67221d253682ec27357d0",
+    "visual_seed": 1082061066752298000,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd1354e60de3a0675bea5d6cbaf2b742306571f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34356269505545395,
+              0.3623210595829111,
+              1.0547453378420502
+            ],
+            "current_z": 1.0547453378420502,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19363877022263942,
+            "gripper_z": 1.0532510120011176,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3378119634056522,
+              0.35712022043779396,
+              1.0532510120011176
+            ],
+            "object_minus_gripper": [
+              0.005750731649801721,
+              0.005200839145117153,
+              0.0014943258409325644
+            ],
+            "object_to_gripper_xy": 0.007753685724957786,
+            "object_to_gripper_z": 0.0014943258409325644,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34356269505545395,
+              0.33746167087367895,
+              1.0547453378420502
+            ],
+            "finger_b": [
+              0.3311289179418972,
+              0.3623210595829111,
+              1.0547453378420502
+            ],
+            "finger_midpoint": [
+              0.33734580649867557,
+              0.349891365228295,
+              1.0547453378420502
+            ],
+            "object_minus_finger_midpoint": [
+              0.006216888556778377,
+              0.012429694354616105,
+              0.0
+            ],
+            "finger_gap": 0.02779546762165204,
+            "fingertip_max_gap": 0.09130773255965399,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013897733810826044,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0547453378420502,
+            "object_top_z": 1.105256965873699,
+            "finger_top_clearance": 0.05051162803164888,
+            "fingertip_min_top_clearance": 0.015153488409494664,
+            "object_projection_between_fingers": 0.7998948867362529,
+            "object_to_finger_line_xy": 0.011120377703200896,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048153866279827,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.564794574730785,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34487106506727855,
+              0.3597763313659205,
+              1.242139906985091
+            ],
+            "held_position": [
+              0.35114420283249825,
+              0.36436155374284884,
+              1.2435040481319959
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007889068559468165,
+            "max_held_gripper_dist": 0.00789740930756776,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013641411469049736,
+            "max_held_gripper_z_dist": 0.0015251529005506637,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09043842995976475,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35114420283249825,
+              0.3381838537080824,
+              1.2435040481319959
+            ],
+            "held_grasp_finger_b": [
+              0.34126051125246726,
+              0.36485558713651717,
+              1.2435040481319959
+            ],
+            "held_grasp_midpoint": [
+              0.34620235704248276,
+              0.3515197204222998,
+              1.2435040481319959
+            ],
+            "held_grasp_object_position": [
+              0.35114420283249825,
+              0.36436155374284884,
+              1.2435040481319959
+            ],
+            "held_grasp_finger_gap": 0.02844413337274771,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025466544263122726,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10618517815534459,
+              -0.9941628235573174,
+              0.019104664264516732
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035591084527957203,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03642862602085653,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3385242929209164,
+              -0.3622256858788025,
+              0.8515395818258039
+            ],
+            "target_position": [
+              0.3294319274462669,
+              -0.36499149816096454,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009503727032315073,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18409768894382988,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395818258039,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576858827456139,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513146575506124,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15194355876621696,
+            "release_required_pad_clearance": 0.05256573287753062,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.19782343080008952,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008416414260864258,
+            "max_z_decrease": 0.008416414260864258,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501939482872474,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008416414260864258,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020951828368969614,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008416414260864258,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008416495983594707,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18513184785842893,
+              -0.4212529659271241,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18513184785842893,
+              -0.4212529659271241,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18330116544998853,
+              -0.42086802937704776,
+              0.8036501278383009
+            ],
+            "closest_button": [
+              0.18515264987945557,
+              -0.42123579978942877,
+              0.7686816453933716
+            ],
+            "closest_ee_minus_button": [
+              -0.0018514844294670318,
+              0.0003677704123810077,
+              0.03496848244492934
+            ],
+            "button_min_z_position": [
+              0.18516100943088531,
+              -0.421230047941208,
+              0.7683924436569214
+            ],
+            "min_active_finger_to_button": 0.1472692373393637,
+            "closest_active_finger": [
+              0.057311832904815674,
+              -0.4857964515686035,
+              0.8110587000846863
+            ],
+            "closest_active_finger_button": [
+              0.1851365864276886,
+              -0.4212563335895539,
+              0.7766547203063965
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12782475352287292,
+              -0.06454011797904963,
+              0.034403979778289795
+            ],
+            "min_contact_pad_to_button": 0.020951828368969614,
+            "closest_contact_pad": [
+              0.18516100943088531,
+              -0.4218349289050695,
+              0.7893355387248028
+            ],
+            "closest_contact_pad_button": [
+              0.18516100943088531,
+              -0.421230047941208,
+              0.7683924436569214
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006048809638615205,
+              0.02094309506788139
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7c86de7a2c52a18fa68c037be44d594d621beabeb0cfd2a02d54e52c223b3f3",
+    "visual_seed": 883178713932121420,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f533a3326eb6ca6d70c92b78ed735c76bf46aa6c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3449974430649341,
+              0.3518405580980027,
+              1.0562201521783905
+            ],
+            "current_z": 1.0562201521783905,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.19511346534969032,
+            "gripper_z": 1.0548474251504605,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33937428016968996,
+              0.3466193466789441,
+              1.0548474251504605
+            ],
+            "object_minus_gripper": [
+              0.005623162895244116,
+              0.005221211419058569,
+              0.0013727270279300097
+            ],
+            "object_to_gripper_xy": 0.007673396225202879,
+            "object_to_gripper_z": 0.0013727270279300097,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3449974430649341,
+              0.32714493919812715,
+              1.0562201521783905
+            ],
+            "finger_b": [
+              0.3324426248730336,
+              0.3518405580980027,
+              1.0562201521783905
+            ],
+            "finger_midpoint": [
+              0.33872003396898387,
+              0.3394927486480649,
+              1.0562201521783905
+            ],
+            "object_minus_finger_midpoint": [
+              0.006277409095950204,
+              0.012347809449937797,
+              0.0
+            ],
+            "finger_gap": 0.027703737160887965,
+            "fingertip_max_gap": 0.09142488693609338,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013851868580443993,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0562201521783905,
+            "object_top_z": 1.1069034198285417,
+            "finger_top_clearance": 0.05068326765015119,
+            "fingertip_min_top_clearance": 0.015204980295045389,
+            "object_projection_between_fingers": 0.7946266252341118,
+            "object_to_finger_line_xy": 0.011191594968715057,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821244346804669,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7217772529111439,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.346564113972773,
+              0.3492098215027073,
+              1.2459162013632206
+            ],
+            "held_position": [
+              0.35275242394548095,
+              0.3537666190992034,
+              1.2471959134589317
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077908438375864746,
+            "max_held_gripper_dist": 0.007799917143623557,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012797120957110941,
+            "max_held_gripper_z_dist": 0.0014381629027606646,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09032535209084042,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35275242394548095,
+              0.3275864103827238,
+              1.2471959134589317
+            ],
+            "held_grasp_finger_b": [
+              0.3429377212394765,
+              0.35436592703186764,
+              1.2471959134589317
+            ],
+            "held_grasp_midpoint": [
+              0.34784507259247877,
+              0.34097616870729575,
+              1.2471959134589317
+            ],
+            "held_grasp_object_position": [
+              0.35275242394548095,
+              0.3537666190992034,
+              1.2471959134589317
+            ],
+            "held_grasp_finger_gap": 0.028521411275899786,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025508170111075257,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1118114004344234,
+              -0.9935043307188192,
+              0.021150781920398428
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003457519504912686,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036464184386687595,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3308589210777443,
+              -0.35984170884126415,
+              0.8515395957255696
+            ],
+            "target_position": [
+              0.3214139100942073,
+              -0.3625530156373255,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009826465133582022,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18614656797970672,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395957255696,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533106780364583,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623640801450193,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15495518978804207,
+            "release_required_pad_clearance": 0.053118204007250966,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2629814368358971,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008401274681091309,
+            "max_z_decrease": 0.008401274681091309,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035066450662352006,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008401274681091309,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020945557078821175,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008401274681091309,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008401371361227301,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17711383104324335,
+              -0.41881448030471796,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17711383104324335,
+              -0.41881448030471796,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17801073322590433,
+              -0.41685301153189,
+              0.8034097972607894
+            ],
+            "closest_button": [
+              0.1771461516618728,
+              -0.4187904000282287,
+              0.7684075832366943
+            ],
+            "closest_ee_minus_button": [
+              0.0008645815640315191,
+              0.0019373884963386767,
+              0.03500221402409509
+            ],
+            "button_min_z_position": [
+              0.1771461516618728,
+              -0.4187904000282287,
+              0.7684075832366943
+            ],
+            "min_active_finger_to_button": 0.14416979754201922,
+            "closest_active_finger": [
+              0.05187387019395828,
+              -0.4814375936985016,
+              0.8107357621192932
+            ],
+            "closest_active_finger_button": [
+              0.17711701989173884,
+              -0.41881695389747614,
+              0.7764175534248352
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12524314969778055,
+              -0.06262063980102545,
+              0.03431820869445801
+            ],
+            "min_contact_pad_to_button": 0.020945557078821175,
+            "closest_contact_pad": [
+              0.1771461516618728,
+              -0.4187904000282287,
+              0.7893531403155155
+            ],
+            "closest_contact_pad_button": [
+              0.1771461516618728,
+              -0.4187904000282287,
+              0.7684075832366943
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020945557078821175
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "babc21793c4411ba1726ca95437bd05ba41dcbbd25242ba4db85795834161cf6",
+    "visual_seed": 1526593301856461130,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ba2cff170d49374c6af21fe57fa66fe220319be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34787135468626573,
+              0.359862767720267,
+              1.0547651057103047
+            ],
+            "current_z": 1.0547651057103047,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1936584188816045,
+            "gripper_z": 1.053101606800888,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3421532126123714,
+              0.3546688234139303,
+              1.053101606800888
+            ],
+            "object_minus_gripper": [
+              0.005718142073894317,
+              0.005193944306336684,
+              0.0016634989094166386
+            ],
+            "object_to_gripper_xy": 0.007724908169976369,
+            "object_to_gripper_z": 0.0016634989094166386,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34787135468626573,
+              0.33503666689425154,
+              1.0547651057103047
+            ],
+            "finger_b": [
+              0.3354345873137813,
+              0.359862767720267,
+              1.0547651057103047
+            ],
+            "finger_midpoint": [
+              0.3416529710000235,
+              0.34744971730725926,
+              1.0547651057103047
+            ],
+            "object_minus_finger_midpoint": [
+              0.006218383686242224,
+              0.01241305041300772,
+              0.0
+            ],
+            "finger_gap": 0.027767039181388755,
+            "fingertip_max_gap": 0.09123721484950334,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013883519590694378,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0547651057103047,
+            "object_top_z": 1.1052607227567461,
+            "finger_top_clearance": 0.050495617046441454,
+            "fingertip_min_top_clearance": 0.015148685113932435,
+            "object_projection_between_fingers": 0.7993884766269087,
+            "object_to_finger_line_xy": 0.011119530560029829,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811860742475167,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5466134689440224,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3493016641897664,
+              0.35758471035708006,
+              1.2413458728328441
+            ],
+            "held_position": [
+              0.3555494228917739,
+              0.3621612551017847,
+              1.2428725542294563
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007893668772222194,
+            "max_held_gripper_dist": 0.007902722703986889,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015266813966121617,
+            "max_held_gripper_z_dist": 0.0016896944507194256,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09040697959956229,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3555494228917739,
+              0.33600103514623636,
+              1.2428725542294563
+            ],
+            "held_grasp_finger_b": [
+              0.34569279547867776,
+              0.3626461170884477,
+              1.2428725542294563
+            ],
+            "held_grasp_midpoint": [
+              0.3506211091852258,
+              0.349323576117342,
+              1.2428725542294563
+            ],
+            "held_grasp_object_position": [
+              0.3555494228917739,
+              0.3621612551017847,
+              1.2428725542294563
+            ],
+            "held_grasp_finger_gap": 0.028409742970814673,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025438566308205596,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10651748849437934,
+              -0.994122276025364,
+              0.019362978980513087
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003541931417038834,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03643307582066399,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3335991597427759,
+              -0.36615515606867927,
+              0.8515395792547591
+            ],
+            "target_position": [
+              0.32453169925310854,
+              -0.3688095533165257,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009447997908607566,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18493991991241746,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395792547591,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557690192164127,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856869484678958,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15325291149253437,
+            "release_required_pad_clearance": 0.052843474233947904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7306099840550477,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008488357067108154,
+            "max_z_decrease": 0.008488357067108154,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499335613528903,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008488357067108154,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021039550803031035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008488357067108154,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008488445245098918,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1802316308021545,
+              -0.4250710010528564,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1802316308021545,
+              -0.4250710010528564,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18032579659328785,
+              -0.4253367362074326,
+              0.803312492081651
+            ],
+            "closest_button": [
+              0.18025019764900202,
+              -0.4250370562076568,
+              0.7683205008506775
+            ],
+            "closest_ee_minus_button": [
+              7.559894428582625e-05,
+              -0.00029967999977581483,
+              0.03499199123097352
+            ],
+            "button_min_z_position": [
+              0.18025019764900202,
+              -0.4250370562076568,
+              0.7683205008506775
+            ],
+            "min_active_finger_to_button": 0.1456954889724173,
+            "closest_active_finger": [
+              0.039539843797683716,
+              -0.4096430540084839,
+              0.809990406036377
+            ],
+            "closest_active_finger_button": [
+              0.18023684620857236,
+              -0.42507439851760853,
+              0.775444746017456
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14069700241088864,
+              0.015431344509124645,
+              0.0345456600189209
+            ],
+            "min_contact_pad_to_button": 0.021039550803031035,
+            "closest_contact_pad": [
+              0.18025019764900202,
+              -0.4264758895152013,
+              0.7893107951960749
+            ],
+            "closest_contact_pad_button": [
+              0.18025019764900202,
+              -0.4250370562076568,
+              0.7683205008506775
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001438833307544518,
+              0.020990294345397453
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2cc48ef6f907a17d33f112ff790f066b15d7a775d380bc903a0a2a4937e42997",
+    "visual_seed": 7717585905083102459,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5301f00257187e93edac137652b25384e56b43e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3468340571836862,
+              0.35548129226691094,
+              1.0532817736804785
+            ],
+            "current_z": 1.0532817736804785,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.19217526566571264,
+            "gripper_z": 1.0516928797382161,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3412531074698879,
+              0.3502705160755121,
+              1.0516928797382161
+            ],
+            "object_minus_gripper": [
+              0.0055809497137983,
+              0.005210776191398869,
+              0.0015888939422623594
+            ],
+            "object_to_gripper_xy": 0.007635390508991314,
+            "object_to_gripper_z": 0.0015888939422623594,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3468340571836862,
+              0.33081602811748895,
+              1.0532817736804785
+            ],
+            "finger_b": [
+              0.3342975332866898,
+              0.35548129226691094,
+              1.0532817736804785
+            ],
+            "finger_midpoint": [
+              0.34056579523518804,
+              0.3431486601921999,
+              1.0532817736804785
+            ],
+            "object_minus_finger_midpoint": [
+              0.006268261948498166,
+              0.012332632074711025,
+              0.0
+            ],
+            "finger_gap": 0.0276683878637828,
+            "fingertip_max_gap": 0.09121191113681912,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013834193931891413,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0532817736804785,
+            "object_top_z": 1.103845287555363,
+            "finger_top_clearance": 0.05056351387488456,
+            "fingertip_min_top_clearance": 0.015169054162465367,
+            "object_projection_between_fingers": 0.7947011316424161,
+            "object_to_finger_line_xy": 0.011175810999805814,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810595556840956,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6423022803794383,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3482993697642629,
+              0.35294467685227704,
+              1.2398171801422098
+            ],
+            "held_position": [
+              0.354449143717561,
+              0.3575038998666715,
+              1.241270438451156
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007792188003646271,
+            "max_held_gripper_dist": 0.007802207088134729,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014532583089461593,
+            "max_held_gripper_z_dist": 0.0016115690502798152,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08956149332882857,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.354449143717561,
+              0.3313647133609845,
+              1.241270438451156
+            ],
+            "held_grasp_finger_b": [
+              0.34469243781992975,
+              0.35799993023005866,
+              1.241270438451156
+            ],
+            "held_grasp_midpoint": [
+              0.34957079076874537,
+              0.3446823217955216,
+              1.241270438451156
+            ],
+            "held_grasp_object_position": [
+              0.354449143717561,
+              0.3575038998666715,
+              1.241270438451156
+            ],
+            "held_grasp_finger_gap": 0.028365967066812384,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02537498797618593,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1115109832236953,
+              -0.9935330346260877,
+              0.02138713929356073
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003429630603411832,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03643759876653552,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.334081196176726,
+              -0.3684877028139575,
+              0.8515396074908573
+            ],
+            "target_position": [
+              0.3251797422009589,
+              -0.3709956919956668,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009248021010912036,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18458387176835972,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396074908573,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566112348422516,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539090056390818,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15267571629613094,
+            "release_required_pad_clearance": 0.05269545028195409,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.44587158935392757,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008503735065460205,
+            "max_z_decrease": 0.008503735065460205,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499216733663232,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008503735065460205,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02101536538395678,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008503735065460205,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008503838661695486,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18087966740131373,
+              -0.42725715041160583,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18087966740131373,
+              -0.42725715041160583,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1808001781192537,
+              -0.4276938986198256,
+              0.8032940002120195
+            ],
+            "closest_button": [
+              0.18090823292732233,
+              -0.4272263944149018,
+              0.7683051228523254
+            ],
+            "closest_ee_minus_button": [
+              -0.0001080548080686361,
+              -0.0004675042049238076,
+              0.034988877359694026
+            ],
+            "button_min_z_position": [
+              0.18090823292732233,
+              -0.4272263944149018,
+              0.7683051228523254
+            ],
+            "min_active_finger_to_button": 0.1458421385805682,
+            "closest_active_finger": [
+              0.039928436279296875,
+              -0.412680447101593,
+              0.8104994893074036
+            ],
+            "closest_active_finger_button": [
+              0.18088306486606592,
+              -0.42725965380668646,
+              0.7760151624679565
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14095462858676905,
+              0.01457920670509344,
+              0.03448432683944702
+            ],
+            "min_contact_pad_to_button": 0.02101536538395678,
+            "closest_contact_pad": [
+              0.18090823292732233,
+              -0.42877075249052027,
+              0.7892636662262215
+            ],
+            "closest_contact_pad_button": [
+              0.18090823292732233,
+              -0.4272263944149018,
+              0.7683051228523254
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015443580756184794,
+              0.02095854337389602
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b1e39ef93a6809cce32adb2e8a3c2150c459b5d447f1f58f95db6178c969f6e7",
+    "visual_seed": 9016268306416423749,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28c7c24517aaa32ca90765951e4f36e0662f69a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34670967689804744,
+              0.3559802530709157,
+              1.0566854755978516
+            ],
+            "current_z": 1.0566854755978516,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.19557908679237535,
+            "gripper_z": 1.0551248631561179,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3411466908045708,
+              0.35074523600751634,
+              1.0551248631561179
+            ],
+            "object_minus_gripper": [
+              0.005562986093476663,
+              0.00523501706339935,
+              0.0015606124417337774
+            ],
+            "object_to_gripper_xy": 0.007638862345290502,
+            "object_to_gripper_z": 0.0015606124417337774,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34670967689804744,
+              0.33133479709651803,
+              1.0566854755978516
+            ],
+            "finger_b": [
+              0.3341416553730793,
+              0.3559802530709157,
+              1.0566854755978516
+            ],
+            "finger_midpoint": [
+              0.34042566613556335,
+              0.34365752508371683,
+              1.0566854755978516
+            ],
+            "object_minus_finger_midpoint": [
+              0.006284010762484082,
+              0.012322727987198856,
+              0.0
+            ],
+            "finger_gap": 0.027665026029954045,
+            "fingertip_max_gap": 0.09131526779743118,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01383251301497706,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0566854755978516,
+            "object_top_z": 1.1072849850456679,
+            "finger_top_clearance": 0.050599509447816216,
+            "fingertip_min_top_clearance": 0.015179852834344865,
+            "object_projection_between_fingers": 0.7936180719759987,
+            "object_to_finger_line_xy": 0.011196252656459139,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815763389871559,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6327869063108748,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3481293226678497,
+              0.35412767576419973,
+              1.2453212555862967
+            ],
+            "held_position": [
+              0.3542255817729508,
+              0.3587537602030156,
+              1.2467903777876197
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007792518999271215,
+            "max_held_gripper_dist": 0.007804989619612636,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014691222013230032,
+            "max_held_gripper_z_dist": 0.001628773661230376,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08976277071804772,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3542255817729508,
+              0.3326984105868175,
+              1.2467903777876197
+            ],
+            "held_grasp_finger_b": [
+              0.34420703628674143,
+              0.3587537602030156,
+              1.2467903777876197
+            ],
+            "held_grasp_midpoint": [
+              0.34921630902984613,
+              0.34572608539491656,
+              1.2467903777876197
+            ],
+            "held_grasp_object_position": [
+              0.3542255817729508,
+              0.3587537602030156,
+              1.2467903777876197
+            ],
+            "held_grasp_finger_gap": 0.027915094434401634,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02482558102394578,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10726311100575486,
+              -0.9940454364292091,
+              0.019191022162208138
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035920568456802274,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03623283920151869,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32906302462293635,
+              -0.367599751607139,
+              0.8515395761229821
+            ],
+            "target_position": [
+              0.3204077576033702,
+              -0.3701404628132231,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009020468979643516,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853803264044247,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395761229821,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755027683046553,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08597703329229543,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537956590792103,
+            "release_required_pad_clearance": 0.05298851664614772,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0110338054506198,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008672237396240234,
+            "max_z_decrease": 0.008672237396240234,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504010160906992,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008672237396240234,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02105207492669148,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008672237396240234,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00867247590176838,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1761076897382735,
+              -0.4264019131660461,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1761076897382735,
+              -0.4264019131660461,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17761537485058815,
+              -0.4259953003937505,
+              0.8031402932288728
+            ],
+            "closest_button": [
+              0.17605991661548606,
+              -0.42635884881019587,
+              0.7681366205215454
+            ],
+            "closest_ee_minus_button": [
+              0.0015554582351020863,
+              0.0003635484164453695,
+              0.035003672707327405
+            ],
+            "button_min_z_position": [
+              0.17605991661548606,
+              -0.42635884881019587,
+              0.7681366205215454
+            ],
+            "min_active_finger_to_button": 0.14442676425286846,
+            "closest_active_finger": [
+              0.050154201686382294,
+              -0.48805397748947144,
+              0.8106958866119385
+            ],
+            "closest_active_finger_button": [
+              0.17611180245876304,
+              -0.42640459537506104,
+              0.7761542201042175
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12595760077238075,
+              -0.0616493821144104,
+              0.03454166650772095
+            ],
+            "min_contact_pad_to_button": 0.02105207492669148,
+            "closest_contact_pad": [
+              0.17605991661548606,
+              -0.4272629276757852,
+              0.7891692737094774
+            ],
+            "closest_contact_pad_button": [
+              0.17605991661548606,
+              -0.42635884881019587,
+              0.7681366205215454
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009040788655893528,
+              0.021032653187932016
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e877d50a114b9d1fd2d554931922af946c4b99eaa2309a21175efa50387bb0a",
+    "visual_seed": 2295353872560684142,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bda9c152d6b13d4ad06b2167efd830d85aa815da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3487638493953741,
+              0.351403427253336,
+              1.054274683166165
+            ],
+            "current_z": 1.054274683166165,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.19316805594210928,
+            "gripper_z": 1.052834937730455,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34273536139409333,
+              0.3461064749770718,
+              1.052834937730455
+            ],
+            "object_minus_gripper": [
+              0.006028488001280752,
+              0.0052969522762642,
+              0.001439745435710016
+            ],
+            "object_to_gripper_xy": 0.008024984174352401,
+            "object_to_gripper_z": 0.001439745435710016,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3487638493953741,
+              0.32628682484533367,
+              1.054274683166165
+            ],
+            "finger_b": [
+              0.33626290243180534,
+              0.351403427253336,
+              1.054274683166165
+            ],
+            "finger_midpoint": [
+              0.3425133759135897,
+              0.3388451260493348,
+              1.054274683166165
+            ],
+            "object_minus_finger_midpoint": [
+              0.006250473481784369,
+              0.012558301204001199,
+              0.0
+            ],
+            "finger_gap": 0.028055612477855967,
+            "fingertip_max_gap": 0.09251316432825332,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01402780623892801,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054274683166165,
+            "object_top_z": 1.1052232685580146,
+            "finger_top_clearance": 0.050948585391849655,
+            "fingertip_min_top_clearance": 0.015284575617554929,
+            "object_projection_between_fingers": 0.801460777424019,
+            "object_to_finger_line_xy": 0.011191390487564712,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875658216412666,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9130893647870951,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3499281876842393,
+              0.3484885685745969,
+              1.2421683660645084
+            ],
+            "held_position": [
+              0.35647709438479536,
+              0.35315210116678886,
+              1.2434777677758326
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008145627541978792,
+            "max_held_gripper_dist": 0.008153517204863688,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013094017113242096,
+            "max_held_gripper_z_dist": 0.0014830473468414596,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09060818061455445,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35647709438479536,
+              0.32678355097824996,
+              1.2434777677758326
+            ],
+            "held_grasp_finger_b": [
+              0.3464815183522934,
+              0.35391987300331973,
+              1.2434777677758326
+            ],
+            "held_grasp_midpoint": [
+              0.3514793063685444,
+              0.34035171199078484,
+              1.2434777677758326
+            ],
+            "held_grasp_object_position": [
+              0.35647709438479536,
+              0.35315210116678886,
+              1.2434777677758326
+            ],
+            "held_grasp_finger_gap": 0.028918705248849128,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02608382674084032,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09285586587613322,
+              -0.9954176761063684,
+              0.02283502282439531
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003799275491201879,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03651444248954569,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33085044823843546,
+              -0.3669229689979131,
+              0.8515395560490329
+            ],
+            "target_position": [
+              0.3226282831881478,
+              -0.3688771325335747,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008451198331496034,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18283487399454373,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395560490329,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560180391693111,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574679250149746,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15089298278985344,
+            "release_required_pad_clearance": 0.05287339625074873,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7883222550264556,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00865548849105835,
+            "max_z_decrease": 0.00865548849105835,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502354629785757,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00865548849105835,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021016880243324154,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00865548849105835,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00865564790278285,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17832821607589722,
+              -0.42513859272003174,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17832821607589722,
+              -0.42513859272003174,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17851635968011537,
+              -0.42362788683138675,
+              0.8031454411697099
+            ],
+            "closest_button": [
+              0.17829729616641998,
+              -0.42509612441062933,
+              0.7681533694267273
+            ],
+            "closest_ee_minus_button": [
+              0.00021906351369538335,
+              0.0014682375792425817,
+              0.03499207174298258
+            ],
+            "button_min_z_position": [
+              0.17829729616641998,
+              -0.42509612441062933,
+              0.7681533694267273
+            ],
+            "min_active_finger_to_button": 0.14511896249128226,
+            "closest_active_finger": [
+              0.05123753100633621,
+              -0.48607951402664185,
+              0.8106634020805359
+            ],
+            "closest_active_finger_button": [
+              0.17833295464515686,
+              -0.4251415431499482,
+              0.7761260271072388
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12709542363882065,
+              -0.06093797087669367,
+              0.03453737497329712
+            ],
+            "min_contact_pad_to_button": 0.021016880243324154,
+            "closest_contact_pad": [
+              0.17829729616641998,
+              -0.42509612441062933,
+              0.7891702496700514
+            ],
+            "closest_contact_pad_button": [
+              0.17829729616641998,
+              -0.42509612441062933,
+              0.7681533694267273
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021016880243324154
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d5fbbc405b700e8c2a6c70782848375a147e1cb0f1be91f9c365c2fcd8a3ff6f",
+    "visual_seed": 819181938935168398,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b809aaecf5ad32db472110f12026dfd4b4c077
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3438981011270418,
+              0.35257186507243854,
+              1.0536843477600288
+            ],
+            "current_z": 1.0536843477600288,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1925777801406181,
+            "gripper_z": 1.0523348408683422,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3378971617129124,
+              0.34722184895373936,
+              1.0523348408683422
+            ],
+            "object_minus_gripper": [
+              0.00600093941412938,
+              0.005350016118699175,
+              0.0013495068916866693
+            ],
+            "object_to_gripper_xy": 0.008039524010934506,
+            "object_to_gripper_z": 0.0013495068916866693,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3438981011270418,
+              0.327497592073343,
+              1.0536843477600288
+            ],
+            "finger_b": [
+              0.3313170626326958,
+              0.35257186507243854,
+              1.0536843477600288
+            ],
+            "finger_midpoint": [
+              0.3376075818798688,
+              0.34003472857289074,
+              1.0536843477600288
+            ],
+            "object_minus_finger_midpoint": [
+              0.006290519247172999,
+              0.012537136499547796,
+              0.0
+            ],
+            "finger_gap": 0.028053550506654007,
+            "fingertip_max_gap": 0.09244528174466873,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014026775253327028,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0536843477600288,
+            "object_top_z": 1.104343231885689,
+            "finger_top_clearance": 0.05065888412566011,
+            "fingertip_min_top_clearance": 0.015197665237698065,
+            "object_projection_between_fingers": 0.7988790489337073,
+            "object_to_finger_line_xy": 0.011244936491890302,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04872264087233437,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0724537551279538,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34460079627133294,
+              0.35072003226384185,
+              1.242048683723195
+            ],
+            "held_position": [
+              0.3510467984589871,
+              0.35554391563590027,
+              1.2433021655943461
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008148129343092725,
+            "max_held_gripper_dist": 0.008156008865241779,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001253481871151152,
+            "max_held_gripper_z_dist": 0.0014034355713148372,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09002185945178776,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3510467984589871,
+              0.3294009587285902,
+              1.2433021655943461
+            ],
+            "held_grasp_finger_b": [
+              0.34051905409269134,
+              0.35554391563590027,
+              1.2433021655943461
+            ],
+            "held_grasp_midpoint": [
+              0.34578292627583923,
+              0.34247243718224524,
+              1.2433021655943461
+            ],
+            "held_grasp_object_position": [
+              0.3510467984589871,
+              0.35554391563590027,
+              1.2433021655943461
+            ],
+            "held_grasp_finger_gap": 0.028183108368303577,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025347645325541606,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06921693681342278,
+              -0.997451957503703,
+              0.017280281542781606
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00435250886307999,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0363177291907345,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3326411650350547,
+              -0.3621584282542649,
+              0.8515396400951278
+            ],
+            "target_position": [
+              0.3234878991712736,
+              -0.36466909501720124,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009491349933891067,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18460997222328032,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396400951278,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513071834274995,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852398059471841,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1540381200300386,
+            "release_required_pad_clearance": 0.05261990297359205,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3013157250742754,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008655071258544922,
+            "max_z_decrease": 0.008655071258544922,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035058325748951784,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008655071258544922,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02100878296462178,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008655071258544922,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008655267525574073,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17918781936168665,
+              -0.42093056440353394,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17918781936168665,
+              -0.42093056440353394,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18101142850154364,
+              -0.42111567677905704,
+              0.8035335190237424
+            ],
+            "closest_button": [
+              0.17916238307952873,
+              -0.4208914637565613,
+              0.768524706363678
+            ],
+            "closest_ee_minus_button": [
+              0.0018490454220149166,
+              -0.00022421302249575614,
+              0.03500881266006439
+            ],
+            "button_min_z_position": [
+              0.17914900183677665,
+              -0.4208870828151703,
+              0.7681537866592407
+            ],
+            "min_active_finger_to_button": 0.14400621645301376,
+            "closest_active_finger": [
+              0.04008155316114426,
+              -0.40683820843696594,
+              0.808820366859436
+            ],
+            "closest_active_finger_button": [
+              0.17919275164604181,
+              -0.42093580961227417,
+              0.7743657231330872
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13911119848489756,
+              0.014097601175308228,
+              0.03445464372634888
+            ],
+            "min_contact_pad_to_button": 0.02100878296462178,
+            "closest_contact_pad": [
+              0.17914900183677665,
+              -0.4221214406010242,
+              0.7891262763185798
+            ],
+            "closest_contact_pad_button": [
+              0.17914900183677665,
+              -0.4208870828151703,
+              0.7681537866592407
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012343577858539012,
+              0.020972489659339066
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "63d0d0f3414b462cc210c38e83c85e5aae32d6996dcff349cc812311818cd5ad",
+    "visual_seed": 8693865751420355245,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e092b1bf7f2b537b5ae5c8cd0693631093267376
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3467971758043998,
+              0.35653298082161355,
+              1.0537043055597966
+            ],
+            "current_z": 1.0537043055597966,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1925977379403857,
+            "gripper_z": 1.0520993094394517,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3412407512963752,
+              0.35133820571483565,
+              1.0520993094394517
+            ],
+            "object_minus_gripper": [
+              0.005556424508024571,
+              0.005194775106777905,
+              0.0016049961203448149
+            ],
+            "object_to_gripper_xy": 0.0076065459785224126,
+            "object_to_gripper_z": 0.0016049961203448149,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3467971758043998,
+              0.3318983209710407,
+              1.0537043055597966
+            ],
+            "finger_b": [
+              0.3342629115971032,
+              0.35653298082161355,
+              1.0537043055597966
+            ],
+            "finger_midpoint": [
+              0.34053004370075146,
+              0.3442156508963271,
+              1.0537043055597966
+            ],
+            "object_minus_finger_midpoint": [
+              0.006267132103648321,
+              0.012317329925286447,
+              0.0
+            ],
+            "finger_gap": 0.02764008402975182,
+            "fingertip_max_gap": 0.0912926477410769,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013820042014875949,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0537043055597966,
+            "object_top_z": 1.1043079798442355,
+            "finger_top_clearance": 0.050603674284438904,
+            "fingertip_min_top_clearance": 0.01518110228533167,
+            "object_projection_between_fingers": 0.7943546131152648,
+            "object_to_finger_line_xy": 0.011171360220598243,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814632387053845,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6631954965241946,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34841718130040733,
+              0.35404910371061094,
+              1.2424913378924576
+            ],
+            "held_position": [
+              0.35455333494988683,
+              0.35857168931701733,
+              1.2439872450172613
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077681336435036635,
+            "max_held_gripper_dist": 0.007778714369473955,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014959071248037414,
+            "max_held_gripper_z_dist": 0.0016601614801872167,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09034665427610089,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35455333494988683,
+              0.33240624529658064,
+              1.2439872450172613
+            ],
+            "held_grasp_finger_b": [
+              0.3448490019719157,
+              0.359272431216797,
+              1.2439872450172613
+            ],
+            "held_grasp_midpoint": [
+              0.34970116846090127,
+              0.3458393382566888,
+              1.2439872450172613
+            ],
+            "held_grasp_object_position": [
+              0.35455333494988683,
+              0.35857168931701733,
+              1.2439872450172613
+            ],
+            "held_grasp_finger_gap": 0.028565119016852852,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025567734051541054,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1148748644504996,
+              -0.9931636022398651,
+              0.020732214146459538
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003368234867345379,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036517550458323146,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3376862652165705,
+              -0.3596246085008546,
+              0.8515395680231905
+            ],
+            "target_position": [
+              0.32813645923527107,
+              -0.36245797306036603,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00996126242037415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18410130747111364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395680231905,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533637648637978,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627514660478507,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15297520969928155,
+            "release_required_pad_clearance": 0.053137573302392535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3008369271287805,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008663773536682129,
+            "max_z_decrease": 0.008663773536682129,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03498845282472839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008663773536682129,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02103349431963237,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008663773536682129,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008663896793362965,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1838363856077194,
+              -0.41871944069862366,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1838363856077194,
+              -0.41871944069862366,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18324878609717726,
+              -0.41877262079724936,
+              0.8031280716387151
+            ],
+            "closest_button": [
+              0.18386019766330716,
+              -0.4186798334121704,
+              0.7681450843811035
+            ],
+            "closest_ee_minus_button": [
+              -0.0006114115661298991,
+              -9.278738507895179e-05,
+              0.03498298725761162
+            ],
+            "button_min_z_position": [
+              0.18386019766330716,
+              -0.4186798334121704,
+              0.7681450843811035
+            ],
+            "min_active_finger_to_button": 0.14639595613286047,
+            "closest_active_finger": [
+              0.04239153116941452,
+              -0.40368884801864624,
+              0.8089377880096436
+            ],
+            "closest_active_finger_button": [
+              0.18384216725826258,
+              -0.418724000453949,
+              0.7743337750434875
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14145063608884806,
+              0.015035152435302734,
+              0.034604012966156006
+            ],
+            "min_contact_pad_to_button": 0.02103349431963237,
+            "closest_contact_pad": [
+              0.18386019766330716,
+              -0.41985950551887613,
+              0.7891454714493141
+            ],
+            "closest_contact_pad_button": [
+              0.18386019766330716,
+              -0.4186798334121704,
+              0.7681450843811035
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011796721067057203,
+              0.021000387068210613
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2abd381eb34c3f4d5ec408451d5167819a7e79f41be989fa7661b093e6a83294",
+    "visual_seed": 2757118517003420520,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..266742abdfc68bd42b05146557221b2ae449a3e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34080187605298257,
+              0.35879842242778676,
+              1.0559437960107592
+            ],
+            "current_z": 1.0559437960107592,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.19483716878670343,
+            "gripper_z": 1.0546391755190634,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33473497442316014,
+              0.35345667699828076,
+              1.0546391755190634
+            ],
+            "object_minus_gripper": [
+              0.00606690162982243,
+              0.005341745429505995,
+              0.0013046204916957738
+            ],
+            "object_to_gripper_xy": 0.008083411385027378,
+            "object_to_gripper_z": 0.0013046204916957738,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34080187605298257,
+              0.33370342732629904,
+              1.0559437960107592
+            ],
+            "finger_b": [
+              0.3281837888981424,
+              0.35879842242778676,
+              1.0559437960107592
+            ],
+            "finger_midpoint": [
+              0.3344928324755625,
+              0.3462509248770429,
+              1.0559437960107592
+            ],
+            "object_minus_finger_midpoint": [
+              0.00630904357742007,
+              0.012547497550743858,
+              0.0
+            ],
+            "finger_gap": 0.02808869706111044,
+            "fingertip_max_gap": 0.09205209180994298,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01404434853055522,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0559437960107592,
+            "object_top_z": 1.1067224568678369,
+            "finger_top_clearance": 0.05077866085707772,
+            "fingertip_min_top_clearance": 0.015233598257123282,
+            "object_projection_between_fingers": 0.798198747609958,
+            "object_to_finger_line_xy": 0.011273247550498506,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852604590497149,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7423594990091654,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 234,
+            "max_stable_success_frames": 234,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3416798701649001,
+              0.35652090463419267,
+              1.2439799316661257
+            ],
+            "held_position": [
+              0.34822799617614186,
+              0.3612835126739966,
+              1.2451643822804614
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008183111441114952,
+            "max_held_gripper_dist": 0.00819019381591498,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001184450614335697,
+            "max_held_gripper_z_dist": 0.0013506689384912285,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09011928349860165,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34822799617614186,
+              0.3350398717994412,
+              1.2451643822804614
+            ],
+            "held_grasp_finger_b": [
+              0.33787776322208307,
+              0.3612835126739966,
+              1.2451643822804614
+            ],
+            "held_grasp_midpoint": [
+              0.34305287969911247,
+              0.3481616922367189,
+              1.2451643822804614
+            ],
+            "held_grasp_object_position": [
+              0.34822799617614186,
+              0.3612835126739966,
+              1.2451643822804614
+            ],
+            "held_grasp_finger_gap": 0.02821092002320943,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025248162121447853,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08622528919316697,
+              -0.9960742137906995,
+              0.02003397426360498
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040332791574100935,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03620371717969077,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33700356371657914,
+              -0.3662219978151252,
+              0.8515395778121622
+            ],
+            "target_position": [
+              0.3275491599208424,
+              -0.36903257132645156,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009863319653920323,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18782549596855838,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395778121622,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536093585807375,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516231002785656,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15647173660595873,
+            "release_required_pad_clearance": 0.05258115501392828,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22728182949142078,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00851505994796753,
+            "max_z_decrease": 0.00851505994796753,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035032449851386635,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00851505994796753,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115505062613512,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00851505994796753,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00851521360505978,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1832490861415863,
+              -0.42529404163360596,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1832490861415863,
+              -0.42529404163360596,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18461352380911467,
+              -0.42478079008099723,
+              0.8036610111721739
+            ],
+            "closest_button": [
+              0.18321312963962555,
+              -0.4252677261829376,
+              0.7686599493026733
+            ],
+            "closest_ee_minus_button": [
+              0.0014003941694891164,
+              0.00048693610194039394,
+              0.03500106186950058
+            ],
+            "button_min_z_position": [
+              0.18320491909980774,
+              -0.4252682328224182,
+              0.7682937979698181
+            ],
+            "min_active_finger_to_button": 0.1445674911985447,
+            "closest_active_finger": [
+              0.057194605469703674,
+              -0.4869149625301361,
+              0.807917594909668
+            ],
+            "closest_active_finger_button": [
+              0.1832619458436966,
+              -0.4252980351448059,
+              0.7731305360794067
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12606734037399292,
+              -0.0616169273853302,
+              0.03478705883026123
+            ],
+            "min_contact_pad_to_button": 0.02115505062613512,
+            "closest_contact_pad": [
+              0.18320491909980774,
+              -0.42603932592555593,
+              0.7894347909081981
+            ],
+            "closest_contact_pad_button": [
+              0.18320491909980774,
+              -0.4252682328224182,
+              0.7682937979698181
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007710931031377211,
+              0.02114099293838001
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4ab9518fc62cbcc5dd46cbafef6b30e16bbd07cd0c0f6d1805718cabcb5f7f82",
+    "visual_seed": 6197369418844025873,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..adae298845009e51223f035826a9e4732df80bac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3451023431401648,
+              0.35954840469197513,
+              1.0535874177658515
+            ],
+            "current_z": 1.0535874177658515,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.19248090975108534,
+            "gripper_z": 1.0520292292025588,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33937298615532296,
+              0.35432640484230254,
+              1.0520292292025588
+            ],
+            "object_minus_gripper": [
+              0.005729356984841838,
+              0.005221999849672587,
+              0.0015581885632927062
+            ],
+            "object_to_gripper_xy": 0.007752084486751707,
+            "object_to_gripper_z": 0.0015581885632927062,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3451023431401648,
+              0.33471842883285047,
+              1.0535874177658515
+            ],
+            "finger_b": [
+              0.33264650394669587,
+              0.35954840469197513,
+              1.0535874177658515
+            ],
+            "finger_midpoint": [
+              0.33887442354343034,
+              0.3471334167624128,
+              1.0535874177658515
+            ],
+            "object_minus_finger_midpoint": [
+              0.006227919596734466,
+              0.012414987929562304,
+              0.0
+            ],
+            "finger_gap": 0.027779050220953744,
+            "fingertip_max_gap": 0.09363782752241348,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013889525110476848,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0535874177658515,
+            "object_top_z": 1.1051816337869185,
+            "finger_top_clearance": 0.05159421602106695,
+            "fingertip_min_top_clearance": 0.015478264806320119,
+            "object_projection_between_fingers": 0.7989467028048279,
+            "object_to_finger_line_xy": 0.011133504710167628,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931891376120674,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4264687680200125,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34581483187394085,
+              0.3583195328838466,
+              1.2400082439899427
+            ],
+            "held_position": [
+              0.3519598009902151,
+              0.3630783549087161,
+              1.2414500118974914
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007904791407974334,
+            "max_held_gripper_dist": 0.007912826002990911,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014417679075486856,
+            "max_held_gripper_z_dist": 0.0015965408085349964,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09013718473337051,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3519598009902151,
+              0.337207007915577,
+              1.2414500118974914
+            ],
+            "held_grasp_finger_b": [
+              0.3414795020734921,
+              0.3630783549087161,
+              1.2414500118974914
+            ],
+            "held_grasp_midpoint": [
+              0.3467196515318536,
+              0.35014268141214655,
+              1.2414500118974914
+            ],
+            "held_grasp_object_position": [
+              0.3519598009902151,
+              0.3630783549087161,
+              1.2414500118974914
+            ],
+            "held_grasp_finger_gap": 0.027913496030115482,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02478752782659507,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0918743584921013,
+              -0.9953250046548909,
+              0.029786529848342957
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004048595546611543,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03636361541701814,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3364966538427902,
+              -0.36307098114631053,
+              0.8515396565949952
+            ],
+            "target_position": [
+              0.3281611706967077,
+              -0.36541700514838327,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008659336458235526,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18337296076110393,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396565949952,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577530494497361,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522883131294705,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1511382845443252,
+            "release_required_pad_clearance": 0.052614415656473526,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.29073991218301665,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008527576923370361,
+            "max_z_decrease": 0.008527576923370361,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504282964231056,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008527576923370361,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0212964710111115,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008527576923370361,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008527681304756908,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18386109173297877,
+              -0.42167845368385304,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18386109173297877,
+              -0.42167845368385304,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1848558850804868,
+              -0.4232061041887585,
+              0.8032744924991688
+            ],
+            "closest_button": [
+              0.1838465481996536,
+              -0.42163884639739985,
+              0.7682812809944153
+            ],
+            "closest_ee_minus_button": [
+              0.0010093368808332115,
+              -0.0015672577913586339,
+              0.03499321150475354
+            ],
+            "button_min_z_position": [
+              0.1838465481996536,
+              -0.42163884639739985,
+              0.7682812809944153
+            ],
+            "min_active_finger_to_button": 0.14477055158254046,
+            "closest_active_finger": [
+              0.044149480760097504,
+              -0.40670379996299744,
+              0.8078829646110535
+            ],
+            "closest_active_finger_button": [
+              0.18387331068515775,
+              -0.421682983636856,
+              0.7730779647827148
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13972382992506024,
+              0.014979183673858587,
+              0.03480499982833862
+            ],
+            "min_contact_pad_to_button": 0.0212964710111115,
+            "closest_contact_pad": [
+              0.1838465481996536,
+              -0.4244250324078617,
+              0.7893947090685632
+            ],
+            "closest_contact_pad_button": [
+              0.1838465481996536,
+              -0.42163884639739985,
+              0.7682812809944153
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027861860104618774,
+              0.021113428074147955
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "060f22373f9419f1f9c07d34e8aa851a490f870b91c460324f74e1e7b0e1789d",
+    "visual_seed": 7748773575495746247,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0267202472760e29e5f6dad35181f709a6c44562
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3468997010853467,
+              0.3586862234436062,
+              1.054158217841176
+            ],
+            "current_z": 1.054158217841176,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1930515906171204,
+            "gripper_z": 1.052597110442172,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3413280870125954,
+              0.353419013300603,
+              1.052597110442172
+            ],
+            "object_minus_gripper": [
+              0.005571614072751252,
+              0.005267210143003187,
+              0.001561107399003836
+            ],
+            "object_to_gripper_xy": 0.007667228056229673,
+            "object_to_gripper_z": 0.001561107399003836,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3468997010853467,
+              0.33407663408899463,
+              1.054158217841176
+            ],
+            "finger_b": [
+              0.33423286155308357,
+              0.3586862234436062,
+              1.054158217841176
+            ],
+            "finger_midpoint": [
+              0.3405662813192151,
+              0.3463814287663004,
+              1.054158217841176
+            ],
+            "object_minus_finger_midpoint": [
+              0.006333419766131554,
+              0.012304794677305775,
+              0.0
+            ],
+            "finger_gap": 0.027678163088231008,
+            "fingertip_max_gap": 0.0915677322167022,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013839081544115504,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.054158217841176,
+            "object_top_z": 1.1048093986237717,
+            "finger_top_clearance": 0.050651180782595784,
+            "fingertip_min_top_clearance": 0.015195354234778701,
+            "object_projection_between_fingers": 0.7905588520430739,
+            "object_to_finger_line_xy": 0.011262514723829477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0482838661083511,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7324098421903023,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3482381820949009,
+              0.35669907622848784,
+              1.2408494029272148
+            ],
+            "held_position": [
+              0.35436848780448643,
+              0.361332098488254,
+              1.2422721129462624
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00781470710588462,
+            "max_held_gripper_dist": 0.007825494770855547,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014227100190475905,
+            "max_held_gripper_z_dist": 0.0015846040926446037,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08977490282000894,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35436848780448643,
+              0.33527214681827183,
+              1.2422721129462624
+            ],
+            "held_grasp_finger_b": [
+              0.3444074180520361,
+              0.361332098488254,
+              1.2422721129462624
+            ],
+            "held_grasp_midpoint": [
+              0.3493879529282613,
+              0.3483021226532629,
+              1.2422721129462624
+            ],
+            "held_grasp_object_position": [
+              0.35436848780448643,
+              0.361332098488254,
+              1.2422721129462624
+            ],
+            "held_grasp_finger_gap": 0.027898817029669662,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024862133615442778,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1051258442336812,
+              -0.9942190150906542,
+              0.021842776982915365
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035948910796449484,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03624201739517675,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33104802992823074,
+              -0.36705182109610646,
+              0.8515395847571945
+            ],
+            "target_position": [
+              0.32260862221230246,
+              -0.36958605356642293,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008811693186288092,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1855770996056534,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395847571945,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562377345548832,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568474592862706,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536107593773739,
+            "release_required_pad_clearance": 0.05284237296431353,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7284642739768044,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008465468883514404,
+            "max_z_decrease": 0.008465468883514404,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035022843195761856,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008465468883514404,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02118154824201925,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008465468883514404,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008465560306940912,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17830854654312128,
+              -0.4258475005626678,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17830854654312128,
+              -0.4258475005626678,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17764844815600528,
+              -0.4272203941272067,
+              0.8036981148866462
+            ],
+            "closest_button": [
+              0.17829217016696924,
+              -0.425823450088501,
+              0.7687090635299683
+            ],
+            "closest_ee_minus_button": [
+              -0.0006437220109639652,
+              -0.0013969440387057164,
+              0.03498905135667796
+            ],
+            "button_min_z_position": [
+              0.1782813519239425,
+              -0.42581906914711,
+              0.7683433890342712
+            ],
+            "min_active_finger_to_button": 0.1463142249942287,
+            "closest_active_finger": [
+              0.037014737725257874,
+              -0.41018709540367126,
+              0.8083085417747498
+            ],
+            "closest_active_finger_button": [
+              0.17831638455390925,
+              -0.4258529245853424,
+              0.7737212777137756
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14130164682865137,
+              0.015665829181671143,
+              0.03458726406097412
+            ],
+            "min_contact_pad_to_button": 0.02118154824201925,
+            "closest_contact_pad": [
+              0.1782813519239425,
+              -0.4284721411724519,
+              0.7893581265952625
+            ],
+            "closest_contact_pad_button": [
+              0.1782813519239425,
+              -0.42581906914711,
+              0.7683433890342712
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026530720253419293,
+              0.02101473756099126
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5976efcb26b80a5ea36d39b419e3e3ac54c2db87d4921617039ca3b3e58377fd",
+    "visual_seed": 1514578307188285870,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07daf2409747decf959f1742c14d12cc3878fcf9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3417021741351516,
+              0.36244917886585576,
+              1.055413243893066
+            ],
+            "current_z": 1.055413243893066,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19430673587829983,
+            "gripper_z": 1.0540338278918717,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33605374044471104,
+              0.35715573382607435,
+              1.0540338278918717
+            ],
+            "object_minus_gripper": [
+              0.005648433690440546,
+              0.005293445039781408,
+              0.001379416001194178
+            ],
+            "object_to_gripper_xy": 0.007741147430742435,
+            "object_to_gripper_z": 0.001379416001194178,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3417021741351516,
+              0.3377684251320326,
+              1.055413243893066
+            ],
+            "finger_b": [
+              0.32901425636803205,
+              0.36244917886585576,
+              1.055413243893066
+            ],
+            "finger_midpoint": [
+              0.3353582152515918,
+              0.3501088019989442,
+              1.055413243893066
+            ],
+            "object_minus_finger_midpoint": [
+              0.006343958883559764,
+              0.012340376866911584,
+              0.0
+            ],
+            "finger_gap": 0.027751087584720238,
+            "fingertip_max_gap": 0.09187441047854486,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013875543792360119,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.055413243893066,
+            "object_top_z": 1.1062928716520308,
+            "finger_top_clearance": 0.05087962775896493,
+            "fingertip_min_top_clearance": 0.01526388832768951,
+            "object_projection_between_fingers": 0.7909641887283609,
+            "object_to_finger_line_xy": 0.011284147795983902,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843720523927243,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8928905853288845,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3429970313251146,
+              0.36035837644687707,
+              1.2420354120742072
+            ],
+            "held_position": [
+              0.34920530021459983,
+              0.3650131265227603,
+              1.2432845311267282
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007859363796164167,
+            "max_held_gripper_dist": 0.007869730348836352,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012491190525210083,
+            "max_held_gripper_z_dist": 0.0014111699910532849,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08980367522133448,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34920530021459983,
+              0.33889625484815994,
+              1.2432845311267282
+            ],
+            "held_grasp_finger_b": [
+              0.3391927804970138,
+              0.36504278465444595,
+              1.2432845311267282
+            ],
+            "held_grasp_midpoint": [
+              0.34419904035580684,
+              0.351969519751303,
+              1.2432845311267282
+            ],
+            "held_grasp_object_position": [
+              0.34920530021459983,
+              0.3650131265227603,
+              1.2432845311267282
+            ],
+            "held_grasp_finger_gap": 0.027998063718872635,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024944010942371753,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10489959541399124,
+              -0.9941785928154688,
+              0.024596757295123006
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003625172267542746,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03622742081108457,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3335278337875816,
+              -0.3669876574583893,
+              0.8515395956831061
+            ],
+            "target_position": [
+              0.3250439819102491,
+              -0.3694217352157234,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008826124699168221,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18666778691616823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395956831061,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516426185663559,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08665375674388608,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15589831685131925,
+            "release_required_pad_clearance": 0.05332687837194304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6711250556888522,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00864320993423462,
+            "max_z_decrease": 0.00864320993423462,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505426149517071,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00864320993423462,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02099854625452047,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00864320993423462,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008643308483065326,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18074390292167658,
+              -0.4256832003593445,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18074390292167658,
+              -0.4256832003593445,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17858725886059715,
+              -0.42456130107002166,
+              0.803134736378347
+            ],
+            "closest_button": [
+              0.1807718873023986,
+              -0.4256528615951538,
+              0.768165647983551
+            ],
+            "closest_ee_minus_button": [
+              -0.0021846284418014505,
+              0.0010915605251321514,
+              0.034969088394795955
+            ],
+            "button_min_z_position": [
+              0.1807718873023986,
+              -0.4256528615951538,
+              0.768165647983551
+            ],
+            "min_active_finger_to_button": 0.14731021718591744,
+            "closest_active_finger": [
+              0.051240257918834686,
+              -0.48679929971694946,
+              0.810735821723938
+            ],
+            "closest_active_finger_button": [
+              0.1807477325201034,
+              -0.42568495869636536,
+              0.7761937975883484
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1295074746012687,
+              -0.061114341020584106,
+              0.0345420241355896
+            ],
+            "min_contact_pad_to_button": 0.02099854625452047,
+            "closest_contact_pad": [
+              0.1807718873023986,
+              -0.42581332388648524,
+              0.7891635811355614
+            ],
+            "closest_contact_pad_button": [
+              0.1807718873023986,
+              -0.4256528615951538,
+              0.768165647983551
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001604622913314313,
+              0.020997933152010373
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddd1a893ff48413a8d9300e250480c1464774df38ae147c8c572f5b755580384",
+    "visual_seed": 8489238034830017447,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dbed10b77174f9e1eac2315445f15c15feede08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3433260458640751,
+              0.3601972726551135,
+              1.0540744634699148
+            ],
+            "current_z": 1.0540744634699148,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1929679554551489,
+            "gripper_z": 1.0525692568757106,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33763318635946726,
+              0.35505368181941915,
+              1.0525692568757106
+            ],
+            "object_minus_gripper": [
+              0.00569285950460785,
+              0.005143590835694323,
+              0.001505206594204278
+            ],
+            "object_to_gripper_xy": 0.007672364435051463,
+            "object_to_gripper_z": 0.001505206594204278,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3433260458640751,
+              0.33527064651676375,
+              1.0540744634699148
+            ],
+            "finger_b": [
+              0.33113759065726717,
+              0.3601972726551135,
+              1.0540744634699148
+            ],
+            "finger_midpoint": [
+              0.33723181826067117,
+              0.3477339595859386,
+              1.0540744634699148
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060942276034039455,
+              0.012463313069174864,
+              0.0
+            ],
+            "finger_gap": 0.027746984177914248,
+            "fingertip_max_gap": 0.09095745450932782,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013873492088957112,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0540744634699148,
+            "object_top_z": 1.1043076529696143,
+            "finger_top_clearance": 0.05023318949969946,
+            "fingertip_min_top_clearance": 0.01506995684990987,
+            "object_projection_between_fingers": 0.8070406807985596,
+            "object_to_finger_line_xy": 0.010949552722416335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047978727254663914,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.39576746054275286,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34428002257094104,
+              0.35885892246565,
+              1.2427550522527486
+            ],
+            "held_position": [
+              0.35037568588491896,
+              0.3635315103058008,
+              1.244170200661706
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00780979086664142,
+            "max_held_gripper_dist": 0.007821939600955091,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014151484089572897,
+            "max_held_gripper_z_dist": 0.0015669030229461534,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09047466316785918,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35037568588491896,
+              0.33756464397233754,
+              1.244170200661706
+            ],
+            "held_grasp_finger_b": [
+              0.34015279178028657,
+              0.3635315103058008,
+              1.244170200661706
+            ],
+            "held_grasp_midpoint": [
+              0.34526423883260277,
+              0.35054807713906916,
+              1.244170200661706
+            ],
+            "held_grasp_object_position": [
+              0.35037568588491896,
+              0.3635315103058008,
+              1.244170200661706
+            ],
+            "held_grasp_finger_gap": 0.027906732360748976,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025010706436951975,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08426420867776624,
+              -0.9963516654966671,
+              0.01352411911836171
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040032102567562145,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036353472769495625,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33388294989659745,
+              -0.3595235255237387,
+              0.8515395621585827
+            ],
+            "target_position": [
+              0.32457732080433244,
+              -0.36268537821174096,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009828125214069885,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18489180684091389,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395621585827,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519017032019147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618303267352521,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15433313640220905,
+            "release_required_pad_clearance": 0.05309151633676261,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.211098579124961,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008449256420135498,
+            "max_z_decrease": 0.008449256420135498,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035039861728295034,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008449256420135498,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021097753245780608,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008449256420135498,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008449283056188516,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18027724325656885,
+              -0.4189468324184417,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18027724325656885,
+              -0.4189468324184417,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1785214936723497,
+              -0.4178942188451088,
+              0.8033397269877754
+            ],
+            "closest_button": [
+              0.1802863478660583,
+              -0.4189276695251465,
+              0.7683596014976501
+            ],
+            "closest_ee_minus_button": [
+              -0.001764854193708587,
+              0.0010334506800376841,
+              0.0349801254901253
+            ],
+            "button_min_z_position": [
+              0.1802863478660583,
+              -0.4189276695251465,
+              0.7683596014976501
+            ],
+            "min_active_finger_to_button": 0.14703342693729862,
+            "closest_active_finger": [
+              0.05072949081659317,
+              -0.4792059361934662,
+              0.8076165914535522
+            ],
+            "closest_active_finger_button": [
+              0.1802861094474792,
+              -0.418951541185379,
+              0.7729277014732361
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12955661863088602,
+              -0.060254395008087214,
+              0.03468888998031616
+            ],
+            "min_contact_pad_to_button": 0.021097753245780608,
+            "closest_contact_pad": [
+              0.1802863478660583,
+              -0.41924309516373853,
+              0.7894549966986499
+            ],
+            "closest_contact_pad_button": [
+              0.1802863478660583,
+              -0.4189276695251465,
+              0.7683596014976501
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003154256385920484,
+              0.02109539520099979
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "afe579a483c15c3999a595de0401f119722038d0f3326300aea9259a09e9b139",
+    "visual_seed": 4105923327933812184,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0583b3b0c4b561267e7d94545bf1cefdee5511c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3446521758498485,
+              0.3518480089102305,
+              1.0559579901137055
+            ],
+            "current_z": 1.0559579901137055,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.19485154170358443,
+            "gripper_z": 1.0546242151876009,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3390201006364834,
+              0.34658092130693474,
+              1.0546242151876009
+            ],
+            "object_minus_gripper": [
+              0.005632075213365062,
+              0.00526708760329575,
+              0.0013337749261046472
+            ],
+            "object_to_gripper_xy": 0.007711192062826141,
+            "object_to_gripper_z": 0.0013337749261046472,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3446521758498485,
+              0.327157082134787,
+              1.0559579901137055
+            ],
+            "finger_b": [
+              0.33203215772462724,
+              0.3518480089102305,
+              1.0559579901137055
+            ],
+            "finger_midpoint": [
+              0.33834216678723783,
+              0.33950254552250875,
+              1.0559579901137055
+            ],
+            "object_minus_finger_midpoint": [
+              0.006310009062610644,
+              0.012345463387721745,
+              0.0
+            ],
+            "finger_gap": 0.027729167360583055,
+            "fingertip_max_gap": 0.09142918151841276,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01386458368029154,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0559579901137055,
+            "object_top_z": 1.1066720964372192,
+            "finger_top_clearance": 0.0507141063235137,
+            "fingertip_min_top_clearance": 0.015214231897054108,
+            "object_projection_between_fingers": 0.7928684288768363,
+            "object_to_finger_line_xy": 0.011237262892990625,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04821459075920638,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7098558363579875,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3459026617700729,
+              0.3498600647953136,
+              1.2433662805439805
+            ],
+            "held_position": [
+              0.35207036143415654,
+              0.35451685771524843,
+              1.2445677294284678
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007821107266079945,
+            "max_held_gripper_dist": 0.007828723610273123,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001201448884487366,
+            "max_held_gripper_z_dist": 0.0013609929648310537,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08993695650993278,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35207036143415654,
+              0.3284584935356504,
+              1.2445677294284678
+            ],
+            "held_grasp_finger_b": [
+              0.3420226494387701,
+              0.35451685771524843,
+              1.2445677294284678
+            ],
+            "held_grasp_midpoint": [
+              0.3470465054364633,
+              0.3414876756254494,
+              1.2445677294284678
+            ],
+            "held_grasp_object_position": [
+              0.35207036143415654,
+              0.35451685771524843,
+              1.2445677294284678
+            ],
+            "held_grasp_finger_gap": 0.027928388067677522,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024851657176054563,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10508938770191166,
+              -0.9942130249963562,
+              0.022286352775459428
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036388866764897336,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036238513580667465,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3312869759515504,
+              -0.36455237549213904,
+              0.8515395722406635
+            ],
+            "target_position": [
+              0.3235925801957073,
+              -0.36672894904068926,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00799632405920273,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18637525264011456,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395722406635,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585462442079781,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851048371734384,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537658869926921,
+            "release_required_pad_clearance": 0.052552418586719205,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17245846601877937,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008649826049804688,
+            "max_z_decrease": 0.008649826049804688,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035003850530903435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008649826049804688,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021127147086223378,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008649826049804688,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008649944522363515,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17929250001907343,
+              -0.4229904115200043,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17929250001907343,
+              -0.4229904115200043,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18009828728531038,
+              -0.42293181542218916,
+              0.8031535937404986
+            ],
+            "closest_button": [
+              0.17929205298423762,
+              -0.42294514179229736,
+              0.768159031867981
+            ],
+            "closest_ee_minus_button": [
+              0.0008062343010727668,
+              1.3326370108202035e-05,
+              0.03499456187251759
+            ],
+            "button_min_z_position": [
+              0.17929205298423762,
+              -0.42294514179229736,
+              0.768159031867981
+            ],
+            "min_active_finger_to_button": 0.14510504028342608,
+            "closest_active_finger": [
+              0.03951110690832138,
+              -0.4055018424987793,
+              0.8074941635131836
+            ],
+            "closest_active_finger_button": [
+              0.17930468916893,
+              -0.42299449443817133,
+              0.7727488875389099
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13979358226060862,
+              0.017492651939392034,
+              0.03474527597427368
+            ],
+            "min_contact_pad_to_button": 0.021127147086223378,
+            "closest_contact_pad": [
+              0.17929205298423762,
+              -0.4242330347359116,
+              0.7892468879887132
+            ],
+            "closest_contact_pad_button": [
+              0.17929205298423762,
+              -0.42294514179229736,
+              0.768159031867981
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001287892943614255,
+              0.021087856120732273
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e216d9de0d1e533b1529850f73ee9b4772d22e06abdfa6e777868993920d16b",
+    "visual_seed": 2639226537189027045,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f98316d60e2c1e5be46d78df297e16b33685769
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3449872819160264,
+              0.3529830503591872,
+              1.0528682585840463
+            ],
+            "current_z": 1.0528682585840463,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19176181017392502,
+            "gripper_z": 1.0514532915542607,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3394582826534329,
+              0.34776719403067446,
+              1.0514532915542607
+            ],
+            "object_minus_gripper": [
+              0.005528999262593481,
+              0.005215856328512736,
+              0.0014149670297856076
+            ],
+            "object_to_gripper_xy": 0.007600986125855356,
+            "object_to_gripper_z": 0.0014149670297856076,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3449872819160264,
+              0.3283533792764054,
+              1.0528682585840463
+            ],
+            "finger_b": [
+              0.33245351182402905,
+              0.3529830503591872,
+              1.0528682585840463
+            ],
+            "finger_midpoint": [
+              0.33872039687002775,
+              0.3406682148177963,
+              1.0528682585840463
+            ],
+            "object_minus_finger_midpoint": [
+              0.006266885045998649,
+              0.0123148355413909,
+              0.0
+            ],
+            "finger_gap": 0.027635413699908046,
+            "fingertip_max_gap": 0.0924975518478002,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013817706849954012,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0528682585840463,
+            "object_top_z": 1.1041750055894033,
+            "finger_top_clearance": 0.05130674700535698,
+            "fingertip_min_top_clearance": 0.01539202410160706,
+            "object_projection_between_fingers": 0.7943013186432227,
+            "object_to_finger_line_xy": 0.011170545089184959,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487487759239001,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.100524023635845,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 230,
+            "max_stable_success_frames": 230,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34631910886425954,
+              0.3509714948849705,
+              1.2407146271560274
+            ],
+            "held_position": [
+              0.352392888718704,
+              0.3555714064797906,
+              1.2420064622894933
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007727795702040297,
+            "max_held_gripper_dist": 0.007737375461985314,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0012918351334658684,
+            "max_held_gripper_z_dist": 0.0014479996577347887,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08997484421603563,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.352392888718704,
+              0.3295186239613246,
+              1.2420064622894933
+            ],
+            "held_grasp_finger_b": [
+              0.34249627594305154,
+              0.35563370480268736,
+              1.2420064622894933
+            ],
+            "held_grasp_midpoint": [
+              0.34744458233087777,
+              0.342576164382006,
+              1.2420064622894933
+            ],
+            "held_grasp_object_position": [
+              0.352392888718704,
+              0.3555714064797906,
+              1.2420064622894933
+            ],
+            "held_grasp_finger_gap": 0.027927412908862866,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024860283650725238,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10974298691116169,
+              -0.9935396200624794,
+              0.028905020150847838
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035132694734586827,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03626592025049058,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33568547996995796,
+              -0.3644629951486653,
+              0.8515396638386206
+            ],
+            "target_position": [
+              0.3284766158378384,
+              -0.3660971173025169,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007391757388406938,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18305896192887908,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396638386206,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547664924201093,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614395926788969,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1514875784874373,
+            "release_required_pad_clearance": 0.053071979633944846,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1730162024753261,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008444368839263916,
+            "max_z_decrease": 0.008444368839263916,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501830277229023,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008444368839263916,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021170302345290968,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008444368839263916,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00844444835527183,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18417653441429133,
+              -0.42235857248306274,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18417653441429133,
+              -0.42235857248306274,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18290842551636108,
+              -0.423157021476511,
+              0.8037166898479114
+            ],
+            "closest_button": [
+              0.18415161967277524,
+              -0.42233809828758234,
+              0.7687300443649292
+            ],
+            "closest_ee_minus_button": [
+              -0.0012431941564141624,
+              -0.0008189231889286774,
+              0.03498664548298225
+            ],
+            "button_min_z_position": [
+              0.18414561450481412,
+              -0.42233890295028687,
+              0.7683644890785217
+            ],
+            "min_active_finger_to_button": 0.14700985125212646,
+            "closest_active_finger": [
+              0.04219686985015869,
+              -0.4066915810108185,
+              0.8078806400299072
+            ],
+            "closest_active_finger_button": [
+              0.18418645858764646,
+              -0.42236486077308655,
+              0.7731646299362183
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14198958873748777,
+              0.015673279762268066,
+              0.034716010093688965
+            ],
+            "min_contact_pad_to_button": 0.021170302345290968,
+            "closest_contact_pad": [
+              0.18414561450481412,
+              -0.42436166098262157,
+              0.7894379356721299
+            ],
+            "closest_contact_pad_button": [
+              0.18414561450481412,
+              -0.42233890295028687,
+              0.7683644890785217
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002022758032334704,
+              0.021073446593608214
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f17fcefa59a69a42a02beb7b58658891dc530d9da911a4ebdf3ee229f483973",
+    "visual_seed": 7238308962489321947,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..393aae961dd1664f60ee95a1fe073d66a87ddf05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3433084666302876,
+              0.357841422829763,
+              1.0543880462820536
+            ],
+            "current_z": 1.0543880462820536,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.19328124024406368,
+            "gripper_z": 1.0529178939719341,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33770597983018336,
+              0.3526503543255809,
+              1.0529178939719341
+            ],
+            "object_minus_gripper": [
+              0.005602486800104223,
+              0.005191068504182106,
+              0.001470152310119488
+            ],
+            "object_to_gripper_xy": 0.007637738576336159,
+            "object_to_gripper_z": 0.001470152310119488,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3433084666302876,
+              0.3330862957617572,
+              1.0543880462820536
+            ],
+            "finger_b": [
+              0.3309061337641268,
+              0.357841422829763,
+              1.0543880462820536
+            ],
+            "finger_midpoint": [
+              0.3371073001972072,
+              0.34546385929576007,
+              1.0543880462820536
+            ],
+            "object_minus_finger_midpoint": [
+              0.006201166433080385,
+              0.012377563534002933,
+              0.0
+            ],
+            "finger_gap": 0.02768815950322747,
+            "fingertip_max_gap": 0.09092574995553651,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01384407975161376,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0543880462820536,
+            "object_top_z": 1.1047558923835372,
+            "finger_top_clearance": 0.05036784610148359,
+            "fingertip_min_top_clearance": 0.015110353830445077,
+            "object_projection_between_fingers": 0.799359505220668,
+            "object_to_finger_line_xy": 0.011088542234297897,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796287497776826,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5140888506597556,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34456826850811756,
+              0.35604983177001637,
+              1.244075429355353
+            ],
+            "held_position": [
+              0.35066722124997896,
+              0.36067360061279286,
+              1.2454655738477718
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007778750836007753,
+            "max_held_gripper_dist": 0.007788544589037729,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001390144492418699,
+            "max_held_gripper_z_dist": 0.0015470558472965301,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08977658789262166,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35066722124997896,
+              0.3346170320930188,
+              1.2454655738477718
+            ],
+            "held_grasp_finger_b": [
+              0.34062719902546257,
+              0.36067360061279286,
+              1.2454655738477718
+            ],
+            "held_grasp_midpoint": [
+              0.34564721013772076,
+              0.34764531635290585,
+              1.2454655738477718
+            ],
+            "held_grasp_object_position": [
+              0.35066722124997896,
+              0.36067360061279286,
+              1.2454655738477718
+            ],
+            "held_grasp_finger_gap": 0.02792394687887913,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024914598558789698,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10029966331638474,
+              -0.9948205339442939,
+              0.016494931991667405
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036944627613754205,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036255939941892204,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3382055445005693,
+              -0.3635471392663407,
+              0.8515395759207948
+            ],
+            "target_position": [
+              0.3289637009999616,
+              -0.3664917603881554,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009699611581953267,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857839011811812,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395759207948,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521910618357631,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08658297225935134,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1550940337886066,
+            "release_required_pad_clearance": 0.05329148612967567,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6017719730019992,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008491218090057373,
+            "max_z_decrease": 0.008491218090057373,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501988282958274,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008491218090057373,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021117594243603342,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008491218090057373,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008491283116585091,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18466362357139582,
+              -0.4227532148361206,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18466362357139582,
+              -0.4227532148361206,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18322435805032114,
+              -0.4235587375891282,
+              0.8032974785102805
+            ],
+            "closest_button": [
+              0.18467438220977778,
+              -0.4227217733860016,
+              0.7683176398277283
+            ],
+            "closest_ee_minus_button": [
+              -0.0014500241594566365,
+              -0.0008369642031266222,
+              0.03497983868255228
+            ],
+            "button_min_z_position": [
+              0.18467438220977778,
+              -0.4227217733860016,
+              0.7683176398277283
+            ],
+            "min_active_finger_to_button": 0.14715624133716784,
+            "closest_active_finger": [
+              0.042424559593200684,
+              -0.40787604451179504,
+              0.808836042881012
+            ],
+            "closest_active_finger_button": [
+              0.18467056751251215,
+              -0.4227587282657624,
+              0.7742016911506653
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14224600791931147,
+              0.01488268375396734,
+              0.03463435173034668
+            ],
+            "min_contact_pad_to_button": 0.021117594243603342,
+            "closest_contact_pad": [
+              0.18467438220977778,
+              -0.42470104207935744,
+              0.789342274951244
+            ],
+            "closest_contact_pad_button": [
+              0.18467438220977778,
+              -0.4227217733860016,
+              0.7683176398277283
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001979268693355851,
+              0.02102463512351571
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4de21f7320cc104a441a6c1f808d4f3aacfaa5b39b23345cd34bf14ab71b197e",
+    "visual_seed": 1555743478461938487,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f7f0964e2328c045be193fd1876f0797655de8f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3409491137328313,
+              0.3529599869909352,
+              1.0537404476100551
+            ],
+            "current_z": 1.0537404476100551,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19263399919993396,
+            "gripper_z": 1.0525068675356697,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.335214429666361,
+              0.3476836079052289,
+              1.0525068675356697
+            ],
+            "object_minus_gripper": [
+              0.005734684066470319,
+              0.005276379085706329,
+              0.0012335800743854541
+            ],
+            "object_to_gripper_xy": 0.007792738773904058,
+            "object_to_gripper_z": 0.0012335800743854541,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3409491137328313,
+              0.32814328253183944,
+              1.0537404476100551
+            ],
+            "finger_b": [
+              0.3283831573646202,
+              0.3529599869909352,
+              1.0537404476100551
+            ],
+            "finger_midpoint": [
+              0.33466613554872576,
+              0.34055163476138733,
+              1.0537404476100551
+            ],
+            "object_minus_finger_midpoint": [
+              0.006282978184105559,
+              0.012408352229547892,
+              0.0
+            ],
+            "finger_gap": 0.02781675897112908,
+            "fingertip_max_gap": 0.09155156436303805,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01390837948556454,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0537404476100551,
+            "object_top_z": 1.1044882971596852,
+            "finger_top_clearance": 0.050747849549630075,
+            "fingertip_min_top_clearance": 0.01522435486488899,
+            "object_projection_between_fingers": 0.7959305283829836,
+            "object_to_finger_line_xy": 0.011210710268563333,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048275782181519025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7397213249525988,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3419942808983855,
+              0.350950467147661,
+              1.2416858855004782
+            ],
+            "held_position": [
+              0.34822260269851524,
+              0.35564765359153777,
+              1.2428096450877506
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00788152196878862,
+            "max_held_gripper_dist": 0.007894099850188952,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0011237595872723993,
+            "max_held_gripper_z_dist": 0.0012803415905688897,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08990479343232988,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.34822260269851524,
+              0.3295679717302916,
+              1.2428096450877506
+            ],
+            "held_grasp_finger_b": [
+              0.3380368246788042,
+              0.35564765359153777,
+              1.2428096450877506
+            ],
+            "held_grasp_midpoint": [
+              0.34312971368865974,
+              0.34260781266091467,
+              1.2428096450877506
+            ],
+            "held_grasp_object_position": [
+              0.34822260269851524,
+              0.35564765359153777,
+              1.2428096450877506
+            ],
+            "held_grasp_finger_gap": 0.027998212083107023,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024936018656941714,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09908674587038101,
+              -0.9948470381315152,
+              0.02147527680311168
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003786523599536189,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03624296514349298,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3311022746023866,
+              -0.3640162904890268,
+              0.8515395067081741
+            ],
+            "target_position": [
+              0.3233426929541996,
+              -0.3662735895568547,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00808124411439832,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850150742678309,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395067081741,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577513210795704,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499576587055528,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15281898244744696,
+            "release_required_pad_clearance": 0.05249788293527764,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852803954322179,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008605897426605225,
+            "max_z_decrease": 0.008605897426605225,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499399548914039,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008605897426605225,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021064586608602606,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008605897426605225,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008606026172449467,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1790426224470138,
+              -0.4225350618362427,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1790426224470138,
+              -0.4225350618362427,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17821178934193788,
+              -0.42258669837762075,
+              0.803560415666211
+            ],
+            "closest_button": [
+              0.17901325225830073,
+              -0.4224918186664581,
+              0.7685757279396057
+            ],
+            "closest_ee_minus_button": [
+              -0.0008014629163628495,
+              -9.487971116267646e-05,
+              0.034984687726605235
+            ],
+            "button_min_z_position": [
+              0.1790123283863067,
+              -0.42249903082847595,
+              0.7682029604911804
+            ],
+            "min_active_finger_to_button": 0.14662897527586788,
+            "closest_active_finger": [
+              0.037587977945804596,
+              -0.40553760528564453,
+              0.8084684610366821
+            ],
+            "closest_active_finger_button": [
+              0.17905035614967338,
+              -0.42253980040550226,
+              0.7738364338874817
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14146237820386878,
+              0.017002195119857733,
+              0.03463202714920044
+            ],
+            "min_contact_pad_to_button": 0.021064586608602606,
+            "closest_contact_pad": [
+              0.1790123283863067,
+              -0.4238372843806011,
+              0.7892249938471987
+            ],
+            "closest_contact_pad_button": [
+              0.1790123283863067,
+              -0.42249903082847595,
+              0.7682029604911804
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013382535521251349,
+              0.021022033356018266
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "08f3aba4197ccf29a4a48894ee08088d09d8dec7611dfaffe0b4712d8dbade20",
+    "visual_seed": 6966180573079080544,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33f70f2c81d17f9597e796dd2be5c0c34e9a9be6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3432228459702833,
+              0.35995780823601287,
+              1.0537798540749765
+            ],
+            "current_z": 1.0537798540749765,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1926732864555657,
+            "gripper_z": 1.0523475792193644,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.337248776802885,
+              0.35465984991269817,
+              1.0523475792193644
+            ],
+            "object_minus_gripper": [
+              0.005974069167398288,
+              0.0052979583233147,
+              0.0014322748556121478
+            ],
+            "object_to_gripper_xy": 0.007984852209805663,
+            "object_to_gripper_z": 0.0014322748556121478,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3432228459702833,
+              0.3348976345805017,
+              1.0537798540749765
+            ],
+            "finger_b": [
+              0.33070503568221454,
+              0.35995780823601287,
+              1.0537798540749765
+            ],
+            "finger_midpoint": [
+              0.3369639408262489,
+              0.3474277214082573,
+              1.0537798540749765
+            ],
+            "object_minus_finger_midpoint": [
+              0.006258905144034377,
+              0.012530086827755582,
+              0.0
+            ],
+            "finger_gap": 0.02801263782746023,
+            "fingertip_max_gap": 0.09247068678902856,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014006318913730114,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0537798540749765,
+            "object_top_z": 1.1047233465095192,
+            "finger_top_clearance": 0.05094349243454266,
+            "fingertip_min_top_clearance": 0.015283047730362764,
+            "object_projection_between_fingers": 0.8003134939883892,
+            "object_to_finger_line_xy": 0.011198463405621676,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04873534339451428,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8955158619298322,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3443126250699867,
+              0.3576231619708298,
+              1.2432370984679189
+            ],
+            "held_position": [
+              0.3507836709281009,
+              0.3623174820002737,
+              1.2445805784362585
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00810654139951096,
+            "max_held_gripper_dist": 0.008114280832723517,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013434799683396115,
+            "max_held_gripper_z_dist": 0.0015037814647949066,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09046482969098357,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3507836709281009,
+              0.33602756967668485,
+              1.2445805784362585
+            ],
+            "held_grasp_finger_b": [
+              0.3406146840142048,
+              0.36267446946648274,
+              1.2445805784362585
+            ],
+            "held_grasp_midpoint": [
+              0.34569917747115286,
+              0.34935101957158377,
+              1.2445805784362585
+            ],
+            "held_grasp_object_position": [
+              0.3507836709281009,
+              0.3623174820002737,
+              1.2445805784362585
+            ],
+            "held_grasp_finger_gap": 0.02852131769856578,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025631291411912185,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0889255665278724,
+              -0.9958221985885353,
+              0.020745901185368454
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003920862572722532,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03635581748527508,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33032388274809515,
+              -0.36332480828127095,
+              0.85153965711741
+            ],
+            "target_position": [
+              0.3214883244652755,
+              -0.36643778814959255,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009367909789791903,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843640510672216,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153965711741,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569747211391055,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08526091976223986,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15252618351437913,
+            "release_required_pad_clearance": 0.05263045988111993,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.32142508855938945,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008588016033172607,
+            "max_z_decrease": 0.008588016033172607,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502603841296725,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008588016033172607,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021045117315454723,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008588016033172607,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008588131189512896,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17718824744224543,
+              -0.42269924283027643,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17718824744224543,
+              -0.42269924283027643,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17596471009319078,
+              -0.42414942016523033,
+              0.8035625212899978
+            ],
+            "closest_button": [
+              0.1771851778030395,
+              -0.42267304658889765,
+              0.7685889005661011
+            ],
+            "closest_ee_minus_button": [
+              -0.0012204677098487104,
+              -0.001476373576332679,
+              0.03497362072389676
+            ],
+            "button_min_z_position": [
+              0.1772115528583526,
+              -0.42266136407852173,
+              0.768220841884613
+            ],
+            "min_active_finger_to_button": 0.14680766156353078,
+            "closest_active_finger": [
+              0.035056114196777344,
+              -0.40959155559539795,
+              0.8105490803718567
+            ],
+            "closest_active_finger_button": [
+              0.17718990147113794,
+              -0.42270159721374506,
+              0.7762182950973511
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1421337872743606,
+              0.013110041618347112,
+              0.034330785274505615
+            ],
+            "min_contact_pad_to_button": 0.021045117315454723,
+            "closest_contact_pad": [
+              0.1772115528583526,
+              -0.42518015048182634,
+              0.7891146849460458
+            ],
+            "closest_contact_pad_button": [
+              0.1772115528583526,
+              -0.42266136407852173,
+              0.768220841884613
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002518786403304607,
+              0.020893843061432715
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f1be6bd838636fc7b73aa4f5244ba4cd6ace6cd15b906b1153c049e88b746c56",
+    "visual_seed": 1171563024990172068,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..705029cc99000b764e2ef096040e8ab6ff4ae872
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34358793800353193,
+              0.35942427200631055,
+              1.055779363618372
+            ],
+            "current_z": 1.055779363618372,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19467291520825092,
+            "gripper_z": 1.054278119319643,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.337583308802666,
+              0.35409674235675404,
+              1.054278119319643
+            ],
+            "object_minus_gripper": [
+              0.0060046292008659186,
+              0.005327529649556517,
+              0.0015012442987289987
+            ],
+            "object_to_gripper_xy": 0.008027337292452303,
+            "object_to_gripper_z": 0.0015012442987289987,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34358793800353193,
+              0.3343523963604514,
+              1.055779363618372
+            ],
+            "finger_b": [
+              0.33103388269653905,
+              0.35942427200631055,
+              1.055779363618372
+            ],
+            "finger_midpoint": [
+              0.33731091035003546,
+              0.34688833418338094,
+              1.055779363618372
+            ],
+            "object_minus_finger_midpoint": [
+              0.00627702765349647,
+              0.01253593782292961,
+              0.0
+            ],
+            "finger_gap": 0.02803931620158491,
+            "fingertip_max_gap": 0.09147019882654026,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014019658100792493,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.055779363618372,
+            "object_top_z": 1.1060929840725446,
+            "finger_top_clearance": 0.050313620454172536,
+            "fingertip_min_top_clearance": 0.015094086136251794,
+            "object_projection_between_fingers": 0.7995374554364513,
+            "object_to_finger_line_xy": 0.011225441849055232,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04823509941327013,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6214047211052537,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 233,
+            "max_stable_success_frames": 233,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34423040789116643,
+              0.35781227948619243,
+              1.2443871490972158
+            ],
+            "held_position": [
+              0.3506574431548401,
+              0.3626443634929131,
+              1.2457959641967942
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00816336806185478,
+            "max_held_gripper_dist": 0.008171547379645972,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0014088150995783533,
+            "max_held_gripper_z_dist": 0.0015650448974093845,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08941410063850513,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3506574431548401,
+              0.33655071186802304,
+              1.2457959641967942
+            ],
+            "held_grasp_finger_b": [
+              0.34005933945503564,
+              0.3626443634929131,
+              1.2457959641967942
+            ],
+            "held_grasp_midpoint": [
+              0.34535839130493784,
+              0.3495975376804681,
+              1.2457959641967942
+            ],
+            "held_grasp_object_position": [
+              0.3506574431548401,
+              0.3626443634929131,
+              1.2457959641967942
+            ],
+            "held_grasp_finger_gap": 0.028163779170291364,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02526309296212412,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07180300882479362,
+              -0.9973333387644201,
+              0.013059070132325101
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004352006780917028,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036327727855549864,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3296238917330836,
+              -0.36394782302196904,
+              0.8515396392828837
+            ],
+            "target_position": [
+              0.3213684208614392,
+              -0.36635056474163247,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008598021114418158,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827941256620714,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396392828837,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575565689353052,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08618835000973633,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15060621957448783,
+            "release_required_pad_clearance": 0.05309417500486817,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2162577499941174,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008629083633422852,
+            "max_z_decrease": 0.008629083633422852,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503158166429484,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008629083633422852,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021191398128116413,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008629083633422852,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008629220496330794,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17706835269927979,
+              -0.42261201143264765,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17706835269927979,
+              -0.42261201143264765,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17791434079228635,
+              -0.4239725872601454,
+              0.8031727418733258
+            ],
+            "closest_button": [
+              0.1770668625831604,
+              -0.4225634336471557,
+              0.7681797742843628
+            ],
+            "closest_ee_minus_button": [
+              0.0008474782091259514,
+              -0.0014091536129897109,
+              0.034992967588962975
+            ],
+            "button_min_z_position": [
+              0.1770668625831604,
+              -0.4225634336471557,
+              0.7681797742843628
+            ],
+            "min_active_finger_to_button": 0.14487239095437873,
+            "closest_active_finger": [
+              0.03725004196166992,
+              -0.40711843967437744,
+              0.8084191083908081
+            ],
+            "closest_active_finger_button": [
+              0.17707601189613342,
+              -0.42261663079261774,
+              0.7738284468650818
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1398259699344635,
+              0.015498191118240301,
+              0.03459066152572632
+            ],
+            "min_contact_pad_to_button": 0.021191398128116413,
+            "closest_contact_pad": [
+              0.1770668625831604,
+              -0.4252194373644778,
+              0.7892040697274426
+            ],
+            "closest_contact_pad_button": [
+              0.1770668625831604,
+              -0.4225634336471557,
+              0.7681797742843628
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026560037173221085,
+              0.02102429544307982
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dff29c904f53675e9856d293f53e442e2a0c890f814e2804d8b14c0c4d7eb5fb",
+    "visual_seed": 6260039477150538199,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cce394b44821875cc3461052213cf2ce138a6d7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3444025979083918,
+              0.35600147895091816,
+              1.0541990515910258
+            ],
+            "current_z": 1.0541990515910258,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.19309230515768094,
+            "gripper_z": 1.0528041839437905,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.33877392249211213,
+              0.3507312921280334,
+              1.0528041839437905
+            ],
+            "object_minus_gripper": [
+              0.005628675416279649,
+              0.00527018682288477,
+              0.0013948676472352872
+            ],
+            "object_to_gripper_xy": 0.007710827198812015,
+            "object_to_gripper_z": 0.0013948676472352872,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3444025979083918,
+              0.3313146556650138,
+              1.0541990515910258
+            ],
+            "finger_b": [
+              0.33177463997391804,
+              0.35600147895091816,
+              1.0541990515910258
+            ],
+            "finger_midpoint": [
+              0.33808861894115494,
+              0.343658067307966,
+              1.0541990515910258
+            ],
+            "object_minus_finger_midpoint": [
+              0.006313978967236844,
+              0.012343411642952162,
+              0.0
+            ],
+            "finger_gap": 0.027729128467088703,
+            "fingertip_max_gap": 0.09148032186872376,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013864564233544313,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0541990515910258,
+            "object_top_z": 1.1049243037523333,
+            "finger_top_clearance": 0.05072525216130752,
+            "fingertip_min_top_clearance": 0.015217575648392255,
+            "object_projection_between_fingers": 0.7926071339140085,
+            "object_to_finger_line_xy": 0.011242479775741672,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048240160934361884,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7438922873120872,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.34562870837074255,
+              0.35391010461745787,
+              1.2422270730214375
+            ],
+            "held_position": [
+              0.351801120131273,
+              0.35855974827595527,
+              1.2435066320670378
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00783295119630637,
+            "max_held_gripper_dist": 0.007843172625298066,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.001279559045600287,
+            "max_held_gripper_z_dist": 0.0014383663955555015,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08986918147405998,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.351801120131273,
+              0.33246830056774407,
+              1.2435066320670378
+            ],
+            "held_grasp_finger_b": [
+              0.3417700413945586,
+              0.35855974827595527,
+              1.2435066320670378
+            ],
+            "held_grasp_midpoint": [
+              0.34678558076291577,
+              0.34551402442184964,
+              1.2435066320670378
+            ],
+            "held_grasp_object_position": [
+              0.351801120131273,
+              0.35855974827595527,
+              1.2435066320670378
+            ],
+            "held_grasp_finger_gap": 0.02795328574841398,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024883885747443688,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10528436468177452,
+              -0.9941955612968146,
+              0.02214471610264412
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036261493865069926,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03622219144450538,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.33777903614670896,
+              -0.3651025362304719,
+              0.8515395756602541
+            ],
+            "target_position": [
+              0.3293754408726043,
+              -0.36770223545595593,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008796524858939274,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18440069296115558,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395756602541,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579041604512067,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08536824262908042,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521620701401718,
+            "release_required_pad_clearance": 0.052684121314540214,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4242841868160533,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008464395999908447,
+            "max_z_decrease": 0.008464395999908447,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508413630793575,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008464395999908447,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02092857035191653,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008464395999908447,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008464542451311707,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18507537245750422,
+              -0.4239636957645416,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18507537245750422,
+              -0.4239636957645416,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18331530117870862,
+              -0.42186568691769116,
+              0.803320699377327
+            ],
+            "closest_button": [
+              0.18511940538883206,
+              -0.4239404499530792,
+              0.7683444619178772
+            ],
+            "closest_ee_minus_button": [
+              -0.0018041042101234472,
+              0.002074763035388061,
+              0.03497623745944978
+            ],
+            "button_min_z_position": [
+              0.18511940538883206,
+              -0.4239404499530792,
+              0.7683444619178772
+            ],
+            "min_active_finger_to_button": 0.14643005878168586,
+            "closest_active_finger": [
+              0.057464614510536194,
+              -0.48701149225234985,
+              0.8109791278839111
+            ],
+            "closest_active_finger_button": [
+              0.18507881462574005,
+              -0.423967182636261,
+              0.7766019105911255
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12761420011520386,
+              -0.06304430961608887,
+              0.034377217292785645
+            ],
+            "min_contact_pad_to_button": 0.02092857035191653,
+            "closest_contact_pad": [
+              0.18511940538883206,
+              -0.4239404499530792,
+              0.7892730322697937
+            ],
+            "closest_contact_pad_button": [
+              0.18511940538883206,
+              -0.4239404499530792,
+              0.7683444619178772
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02092857035191653
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d1d928e38a2c70cfc925da9cf8fb284126a3043a636739174eb6719798fd7ea0",
+    "visual_seed": 7599962420396444070,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d1c4f24f935cd2232d4b420b56f700c2977df0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3461352406805929,
+              0.35131010610505864,
+              1.0543341396174974
+            ],
+            "current_z": 1.0543341396174974,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1932276316027316,
+            "gripper_z": 1.0526652561731187,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3405729877219626,
+              0.3460513572374637,
+              1.0526652561731187
+            ],
+            "object_minus_gripper": [
+              0.0055622529586303315,
+              0.00525874886759492,
+              0.001668883444378766
+            ],
+            "object_to_gripper_xy": 0.007654612833332769,
+            "object_to_gripper_z": 0.001668883444378766,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3461352406805929,
+              0.32670998320360145,
+              1.0543341396174974
+            ],
+            "finger_b": [
+              0.33348311340065073,
+              0.35131010610505864,
+              1.0543341396174974
+            ],
+            "finger_midpoint": [
+              0.33980917704062186,
+              0.33901004465433004,
+              1.0543341396174974
+            ],
+            "object_minus_finger_midpoint": [
+              0.006326063639971069,
+              0.012300061450728594,
+              0.0
+            ],
+            "finger_gap": 0.027663014504472498,
+            "fingertip_max_gap": 0.09026521680090813,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013831507252236237,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0543341396174974,
+            "object_top_z": 1.104159985988733,
+            "finger_top_clearance": 0.04982584637123555,
+            "fingertip_min_top_clearance": 0.014947753911370631,
+            "object_projection_between_fingers": 0.7908161771029703,
+            "object_to_finger_line_xy": 0.011251264246748527,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047632608400454066,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.1669773430606482,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 232,
+            "max_stable_success_frames": 232,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3472919189919791,
+              0.34951895041945,
+              1.2408776876786636
+            ],
+            "held_position": [
+              0.35338209852145036,
+              0.35419165178175943,
+              1.2424147181963812
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007828594224694133,
+            "max_held_gripper_dist": 0.007837086714151141,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015370305177175858,
+            "max_held_gripper_z_dist": 0.0016859960807853458,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08998881964985778,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.35338209852145036,
+              0.3282335183201062,
+              1.2424147181963812
+            ],
+            "held_grasp_finger_b": [
+              0.3432434869536308,
+              0.35419165178175943,
+              1.2424147181963812
+            ],
+            "held_grasp_midpoint": [
+              0.34831279273754057,
+              0.3412125850509328,
+              1.2424147181963812
+            ],
+            "held_grasp_object_position": [
+              0.35338209852145036,
+              0.35419165178175943,
+              1.2424147181963812
+            ],
+            "held_grasp_finger_gap": 0.027867833380729908,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024744648771924158,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.10530632383464716,
+              -0.9943823088455119,
+              0.010695887784633706
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003677071712359118,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03628026577113848,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3311422121624794,
+              -0.36080961207173345,
+              0.8515395555180337
+            ],
+            "target_position": [
+              0.3224616314515774,
+              -0.3635979744156573,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009117425406302821,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527326130044758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395555180337,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513891707116997,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08722041500840776,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15470090198284178,
+            "release_required_pad_clearance": 0.05361020750420388,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2307957051678056,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008455455303192139,
+            "max_z_decrease": 0.008455455303192139,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500837329167637,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008455455303192139,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02097801226073612,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008455455303192139,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008455560772125871,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17816156148910517,
+              -0.41985943913459767,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17816156148910517,
+              -0.41985943913459767,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17690203052018805,
+              -0.4205390989155491,
+              0.8035972259991475
+            ],
+            "closest_button": [
+              0.1781866699457168,
+              -0.419836938381195,
+              0.7686194777488708
+            ],
+            "closest_ee_minus_button": [
+              -0.0012846394255287552,
+              -0.0007021605343540682,
+              0.03497774825027666
+            ],
+            "button_min_z_position": [
+              0.17818959057331077,
+              -0.4198278486728667,
+              0.7683534026145935
+            ],
+            "min_active_finger_to_button": 0.14694067775447592,
+            "closest_active_finger": [
+              0.035953737795352936,
+              -0.40617817640304565,
+              0.8107463121414185
+            ],
+            "closest_active_finger_button": [
+              0.1781629472970962,
+              -0.41986206173896784,
+              0.7763827443122864
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14220920950174326,
+              0.013683885335922186,
+              0.03436356782913208
+            ],
+            "min_contact_pad_to_button": 0.02097801226073612,
+            "closest_contact_pad": [
+              0.17818959057331077,
+              -0.4215585601721648,
+              0.7892599000763347
+            ],
+            "closest_contact_pad_button": [
+              0.17818959057331077,
+              -0.4198278486728667,
+              0.7683534026145935
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017307114992980988,
+              0.020906497461741225
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9bef9b4b1f2b2a0685cbb0a4299fabab17bf20d6c534c4ac5d273dacf94f5702",
+    "visual_seed": 3692331849520463803,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09abea6f7e556504423cacc67556d109830975bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3486227875577186,
+              0.35467316753245,
+              1.053328228146992
+            ],
+            "current_z": 1.053328228146992,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.19222142210900206,
+            "gripper_z": 1.051713666302022,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3428874894817404,
+              0.34950788871110217,
+              1.051713666302022
+            ],
+            "object_minus_gripper": [
+              0.005735298075978168,
+              0.0051652788213478185,
+              0.0016145618449701082
+            ],
+            "object_to_gripper_xy": 0.007718403288412908,
+            "object_to_gripper_z": 0.0016145618449701082,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3486227875577186,
+              0.32980723000266066,
+              1.053328228146992
+            ],
+            "finger_b": [
+              0.3362645733280299,
+              0.35467316753245,
+              1.053328228146992
+            ],
+            "finger_midpoint": [
+              0.3424436804428742,
+              0.3422401987675553,
+              1.053328228146992
+            ],
+            "object_minus_finger_midpoint": [
+              0.006179107114844373,
+              0.012432968764894692,
+              0.0
+            ],
+            "finger_gap": 0.027767612576205854,
+            "fingertip_max_gap": 0.09117100925338098,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013883806288102964,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.053328228146992,
+            "object_top_z": 1.1038389500423562,
+            "finger_top_clearance": 0.05051072189536421,
+            "fingertip_min_top_clearance": 0.015153216568609261,
+            "object_projection_between_fingers": 0.8019228601589822,
+            "object_to_finger_line_xy": 0.011066798853226511,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808550462669049,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5190093335536874,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3498251225157165,
+              0.35249662522868397,
+              1.242087536556296
+            ],
+            "held_position": [
+              0.3560426695532577,
+              0.357092838080364,
+              1.2436069665461433
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007879830660365326,
+            "max_held_gripper_dist": 0.00788916148064156,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0015194299898473318,
+            "max_held_gripper_z_dist": 0.0016795872470933837,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08998185711313522,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3560426695532577,
+              0.3309854836123356,
+              1.2436069665461433
+            ],
+            "held_grasp_finger_b": [
+              0.34602739953108286,
+              0.3573090641885166,
+              1.2436069665461433
+            ],
+            "held_grasp_midpoint": [
+              0.3510350345421703,
+              0.3441472739004261,
+              1.2436069665461433
+            ],
+            "held_grasp_object_position": [
+              0.3560426695532577,
+              0.357092838080364,
+              1.2436069665461433
+            ],
+            "held_grasp_finger_gap": 0.028164455044750427,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02523090197955897,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0964480973714695,
+              -0.9951858806610668,
+              0.01740193800358736
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037427550097119447,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03635403051187905,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3381277610482241,
+              -0.36695603094609996,
+              0.8515395628770003
+            ],
+            "target_position": [
+              0.3293114915568416,
+              -0.36976540115504425,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009253062666792336,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18632175438602042,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395628770003,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529527790984317,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08576607992293515,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15526570783553809,
+            "release_required_pad_clearance": 0.05288303996146758,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8069660065875405,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00865638256072998,
+            "max_z_decrease": 0.00865638256072998,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03499077035965376,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00865638256072998,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02103487505045722,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00865638256072998,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008656501356788094,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.18501141667366022,
+              -0.42602685093879705,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.18501141667366022,
+              -0.42602685093879705,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.18509614326917528,
+              -0.4257524800968084,
+              0.8031424101770985
+            ],
+            "closest_button": [
+              0.18502420186996454,
+              -0.425983339548111,
+              0.7681524753570557
+            ],
+            "closest_ee_minus_button": [
+              7.194139921073983e-05,
+              0.00023085945130263408,
+              0.03498993482004287
+            ],
+            "button_min_z_position": [
+              0.18502420186996454,
+              -0.425983339548111,
+              0.7681524753570557
+            ],
+            "min_active_finger_to_button": 0.14571219771745583,
+            "closest_active_finger": [
+              0.05859691649675369,
+              -0.489719420671463,
+              0.8109639883041382
+            ],
+            "closest_active_finger_button": [
+              0.18501597642898554,
+              -0.42602878808975225,
+              0.7764130234718323
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12641905993223185,
+              -0.06369063258171076,
+              0.03455096483230591
+            ],
+            "min_contact_pad_to_button": 0.02103487505045722,
+            "closest_contact_pad": [
+              0.18502420186996454,
+              -0.42683407212057317,
+              0.7891701398914063
+            ],
+            "closest_contact_pad_button": [
+              0.18502420186996454,
+              -0.425983339548111,
+              0.7681524753570557
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000850732572462154,
+              0.02101766453435061
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f03bd926ab4915fb63ae37a651783a06f5e6be824b7c6954233d5510ea0a678d",
+    "visual_seed": 8378738622628016834,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb108c771be777e7a5b9d2147613d57b6c58da98
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00033/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.34296162384904477,
+              0.35786505889513004,
+              1.0530293944515765
+            ],
+            "current_z": 1.0530293944515765,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.19192270762287622,
+            "gripper_z": 1.051544065677007,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3372927940552456,
+              0.3526868137962343,
+              1.051544065677007
+            ],
+            "object_minus_gripper": [
+              0.005668829793799179,
+              0.005178245098895751,
+              0.0014853287745695276
+            ],
+            "object_to_gripper_xy": 0.007677880797153802,
+            "object_to_gripper_z": 0.0014853287745695276,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.34296162384904477,
+              0.33308887506258594,
+              1.0530293944515765
+            ],
+            "finger_b": [
+              0.33052705438166347,
+              0.35786505889513004,
+              1.0530293944515765
+            ],
+            "finger_midpoint": [
+              0.3367443391153541,
+              0.345476966978858,
+              1.0530293944515765
+            ],
+            "object_minus_finger_midpoint": [
+              0.006217284733690653,
+              0.012388091916272048,
+              0.0
+            ],
+            "finger_gap": 0.027721432198628392,
+            "fingertip_max_gap": 0.09130625893616759,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013860716099314196,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0530293944515765,
+            "object_top_z": 1.1036336193774638,
+            "finger_top_clearance": 0.05060422492588734,
+            "fingertip_min_top_clearance": 0.015181267477766202,
+            "object_projection_between_fingers": 0.7987989800008195,
+            "object_to_finger_line_xy": 0.011113465451385368,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481531294680838,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5990622560870618,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 231,
+            "max_stable_success_frames": 231,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3442746896419957,
+              0.35557283421639685,
+              1.2391273073124474
+            ],
+            "held_position": [
+              0.3504700564479042,
+              0.36013908713364007,
+              1.2404624857700561
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0078112698761243346,
+            "max_held_gripper_dist": 0.00781961207589625,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0013351784576087766,
+            "max_held_gripper_z_dist": 0.0014984207313646358,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09050772588633288,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3504700564479042,
+              0.3340316692024947,
+              1.2404624857700561
+            ],
+            "held_grasp_finger_b": [
+              0.34062471468912936,
+              0.3605175595132609,
+              1.2404624857700561
+            ],
+            "held_grasp_midpoint": [
+              0.3455473855685168,
+              0.3472746143578778,
+              1.2404624857700561
+            ],
+            "held_grasp_object_position": [
+              0.3504700564479042,
+              0.36013908713364007,
+              1.2404624857700561
+            ],
+            "held_grasp_finger_gap": 0.02825655923676863,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025316253898801017,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1036995205664737,
+              -0.9943864755904877,
+              0.021022525942712148
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035727515843140155,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03641751371617605,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3305153651072998,
+              -0.3643302539613664,
+              0.8515395704117621
+            ],
+            "target_position": [
+              0.32172438632414907,
+              -0.3668120430869123,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009134581831123072,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18537859161105472,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395704117621,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532783886469,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08642289637371141,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15425798534580046,
+            "release_required_pad_clearance": 0.053211448186855706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4450686203113312,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008594930171966553,
+            "max_z_decrease": 0.008594930171966553,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035022766215413406,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008594930171966553,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021218977354970366,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008594930171966553,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008595037953948094,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17742431163787836,
+              -0.4230735003948211,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17742431163787836,
+              -0.4230735003948211,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17654725978514194,
+              -0.4244769337576685,
+              0.8031957397198717
+            ],
+            "closest_button": [
+              0.17742763459682462,
+              -0.42303058505058283,
+              0.7682139277458191
+            ],
+            "closest_ee_minus_button": [
+              -0.0008803748116826826,
+              -0.001446348707085654,
+              0.03498181197405259
+            ],
+            "button_min_z_position": [
+              0.17742763459682462,
+              -0.42303058505058283,
+              0.7682139277458191
+            ],
+            "min_active_finger_to_button": 0.14653087173264873,
+            "closest_active_finger": [
+              0.03600086271762848,
+              -0.4067005515098572,
+              0.8074317574501038
+            ],
+            "closest_active_finger_button": [
+              0.17743283510208124,
+              -0.42307981848716725,
+              0.7727905511856079
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14143197238445276,
+              0.01637926697731007,
+              0.03464120626449585
+            ],
+            "min_contact_pad_to_button": 0.021218977354970366,
+            "closest_contact_pad": [
+              0.17742763459682462,
+              -0.42580704286327103,
+              0.7892504740879616
+            ],
+            "closest_contact_pad_button": [
+              0.17742763459682462,
+              -0.42303058505058283,
+              0.7682139277458191
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027764578126882045,
+              0.02103654634214247
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 2795588802749883146,
+    "physical_seed": 2289185594570977662,
+    "layout_id": "layout_00033",
+    "step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "workflow_spec_digest": "9f5ba9db08d150051c48e8fce25cce5852689370378117f7bb6633374fe3874a",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d4b004374ed473eeb2b0e6b906a51748fc17d4b7c730f956a9e76367fe9fce8c",
+    "visual_seed": 3699557710139306982,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6816342363077730166,
+      4358494381448953216,
+      412513956277572572,
+      5816647056012353206
+    ],
+    "runtime_workflow_digest": "72e0ac2eaaf350bce9fb935ce183f0d8d4a535e2c47a9b3f129e3e591a58df4d"
+  }
+}
\ No newline at end of file